CN115609635A - Detection system and method of robot sensor - Google Patents
Detection system and method of robot sensor Download PDFInfo
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- CN115609635A CN115609635A CN202110804659.2A CN202110804659A CN115609635A CN 115609635 A CN115609635 A CN 115609635A CN 202110804659 A CN202110804659 A CN 202110804659A CN 115609635 A CN115609635 A CN 115609635A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
A detection system and method for robot sensor is to set three groups of sensors to construct a detection system at the drive motor side and power output end of the robot, to detect the normal or abnormal state of the three groups of sensors by using a detection unit, to mark the maintenance by the abnormal sensors, and to select the two groups of normal sensors for use, to maintain the normal and safe operation of the robot without stopping.
Description
Technical Field
The present invention relates to a robot detection system and method, and more particularly, to a system and method for detecting sensors with a safety function in a robot and selecting a sensor with a normal function to perform a safety operation.
Background
With the vigorous development of the robot technology, a factory uses a cooperative robot to assist operators to perform rapid machining, assembling and manufacturing operations, and although the factory production efficiency can be improved, whether the cooperative robot operates normally or not seriously affects the safety of surrounding operators, and the maintenance of the safety of the robot operation becomes an important safety standard specification of each country.
The prior art of US9266240 discloses a robot with a first sensor disposed on the side of the driving motor for detecting the rotation state of the driving motor, and a second sensor disposed on the side of the driving motor passing through the power output end of the speed reducing mechanism for detecting the rotation state after speed reduction. And then the control system receives a first detection signal from the first sensor and a second detection signal from the second sensor, independently and separately calculates the safety function, judges the action state according to any calculation result of the first sensor signal or the second sensor signal, and maintains the safety operation by a double loop.
In addition, in the prior art, a reduction mechanism has a certain Gear Ratio (Gear Ratio), a first sensor detects a first detection signal of the rotation of the driving motor, and a second sensor detects a second detection signal of the rotation of the power output end of the reduced driving motor, and a proportional relation corresponding to the Gear Ratio also exists in a normal operation state. Once the normal proportional relation is broken down between the first detection signal and the second detection signal, the detection system can be judged to be abnormal or faulty. Following an abnormality of the detection system, the robot safety function calculated based on the first detection signal of the first sensor or the second detection signal of the second sensor is also accompanied by a loss of accuracy, and reliable safety monitoring cannot be maintained for the robot, so that it is necessary to start a safety setting, stop the robot in an emergency, to avoid collision damage of the robot, to maintain safety of surrounding workers, and to perform maintenance.
However, in the prior art, after the detection system is abnormal, the safety setting is immediately started, which causes the robot to stop, not only affecting the production efficiency of the factory, but also failing sensors cannot be determined when the detection system is abnormal, or the detection system itself has errors, so that it takes time to find out the failed elements for maintenance after the detection system is stopped, thereby increasing the maintenance cost. Therefore, there is still a need for a system and method for detecting a sensor by a robot.
Disclosure of Invention
The invention aims to provide a detection system of a robot sensor, which is characterized in that a detection system is constructed by three groups of sensors arranged at the driving motor side and the power output end of a robot, and a detection unit is used for detecting and selecting two groups of normal sensors for use, so that the robot is maintained to continue normal and safe operation, and the production efficiency is improved.
Another objective of the present invention is to provide a method for detecting a robot sensor, which utilizes a detection unit of a detection system to detect the operating states of three sets of sensors, mark abnormal sensors, and directly overhaul the sensors after shutdown, so as to improve the maintenance efficiency.
Another objective of the present invention is to provide a method for detecting a robot sensor, wherein when the detecting unit of the detecting system detects that two or more sets of sensors are abnormal and cannot maintain the safe operation of the dual-loop, the power is turned off to stop the robot, so as to maintain the safety.
In order to achieve the above object, the detection system of the robot sensor according to the present invention is configured such that the first group of sensors is provided on the motor side of the robot to detect the rotation state of the motor and generate the first detection signal. The second group of sensors are arranged at the power output end of the motor to detect the rotation state of the power output end and generate a second detection signal. The third group of sensors can be selectively arranged at the motor side or the power output end to detect the rotating state of the motor or the power output end and generate a third detection signal. The control system comprises a detection unit, wherein the detection unit is used for receiving a first group of detection signals, a second group of detection signals and a third group of detection signals, detecting the normal or abnormal operation states of the three groups of sensors, selecting two groups of normal sensors for use, and using the rest group of sensors as standby sensors when the sensors in use are abnormal. When the three groups of sensors are detected to be abnormal, the control system sends and displays abnormal sensor notification to carry out maintenance.
The detection method of the robot sensor comprises the steps of reading three groups of detection signals of a first group of sensors at the motor side, a third group of sensors and a second group of sensors at the power output end, converting the three groups of detection signals into a first angle, a second angle and a third angle of a rotating motor respectively, arranging the first angle, the second angle and the third angle according to the sizes of the angles, wherein the first angle is a large angle a, the middle angle is a small angle b, the small angle C is a small angle b, calculating the difference D1= a-b and the difference D2= b-C of the angles, checking that the difference between the differences is smaller than a preset first standard difference C1, namely (D1-D2) < C1, and judging that the first group of sensors, the second group of sensors and the third group of sensors are normal.
When the difference between the difference values is not less than the preset first standard deviation C1, the difference between the inconsistent difference values is checked to be between the preset first standard deviation C1 and the second standard deviation C2, namely C1< (D1-D2) < C2, and D1> D2, and the difference between the inconsistent difference values is checked to be between the preset first standard deviation C1 and the preset first standard deviation C2, namely C1< (D1-D2) < C2, and D1< = D2, the abnormality of more than two groups of sensors is judged, the power supply of the robot is turned off, and the operation is stopped. When the difference between the inspection differences is between a preset first standard deviation C1 and a preset first standard deviation C2, i.e., C1< (D1-D2) < C2 and D1< = D2, the middle angle b is the first angle, and the large angle a is the second angle, it is determined that the first group of sensors and the second group of sensors are normal, and the third group of sensors are abnormal. When the large angle a is not the second angle and the large angle a is the third angle, the first group of sensors and the third group of sensors are judged to be normal, and the second group of sensors are judged to be abnormal.
When the angle b in the inspection is not the first angle, and the angle b in the inspection is the second angle, and the large angle a is the first angle, the first group of sensors and the second group of sensors are judged to be normal, and the third group of sensors are judged to be abnormal. When the large angle a is not the first angle and the large angle a is the third angle, the second group of sensors and the third group of sensors are judged to be normal, and the first group of sensors are judged to be abnormal. When the angle b in the inspection is not the second angle, the angle b in the reexamination is the third angle, and the large angle a is reexamined to be the first angle, the first group of sensors and the third group of sensors are judged to be normal, and the second group of sensors are judged to be abnormal. When the large angle a is not checked to be the first angle and the large angle a is checked to be the second angle, the second group of sensors and the third group of sensors can be judged to be normal, and the first group of sensors is judged to be abnormal.
When the difference between the checking difference is not less than the preset first standard deviation C1, the difference between the matching difference is checked to be between the preset first standard deviation C1 and the second standard deviation C2, namely C1< (D1-D2) < C2, and D1> D2, when the angle b in the checking is a first angle, and when the large angle a is a second angle, the first group of sensors and the third group of sensors are judged to be normal, and the second group of sensors are judged to be abnormal. When the large angle a is not checked to be the second angle and the large angle a is checked to be the third angle, the first group of sensors and the second group of sensors are judged to be normal, and the third group of sensors are judged to be abnormal. When the angle b is not the first angle in the inspection, and the angle b is the second angle in the inspection, and the large angle a is the first angle in the inspection, the second group of sensors and the third group of sensors are judged to be normal, and the first group of sensors are judged to be abnormal. When the large angle a is not the first angle and the large angle a is the third angle, the first group of sensors and the second group of sensors are judged to be normal, and the third group of sensors are judged to be abnormal.
When the angle b in the inspection is not the second angle, and the angle b in the inspection is the third angle, and the large angle a is the first angle, the second group of sensors and the third group of sensors are judged to be normal, and the first group of sensors are judged to be abnormal. When the large angle a is not the first angle and the large angle a is the second angle, the first group of sensors and the third group of sensors are judged to be normal, and the second group of sensors are judged to be abnormal.
The invention relates to a detection method of a robot sensor, which reads detection signals of three groups of sensors arranged at a motor side and a power output end, marks abnormal groups of sensors as abnormal when the detection operation detects that the three groups of sensors are abnormal, notifies maintenance, detects that a group of sensors are abnormal, and replaces the abnormal sensors in use by standby sensors when detecting that the sensors are used, so that the robot continues normal operation. And when the abnormal sensor is detected and is not the sensor in use, the robot is enabled to continue normal operation. When more than two sensors are detected to be abnormal, the power supply of the robot is directly turned off, and the robot stops operating. When the three groups of sensors are normal during detection operation, two groups of normal sensors arranged on the motor side and the power output end are selected in advance, and one group of sensors is used as a standby sensor, so that the robot continues to operate normally.
Drawings
FIG. 1 is a functional block diagram of a robot inspection system according to the present invention.
FIG. 2 is a flow chart of the detecting operation of the detecting unit of the present invention.
FIG. 3 is a flow chart of the branch of the inspection operation A according to the present invention.
FIG. 4 is a flow chart of branch B of the detection operation of the present invention.
Fig. 5 is a flowchart of a detection method of the robot sensor of the present invention.
Detailed Description
To achieve the above objects, the present invention provides a preferred embodiment of the present invention, which is described below with reference to the accompanying drawings.
Fig. 1 is a schematic functional block diagram of a robot detection system according to the present invention. In fig. 1, in a detection system 1 according to the present invention, a first group of sensors S1 is provided on a motor 3 side of a robot driving module 2, and detects a rotation state of the motor 3 to generate a first detection signal. And another second group of sensors S2 is arranged on the power output end of the hollow motor 3 which is penetrated by the transmission shaft 5 through the speed reducing mechanism 4 by the power of the motor 3 so as to detect the rotation state of the power output end and generate a second detection signal. Although the third group of sensors S3 of the detecting system 1 is illustrated as being disposed on the motor 3 side to generate the third detecting signal in the embodiment, the third group of sensors S3 includes but is not limited to being disposed on the motor 3 side, the third group of sensors S3 can also be disposed on the motor 3 side or the power output end, and the third group of sensors S3 can be determined to have a similar rotation relationship with the first group of sensors S1 or the second group of sensors S2 by the transmission relationship regardless of the position selected.
The detection system 1 of the present invention further comprises a control system 6, the control system 6 is provided with a detection unit 7, wherein the detection unit 7 receives detection signals of the first group of sensors S1, the second group of sensors S2 and the third group of sensors S3 to detect the operation states of the three groups of sensors, so as to determine whether the three groups of sensors are normal or abnormal. When the detection unit 7 detects that the three groups of sensors are in normal operation, two groups of normal sensors are selected for use, and the remaining group of normal sensors is used as a standby sensor. The control system 6 further comprises a calculating unit 8 and a checking unit 9, wherein the calculating unit 8 receives the detection signals of the two normal sensors selected by the detecting unit 7 for the dual-loop correct calculation of the safety functions of the robot, such as speed, moving distance and rotation range. The calculation unit 8 transmits the calculated value of the safety function to the inspection unit 9, the inspection unit compares the calculated value with the preset value, and when the calculated value of the safety function exceeds the preset value, the control system 6 is informed to start safety protection setting so as to avoid collision damage of the robot and maintain the safety of peripheral operators.
When the robot uses two groups of normal sensors to maintain the safe operation of the double loops, when the detection unit 7 detects that any one of the two groups of normal sensors is abnormal, the standby sensor is immediately used for replacing the two groups of normal sensors, so that the robot can continuously maintain the safe and normal operation of the double loops, the control system 6 sends and displays the abnormal sensor notification, the shutdown is not needed, and after the operation is finished, the shutdown is carried out to directly maintain the abnormal sensors, thereby avoiding the influence on the production efficiency.
Referring to fig. 2, fig. 3 and fig. 4, fig. 2 is a flowchart of a detection operation of the detection method of the present invention, fig. 3 is a flowchart of a branch of the detection operation a of the present invention, and fig. 4 is a flowchart of a branch of the detection operation B of the present invention. In FIG. 2, the detailed steps of the detection process of the robot sensor detection method according to the present invention are described as step T101, in which the detection unit starts the detection process; in step T102, three sets of detection signals received from the first set of sensors S1 and the third set of sensors S3 on the motor side and the second set of sensors S2 on the power output side are read; step T103, converting the three groups of detection signals into a first angle P1, a second angle P2 and a third angle P3 of the rotating motor respectively; step T104, arranging the first angle P1, the second angle P2 and the third angle P3 into a large angle a, a medium angle b and a small angle c according to the angle.
Then, step T105 is performed to calculate the angular difference D1= a-b and the angular difference D2= b-c; in step T106, it is checked that the difference between the differences is smaller than a preset first standard deviation C1 (Criterion), i.e. (D1-D2) < C1? When the difference between the differences is smaller than the preset first standard deviation C1, step T107 is performed, and the detected first group of sensors S1, second group of sensors S2, and third group of sensors S3 are all normal. When the difference between the differences is not less than the preset first standard deviation C1, step T108 is performed, and then the difference between the differences is checked to be between the preset first standard deviation C1 and the preset second standard deviation C2, i.e. C1< (D1-D2) < C2, and D1> D2? If the check is not in accordance, the flow enters the branch A flow, and if the check is in accordance, the flow enters the branch B flow.
In fig. 3, entering the branch a flow of the detection operation of the detection unit of the present invention, in step T201, it is checked that the difference between the differences is between the preset first standard deviation C1 and the first standard deviation C2, i.e. C1< (D1-D2) < C2, and D1< = D2? If the inspection is not met, the process proceeds to step T202, where it is determined that at least two sets of sensors are abnormal, and then proceeds to step T203, where the robot power is turned off and stops operating. When the check at step T201 is in agreement, step T204 is entered, and the angle b is the first angle P1? When the middle angle b is the first angle P1, the procedure proceeds to step T205, and then the large angle a is checked to be the second angle P2? When the large angle a is checked to be the second angle P2, the process proceeds to step T206, the first group sensor S1 and the second group sensor S2 can be determined to be normal, and then the process proceeds to step T207, and the third group sensor S3 can be determined to be abnormal. When the step T205 checks that the large angle a is not the second angle P2, then the step T208 is proceeded to check that the large angle a is the third angle P3? When the large angle a is checked to be the third angle P3, the process proceeds to step T209, the first sensor group S1 and the third sensor group S3 can be determined to be normal, and then the process proceeds to step T210, and the second sensor group S2 can be determined to be abnormal.
Returning to step T204, when the under-inspection angle b is not the first angle P1, step T211 is entered, and the under-inspection angle b is the second angle P2? When the middle angle b is checked as the second angle P2, the large angle a is checked as the first angle P1 at step T212? When the large angle a is detected as the first angle P1, the process proceeds to step T213, where the first group of sensors S1 and the second group of sensors S2 are determined to be normal, and then the process proceeds to step T214, where the third group of sensors S3 is determined to be abnormal. When the step T212 checks that the large angle a is not the first angle P1, the step T215 is entered, and then the large angle a is checked as the third angle P3? When the large angle a is checked to be the third angle P3, the process proceeds to step T216, the second sensor S2 and the third sensor S3 are determined to be normal, and then the process proceeds to step T217, and the first sensor S1 is determined to be abnormal.
Returning to step T211, when the under-inspection angle b is not the second angle P2, step T218 is entered, and is the under-inspection angle b the third angle P3? When the middle angle b is checked as the third angle P3, the large angle a is checked as the first angle P1 again in step T219? When the large angle a is detected as the first angle P1, the process proceeds to step T220, where the first sensor S1 and the third sensor S3 are determined to be normal, and then the process proceeds to step T221, where the second sensor S2 is determined to be abnormal. When the large angle a is not the first angle P1 in the step T219, the process proceeds to the step T222, and then the large angle a is checked to be the second angle P2? When the large angle a is checked to be the second angle P2, the process proceeds to step T223, the second group sensor S2 and the third group sensor S3 can be determined to be normal, and then the process proceeds to step T224, and the first group sensor S1 can be determined to be abnormal.
In fig. 4, entering the B branch flow of the detection operation of the detection unit of the present invention, in step T301, the checking angle B is the first angle P1? When the middle angle b is the first angle P1, the procedure proceeds to step T302, and then the large angle a is checked to be the second angle P2? When the large angle a is checked to be the second angle P2, the process proceeds to step T303, the first group sensor S1 and the third group sensor S3 are determined to be normal, and then the process proceeds to step T304, and the second group sensor S2 is determined to be abnormal. When the step T302 checks that the large angle a is not the second angle P2, then the step T305 is proceeded to check that the large angle a is the third angle P3? When the large angle a is the third angle P3, the process proceeds to step T306, the first group sensor S1 and the second group sensor S2 are determined to be normal, and then the process proceeds to step T307, and the third group sensor S3 is determined to be abnormal.
Returning to step T301, when the under-inspection angle b is not the first angle P1, step T308 is entered, and the under-inspection angle b is the second angle P2? When the middle angle b is checked as the second angle P2, the large angle a is checked as the first angle P1 again in step T309? When the large angle a is detected as the first angle P1, the process proceeds to step T310, where the second and third sets of sensors S2 and S3 are determined to be normal, and then the process proceeds to step T311, where the first set of sensors S1 is determined to be abnormal. When the large angle a is not the first angle P1 in step T309, step T312 is entered, and then the large angle a is checked to be the third angle P3? When the large angle a is checked to be the third angle P3, the process proceeds to step T313, the first group sensor S1 and the second group sensor S2 can be determined to be normal, and then the process proceeds to step T314, and the third group sensor S3 can be determined to be abnormal.
Returning to step T308, when the angle b under examination is not the second angle P2, then step T315 is entered, and is the angle b under examination the third angle P3? When the middle angle b is checked as the third angle P3, the large angle a is checked as the first angle P1 at step T316? When the large angle a is detected as the first angle P1, the process proceeds to step T317, where the second and third sets of sensors S2 and S3 are determined to be normal, and then to step T318, where the first set of sensors S1 is determined to be abnormal. When the step T316 checks that the large angle a is not the first angle P1, the step T319 is entered, and then the large angle a is checked to be the second angle P2? When the large angle a is detected as the second angle P2, the process proceeds to step T320, where the first sensor S1 and the third sensor S3 are determined to be normal, and then the process proceeds to step T321, where the second sensor S2 is determined to be abnormal.
Fig. 5 is a flowchart of a detection method of the robot sensor according to the present invention. P1, the invention begins the detection operation of the sensor of the robot, read the detection signal of three groups of sensors set up in motor side and power take-off; step P2, utilizing a detection unit to carry out detection operation; step P3, detect whether all three groups of sensors are normal? When three groups of sensors are detected to be normal, the operation goes to step P4, two groups of normal sensors arranged on the motor side and the power output end are normally preset and selected for use, one group of sensors is used as a standby, and the operation goes to step P5, so that the robot continues to operate normally. When more than two sensors are detected to be abnormal, the power supply of the robot is directly turned off, and the operation of the robot is stopped, so that the operation safety is ensured. When one group of sensors is detected to be abnormal, the other two groups of sensors are selected to be used normally, the robot is enabled to continue to operate without stopping, and any group of sensors is marked to be wrong.
When the three groups of sensors are detected to be abnormal in the step P3, entering a step P6, marking the abnormal group of sensors to be abnormal, and informing maintenance; step P7, detect if an anomaly is indicated for a group of sensors? When the sensor is not marked as abnormal, the process goes to step P8, because more than two groups of sensors are abnormal, only one group of sensors is normal, the safe double-loop operation cannot be maintained, the power supply of the robot needs to be turned off, and the operation of the robot is stopped; when step P7 detects an abnormality in a sensor group, step P9 is entered to check if is the sensor in use? And (3) when the sensor is not used, the step P5 is carried out to enable the robot to continue to operate normally, and when the sensor is used, the step P10 is carried out to replace the abnormal sensor in use by the standby sensor, and then the step P5 is carried out to enable the robot to continue to operate normally.
Therefore, the detection system and the method of the robot sensor can be used for detecting the normal or abnormal state of the three groups of sensors by arranging the three groups of sensors on the driving motor side and the power output end of the robot, selecting the two groups of normal sensors for use, maintaining the robot to continue normal and safe double-loop operation, and achieving the purposes of non-stop and improving the production efficiency. Meanwhile, the sensor for detecting abnormity is marked to be directly overhauled after shutdown, and the aim of increasing maintenance efficiency can be fulfilled. In addition, when the detection unit of the detection system detects that more than two groups of sensors are abnormal and can not maintain the safe operation of the double loops, the power supply is immediately turned off to stop the operation of the robot, thereby achieving the purpose of maintaining the operation safety of the robot.
The above description is only for the purpose of convenience of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited to the preferred embodiments, and any modifications made by the present invention shall fall within the scope of the claims of the present invention without departing from the spirit of the present invention.
[ description of symbols ]
1. Detection system
2. Driving module
3. Motor with a stator having a stator core
4. Speed reducing mechanism
5. Transmission shaft
6. Control system
7. Detection unit
8. Computing unit
9. Inspection unit
S1 first group of sensors
S2 second group of sensors
S3 third group of sensors
Claims (20)
1. A detection system for a robotic sensor, comprising:
the first group of sensors are arranged on the motor side of the robot, detect the rotation state of the motor and generate first detection signals;
the second group of sensors are arranged at the power output end of the motor, detect the rotation state of the power output end and generate second detection signals;
the third group of sensors can be selectively arranged on the motor side or the power output end, detect the rotation state of the motor or the power output end and generate a third detection signal;
the control system comprises a detection unit, wherein the detection unit receives a first group of detection signals, a second group of detection signals and a third group of detection signals, detects the normal or abnormal operation state of the three groups of sensors, selects two groups of normal sensors for use, and uses the rest group of sensors as standby sensors when the sensors in use are abnormal.
2. The system of claim 1, wherein when the three sets of sensors are detected to be abnormal, the control system issues and displays an abnormal sensor notification to perform maintenance.
3. A detection method of a robot sensor, comprising:
starting detection operation;
reading three groups of detection signals of a first group of sensors, a third group of sensors and a second group of sensors at a power output end on the motor side;
converting the three groups of detection signals into a first angle P1, a second angle P2 and a third angle P3 of the rotating motor respectively;
arranging a first angle P1, a second angle P2 and a third angle P3 according to the angle size to form a large angle a, a medium angle b and a small angle c;
calculating a difference D1= a-b and a difference D2= b-c of the angle;
checking that the difference between the differences is smaller than a preset first standard deviation C1, i.e. (D1-D2) < C1;
and judging that the first group of sensors, the second group of sensors and the third group of sensors are normal.
4. The method as claimed in claim 3, wherein if the difference between the inspection differences is not less than the predetermined first standard deviation C1, then the difference between the non-compliance differences is checked to be between the predetermined first standard deviation C1 and the second standard deviation C2, i.e. C1< (D1-D2) < C2, and if D1> D2, then the difference between the non-compliance differences is checked to be between the predetermined first standard deviation C1 and the first standard deviation C2, i.e. C1< (D1-D2) < C2, and if D1< = D2, then it is determined that more than two groups of sensors are abnormal, and the power supply of the robot is turned off, and the operation is stopped.
5. The method as claimed in claim 4, wherein the difference between the inspection differences is between a first standard deviation C1 and a first standard deviation C2, i.e. C1< (D1-D2) < C2, and D1< = D2, the middle angle b is the first angle P1, and the large angle a is the second angle P2, the first and second groups of sensors are determined to be normal, and the third group of sensors are determined to be abnormal.
6. The method as claimed in claim 5, wherein when the large angle a is not checked as the second angle P2 and then checked as the third angle P3, it is determined that the first and third groups of sensors are normal and the second group of sensors are abnormal.
7. The method as claimed in claim 5, wherein if the middle angle b is not the first angle P1, if the middle angle b is the second angle P2, and if the large angle a is the first angle P1, it is determined that the first and second groups of sensors are normal, and the third group of sensors are abnormal.
8. The method as claimed in claim 7, wherein the second and third groups of sensors are determined to be normal and the first group of sensors is determined to be abnormal when the large angle a is checked not to be the first angle P1 and then the large angle a is checked to be the third angle P3.
9. The method as claimed in claim 7, wherein the first and third groups of sensors are determined to be normal and the second group of sensors is determined to be abnormal when the middle angle b is not the second angle P2, the middle angle b is the third angle P3, and the large angle a is the first angle P1.
10. The method as claimed in claim 9, wherein the second and third groups of sensors are determined to be normal and the first group of sensors is determined to be abnormal by checking that the large angle a is not the first angle P1 and then checking that the large angle a is the second angle P2.
11. The method as claimed in claim 3, wherein if the difference between the checking differences is not less than a predetermined first standard deviation C1, then the difference between the checking matching differences is between a predetermined first standard deviation C1 and a predetermined second standard deviation C2, i.e. C1< (D1-D2) < C2, and D1> D2, if the checking angle b is a first angle P1, then the checking angle a is a second angle P2, then it is determined that the first group of sensors and the third group of sensors are normal, and the second group of sensors are abnormal.
12. The method as claimed in claim 11, wherein the first and second groups of sensors are determined to be normal and the third group of sensors is determined to be abnormal by checking that the large angle a is not the second angle P2 and checking that the large angle a is the third angle P3.
13. The method as claimed in claim 11, wherein when the angle b is not the first angle P1 during the inspection, and when the angle b is the second angle P2 during the inspection, and when the angle a is the first angle P1 during the inspection, the second and third groups of sensors are determined to be normal, and the first group of sensors is determined to be abnormal.
14. The method as claimed in claim 13, wherein the first and second groups of sensors are determined to be normal and the third group of sensors is determined to be abnormal by checking that the large angle a is not the first angle P1 and then checking that the large angle a is the third angle P3.
15. The method as claimed in claim 13, wherein if the middle angle b is not the second angle P2, if the middle angle b is the third angle P3, and if the large angle a is the first angle P1, it is determined that the second and third groups of sensors are normal and the first group of sensors is abnormal.
16. The method as claimed in claim 15, wherein when the large angle a is checked not to be the first angle P1 and then the large angle a is checked to be the second angle P2, it is determined that the first and third groups of sensors are normal and the second group of sensors are abnormal.
17. A detection method of a robot sensor, comprising:
reading detection signals of three groups of sensors arranged at the motor side and the power output end;
when the detection operation detects that the three groups of sensors are abnormal;
marking abnormal sensors to inform maintenance;
when the detected sensor is abnormal, the spare sensor is used to replace the abnormal sensor in use to make the robot continue to operate normally.
18. The method for detecting a robot sensor according to claim 17, wherein the robot continues to operate normally when the abnormality sensor is checked not to be an in-use sensor.
19. The method of claim 17, wherein when more than two sensors are detected to be abnormal, the power supply of the robot is directly turned off to stop the operation of the robot.
20. The method as claimed in claim 17, wherein when the three sets of sensors are normal during the detection operation, two sets of normal sensors are preset and selected, one set of normal sensors is used for the motor side and the power output side, and the other set of normal sensors is used as a backup for the normal operation of the robot.
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