CN115302506A

CN115302506A - Joint module testing method, device, equipment and storage medium

Info

Publication number: CN115302506A
Application number: CN202210947937.4A
Authority: CN
Inventors: 王传杰; 李明会; 方小伟
Original assignee: iFlytek Co Ltd
Current assignee: iFlytek Co Ltd
Priority date: 2022-08-08
Filing date: 2022-08-08
Publication date: 2022-11-08

Abstract

The application provides a testing method, a testing device, testing equipment and a testing storage medium of a joint module, which can send an operation instruction to the joint module so as to enable the joint module to operate according to the operation instruction; the operation instruction comprises a target corner position which is to be reached by the joint module executing the operation instruction; acquiring an actual corner position reached by the joint module executing the operation instruction; the control precision of the joint module is determined by calculating the deviation between the actual corner position and the target corner position, so that the test on the control precision of the joint module is realized.

Description

Joint module testing method, device, equipment and storage medium

Technical Field

The application relates to the technical field of robot joint module performance testing, in particular to a method, a device, equipment and a storage medium for testing a joint module.

Background

With the development of robotics, robots are applied more and more widely, and play more and more important roles in the industrial field and in people's daily life. The performance of the robot is related to the performance of the robot joint module, and therefore, in order to ensure that the joint module can stably operate under the control of the driving device, the performance of the robot joint module needs to be tested. However, the performance test of the joint module still remains to test and evaluate the nominal data such as torque and rotation speed, and the control precision of the joint module cannot be effectively tested.

Disclosure of Invention

Based on the above requirements, the application provides a testing method, device, equipment and storage medium for a joint module, so as to solve the problem that the control precision of the joint module cannot be effectively tested in the prior art.

The technical scheme provided by the application is as follows:

in one aspect, the application provides a method for testing a joint module, including:

sending an operation instruction to a joint module so that the joint module operates according to the operation instruction; the operation instruction comprises a target corner position which is reached by the joint module executing the operation instruction;

acquiring an actual corner position reached by the joint module executing the operation instruction;

and determining the control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

As an optional implementation manner, in the method described above, the number of the execution instructions is multiple groups;

determining the control accuracy of the joint module by calculating the deviation between the actual corner position and the target corner position, including:

determining effective actual corner positions from the collected multiple groups of actual corner positions; the effective actual corner position comprises an actual corner position reached by the joint module executing the operation instruction in a stable state;

determining the control precision of the joint module by calculating the deviation between the effective actual corner position and the target corner position corresponding to the effective actual corner position; and the target corner position corresponding to the effective actual corner position is the target corner position included in the operation instruction executed when the effective corner position is reached.

As an alternative embodiment, in the method described above, the determining an effective actual rotational angle position from the collected multiple sets of actual rotational angle positions includes:

acquiring corresponding torque deviation of the joint module when executing each group of operation instructions; the torque deviation comprises a deviation between a load torque of the joint module and an output torque generated by the joint module under the action of the load torque;

and if the corresponding torque deviation is smaller than a preset torque deviation threshold value when the joint module executes any operation instruction, determining that the actual corner position reached by executing the operation execution instruction is an effective actual corner position.

As an optional implementation manner, in the method described above, the acquiring process of the output torque includes:

sending a torque instruction to load equipment of the joint module so that the load equipment operates according to the torque instruction in the process that the joint module executes the operation instruction; the torque command comprises a load torque to which the load device should execute the torque command;

and acquiring the output torque of the joint module in the process of executing the torque instruction by the load equipment.

As an optional implementation manner, in the method described above, sending a torque command to a load device of the joint module includes:

sending the torque instruction to the joint module according to a preset load equipment characteristic curve;

the load device characteristic curve includes an input voltage-braking torque characteristic curve of the load device.

As an alternative implementation manner, in the method described above, the determining the control accuracy of the joint module by calculating the deviation between the effective actual rotation angle position and the target rotation angle position corresponding to the effective actual rotation angle position includes:

calculating the deviation ratio between each group of effective actual corner positions and the corresponding target corner position;

and calculating the mean value of the deviation rates between all the effective actual corner positions and the corresponding target corner positions according to the deviation rate between each group of effective actual corner positions and the corresponding target corner positions, and taking the mean value as the control precision of the joint module.

As an optional implementation manner, in the method described above, sending an operation instruction to the joint module includes:

sending a plurality of groups of same operation instructions to the joint module;

and determining the stability control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

sending a plurality of groups of different operation instructions to the joint module;

and determining the anti-disturbance control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

On the other hand, this application provides a testing arrangement of joint module, includes:

the sending module is used for sending an operation instruction to the joint module so that the joint module operates according to the operation instruction; the operation instruction comprises a target corner position which is reached by the joint module executing the operation instruction;

the acquisition module is used for acquiring the actual corner position reached by the joint module executing the operation instruction;

and the determining module is used for determining the control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

On the other hand, this application provides a test equipment of joint module, includes: the motion controller is electrically connected with the upper computer and the joint module respectively;

the upper computer is used for sending an operation instruction to the joint module through the motion controller so as to enable the joint module to operate according to the operation instruction; the operation instruction comprises a target corner position which is reached by the joint module executing the operation instruction;

the motion controller is used for acquiring the actual corner position reached by the joint module executing the operation instruction;

the upper computer is also used for collecting the actual corner position reported by the motion controller and determining the control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

As an optional implementation manner, the apparatus described above further includes: the torque sensing device and the load equipment are electrically connected with the motion controller;

the first end of the torque sensing device is connected with the joint module shaft, and the second end of the torque sensing device is connected with the load equipment shaft;

the upper computer is further used for sending a torque instruction to the load equipment through the motion controller so that the load equipment can operate according to the torque instruction in the process that the joint module executes the operation instruction; the torque command comprises a load torque to which the load device should execute the torque command;

the motion controller is further used for acquiring the output torque acquired by the torque sensing device and reporting the output torque to the upper computer.

As an optional implementation, in the apparatus described above, the load device includes an encoder;

and the motion controller is also used for determining the actual corner position reached by the joint module executing the operation command according to the position value of the encoder.

In another aspect, the present application provides a storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the computer program realizes the steps of the method for testing the joint module set.

The testing method of the joint module can send the operation instruction to the joint module so that the joint module can operate according to the operation instruction; the operation instruction comprises a target corner position which is to be reached by the joint module executing the operation instruction; acquiring an actual corner position reached by the joint module executing the operation instruction; the control precision of the joint module is determined by calculating the deviation between the actual corner position and the target corner position, so that the test on the control precision of the joint module is realized.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic flowchart of a testing method for a joint module according to an embodiment of the present disclosure;

fig. 2 is a graph of the joint module provided in the embodiment of the present application, which follows a command;

FIG. 3 is a target corner position versus time curve provided by an embodiment of the present application;

fig. 4 is a comparison curve of a target corner position and an actual corner position provided by an embodiment of the present application;

fig. 5 is a schematic flowchart of a process for determining the control accuracy of a joint module according to an embodiment of the present disclosure;

FIG. 6 is a schematic flow chart illustrating the collection of output torque provided by an embodiment of the present application;

FIG. 7 is a load torque-time curve provided by an embodiment of the present application;

FIG. 8 is a graph of load torque versus output torque provided by an embodiment of the present application;

FIG. 9 is an input voltage-braking torque characteristic provided by an embodiment of the present application;

FIG. 10 is a schematic flow chart illustrating another method for determining the control accuracy of the joint module according to the embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of a testing apparatus for a joint module according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of a testing apparatus for a joint module according to an embodiment of the present disclosure;

fig. 13 is a schematic structural diagram of an upper computer provided in the embodiment of the present application.

Detailed Description

The technical scheme of the embodiment of the application is suitable for the application scene of testing the joint module, and by adopting the technical scheme of the embodiment of the application, the testing on the control precision of the joint module can be realized, and the testing efficiency of the joint module can also be improved.

For example, the technical solution of the present application may be applied to hardware devices such as a hardware processor, or packaged into a software program to be executed, and when the hardware processor executes the processing procedure of the technical solution of the present application, or the software program is executed, the joint module may be tested. The embodiment of the present application only introduces the specific processing procedure of the technical scheme of the present application by way of example, and does not limit the specific execution form of the technical scheme of the present application, and any technical implementation form that can execute the processing procedure of the technical scheme of the present application may be adopted by the embodiment of the present application.

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The embodiment provides a testing method of a joint module, and referring to fig. 1, the method includes:

and S101, sending an operation instruction to the joint module so that the joint module operates according to the operation instruction.

The joint module refers to a module at a movable joint of the robot and consists of a motor, a speed reducer, an encoder and the like. The joint module can correspondingly output the corner position, the rotating speed, the torque and the like according to the input control command.

The joint modules have different performances and different execution capacities on the instructions. Fig. 2 is a schematic diagram of a curve of a typical joint module following a command, in which a dotted line in fig. 2 represents a control quantity corresponding to the control command, and a solid line represents an actual execution quantity fed back by the joint module. The deviation between the actual execution quantity of the joint module and the control quantity corresponding to the control command can reflect the performance of the joint module, namely, the smaller the deviation between the actual execution quantity of the joint module and the control quantity corresponding to the control command is, the higher the performance of the joint module is. The performance of the robot is related to the performance of the robot joint module, and in order to ensure that the joint module can stably operate under the control of the driving device, the control precision of the joint module is tested in the embodiment.

The operation instruction refers to an instruction for controlling the operation state of the joint module in the test process of the joint module, and comprises a target corner position which is to be reached when the joint module executes the operation instruction. Wherein, the corner position of joint module refers to the angle that the joint module rotated or swung. The target rotational angle position refers to a target angle to which the joint module is expected to be able to rotate or swing by sending an operation instruction to the joint module.

In the embodiment of the present application, the operation duration of the operation instruction and the target corner position corresponding to each time in the operation duration may be set according to an actual situation, which is not limited in this embodiment. For example, a target corner position-time curve as shown in fig. 3 may be set according to the corner position of the joint module in actual operation, and the target corner position-time curve is sent to the joint module as an operation instruction.

It should be noted that the target rotational angle position-time curve shown in fig. 3 is merely illustrated as an example and is not limited thereto.

In the embodiment of this application, send the operation instruction to joint module to control joint module and operate according to the operation instruction.

And S102, collecting the actual corner position reached by the joint module executing the operation instruction.

The actual corner position refers to a corner position which can be actually reached by the joint module when the joint module operates according to the target corner position.

In this embodiment, the actual corner position reached in the process of executing the operation instruction by the joint module is collected.

And S103, determining the control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

The target corner position and the actual corner position of the joint module have a certain deviation, and the deviation can reflect the control precision of the joint module, namely the smaller the deviation between the target corner position and the actual corner position of the joint module is, the higher the control precision of the joint module is, the larger the deviation between the target corner position and the actual corner position of the joint module is, and the lower the control precision of the joint module is. In this embodiment, the deviation between the actual rotational angle position and the target rotational angle position is calculated, and the control accuracy of the joint module is determined according to the deviation.

For example, if only one set of operation instructions is sent to the joint module in the test process of the joint module, sampling may be performed according to a preset sampling frequency, the deviation rates of the target corner position and the actual corner position corresponding to each sampling time are calculated, and then the average value of the deviation rates corresponding to all sampling times is calculated as the control accuracy of the joint module.

It should be noted that, in order to collect valid data, the sampling frequency should be ensured to be greater than the control frequency, and the control sampling frequency is exemplarily greater than 10 times the control frequency.

As another example, if the joint module sends multiple sets of operation instructions during the test process of the joint module, the control accuracy of the joint module under each set of operation instructions may be calculated according to the description in the above example, and then the average value of the control accuracies of the joint modules under all operation instructions may be calculated as the control accuracy of the joint module.

After the control precision of the joint module is determined, the control precision can be output to inform a user of a test result of the joint module. In addition, the control accuracy can be output, and simultaneously, a comparison curve of the target corner position and the actual corner position of the joint module is output, so that a user can know the control accuracy of the joint module more intuitively.

Fig. 4 is an exemplary comparison curve of the target corner position and the actual corner position provided by the embodiment of the present application, as shown in fig. 4, where a dotted line represents the target corner position and a solid line represents the actual corner position. The comparison curve of the target steered angle position and the actual steered angle position shown in fig. 4 is merely illustrated as an example and is not limitative.

In the above embodiment, the operation instruction can be sent to the joint module, so that the joint module operates according to the operation instruction; the operation instruction comprises a target corner position which is to be reached by the joint module executing the operation instruction; acquiring an actual corner position reached by the joint module executing the operation instruction; the control precision of the joint module is determined by calculating the deviation between the actual corner position and the target corner position, so that the control precision of the joint module is tested.

As an alternative implementation manner, as shown in fig. 5, in another embodiment of the present application, it is disclosed that the steps of the foregoing embodiment may specifically include the following steps by calculating a deviation between the actual corner position and the target corner position:

and S501, determining effective actual corner positions from the collected multiple groups of actual corner positions.

In this embodiment, the number of the operation instructions is multiple groups, and compared with the case that the operation instructions are only one group, the embodiment can increase the data volume, avoid the influence of accidental factors on the test result, and further obtain a more accurate test result. Moreover, if there are multiple sets of operating instructions, the collected actual corner positions are also multiple sets. In normal cases, the number of actual angle of rotation positions should be the same as the number of operating commands. Namely, the joint module runs a group of operation instructions, and a group of actual corner positions can be acquired correspondingly.

In an embodiment of the application, an effective actual rotational angle position is determined from the collected sets of actual rotational angle positions. The effective actual corner position comprises an actual corner position reached by the joint module executing the operation instruction in a stable state.

Whether the joint module is in a stable state can be judged according to various conditions. For example, it is determined whether the operating current value of the joint module is stabilized within a preset current value range, whether the operating voltage value is stabilized within a preset voltage value range, and if the operating current value of the joint module is stabilized within the preset current value range and the operating voltage value of the joint module is stabilized within the preset voltage value range, it indicates that the joint module is in a stable state. For another example, it is determined whether a deviation between the load torque of the joint module and the output torque of the joint module generated by the load torque is within a preset deviation value range, and if the deviation between the load torque of the joint module and the output torque of the joint module generated by the load torque is within the preset deviation value range, it indicates that the joint module is in a stable state. For example, the working personnel observes the operation state of the joint module, and determines whether the joint module is in a stable state according to the experience of the working personnel, and the like, which is not limited in this embodiment.

It should be noted that, the preset voltage value interval, the preset current value interval, and the preset deviation value interval may be set according to actual situations, and this embodiment is not limited.

And S502, determining the control precision of the joint module by calculating the deviation between the effective actual corner position and the target corner position corresponding to the effective actual corner position.

The target rudder angle position corresponding to the effective actual rudder angle position refers to a target rudder angle position included in an operation command executed when the effective rudder angle position is reached.

In this embodiment, a deviation between the effective actual corner position and a target corner position corresponding to the effective actual corner position is calculated, and then the control accuracy of the joint module is determined according to the deviation between the effective actual corner position and the target corner position corresponding to the effective actual corner position.

For example, sampling may be performed from the effective actual corner position and the target corner position corresponding to the effective actual corner position according to a preset sampling frequency, and then the control accuracy of the joint module is calculated according to the deviation ratio between the effective target corner position at each sampling time and the target corner position corresponding to the effective actual corner position.

As another example, sampling may be performed from all the actual corner positions and the target corner positions according to a preset sampling frequency, and then the target corner positions corresponding to the effective actual corner positions and the effective actual corner positions are extracted from the sampled actual corner positions and target corner positions, so as to calculate the control accuracy of the joint module.

In the above embodiment, the control accuracy of the joint module is determined according to the actual corner position reached by the joint module executing the operation instruction in the stable state and the target corner position corresponding to the actual corner position, so that the influence of abnormal data generated by the joint module executing the operation instruction in the unstable state can be eliminated, and the reliability of the test result is ensured.

As an alternative implementation manner, in another embodiment of the present application, it is disclosed that the step of the foregoing embodiment determines an effective actual rotational angle position from the collected multiple sets of actual rotational angle positions, and specifically may include the following steps:

acquiring corresponding torque deviation of the joint module when executing each group of operation instructions; and if the corresponding torque deviation is smaller than a preset torque deviation threshold value when the joint module executes any operation instruction, determining that the actual corner position reached by executing the operation execution instruction is the effective actual corner position.

The torque deviation comprises a deviation between a load torque of the joint module and an output torque generated by the joint module under the action of the load torque. The load torque refers to the torque output by the load equipment simulating the load of the joint module in the process of testing the joint module, and the load torque output by the load equipment is added to the joint module to be tested. The output torque refers to the torque output by the joint module under the action of the load torque.

In this embodiment, if the torque deviation corresponding to the execution of any operation instruction by the joint module is smaller than the preset torque deviation threshold, it may be determined that the actual corner position reached by the execution of the operation execution instruction is the effective actual corner position; if the corresponding torque deviation is greater than or equal to the preset torque deviation threshold when the joint module executes any operation instruction, the actual corner position reached by executing the operation execution instruction can be determined not to be the effective actual corner position.

The torque deviation threshold may be set according to actual conditions, and the embodiment is not limited.

For example, the torque deviation corresponding to the execution of any operation command by the joint module can be calculated as follows:

when the joint module executes any operation instruction, sampling is carried out according to a preset sampling frequency, the deviation of the load torque and the output torque corresponding to each sampling moment is calculated, then the average value of the deviations corresponding to all the sampling moments is calculated, and the average value is used as the torque deviation corresponding to the joint module when the joint module executes the operation instruction.

It should be noted that, in order to collect valid data, the sampling frequency should be ensured to be greater than the control frequency, and the control sampling frequency is, for example, 10 times or more greater than the control frequency.

When the joint module executes any operation instruction, the load torque and the output torque, as well as the actual corner position and the target corner position may be sampled at the same time according to the same sampling frequency, which is not limited in this embodiment.

In the above embodiment, whether the joint module is in a stable state when executing the operation instruction is determined according to the torque deviation corresponding to the joint module when executing each group of operation instruction, so that the influence of abnormal data generated when the joint module executes the operation instruction in an unstable state is eliminated, and the reliability of the test result is ensured.

As an alternative implementation, as shown in fig. 6, in another embodiment of the present application, it is disclosed that the process of acquiring the output torque of the foregoing embodiment specifically includes the following steps:

s601, sending a torque instruction to load equipment of the joint module so that the load equipment can operate according to the torque instruction in the process that the joint module executes the operation instruction.

The load device is a device for simulating the load of the joint module in the test process of the joint module. The loading equipment is generally a servo motor or a magnetic powder loader and is coaxially connected with the joint module. The load equipment is used for outputting the braking torque as a load torque and is added to the joint module.

The torque command refers to a command for controlling the operating state of the load device during the test of the joint module, and includes a load torque that the load device should achieve when executing the torque command. In the embodiment of the present application, the operation duration of the torque instruction and the load torque corresponding to each time in the operation duration may be set according to an actual situation, which is not limited in this embodiment.

For example, a load torque-time curve as shown in fig. 7 may be set according to the load condition of the joint module in actual operation. And sending the load torque-time curve as a torque instruction to the load equipment so that the load equipment operates according to the torque instruction in the process of executing the operation instruction by the joint module.

It should be noted that the load torque-time curve shown in fig. 7 is merely illustrated as an example and is not intended to be limiting.

Because the plurality of sets of the operation instructions are provided in the embodiment of the application, the plurality of sets of torque instructions with the same number can be correspondingly set, the operation time of the torque instructions is longer than or equal to the operation time of the operation instructions, when the joint module executes any operation instruction, the moment when the load equipment starts to execute the torque instruction is earlier than or equal to the moment when the joint module executes the operation instruction, and the moment when the load equipment finishes executing the torque instruction is later than or equal to the moment when the joint module finishes executing the operation instruction, so that the load equipment can output the load torque when the joint module executes any operation instruction, and the normal test is ensured.

For example, the running time of the torque command may be set according to the running time of the running command, and it is ensured that each set of running commands has the same torque command as the running time thereof. When the joint module executes any operation instruction, the load equipment is controlled to simultaneously execute a torque instruction with the same operation time length as that of the operation instruction. So set up, when the joint module was carrying out arbitrary operation instruction, load equipment can carry out the moment of torsion instruction of the same duration simultaneously to make joint module and load equipment can move simultaneously, stop simultaneously. The power-on operation of the load equipment when the joint module does not start to operate and the power-on operation of the load equipment when the joint module stops operating are avoided, and the energy consumption in the test process is effectively saved. And moreover, the actual corner position and the output torque of the joint module can be detected simultaneously, and the synchronism of data acquisition is ensured.

And S602, acquiring output torque of the joint module in the process of executing the torque instruction by the load equipment.

And acquiring the output torque of the load equipment in real time in the processes of executing the torque instruction by the load equipment and executing the operation instruction by the joint module.

Further, a torque-time characteristic curve of the joint module may be generated and output, so that a user can intuitively know a deviation between the output torque and the load torque of the joint module. Fig. 8 is a comparison curve of load torque and output torque provided by the embodiment of the present application, wherein the dashed line represents the load torque and the solid line represents the output torque. The load torque versus output torque curve shown in fig. 8 is illustrated by way of example only and is not intended to be limiting.

Through the embodiment, the output torque of the joint module in the process of executing the torque instruction by the load equipment can be collected, and the deviation between the output torque and the load torque when the joint module achieves the output torque is further determined.

As an alternative implementation manner, in another embodiment of the present application, it is disclosed that the steps of the above embodiment send a torque command to a load device of the joint module, and specifically may include the following steps:

sending a torque instruction to the joint module according to a preset load equipment characteristic curve; the load device characteristic curve includes an input voltage-braking torque characteristic curve of the load device.

Specifically, in actual control of the load device, control of the load torque output from the load device is sometimes achieved by sending a control signal, such as a voltage control signal or a current control signal, to the load device. For example, if the loading device is a magnetic powder loader, a voltage signal may be sent to a magnetic powder control component in the magnetic powder loader, and the magnetic powder control component converts the voltage signal into a current signal to control a magnetic powder brake component in the magnetic powder loader to output a corresponding brake torque, that is, a load torque loaded on the joint module.

Based on this, in the embodiment of the present application, a control signal of a required braking torque may be referred to from the load device characteristic curve, so as to generate a control signal-time curve, that is, the control signal replaces the load torque of the above embodiment, and the control signal-time curve is sent to the load device, so that the load device outputs a corresponding load torque according to the control signal-time curve during the operation command executed by the joint module.

For example, the load device characteristic curve includes an input voltage-braking torque characteristic curve of the load device, and if the load device is controlled based on the voltage signal, the voltage signal of the required braking torque may be referred to with reference to the input voltage-braking torque characteristic curve.

In the above embodiment, if the load device is controlled by the control signal such as the voltage signal or the current signal, the control signal of the required braking torque may be referred based on the load device characteristic curve, so that the load device outputs the corresponding load torque according to the control signal in the process of executing the operation command by the joint module.

As an alternative implementation, in another embodiment of the present application, it is disclosed that the load device characteristic curve may be determined by:

sending control signals to load equipment according to preset steps to obtain load torque corresponding to each control signal; and generating a load equipment characteristic curve according to the test signal and the load torque corresponding to the test signal.

The load device characteristic curve may be determined prior to the start of the test. Specifically, the control signal may be sent to the load device according to a preset step length. If the load device is a device controlled by a voltage signal, the voltage signal can be sent to the load device according to a preset step length, and if the load device is a device controlled by a current signal, the current signal can be sent to the load device according to the preset step length.

The load torque output by the load device is detected and recorded for each control signal.

A load device characteristic curve, illustratively an input voltage-braking torque characteristic curve as shown in fig. 9, is generated based on the test signal and the load torque corresponding to the test signal, so that the load device can be controlled to output the corresponding load torque by referring to the control signal of the required braking torque based on the characteristic curve.

As an alternative implementation manner, as shown in fig. 10, in another embodiment of the present application, it is disclosed that the step of the foregoing embodiment determines the control accuracy of the joint module by calculating a deviation between the effective actual corner position and a target corner position corresponding to the effective actual corner position, and specifically may include the following steps:

and S1001, calculating the deviation ratio between each group of effective actual corner positions and the corresponding target corner position.

In this embodiment, the number of the operation instructions is multiple, and when the joint module executes any one set of operation instructions, multiple sets of effective actual corner positions and target corner positions corresponding to the effective actual corner positions are obtained by sampling.

The calculation formula for calculating the deviation ratio between each group of effective actual corner positions and the target corner position corresponding to the effective actual corner position is as follows:

in the above equation, P represents a deviation ratio between an arbitrary set of the effective actual rudder angle positions and the target rudder angle positions corresponding to the effective actual rudder angle positions, S ₂ Indicating the effective actual angle of rotation, S ₁ A target rudder angle position corresponding to the effective actual rudder angle position is indicated.

S1002, calculating the mean value of the deviation rates between all the effective actual corner positions and the corresponding target corner positions according to the deviation rate between each group of effective actual corner positions and the corresponding target corner positions, and taking the mean value as the control precision of the joint module.

Calculating the mean value of the deviation ratios between all the effective actual corner positions and the corresponding target corner positions as the control precision of the joint module, wherein the calculation formula is as follows:

in the above formula, the first and second carbon atoms are,

the control precision of the joint module is shown, n shows the number of the effective actual corner positions obtained by sampling when the joint module executes all the operation instructions, and Pn shows the deviation rate between each group of effective actual corner positions and the corresponding target corner position.

In the above embodiment, the deviation ratio between each group of effective actual corner positions and the corresponding target corner position is calculated, and then the mean value of the deviation ratios between all effective actual corner positions and the corresponding target corner positions is calculated according to the deviation ratio between each group of effective actual corner positions and the corresponding target corner positions, and is used as the control precision of the joint module. By the arrangement, the general condition and the average level of the sampled data can be reflected, and the reliability of the control precision is higher.

As an optional implementation manner, another embodiment of the present application discloses that the step of the above embodiment sends the operation instruction to the joint module, and specifically may include the following steps:

correspondingly, the steps of the above embodiment determine the control accuracy of the joint module by calculating the deviation between the actual rotation angle position and the target rotation angle position, and specifically may include the following steps:

In the embodiment of the application, the actual corner positions generated in the process of operating the multiple groups of the same operating instructions by the joint module are collected by sending the multiple groups of the same operating instructions to the joint module, and the stability control precision of the joint module can be determined based on the deviation between the actual corner positions and the target corner positions.

Wherein, stability control accuracy can evaluate the stability of the joint module when executing the same instruction.

As an optional implementation manner, another embodiment of the present application discloses that the sending of the operation instruction to the joint module by the steps of the foregoing embodiment may specifically include the following steps:

correspondingly, the steps of the above embodiment determine the control accuracy of the joint module by calculating the deviation between the actual corner position and the target corner position, and specifically may include the following steps:

In the embodiment of the application, the actual corner position generated in the process of operating the plurality of groups of different operation instructions by the joint module is collected by sending the plurality of groups of different operation instructions to the joint module, and the anti-disturbance control precision of the joint module can be determined based on the deviation between the actual corner position and the target corner position.

The disturbance resistance control precision can evaluate the disturbance resistance of the joint module when executing different instructions.

Corresponding to the testing method of the joint module, the embodiment of the present application further discloses a testing apparatus of the joint module, as shown in fig. 11, the apparatus includes:

the sending module 100 is configured to send an operation instruction to the joint module, so that the joint module operates according to the operation instruction; the operation instruction comprises a target corner position which is to be reached by the joint module executing the operation instruction;

the acquisition module 110 is used for acquiring an actual corner position reached by the joint module executing the operation instruction;

and the determining module 120 is used for determining the control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

As an optional implementation manner, another embodiment of the present application discloses that the number of the operation instructions is multiple groups;

the determination module 120 of the above embodiment includes:

the first determining unit is used for determining effective actual corner positions from the collected multiple groups of actual corner positions; the effective actual corner position comprises an actual corner position reached by the joint module executing the operation instruction in a stable state;

the second determining unit is used for determining the control precision of the joint module by calculating the deviation between the effective actual corner position and the target corner position corresponding to the effective actual corner position; the target corner position corresponding to the effective actual corner position is a target corner position included in an operation command executed when the effective corner position is reached.

As an alternative implementation manner, in another embodiment of the present application, it is disclosed that, when the first determining unit determines the effective actual rotational angle position from the collected multiple sets of actual rotational angle positions, the first determining unit is specifically configured to:

acquiring corresponding torque deviation of the joint module when executing each group of operation instructions; the torque deviation comprises the deviation between the load torque of the joint module and the output torque generated by the joint module under the action of the load torque;

As an alternative implementation manner, in another embodiment of the present application, it is disclosed that the process of acquiring the output torque by the first determination unit includes:

sending a torque instruction to load equipment of the joint module so that the load equipment operates according to the torque instruction in the process of executing the operation instruction by the joint module; the torque command includes a load torque to which the load device should execute the torque command;

and acquiring the output torque of the joint module in the process of executing the torque command by the load equipment.

As an alternative implementation manner, in another embodiment of the present application, it is disclosed that when the first determining unit sends a torque command to the load device of the joint module, the first determining unit is specifically configured to:

sending a torque instruction to the joint module according to a preset load equipment characteristic curve;

As an optional implementation manner, in another embodiment of the present application, it is disclosed that when the second determining unit determines the control accuracy of the joint module by calculating a deviation between the effective actual rotational angle position and a target rotational angle position corresponding to the effective actual rotational angle position, the second determining unit is specifically configured to:

As an optional implementation manner, in another embodiment of the present application, it is disclosed that the sending module 100 includes:

the first sending unit is used for sending a plurality of groups of same operation instructions to the joint module;

the determining module 120 further includes:

and the third determining unit is also used for determining the stability control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

the second sending unit is used for sending a plurality of groups of different operation instructions to the joint module;

the determining module 120 further includes:

and the fourth determining unit is also used for determining the anti-disturbance control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

Specifically, please refer to the contents of the method embodiments for the specific working contents of each unit of the testing apparatus for the joint module, which are not described herein again.

Corresponding to the above testing method for the joint module, the embodiment of the present application further discloses a testing apparatus for a joint module, as shown in fig. 12, the apparatus includes:

an upper computer 200 and a motion controller 210 which is respectively and electrically connected with the upper computer 200 and the joint module.

The upper computer is used for sending an operation instruction to the joint module through the motion controller 210 so that the joint module can operate according to the operation instruction; the operation instruction comprises a target corner position which is to be reached by the joint module executing the operation instruction;

the motion controller 210 is used for acquiring an actual corner position reached by the joint module executing the operation instruction;

the upper computer 200 is further configured to collect an actual corner position reported by the motion controller 210, and determine the control accuracy of the joint module by calculating a deviation between the actual corner position and the target corner position.

Wherein, the upper computer 200 can perform data communication with the motion controller 210 through an EtherNET (EtherNET); the motion controller 210 and the joint module perform data communication through a CAN bus.

As an optional implementation manner, in another embodiment of the present application, it is disclosed that the number of the operation instructions is multiple groups;

host computer 200 is through calculating the deviation between actual corner position and the target corner position, when confirming the control accuracy of joint module, specifically is used for:

determining an effective actual corner position from the plurality of sets of actual corner positions reported by the motion controller 210; the effective actual corner position comprises an actual corner position reached by the joint module executing the operation instruction in a stable state; determining the control precision of the joint module by calculating the deviation between the effective actual corner position and the target corner position corresponding to the effective actual corner position; the target corner position corresponding to the effective actual corner position is a target corner position included in an operation command executed when the effective corner position is reached.

As an optional implementation manner, in another embodiment of the present application, it is disclosed that when the upper computer 200 determines an effective actual rotational angle position from multiple sets of acquired actual rotational angle positions, the upper computer is specifically configured to:

collecting the torque deviation corresponding to the joint module reported by the motion controller 210 when executing each group of operation instructions; the torque deviation comprises the deviation between the load torque of the joint module and the output torque generated by the joint module under the action of the load torque; and if the corresponding torque deviation is smaller than a preset torque deviation threshold value when the joint module executes any operation instruction, determining that the actual corner position reached by executing the operation execution instruction is an effective actual corner position.

As an alternative implementation manner, in another embodiment of the present application, it is disclosed that, as shown in fig. 12, the testing apparatus of the joint module further includes a torque sensing device 220 and a load apparatus 230 electrically connected to the motion controller 210.

A first end of the torque sensing device 220 is connected with the joint module shaft, and a second end of the torque sensing device 220 is connected with the load device 230 shaft; and the torque sensing device 220 is used for acquiring the output torque of the joint module.

The upper computer 200 is further configured to send a torque instruction to the load device 230 through the motion controller 210, so that the load device 230 operates according to the torque instruction in the process of executing the operation instruction by the joint module; the torque command includes a load torque that the load device 230 should achieve to execute the torque command;

the motion controller 210 is further configured to obtain the output torque acquired by the torque sensing device 220, and report the output torque to the upper computer 200.

Wherein, the motion controller 210 and the torque sensor 220 may use Rs485 bus for data communication.

Further, the torque sensing device 220 includes a torque sensor, a torque collecting instrument and a matching cable, and the torque sensor and the torque collecting instrument are electrically connected through the matching cable. The torque sensor is arranged on a connecting shaft between the load device 230 and the joint module and used for collecting the output torque of the joint module, the torque collecting instrument converts the output torque collected by the torque sensor into a digital signal, and the output torque is converted into the digital signal and is sent to the motion controller 210 through an Rs485 bus.

The motion controller 210 and the load device 230 may use a CAN bus for data communication, and in order to further improve the stability of data communication, the motion controller 210 and the load device 230 may use a CANopen protocol.

Further, the loading device 230 may employ a servo loading apparatus or a magnetic powder loading apparatus.

The magnetic powder loading device comprises a magnetic powder brake and a magnetic powder controller, the magnetic powder controller is electrically connected with the magnetic powder brake and the motion controller 210 respectively, and the magnetic powder brake is connected with the second end shaft of the torque sensing device 220. For example, the magnetic powder loading device generally further includes a matching cable, and the magnetic powder brake and the magnetic powder controller are electrically connected through the matching cable. The motion controller 210 can output a voltage signal of 0-10V, and the magnetic powder controller correspondingly outputs a control current of 0-2A after acquiring the control signal of 0-10V, and the control current is used for controlling the magnetic powder brake to output a load torque so as to apply the load torque to the torque sensing device 220 and the joint module.

The servo loading device comprises a servo motor and a servo controller, the servo controller is electrically connected with the servo motor and the motion controller 210 respectively, and the servo motor is connected with the second end shaft of the torque sensing device 220. The motion controller 11 can output a control signal, and the servo controller receives the control signal and then outputs a corresponding control current for controlling the servo motor to output a load torque, so as to apply the load torque to the torque sensing device 220 and the joint module.

As an alternative implementation manner, in another embodiment of the present application, it is disclosed that the testing apparatus for the joint module further includes a regulated power supply 240 electrically connected to the motion controller 210 and the joint module.

A first end of the regulated power supply 240 is electrically connected with the joint module so as to supply power to the joint module and detect the working voltage and the working current of the joint module; the second end of the regulated power supply 240 is electrically connected to the motion controller 210 through a CAN bus, so that the working voltage and the working current of the joint module are sent to the motion controller 210, and the motion controller 210 reports the working voltage and the working current of the joint module to the upper computer 200. The upper computer 200 can analyze the relation between the working voltage, the working current and the output torque of the joint module according to the working voltage and the working current of the joint module.

As an optional implementation manner, in another embodiment of the present application, it is disclosed that when the upper computer 200 sends a torque instruction to the load device of the joint module, the upper computer is specifically configured to:

according to a preset load equipment characteristic curve, a torque instruction is sent to the joint module through the motion controller 210; the load device characteristic curve includes an input voltage-braking torque characteristic curve of the load device.

As an optional implementation manner, in another embodiment of the present application, it is disclosed that the upper computer 200 is specifically configured to, when determining the control accuracy of the joint module by calculating a deviation between the effective actual corner position and a target corner position corresponding to the effective actual corner position:

calculating the deviation ratio between each group of effective actual corner positions and the corresponding target corner position; and calculating the mean value of the deviation rates between all the effective actual corner positions and the corresponding target corner positions according to the deviation rate between each group of effective actual corner positions and the corresponding target corner positions, and taking the mean value as the control precision of the joint module.

As an optional implementation manner, in another embodiment of the present application, it is disclosed that, when the upper computer 200 sends an operation instruction to the joint module, the upper computer is specifically configured to: sending a plurality of groups of same operation instructions to the joint module through the motion controller 210;

host computer 200 is through calculating the deviation between actual corner position and the target corner position, when confirming the control accuracy of joint module, specifically is used for: and determining the stability control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

As an optional implementation manner, another embodiment of the present application discloses that, when the upper computer 200 sends an operation instruction to the joint module, it is specifically configured to: sending a plurality of different sets of operation instructions to the joint module through the motion controller 210;

host computer 200 is through calculating the deviation between actual corner position and the target corner position, when confirming the control accuracy of joint module, specifically is used for: and determining the anti-disturbance control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

The test equipment for a joint module provided in this embodiment is similar to the test method for a joint module provided in the above embodiments of the present application, and can execute the test method for a joint module provided in any of the above embodiments of the present application, and has functional modules and beneficial effects corresponding to the test method for a joint module, which are not described in detail in this embodiment.

Another embodiment of the present application further provides an upper computer, as shown in fig. 13, the upper computer includes:

a memory 300 and a processor 310;

wherein, the memory 300 is connected with the processor 310 for storing programs;

the processor 310 is configured to execute the program stored in the memory 300 to implement the testing method for the joint module disclosed in any of the above embodiments.

Specifically, the upper computer may further include: a bus, a communication interface 320, an input device 330, and an output device 340.

The processor 310, the memory 300, the communication interface 320, the input device 330, and the output device 340 are connected to each other through a bus. Wherein:

a bus may include a path that transfers information between components of a computer system.

The processor 310 may be a general-purpose processor, such as a general-purpose Central Processing Unit (CPU), microprocessor, etc., an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs in accordance with the present disclosure. But may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components.

The processor 310 may include a main processor and may also include a baseband chip, a modem, and the like.

The memory 300 stores programs for executing the technical solution of the present application, and may also store an operating system and other key services. In particular, the program may include program code comprising computer operating instructions. More specifically, memory 300 may include read-only memory (ROM), other types of static storage devices that may store static information and instructions, random Access Memory (RAM), other types of dynamic storage devices that may store information and instructions, disk storage, flash, and so forth.

The input device 330 may include means for receiving data and information input by a user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor, among others.

Output device 340 may include equipment that allows output of information to a user, such as a display screen, a printer, speakers, etc.

Communication interface 320 may include any means for using a transceiver or the like to communicate with other devices or communication networks, such as ethernet, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), etc.

The processor 310 executes the program stored in the memory 300 and calls other devices, which can be used to implement the steps of the testing method for the joint module provided in the above embodiments of the present application.

In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by the processor 310, cause the processor 310 to perform the various steps of the method of testing a joint module provided by the above-described embodiments.

The computer program product may be used to write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor 310 to perform the steps of the testing method of the joint module provided by the above-described embodiments.

The computer readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present application is not limited by the order of acts or acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and reference may be made to the partial description of the method embodiment for relevant points.

The steps in the methods of the embodiments of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and technical features described in the embodiments may be replaced or combined.

The modules and sub-modules in the device and the terminal of the embodiment of the application can be combined, divided and deleted according to actual needs.

In the several embodiments provided in the present application, it should be understood that the disclosed terminal, apparatus and method may be implemented in other manners. For example, the above-described terminal embodiments are merely illustrative, and for example, the division of a module or a sub-module is only one logical division, and there may be other divisions when the terminal is actually implemented, for example, a plurality of sub-modules or modules may be combined or integrated into another module, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules or sub-modules described as separate components may or may not be physically separate, and the components described as modules or sub-modules may or may not be physical modules or sub-modules, may be located in one place, or may be distributed on a plurality of network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, each functional module or sub-module in the embodiments of the present application may be integrated into one processing module, or each module or sub-module may exist alone physically, or two or more modules or sub-modules may be integrated into one module. The integrated modules or sub-modules can be implemented in the form of hardware, and can also be implemented in the form of software functional modules or sub-modules.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software unit executed by a processor, or in a combination of the two. The software cells may reside in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A test method of a joint module is characterized by comprising the following steps:

2. The method of claim 1, wherein the number of execution instructions is a plurality of sets;

3. The method according to claim 2, wherein determining an effective actual rotational angle position from the plurality of sets of acquired actual rotational angle positions comprises:

4. The method of claim 3, wherein the output torque acquisition process comprises:

5. The method of claim 4, wherein sending a torque command to a load device of the joint module comprises:

6. The method according to claim 2, wherein determining the control accuracy of the joint module by calculating a deviation between the effective actual rotational angle position and a target rotational angle position corresponding to the effective actual rotational angle position comprises:

7. The method of claim 1, wherein sending operational instructions to the joint module comprises:

8. The method of claim 1, wherein sending operational instructions to the joint module comprises:

9. A testing arrangement of joint module characterized in that includes:

10. A test equipment of joint module characterized in that includes: the motion controller is electrically connected with the upper computer and the joint module respectively;

the upper computer is used for sending an operation instruction to the joint module through the motion controller so that the joint module can operate according to the operation instruction; the operation instruction comprises a target corner position which is reached by the joint module executing the operation instruction;

the upper computer is further used for collecting the actual corner position reported by the motion controller, and determining the control precision of the joint module by calculating the deviation between the actual corner position and the target corner position.

11. The test apparatus for a joint module according to claim 10, further comprising: the torque sensing device and the load equipment are electrically connected with the motion controller;

12. The test apparatus for a joint module according to claim 10, wherein the load apparatus comprises an encoder;

13. A storage medium, comprising: the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the individual steps of the method of testing a joint module according to any one of claims 1 to 8.