CN110297471A - A kind of acquisition method and its acquisition device of industrial robot experimental data - Google Patents
A kind of acquisition method and its acquisition device of industrial robot experimental data Download PDFInfo
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Abstract
The present invention provides a kind of acquisition method of industrial robot experimental data, comprising the following steps: the first step obtains sensing data variable at a slow speed and obtains the data and algorithm data of bus sensors equipment collection；Second step, and whole sampled datas are assigned to sampled data item structural body object variable；Third step, the sampled data container that sampled data item structural body object variable is directed toward by write-in record FIFO pointer write-in；4th step realizes the acquisition and recording of algorithm data and period corresponding each sensor raw data in experimental test procedures.The present invention also provides the acquisition devices of industrial robot experimental data.Algorithm data and period corresponding each sensor raw data in the periodically effective completely acquisition and recording experimental test procedures of the present invention, facilitate technical staff to carry out the analysis of specific aim data and reduce the dependence to each sensor data acquisition analysis software, experiment testing cost can not only be greatly reduced, but also the efficiency of experimental test procedures can be effectively improved.
Description
Technical field
This method is related to industrial robot experiment the field of test technology, real more specifically to a kind of industrial robot
Test the acquisition method and its acquisition device of data.
Background technique
Currently, with the development that deepens continuously of robot kinematics and dynamics Controlling algorithmic technique, domestic leading firm
Industrial robot integrally control precision property effect and have and be obviously improved.Certainly, the complexity of algorithm design is also increasing, and needs
It undergoes continuously design verification to correct, redesigns perfect process.The performances evaluation of industrial robot control system
Core index relates generally to: repetitive positioning accuracy, track positioning accuracy, operational efficiency, vibration etc. refer to evaluate these performances
Mark, needs the experimental verification platform built based on multiple types sensor, passes through acquisition robot motion reflection to each sensor
On data analyzed, obtain corresponding evaluation conclusion.Robot experimental verification link is in entire industrial robot control
A very important process in system development cycle processed, the experimental verification period is even than robot control system software design
Period will also be grown.Therefore, a set of efficiently perfect assessment of performance experimental situation is established, design process can be fast and effeciently found out
It is middle to there is the factor for influencing performance.
Existing industrial robot control performance assessment system mainly by sensor have: laser tracker sextuple accelerates
Spend instrument, High-precision angle encoder, force snesor and vibration-detecting instrument etc..Industrial robot fixes the position according to sensor device
Demand is run according to particular track, and by sensor device independent acquisition related data, and bonding apparatus analysis software carries out data
Analysis, to obtain test result.User according to test result, then be voluntarily inferred to algorithm there may be the problem of source, taste
Examination modification repeats carry out correlation step.Certain sensors and its mating Data Analysis Software require again before testing each time
It is set, causes experiment testing efficiency not high.In addition, the matched Data Analysis Software price of certain sensor devices is higher,
The cost of experiment test is increased indirectly.
Since kinematics in robot control system and algorithm of robot dynamics period are Millisecond, and pass through sensor device number
According to some the process optimizations of the sensor raw data of software collection, therefore, only it is difficult quickly to ask with algorithm by the result of software
The corresponding positioning of topic point, adds somewhat to the difficulty of technical staff's discriminance analysis.
Method content
First of this method aims to overcome that shortcoming and deficiency in the prior art, and it is real to provide a kind of industrial robot
The acquisition method of data is tested, algorithm data and week in the periodically effective completely acquisition and recording experimental test procedures of the acquisition method
Phase corresponding each sensor raw data facilitates technical staff and carries out the analysis of specific aim data and reduce to each sensor
Experiment testing cost can be not only greatly reduced in the dependence of data collection and analysis software, but also can effectively improve experiment and test
The efficiency of journey.
Second object of the present invention is to provide a kind of acquisition device of industrial robot experimental data.
In order to achieve the above object, this method is achieved by following technical proposals: a kind of industrial robot experiment number
According to acquisition method, it is characterised in that: the following steps are included:
The first step, using non real-time transaction thread by communication protocol level of abstraction function interface to slow sensors equipment collection
Data acquisition is carried out, to obtain sensing data variable at a slow speed；Using EtherCAT bus Real-time Transaction thread cycle to
The bus sensors equipment collection of bus protocol carry carries out data acquisition, to obtain the data and algorithm of bus sensors equipment collection
Data；
Second step is the experiment sampling period with the collection period of EtherCAT bus Real-time Transaction thread, calculates experiment
It is corresponding at a slow speed to read the experiment sampling period from the slow sensors equipment collection data variable for sampling period corresponding timestamp
The sampled data of sensor device collection equipment, and read the use number of experiment sampling period corresponding bus sensors equipment collection
Sampled data item structural body object variable is assigned to according to the sampled data with algorithm, and by whole sampled datas；
The sampled data item structural body object variable is passed through write-in by third step, EtherCAT bus Real-time Transaction thread
The sampled data container that the write-in of FIFO pointer is directed toward is recorded, and updates the counting member in the sampled data container；
4th step is provided with the sampled data structure of container body of sampled data container with the change of sampled data item structural body object
Amount is used as data record row unit, and using the data member in the sampled data item structural body object variable as data record
The acquisition and recording of algorithm data and period corresponding each sensor raw data in experimental test procedures is realized in list position.
In the first step, the non real-time transaction thread cycle poll reads record FIFO pointer and is directed toward sampled data appearance
Counting member in device:, will using character formatting conversion module if sampled data is full in the sampled data container
Record file is written at corresponding character string in sampled data numerical value conversion, to guarantee that sampled data container has enough cachings
To sampled data item structural body object variable by write-in record FIFO pointer write-in, avoid real-time to the EtherCAT bus
The influence of affairs thread scheduling real-time periodic；Meanwhile completing the redirection switching for reading record FIFO pointer.
Slow sensors equipment collection is counted by communication protocol level of abstraction function interface using non real-time transaction thread
The meter that record FIFO pointer is directed toward in sampled data container is read according to acquisition, and by non real-time transaction thread cycle poll
Number member, comprising the following steps:
Step 1, non real-time transaction thread enter beginning state, execute initialization communication protocol level of abstraction and check sampling
The ready step of data capsule, establishes data sampling running environment；
Step 2 carries out judgement circulation to the data acquisition of slow sensors equipment collection: if not meeting data acquisition
Condition then continues to execute and carries out judgement circulation to the data acquisition of slow sensors equipment collection；Otherwise step 3 is executed；
Step 3 sends the acquisition request of slow sensors equipment collection, prepares the original number for obtaining slow sensors equipment collection
According to, and enter the judgement whether replied: if without slow sensors equipment collection response, return step two；Otherwise to data
Frame receives and verification, and carries out step 4；
Step 4 effectively judges data acquisition: if invalid, return step two；Otherwise, write-in is executed at a slow speed
Sensing data variable, and sensing data variable will keep at a slow speed, complete the data acquisition of slow sensors equipment collection；
Whether step 5 has completely judged sampled data container: if sampled data container is less than, return step
Two, continue the data sampling operation in next period；If sampled data container has been expired, sampled data is carried out character formatting
Conversion, and record file is written and is saved, carry out step 6；
Step 6 is judged and is switched to the sampled data container for reading record FIFO pointer direction: being remembered if read
Recording the sampled data container that FIFO pointer is directed toward is sampled data container 1, then executes reading record FIFO pointer to sampled data
The redirection operation for reading record FIFO pointer is completed in the operation of container 2；If reading record FIFO pointer is directed toward sampled data
Container is sampled data container 2, then executes and read the operation that record FIFO pointer is directed toward sampled data container 1, completes to read note
Record the redirection operation of FIFO pointer；
Step 7 terminates to judge: if thread is not over, return to whether non real-time transaction thread enters thread
Step 2 is returned, the data sampling operation in next period is continued；If thread terminates, step 8 is carried out；
Whether step 8 has sampled data to judge in sampled data container: if having sampling in sampled data container
Sampled data is then carried out character formatting conversion by data, and write-in record file is saved, and enters end state, is completed
Thread Termination exits operation；Otherwise, it is done directly Thread Termination and exits operation.
In the third step, when sampled data item structural body object variable is adopted by what write-in record FIFO pointer write-in was directed toward
When sample data capsule, judge whether sampled data container has expired state, and completes resetting for write-in record FIFO pointer
To switching.
The data and algorithm data of bus sensors equipment collection are obtained by EtherCAT bus Real-time Transaction thread, and will
Whole sampled datas are assigned to whether sampled data item structural body object variable and third step have expired shape to sampled data container
State judged the following steps are included:
S1:EtherCAT bus Real-time Transaction thread enters beginning state, executes the bus of initialization bus agreement carry
Sensor device collection checks the ready step of sampled data container；
S2: judgement circulation is carried out to data acquisition: if not meeting data acquisition conditions, continuing to execute and data is adopted
Collection carries out judgement circulation；Otherwise S3 is executed；
S3:, which reading the acquisition data of the bus sensors equipment collection of bus protocol carry, and reads sensing data at a slow speed becomes
Amount, obtains the original sampling data of all devices in the sampling period bus, and whole sampled datas are assigned to sampled data
Item structural body object variable, completes the sampled data tissue in a sampling period；
S4: sampled data item structural body object variable is held by the sampled data that write-in record FIFO pointer write-in is directed toward
Device completes the caching write-in of sampled data；
S5: sampled data container current state is judged: if sampled data container is less than, returns to S2, continued
The data sampling in next period operates；If sampled data container has been expired, S6 is carried out；
S6: the sampled data container that write-in record FIFO pointer is directed toward is judged and is switched: if write-in records
It is sampled data container 1 that FIFO pointer, which is directed toward sampling container, then executes write-in record FIFO pointer and be directed toward sampled data container 2
The redirection operation of write-in record FIFO pointer is completed in operation；If it is sampling that write-in record FIFO pointer, which is directed toward sampling container,
Data capsule 2 then executes the operation that write-in record FIFO pointer is directed toward sampled data container 1, completes write-in record FIFO pointer
Redirection operation；
S7: terminate to judge to whether EtherCAT Real-time Transaction thread enters thread: if thread is not over,
S2 is returned, the data sampling operation in next period is continued；If thread terminates, completes Thread Termination and exit operation.
A kind of acquisition device of industrial robot experimental data, it is characterised in that: include:
Non real-time transaction thread, for being counted by communication protocol level of abstraction function interface to slow sensors equipment collection
According to acquisition, to obtain sensing data variable at a slow speed；
EtherCAT bus Real-time Transaction thread, for periodically to the bus sensors equipment in bus protocol carry
Collection carries out data acquisition, to obtain the data and algorithm data of bus sensors equipment collection；
And data collector；The data collector defines a kind of sampled data item structural body, and with the hits
A kind of sampled data structure of container body is defined based on data type according to item structural body, and with the sampled data container knot
The type definition of the structure body object entity of sampled data container 1 and sampled data container 2；The data collector is also defined and is write
Enter to record FIFO pointer and reads record FIFO pointer；
The EtherCAT bus Real-time Transaction thread is by the data of sensing data variable at a slow speed, bus sensors equipment collection
Sampled data item structural body object variable, and the sampling being directed toward by write-in record FIFO pointer write-in are assigned to algorithm data
Data capsule 1 or sampled data container 2；
Sampled data structure of container body is using sampled data item structural body object variable as data record row unit, and with institute
The data member in sampled data item structural body object variable is stated as data record list position, realizes and is calculated in experimental test procedures
The acquisition and recording of method data and period corresponding each sensor raw data.
The type of the sampled data item structural body contains the data content member for needing to record in a sampling period,
The data content member includes: timestamp, algorithm data output, servo-system, I/O equipment and sensor raw data.
The type of the sampled data structure of container body other than the type of sampled data item structural body is as data member,
Also include a capacity usage count member, is used to indicate sampled data container 1 or sampled data container 2 is current occupied
Quantity；
The type definition of the sampled data structure of container body object entity of sampled data container 1 and sampled data container 2
As number storage basis；The definition write-in record FIFO pointer and reading record FIFO pointer are in the sampled data container 1
Sampled data storage switching is realized between sampled data container 2；
It further include the character formatting conversion module that can convert sampled data numerical value to string data.
The non real-time transaction thread establishes number by communication protocol level of abstraction function interface and slow sensors equipment collection
According to acquisition interface channel, slow sensors equipment collection reply data is parsed, sensing data variable at a slow speed is written；
The communication protocol level of abstraction function interface supports compatible slow sensors equipment is concentrated to be based on TCP/IP, Modbus
With the sensor device of RS232 type data communication transmission.
The bus sense of institute's carry is obtained to the EtherCAT bus Real-time Transaction thread cycle from bus protocol
The corresponding original sampling data of device equipment collection；The bus sensors equipment collection includes: typical servo equipment, I/O equipment, and
The fast response transducer equipment extended by bus coupler.
The present invention can test robot control software's algorithm data and experiment carried sensor device initial data week
Phase property synchronous acquisition is corresponding, facilitates technical staff and fast implements the analysis of specific aim data, find out influences algorithm performance as early as possible
Key factor improves the efficiency of algorithm consummation；On the other hand, it by the acquisition to sensor device initial data, reduces to biography
The dependence of sensor device manufacturer's Data Analysis Software.Therefore, user passes through the various aspects original number in acquisition experimental test procedures
According to and quickly analyze, can effectively improve experimental test procedures efficiency and reduce experiment testing cost.
Compared with prior art, this method have the following advantages that with the utility model has the advantages that
1, the acquisition method of industrial robot experimental data of the present invention periodically effectively completely acquisition and recording experiment test
Algorithm data and period corresponding each sensor raw data in the process, facilitate technical staff carry out the analysis of specific aim data with
And reduce the dependence that software is analyzed each sensor data acquisition, experiment testing cost can not only be greatly reduced, but also can
Effectively improve the efficiency of experimental test procedures.
2, the present invention is by can flexibly increase and decrease respective sensor to sampled data item structural body dynamic increase and decrease data member
Data acquire content item.Using write-in record FIFO pointer and record FIFO pointer is read in sampled data container 1 and sampling
It is seamless between data capsule 2 to be alternately directed toward switching, realize that sampled data being capable of completely continuous no write de-lay and reading.
3, character formatting conversion module can efficiently convert string data for sampled data numerical value, be conducive to quick
Write-in record file.
Detailed description of the invention
Fig. 1 is the schematic diagram of industrial robot experimental data acquisition method of the present invention；
Fig. 2 is the non real-time transaction thread flow figure of industrial robot experimental data acquisition method of the present invention；
Fig. 3 is the EtherCAT bus Real-time Transaction thread flow of industrial robot experimental data acquisition method of the present invention
Figure.
Specific embodiment
This method is described in further detail with specific embodiment with reference to the accompanying drawing.
Embodiment
As shown in Figure 1 to Figure 3, a kind of acquisition device of industrial robot experimental data, it is characterised in that: include:
Non real-time transaction thread 120, for passing through communication protocol level of abstraction function interface 121 to slow sensors equipment collection
122 carry out data acquisition, to obtain sensing data variable 123 at a slow speed；
EtherCAT bus Real-time Transaction thread 130, for periodically to the bus sensors in bus protocol carry
Equipment collection 131 carries out data acquisition, to obtain the data and algorithm data of bus sensors equipment collection 131；
And data collector 110, the data collector 110 define a kind of sampled data item structural body 111, and with sampling
A kind of sampled data structure of container body 112 is defined based on the data type of data item structural body 111, and is held with sampled data
The type definition of device structural body 112 object entity of sampled data container 1 113 and sampled data container 2 114, data are adopted
Storage 110 also defines write-in record FIFO pointer 115 and reads record FIFO pointer 116.
Wherein, EtherCAT bus Real-time Transaction thread 130 will sensing data variable 123, bus sensors equipment at a slow speed
The data and algorithm data of collection 131 are assigned to sampled data item structural body object variable 132, and pass through write-in record FIFO pointer
The sampled data container 1 113 or sampled data container 2 114 that 115 write-ins are directed toward.Sampled data structure of container body of the invention
112 using sampled data item structural body object variable 132 as data record row unit, and with the change of sampled data item structural body object
Data member in amount 132 realizes that algorithm data and period are corresponding each in experimental test procedures as data record list position
The acquisition and recording of sensor raw data.
The type of sampled data item structural body 111 of the invention contains in the data for needing to record in a sampling period
Rongcheng person, data content member include: timestamp, algorithm data output, servo-system, I/O equipment and sensor original number
According to.And the type of sampled data structure of container body 112 is other than the type of sampled data item structural body 111 is as data member,
Also include a capacity usage count member, is used to indicate sampled data container 1 113 or sampled data container 2 114 is current
Occupied quantity.The type definition of sampled data structure of container body 112 sampled data container 1 113 and sampled data container
2 114 object entity stores basis as number, and definition write-in, which records FIFO pointer 115 and reads record FIFO pointer 116, to exist
Sampled data storage switching is realized between sampled data container 1 113 and sampled data container 2 114.The invention also includes can
Convert sampled data numerical value to the character formatting conversion module 124 of string data, character formatting conversion module 124 will
String data write-in record file 125 after conversion.
Non real-time transaction thread 120 of the present invention passes through communication protocol level of abstraction function interface 121 and slow sensors equipment
Collection 122 establishes data acquisition interface channel, parses to 122 reply data of slow sensors equipment collection, sensing data at a slow speed is written
Variable 123.Communication protocol level of abstraction function interface 121 support in compatible slow sensors equipment collection 122 based on TCP/IP,
The sensor device of Modbus and RS232 type data communication transmission.
EtherCAT bus Real-time Transaction thread 130 of the present invention periodically obtains the bus of institute's carry from bus protocol
The corresponding original sampling data of sensor device collection 131, which includes: typical servo equipment, I/O
Equipment, and the fast response transducer equipment extended by bus coupler.
A kind of acquisition method of industrial robot experimental data of the present invention the following steps are included:
The first step, using non real-time transaction thread 120 by communication protocol level of abstraction function interface 121 to slow sensors
Equipment collection 122 carries out data acquisition, to obtain sensing data variable 123 at a slow speed；Using EtherCAT bus Real-time Transaction thread
130 periodically carry out data acquisition to the bus sensors equipment collection 131 in bus protocol carry, to obtain bus sensors
The data and algorithm data of equipment collection 131；
Second step is the experiment sampling period with the collection period of EtherCAT bus Real-time Transaction thread 130, calculates reality
Sampling period corresponding timestamp is tested, it is corresponding slow to read the experiment sampling period from slow sensors equipment collection data variable 123
The sampled data of fast sensor device collection equipment 122, and read experiment sampling period corresponding bus sensors equipment collection 131
The sampled data using data and algorithm, and whole sampled datas are assigned to sampled data item structural body object variable 132；
Third step, EtherCAT bus Real-time Transaction thread 130 is by sampled data item structural body object variable 132 by writing
Enter to record the sampled data container that the write-in of FIFO pointer 115 is directed toward, and updates the counting member in sampled data container；
4th step is provided with the sampled data structure of container body 112 of sampled data container with sampled data item structural body pair
As the conduct data record row unit of variable 132, and made with the data member in the sampled data item structural body object variable 132
For data record list position, the acquisition of algorithm data and period corresponding each sensor raw data in experimental test procedures is realized
Record.
In the first step, the periodical poll of non real-time transaction thread 120 reads record FIFO pointer 116 and is directed toward sampled data
Counting member in container: if sampled data is full in the sampled data container, character formatting conversion module is utilized
124 by sampled data numerical value conversion at corresponding character string, and be written record file 125, to guarantee that sampled data container has foot
Enough cachings are written to sampled data item structural body object variable 132 by write-in record FIFO pointer 115, are avoided pair
The influence of 130 scheduling real-time periodic of EtherCAT bus Real-time Transaction thread；Meanwhile completing to read the weight of record FIFO pointer 116
Orientation switching.
Using non real-time transaction thread 120 by communication protocol level of abstraction function interface 121 to slow sensors equipment collection
122 carry out data acquisition, and read the record direction of FIFO pointer 116 by the periodical poll of non real-time transaction thread 120 and adopt
Counting member in sample data capsule, comprising the following steps:
Step 1, non real-time transaction thread 120 enter beginning state, execute initialization communication protocol level of abstraction and inspection is adopted
The ready step of sample data capsule, establishes data sampling running environment；
Step 2 carries out judgement circulation to the data acquisition of slow sensors equipment collection 122: adopting if not meeting data
Collection condition then continues to execute and carries out judgement circulation to the data acquisition of slow sensors equipment collection 122；Otherwise step 3 is executed；
Step 3 sends the acquisition request of slow sensors equipment collection 122, prepares to obtain slow sensors equipment collection 122
Initial data, and enter the judgement whether replied: if without 122 response of slow sensors equipment collection, return step two；It is no
Then to data frame receipt and verification, and carry out step 4；
Step 4 effectively judges data acquisition: if invalid, return step two；Otherwise, write-in is executed at a slow speed
Sensing data variable 123, and sensing data variable 123 will keep at a slow speed, the data for completing slow sensors equipment collection 122 are adopted
Collection；
Whether step 5 has completely judged sampled data container: if sampled data container is less than, return step
Two, continue the data sampling operation in next period；If sampled data container has been expired, sampled data is carried out character formatting
Conversion, and record file is written and is saved, carry out step 6；
Step 6 is judged and is switched to the sampled data container for reading the record direction of FIFO pointer 116: if read
Record FIFO pointer 116 be directed toward sampled data container be sampled data container 1 113, then execute reading record FIFO pointer to
The redirection operation for reading record FIFO pointer 116 is completed in the operation of sampled data container 2 114；If reading record FIFO
It is sampled data container 2 114 that pointer 116, which is directed toward sampled data container, then executes reading record FIFO pointer 116 and be directed toward sampling
The redirection operation for reading record FIFO pointer 116 is completed in the operation of data capsule 1 113；
Step 7 terminates to judge to whether non real-time transaction thread 120 enters thread: if thread is not over,
Then return step two continue the data sampling operation in next period；If thread terminates, step 8 is carried out；
Whether step 8 has sampled data to judge in sampled data container: if having sampling in sampled data container
Sampled data is then carried out character formatting conversion by data, and write-in record file is saved, and enters end state, is completed
Thread Termination exits operation；Otherwise, it is done directly Thread Termination and exits operation.
The present invention records FIFO pointer 115 in the third step, when sampled data item structural body object variable 132 passes through write-in
When the sampled data container being directed toward is written, judge whether sampled data container has expired state, and completes write-in record
The redirection of FIFO pointer 115 switches.
The present invention by EtherCAT bus Real-time Transaction thread 130 obtain bus sensors equipment collection 131 data and
Algorithm data, and whole sampled datas are assigned to sampled data item structural body object variable 132 and third step to hits
According to container whether expired state judged the following steps are included:
S1:EtherCAT bus Real-time Transaction thread 130 enters beginning state, executes the total of initialization bus agreement carry
Line sensor device collection 131 checks the ready step of sampled data container；
S2: judgement circulation is carried out to data acquisition: if not meeting data acquisition conditions, continuing to execute and data is adopted
Collection carries out judgement circulation；Otherwise S3 is executed；
S3: reading the acquisition data of the bus sensors equipment collection 131 of bus protocol carry and reads sensing data at a slow speed
Variable 123 obtains the original sampling data of all devices in the sampling period bus, and whole sampled datas is assigned to sampling
Data item structural body object variable 132 completes the sampled data tissue in a sampling period；
S4: the hits that sampled data item structural body object variable 132 is directed toward by the write-in record write-in of FIFO pointer 115
According to container, the caching write-in of sampled data is completed；
S5: sampled data container current state is judged: if sampled data container is less than, returns to S2, continued
The data sampling in next period operates；If sampled data container has been expired, S6 is carried out；
S6: the sampled data container that write-in record FIFO pointer 115 is directed toward is judged and is switched: if write-in records
It is sampled data container 1 113 that FIFO pointer 115, which is directed toward sampling container, then executes write-in record FIFO pointer 115 and be directed toward sampling
The redirection operation of write-in record FIFO pointer 115 is completed in the operation of data capsule 2 114；If write-in record FIFO pointer
115 direction sampling containers are sampled data containers 2 114, then execute write-in record FIFO pointer 115 and be directed toward sampled data container 1
The redirection operation of write-in record FIFO pointer 115 is completed in 113 operation；
S7: terminate to judge to whether EtherCAT Real-time Transaction thread 130 enters thread: if thread is not tied
Beam then returns to S2, continues the data sampling operation in next period；If thread terminates, completes Thread Termination and exit operation.
Above-described embodiment is the preferable embodiment of this method, but the embodiment of this method is not by above-described embodiment
It limits, made changes, modifications, substitutions, combinations, simplifications under other any spiritual essence and principles without departing from this method,
It should be equivalent substitute mode, be included within the protection scope of this method.
Claims (10)
1. a kind of acquisition method of industrial robot experimental data, it is characterised in that: the following steps are included:
The first step carries out slow sensors equipment collection by communication protocol level of abstraction function interface using non real-time transaction thread
Data acquisition, to obtain sensing data variable at a slow speed；Using EtherCAT bus Real-time Transaction thread cycle in bus
The bus sensors equipment collection of agreement carry carries out data acquisition, to obtain the data and algorithm number of bus sensors equipment collection
According to；
Second step is the experiment sampling period with the collection period of EtherCAT bus Real-time Transaction thread, calculates experiment sampling
Period corresponding timestamp reads the experiment sampling period from the slow sensors equipment collection data variable and corresponding senses at a slow speed
The sampled data of device equipment collection equipment, and read use the data of experiment sampling period corresponding bus sensors equipment collection with
The sampled data of algorithm, and whole sampled datas are assigned to sampled data item structural body object variable；
The sampled data item structural body object variable is passed through write-in record by third step, EtherCAT bus Real-time Transaction thread
The sampled data container that the write-in of FIFO pointer is directed toward, and update the counting member in the sampled data container；
4th step is provided with the sampled data structure of container body of sampled data container with sampled data item structural body object variable work
For data record row unit, and using the data member in the sampled data item structural body object variable as data record list
The acquisition and recording of algorithm data and period corresponding each sensor raw data in experimental test procedures is realized in position.
2. the acquisition method of industrial robot experimental data according to claim 1, it is characterised in that: in the first step,
The non real-time transaction thread cycle poll reads the counting member that record FIFO pointer is directed toward in sampled data container: if
It is when sampled data is full in the sampled data container, then using character formatting conversion module that sampled data numerical value conversion is pairs of
The character string answered, and record file is written, to guarantee that sampled data container has enough cachings to give sampled data item structural body pair
It is written, is avoided to the EtherCAT bus Real-time Transaction thread scheduling real-time periodic as variable records FIFO pointer by write-in
It influences；Meanwhile completing the redirection switching for reading record FIFO pointer.
3. the acquisition method of industrial robot experimental data according to claim 2, it is characterised in that: use non real-time thing
Business thread carries out data acquisition to slow sensors equipment collection by communication protocol level of abstraction function interface, and by non real-time
Affairs thread cycle poll reads the counting member that record FIFO pointer is directed toward in sampled data container, comprising the following steps:
Step 1, non real-time transaction thread enter beginning state, execute initialization communication protocol level of abstraction and check sampled data
The ready step of container, establishes data sampling running environment；
Step 2 carries out judgement circulation to the data acquisition of slow sensors equipment collection: if not meeting data acquisition conditions,
It then continues to execute and judgement circulation is carried out to the data acquisition of slow sensors equipment collection；Otherwise step 3 is executed；
Step 3 sends the acquisition request of slow sensors equipment collection, prepares the initial data for obtaining slow sensors equipment collection, and
Into the judgement whether replied: if without slow sensors equipment collection response, return step two；Otherwise to data frame receipt
With verification, and step 4 is carried out；
Step 4 effectively judges data acquisition: if invalid, return step two；Otherwise, write-in is executed to sense at a slow speed
Data variable, and sensing data variable will keep at a slow speed, complete the data acquisition of slow sensors equipment collection；
Whether step 5 has completely judged sampled data container: if sampled data container is less than, return step two,
Continue the data sampling operation in next period；If sampled data container has been expired, character formatting turn is carried out to sampled data
It changes, and record file is written and is saved, carry out step 6；
Step 6 is judged and is switched to the sampled data container for reading record FIFO pointer direction: being recorded if read
The sampled data container that FIFO pointer is directed toward is sampled data container 1, then executes reading record FIFO pointer and hold to sampled data
The redirection operation for reading record FIFO pointer is completed in the operation of device 2；Hold if reading record FIFO pointer and being directed toward sampled data
Device is sampled data container 2, then executes and read the operation that record FIFO pointer is directed toward sampled data container 1, completes to read record
The redirection of FIFO pointer operates；
Step 7 terminates to judge to whether non real-time transaction thread enters thread: if thread is not over, returning to step
Rapid two, continue the data sampling operation in next period；If thread terminates, step 8 is carried out；
Whether step 8 has sampled data to judge in sampled data container: if having sampled data in sampled data container,
Sampled data is then subjected to character formatting conversion, write-in record file is saved, and enters end state, and it is whole to complete thread
Retaining goes out to operate；Otherwise, it is done directly Thread Termination and exits operation.
4. the acquisition method of industrial robot experimental data according to claim 1, it is characterised in that: in the third step,
When the sampled data container that sampled data item structural body object variable is directed toward by write-in record FIFO pointer write-in, to sampling
Whether data capsule, which has expired state, is judged, and completes the redirection switching of write-in record FIFO pointer.
5. the acquisition method of industrial robot experimental data according to claim 4, it is characterised in that: pass through EtherCAT
Bus Real-time Transaction thread obtains the data and algorithm data of bus sensors equipment collection, and whole sampled datas are assigned to and are adopted
Sample data item structural body object variable and third step include following step to whether sampled data container has expired state to carry out judgement
It is rapid:
S1:EtherCAT bus Real-time Transaction thread enters beginning state, executes the bus sense of initialization bus agreement carry
Device equipment collection checks the ready step of sampled data container；
S2: to data acquisition carry out judgement circulation: if not meeting data acquisition conditions, continue to execute to data acquire into
Row judgement circulation；Otherwise S3 is executed；
S3: reading the acquisition data of the bus sensors equipment collection of bus protocol carry and reads sensing data variable at a slow speed, obtains
The original sampling data of all devices in the sampling period bus is taken, and whole sampled datas are assigned to sampled data item structure
Body object variable completes the sampled data tissue in a sampling period；
S4: the sampled data container that sampled data item structural body object variable is directed toward by write-in record FIFO pointer write-in, it is complete
It is written at the caching of sampled data；
S5: sampled data container current state is judged: if sampled data container is less than, returns to S2, continues next
The data sampling in period operates；If sampled data container has been expired, S6 is carried out；
S6: the sampled data container that write-in record FIFO pointer is directed toward is judged and is switched: if write-in record FIFO refers to
It is sampled data container 1 that needle, which is directed toward sampling container, then executes the operation that write-in record FIFO pointer is directed toward sampled data container 2,
Complete the redirection operation of write-in record FIFO pointer；If it is that sampled data is held that write-in record FIFO pointer, which is directed toward sampling container,
Device 2 then executes the operation that write-in record FIFO pointer is directed toward sampled data container 1, completes resetting for write-in record FIFO pointer
To operation；
S7: terminate to judge to whether EtherCAT Real-time Transaction thread enters thread: if thread is not over, return
S2 continues the data sampling operation in next period；If thread terminates, completes Thread Termination and exit operation.
6. a kind of acquisition device of industrial robot experimental data, it is characterised in that: include:
Non real-time transaction thread is adopted for carrying out data to slow sensors equipment collection by communication protocol level of abstraction function interface
Collection, to obtain sensing data variable at a slow speed；
EtherCAT bus Real-time Transaction thread, for periodically to the bus sensors equipment collection in bus protocol carry into
Row data acquisition, to obtain the data and algorithm data of bus sensors equipment collection；
And data collector；The data collector defines a kind of sampled data item structural body, and with the sampled data item
A kind of sampled data structure of container body is defined based on the data type of structural body, and with the sampled data structure of container body
The type definition object entity of sampled data container 1 and sampled data container 2；The data collector also defines write-in note
It records FIFO pointer and reads record FIFO pointer；
The EtherCAT bus Real-time Transaction thread is by the data and calculation of sensing data variable at a slow speed, bus sensors equipment collection
Method data are assigned to sampled data item structural body object variable, and the sampled data being directed toward by write-in record FIFO pointer write-in
Container 1 or sampled data container 2；
Sampled data structure of container body is adopted using sampled data item structural body object variable as data record row unit with described
Data member in sample data item structural body object variable realizes algorithm number in experimental test procedures as data record list position
According to the acquisition and recording of each sensor raw data corresponding with the period.
7. the acquisition device of industrial robot experimental data according to claim 6, it is characterised in that: the sampled data
The type of item structural body contains the data content member for needing to record in a sampling period, the data content member packet
It includes: timestamp, algorithm data output, servo-system, I/O equipment and sensor raw data.
8. the acquisition device of industrial robot experimental data according to claim 7, it is characterised in that: the sampled data
The type of structure of container body also occupies meter comprising a capacity other than the type of sampled data item structural body is as data member
Number member is used to indicate sampled data container 1 or the current occupied quantity of sampled data container 2；
The object entity conduct of sampled data container 1 and sampled data container 2 of the type definition of sampled data structure of container body
Number storage basis；The definition write-in record FIFO pointer and reading record FIFO pointer in the sampled data container 1 and are adopted
Sampled data storage switching is realized between sample data capsule 2；
It further include the character formatting conversion module that can convert sampled data numerical value to string data.
9. the acquisition device of industrial robot experimental data according to claim 6, it is characterised in that: the non real-time thing
Business thread establishes data by communication protocol level of abstraction function interface and slow sensors equipment collection and acquires interface channel, at a slow speed
The parsing of sensor device collection reply data, is written sensing data variable at a slow speed；
The communication protocol level of abstraction function interface support compatible slow sensors equipment concentrate based on TCP/IP, Modbus and
The sensor device of RS232 type data communication transmission.
10. the acquisition device of industrial robot experimental data according to claim 6, it is characterised in that: described
The bus sensors equipment collection that institute's carry is obtained to EtherCAT bus Real-time Transaction thread cycle from bus protocol is corresponding
Original sampling data；The bus sensors equipment collection includes: typical servo equipment, I/O equipment, and is coupled by bus
The fast response transducer equipment of device extension.
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