CN112873214B - Robot state real-time monitoring system and method based on acceleration information - Google Patents
Robot state real-time monitoring system and method based on acceleration information Download PDFInfo
- Publication number
- CN112873214B CN112873214B CN202110289968.0A CN202110289968A CN112873214B CN 112873214 B CN112873214 B CN 112873214B CN 202110289968 A CN202110289968 A CN 202110289968A CN 112873214 B CN112873214 B CN 112873214B
- Authority
- CN
- China
- Prior art keywords
- robot
- acceleration
- control cabinet
- alarm
- acceleration information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001133 acceleration Effects 0.000 title claims abstract description 195
- 238000012544 monitoring process Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 239000000470 constituent Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot state real-time monitoring system and method based on acceleration information, wherein the system of the embodiment comprises a robot body, a three-dimensional acceleration sensor, a robot control cabinet and a second control cabinet; the three-dimensional acceleration sensor is arranged on the tail end flange of the robot body and used for acquiring tail end acceleration information of the robot body, and the three-dimensional acceleration sensor sends the acquired tail end acceleration information of the robot body to the controller of the second control cabinet; the robot control cabinet acquires the terminal acceleration information of the robot body through a sensor of the robot, and the robot control cabinet sends the acquired terminal acceleration information of the robot body to a controller of the second control cabinet; the controller monitors the movement state of the tail end of the robot in real time based on the acceleration information of the tail ends of the two paths of robot bodies. The invention improves the safety and reliability of the robot.
Description
Technical Field
The invention belongs to the technical field of industrial robot safety control, and particularly relates to a robot state real-time monitoring system and method based on acceleration information.
Background
With the rapid development of intelligent manufacturing, industrial robots are increasingly used in the industrial field, and the actions of the robots mainly depend on the position movement and the posture change of the tail end. The acceleration of the robot during the movement of the tail end depends on the fact that the data of each shaft motor encoder of the robot are obtained through forward calculation, and if the motor encoders of the robot are damaged, the acceleration value of the tail end of the robot is inaccurate, so that serious industrial injury can be caused.
Disclosure of Invention
In order to solve the safety problem of the robot caused by information transmission errors of a motor encoder or failure of the encoder, the invention provides a robot state real-time monitoring system based on acceleration information, which solves the problem.
The invention is realized by the following technical scheme:
a robot state real-time monitoring system based on acceleration information comprises a robot body, a three-dimensional acceleration sensor, a robot control cabinet and a second control cabinet;
the three-dimensional acceleration sensor is arranged on the tail end flange of the robot body and used for acquiring tail end acceleration information of the robot body, and the three-dimensional acceleration sensor sends the acquired tail end acceleration information of the robot body to the controller of the second control cabinet;
the robot control cabinet acquires the terminal acceleration information of the robot body through a sensor of the robot, and the robot control cabinet sends the acquired terminal acceleration information of the robot body to a controller of the second control cabinet;
the controller monitors the movement state of the tail end of the robot in real time based on the acceleration information of the tail ends of the two paths of robot bodies.
According to the invention, the three-dimensional acceleration sensor is arranged at the end flange of the robot body to measure the end acceleration information of the robot, so that the two-way measurement of the acceleration information of the three-dimensional acceleration sensor and the self acceleration information of the robot is realized, and the problem that the end acceleration value of the robot cannot be accurately measured due to the damage of the robot motor encoder is prevented, so that serious industrial injury is caused.
Preferably, the monitoring system of the present invention further comprises a display device, wherein the display device is used for displaying the movement state information and the warning information of the tail end of the robot body.
Preferably, the display device of the present invention employs a touch screen.
Preferably, the robot control cabinet is connected with the second control cabinet through ethernet communication, and the second control cabinet is connected with the display device through ethernet communication.
Preferably, the controller of the present invention employs a PLC controller.
Preferably, the range of the three-dimensional acceleration sensor is larger than the range of the self acceleration at the tail end of the robot body.
On the other hand, the invention also provides a method based on the monitoring device, which comprises the following steps:
step S1, acquiring end acceleration information of a robot measured by a three-dimensional acceleration sensor and end acceleration information of the robot itself uploaded by a robot control cabinet in real time;
s2, obtaining error values of two types of acceleration information, and obtaining relative errors of acceleration in each direction;
and S3, inputting the obtained relative error of the acceleration in each direction into a preset grading alarm model to carry out grading alarm.
Preferably, before step S1, the method further needs to calibrate the end acceleration information of the robot and the end acceleration information of the robot measured by the three-dimensional acceleration sensor, and the calibration process includes:
controlling the robot to move along the X direction, the Y direction or the Z direction by using the M/N acceleration to obtain the self acceleration value of the robot in the uniform acceleration stage and the acceleration value measured by the three-dimensional acceleration sensor; m is the self acceleration range of the tail end of the robot, and N is the calibrated number;
controlling the robot to move along the X direction or the Y direction or the Z direction at the acceleration of 2M/N to obtain the self acceleration value of the robot in the uniform acceleration stage and the acceleration value measured by the three-dimensional acceleration sensor;
and analogizing until the end acceleration of the robot is M, namely controlling the robot to move along the X direction or the Y direction or the Z direction by the acceleration of M, and acquiring the self acceleration value of the robot in the uniform acceleration stage and the acceleration value measured by the three-dimensional acceleration sensor;
and generating a robot tail end acceleration error table by taking the self acceleration value of the robot as a theoretical value and taking the acceleration value measured by the three-dimensional acceleration sensor as an actual value, so as to ensure that the relative error of each direction of acceleration is less than or equal to 1/1000.
Preferably, the N of the present invention takes a value of 500.
Preferably, the preset hierarchical alarm model of the invention is specifically:
if the relative errors of the accelerations in all directions are smaller than or equal to an alarm threshold value, the robot works normally, the alarm level is 4, and no alarm is needed;
if the relative error of acceleration in one direction is larger than the alarm threshold value, performing 3-level alarm; if the alarm duration exceeds the time threshold, upgrading to 2-level alarm, and controlling the robot to stop running or continue running by an operator according to the specific running condition of the robot;
if the relative error of the acceleration in two directions is larger than the alarm threshold value, performing 2-level alarm, and controlling the robot to stop running or continue running by an operator according to the specific running condition of the robot; if the alarm duration exceeds the time threshold, upgrading to 1 and alarming, and automatically controlling the robot to stop running;
and if the relative errors of the accelerations in all directions are larger than the alarm threshold value, carrying out 1-level alarm and automatically controlling the robot to stop running.
The invention has the following advantages and beneficial effects:
1. according to the invention, the robot is assisted to realize redundant measurement of the movement information of the tail end of the robot body through the peripheral three-dimensional acceleration sensor device, when the acceleration of the robot is abnormal (such as failure of a motor encoder of the robot or error of information transmission, and the like), the peripheral three-dimensional acceleration sensor is utilized to realize the measurement of the movement information of the tail end of the robot, and the acceleration value is obtained through two measurement modes for comparison analysis, so that the safety and reliability of the robot are ensured.
2. The invention provides a grading alarm model based on acceleration relative error and alarm time length, and improves the safety and reliability of the robot.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
fig. 1 is a schematic diagram of a system structure according to the present invention.
Fig. 2 is a schematic diagram of system circuit connection according to the present invention.
Fig. 3 is a schematic diagram of electrical connection between the three-dimensional acceleration sensor and the controller according to the present invention.
Fig. 4 is a schematic diagram of the system logic control according to the present invention.
FIG. 5 is a hierarchical alarm logic block diagram of the present invention.
FIG. 6 is a schematic diagram of a display interface according to the present invention.
In the drawings, the reference numerals and corresponding part names:
the device comprises a 1-robot body, a 2-robot flange, a 3-three-dimensional acceleration sensor, a 4-robot control cabinet, a 5-second control cabinet and a 6-display device.
Detailed Description
Hereinafter, the terms "comprises" or "comprising" as may be used in various embodiments of the present invention indicate the presence of inventive functions, operations or elements, and are not limiting of the addition of one or more functions, operations or elements. Furthermore, as used in various embodiments of the invention, the terms "comprises," "comprising," and their cognate terms are intended to refer to a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be interpreted as first excluding the existence of or increasing likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
In various embodiments of the invention, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B or may include both a and B.
Expressions (such as "first", "second", etc.) used in the various embodiments of the invention may modify various constituent elements in the various embodiments, but the respective constituent elements may not be limited. For example, the above description does not limit the order and/or importance of the elements. The above description is only intended to distinguish one element from another element. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present invention.
It should be noted that: if it is described to "connect" one component element to another component element, a first component element may be directly connected to a second component element, and a third component element may be "connected" between the first and second component elements. Conversely, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.
The terminology used in the various embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the invention. As used herein, the singular is intended to include the plural as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the invention.
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Example 1
The embodiment provides a robot state real-time monitoring system based on acceleration information, and the device of the embodiment realizes redundant measurement of the motion state of the tail end of a robot body through the peripheral three-dimensional acceleration sensor so as to solve the technical problem that potential hidden danger such as failure of a robot motor encoder or information transmission error causes the influence on the safety of a robot.
As shown in fig. 1, the system of the present embodiment mainly comprises a robot body 1, a robot flange 2, a three-dimensional acceleration sensor 3, a robot control cabinet 4, a second control cabinet 5, and a display device 6.
The robot flange 2 of this embodiment is disposed at the end of the robot body 1, and the three-dimensional acceleration sensor 3 is mounted on the robot flange 2, and in this embodiment, the three-dimensional acceleration sensor 3 is tightly connected with the robot flange 2 by means of embedded mounting.
The three-dimensional acceleration sensor 3 of this embodiment sends the obtained terminal acceleration information of the robot body 1 to the controller of the second control cabinet 5, and the robot control cabinet 4 sends the terminal acceleration information of the robot body obtained by the sensor of the robot itself to the controller of the second control cabinet 5.
The controller monitors the movement state of the tail end of the robot in real time based on the acceleration information of the tail ends of the two paths of robot bodies.
The second control cabinet 5 and the robot control cabinet 4 and the second control cabinet 5 and the display device 6 of the embodiment are all in communication connection through the Ethernet, so that the control system has the characteristics of low delay, high data transmission reliability and the like, and can rapidly control the robot when the movement of the robot fails.
The controller in the second control cabinet 5 of the embodiment adopts a PLC controller; the display device 6 of the present embodiment employs a touch panel.
The robot body 1 of the present embodiment includes a joint one, a joint two, a joint three, a joint four, a joint five, and a joint six (ends); each joint is provided with a joint motor for driving the movement of the joint, and the joint motor is provided with an encoder for detecting the movement of the joint, as shown in fig. 2.
The robot control cabinet 4 of the present embodiment includes joint motor drivers for driving the joints of the robot body 1 for controlling the joint motors to drive the joints to move; the joint motor driver corresponding to each joint in this embodiment is further connected to a joint motor encoder for acquiring joint motion information.
The robot control cabinet 4 of the embodiment obtains the acceleration information of the tail end of the robot body through the movement information of each joint, and can transmit the acceleration information to the controller of the second control cabinet through the network port.
The three-dimensional acceleration sensor 3 of the present embodiment transmits acceleration information of the end of the robot body detected in real time to the controller of the second control cabinet.
The three-dimensional acceleration sensor 3 of this embodiment has a larger range than the range of the self acceleration at the end of the robot.
In the embodiment, the acceleration information in the direction X, Y, Z of the high-precision three-dimensional acceleration sensor 3 is read in real time through the PLC. The three-dimensional acceleration sensor 3 of the embodiment adopts a montanix series, and the PLC controller adopts Siemens 7-1500 series.
As shown in fig. 3, a schematic diagram of electrical connection between the PLC controller and the three-dimensional acceleration sensor 3, each terminal of the three-dimensional acceleration sensor in this embodiment has the following meaning: X_OUT-X-axis acceleration value; X_VCC, X axis positive pressure end; X_GND-X is the ground terminal; Y_OUT-Y-axis acceleration value; Y_VCC, positive Y-axis end; Y_GND-Y ground; Z_OUT-Z-axis acceleration value; Z_VCC, the positive Z-axis end; Z_GND-Z ground. The meaning of each terminal of the PLC controller is as follows: AI 1-analog input terminal 1; AI 2-analog input terminal 2; AI 3-analog input terminal 3.
As shown in fig. 3, the X-axis acceleration value output end of the three-dimensional acceleration sensor 3 of the present embodiment is connected to the first analog input end of the PLC controller, the Y-axis acceleration value output end of the three-dimensional acceleration sensor 3 is connected to the second analog input end of the PLC controller, and the Z-axis acceleration value output end of the three-dimensional acceleration sensor 3 is connected to the third analog input end of the PLC controller.
According to the embodiment, the high-precision three-dimensional acceleration sensor and the robot sensor are arranged in a peripheral mode to feed back the movement state information (acceleration information) of the tail end of the robot, so that the tail end acceleration information of the robot can still be accurately obtained when the encoder of the robot fails, and the safety problem caused when the existing technology for obtaining the movement state information of the tail end of the robot by only relying on the sensor of the robot fails is solved.
As shown in fig. 4, the embodiment realizes real-time monitoring and alarm processing of the robot through the PLC controller, and the specific process includes:
step S1, acquiring end acceleration information of a robot measured by a three-dimensional acceleration sensor and end acceleration information of the robot itself uploaded by a robot control cabinet in real time;
s2, obtaining error values of two types of acceleration information, and obtaining relative errors of acceleration in each direction;
and S3, inputting the obtained relative error of the acceleration in each direction into a preset grading alarm model to carry out grading alarm.
In order to ensure the reliability of the acceleration information obtained by the three-dimensional acceleration sensor and the self acceleration information of the tail end of the robot in the real-time monitoring process, the three-dimensional acceleration sensor and the self acceleration information of the tail end of the robot need to be calibrated before the step S1 is performed, and the relative error of the two is less than or equal to 1/1000, and the specific calibration steps comprise:
the calibration step in the X direction (Y, Z direction is similar) is as follows: 1. dividing the robot end self acceleration range M into N (N takes 500 in the embodiment) equal parts based on the self acceleration range M of the robot end, wherein each part is M/N; 2. starting a robot, controlling the robot to move along the X direction by using the acceleration of M/N, acquiring the self acceleration value of the robot in the uniform acceleration stage and the acceleration value of a three-dimensional acceleration sensor, then moving along the X direction by using the acceleration of 2M/N, acquiring the self acceleration value of the robot in the uniform acceleration stage and the acceleration value of the three-dimensional acceleration sensor, and analogizing until the terminal acceleration of the robot is M; 2. and taking the self acceleration value of the robot as a theoretical value, taking the acceleration value of the three-dimensional acceleration sensor as an actual value, generating a tail end acceleration error table of the robot, and inputting the tail end acceleration error table into a system, thereby completing calibration.
As shown in fig. 5, the hierarchical alarm model of this embodiment specifically includes:
if the relative errors of the accelerations in all directions are smaller than or equal to an alarm threshold E, the robot works normally, the alarm level is 4, and no alarm is needed;
if the relative error of acceleration in one direction is larger than the alarm threshold E, 3-level alarm is carried out; if the alarm duration exceeds the time threshold T, upgrading to 2-level alarm, and controlling the robot to stop running or continue running by an operator according to the specific running condition of the robot;
if the relative error of the acceleration in two directions is larger than the alarm threshold E, 2-level alarm is carried out, and an operator selects to control the robot to stop running or continue running according to the specific running condition of the robot; if the alarm duration exceeds the time threshold T, upgrading to 1 and alarming, and automatically controlling the robot to stop running (automatically intervening by a system) so as to ensure the safety of equipment and operators;
if the relative errors of all the accelerations in all the directions are larger than the alarm threshold E, 1-level alarm is carried out, and the robot is automatically controlled to stop running (automatically intervene by the system) so as to ensure the safety of equipment and operators.
According to the embodiment, through the hierarchical alarm model, more refined alarm and intervention processes can be realized, and the safety and reliability of the robot are improved.
In this embodiment, the display device 6 displays the detected acceleration information, and the calculated relative error, the relative error threshold, the alarm duration threshold, the alarm level, and other information, where the display frequency of this embodiment is 1 time/s, the display interface is shown in fig. 6, and the system can set different relative error thresholds E and alarm time duration thresholds T according to different usage scenarios.
As shown in fig. 6, when the robot starts to work, the robot state is monitored in real time by clicking the "monitor start" button, and after the monitoring is completed, the "monitor stop" button is clicked, and the system automatically saves the self acceleration value and the three-dimensional acceleration sensor value of the operation robot in the touch screen in the TXT format (the data recording frequency is 10 times/s) when the monitoring is stopped. When the robot is abnormal as described herein, an operator exercises control over the robot according to a hierarchical alarm mechanism.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The robot state real-time monitoring system based on the acceleration information is characterized by comprising a robot body, a three-dimensional acceleration sensor, a robot control cabinet and a second control cabinet;
the three-dimensional acceleration sensor is arranged on the tail end flange of the robot body and used for acquiring tail end acceleration information of the robot body, and the three-dimensional acceleration sensor sends the acquired tail end acceleration information of the robot body to the controller of the second control cabinet;
the robot control cabinet acquires the terminal acceleration information of the robot body through a sensor of the robot, and the robot control cabinet sends the acquired terminal acceleration information of the robot body to a controller of the second control cabinet;
the controller monitors the movement state of the tail end of the robot in real time based on the acceleration information of the tail end of the two paths of robot bodies, and the specific process of real-time monitoring comprises the following steps:
step S1, acquiring end acceleration information of a robot measured by a three-dimensional acceleration sensor and end acceleration information of the robot itself uploaded by a robot control cabinet in real time;
s2, obtaining error values of two types of acceleration information, and obtaining relative errors of acceleration in each direction;
and S3, inputting the obtained relative error of the acceleration in each direction into a preset grading alarm model to carry out grading alarm.
2. The system of claim 1, wherein the system further comprises a display device for displaying the movement state information of the tail end of the robot body and the warning information.
3. The system for monitoring the state of a robot in real time based on acceleration information according to claim 2, wherein the display device is a touch screen.
4. The system for monitoring the state of the robot in real time based on the acceleration information according to claim 2, wherein the robot control cabinet is connected with the second control cabinet through an ethernet communication, and the second control cabinet is connected with the display device through the ethernet communication.
5. The system for monitoring the state of a robot in real time based on acceleration information according to claim 1, wherein the controller is a PLC controller.
6. The system for monitoring the state of a robot in real time based on acceleration information according to claim 1, wherein the range of the three-dimensional acceleration sensor is larger than the range of the self acceleration at the end of the robot body.
7. The system for monitoring the state of a robot in real time based on acceleration information according to claim 1, wherein before step S1, calibration is further required for the terminal acceleration information of the robot and the terminal acceleration information of the robot itself measured by the three-dimensional acceleration sensor, and the calibration process includes:
controlling the robot to move along the X direction, the Y direction or the Z direction by using the M/N acceleration to obtain the self acceleration value of the robot in the uniform acceleration stage and the acceleration value measured by the three-dimensional acceleration sensor; m is the self acceleration range of the tail end of the robot, and N is the calibrated number;
controlling the robot to move along the X direction or the Y direction or the Z direction at the acceleration of 2M/N to obtain the self acceleration value of the robot in the uniform acceleration stage and the acceleration value measured by the three-dimensional acceleration sensor;
and analogizing until the end acceleration of the robot is M, namely controlling the robot to move along the X direction or the Y direction or the Z direction by the acceleration of M, and acquiring the self acceleration value of the robot in the uniform acceleration stage and the acceleration value measured by the three-dimensional acceleration sensor;
and generating a robot tail end acceleration error table by taking the self acceleration value of the robot as a theoretical value and taking the acceleration value measured by the three-dimensional acceleration sensor as an actual value, so as to ensure that the relative error of each direction of acceleration is less than or equal to 1/1000.
8. The system for monitoring the state of a robot based on acceleration information of claim 7, wherein the value of N is 500.
9. The system for monitoring the state of a robot in real time based on acceleration information according to claim 1, wherein the preset hierarchical alarm model specifically comprises:
if the relative errors of the accelerations in all directions are smaller than or equal to an alarm threshold value, the robot works normally, the alarm level is 4, and no alarm is needed;
if the relative error of acceleration in one direction is larger than the alarm threshold value, performing 3-level alarm; if the alarm duration exceeds the time threshold, upgrading to 2-level alarm, and controlling the robot to stop running or continue running by an operator according to the specific running condition of the robot;
if the relative error of the acceleration in two directions is larger than the alarm threshold value, performing 2-level alarm, and controlling the robot to stop running or continue running by an operator according to the specific running condition of the robot; if the alarm duration exceeds the time threshold, upgrading to 1 and alarming, and automatically controlling the robot to stop running;
and if the relative errors of the accelerations in all directions are larger than the alarm threshold value, carrying out 1-level alarm and automatically controlling the robot to stop running.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110289968.0A CN112873214B (en) | 2021-03-18 | 2021-03-18 | Robot state real-time monitoring system and method based on acceleration information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110289968.0A CN112873214B (en) | 2021-03-18 | 2021-03-18 | Robot state real-time monitoring system and method based on acceleration information |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112873214A CN112873214A (en) | 2021-06-01 |
| CN112873214B true CN112873214B (en) | 2024-02-23 |
Family
ID=76042694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110289968.0A Active CN112873214B (en) | 2021-03-18 | 2021-03-18 | Robot state real-time monitoring system and method based on acceleration information |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112873214B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102799206A (en) * | 2012-08-17 | 2012-11-28 | 中联重科股份有限公司 | Arm support tail end motion control method and system |
| CN203109954U (en) * | 2013-02-27 | 2013-08-07 | 湖北铁人机器人自动化有限公司 | Minimum amplitude control device at operation tail end of mechanical arm |
| CN104376223A (en) * | 2014-11-25 | 2015-02-25 | 上海交通大学 | Human tissue model parameter online identification method applicable to minimally invasive surgery |
| CN106737857A (en) * | 2016-11-22 | 2017-05-31 | 云南电网有限责任公司电力科学研究院 | A kind of vibration suppression method of mechanical arm tail end |
| CN107036568A (en) * | 2017-06-01 | 2017-08-11 | 中国计量大学 | Space large scale track detection device and method |
| CN207472226U (en) * | 2017-06-01 | 2018-06-08 | 中国计量大学 | Space large scale track detection device |
| WO2018190345A1 (en) * | 2017-04-11 | 2018-10-18 | 川崎重工業株式会社 | Robot system and method for operating same |
| CN108972567A (en) * | 2017-05-31 | 2018-12-11 | 西门子（中国）有限公司 | Mechanical arm collision avoidance system, method and storage medium |
| CN110076776A (en) * | 2019-04-30 | 2019-08-02 | 南京云图机器人科技有限公司 | A method of using inertia device hoisting machine people's stability |
| CN110293560A (en) * | 2019-01-12 | 2019-10-01 | 鲁班嫡系机器人（深圳）有限公司 | Robot behavior training, planing method, device, system, storage medium and equipment |
| CN110480659A (en) * | 2019-08-26 | 2019-11-22 | 华南理工大学 | Vibration control apparatus and method when a kind of Robotic Manipulator flexible workpiece moves |
| CN215471148U (en) * | 2021-03-18 | 2022-01-11 | 中国工程物理研究院机械制造工艺研究所 | Robot state real-time monitoring device based on acceleration information |
-
2021
- 2021-03-18 CN CN202110289968.0A patent/CN112873214B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102799206A (en) * | 2012-08-17 | 2012-11-28 | 中联重科股份有限公司 | Arm support tail end motion control method and system |
| CN203109954U (en) * | 2013-02-27 | 2013-08-07 | 湖北铁人机器人自动化有限公司 | Minimum amplitude control device at operation tail end of mechanical arm |
| CN104376223A (en) * | 2014-11-25 | 2015-02-25 | 上海交通大学 | Human tissue model parameter online identification method applicable to minimally invasive surgery |
| CN106737857A (en) * | 2016-11-22 | 2017-05-31 | 云南电网有限责任公司电力科学研究院 | A kind of vibration suppression method of mechanical arm tail end |
| WO2018190345A1 (en) * | 2017-04-11 | 2018-10-18 | 川崎重工業株式会社 | Robot system and method for operating same |
| CN108972567A (en) * | 2017-05-31 | 2018-12-11 | 西门子（中国）有限公司 | Mechanical arm collision avoidance system, method and storage medium |
| CN107036568A (en) * | 2017-06-01 | 2017-08-11 | 中国计量大学 | Space large scale track detection device and method |
| CN207472226U (en) * | 2017-06-01 | 2018-06-08 | 中国计量大学 | Space large scale track detection device |
| CN110293560A (en) * | 2019-01-12 | 2019-10-01 | 鲁班嫡系机器人（深圳）有限公司 | Robot behavior training, planing method, device, system, storage medium and equipment |
| CN110076776A (en) * | 2019-04-30 | 2019-08-02 | 南京云图机器人科技有限公司 | A method of using inertia device hoisting machine people's stability |
| CN110480659A (en) * | 2019-08-26 | 2019-11-22 | 华南理工大学 | Vibration control apparatus and method when a kind of Robotic Manipulator flexible workpiece moves |
| CN215471148U (en) * | 2021-03-18 | 2022-01-11 | 中国工程物理研究院机械制造工艺研究所 | Robot state real-time monitoring device based on acceleration information |
Non-Patent Citations (1)
| Title |
|---|
| 工业六轴机器人末端抖动的研究;陈永刚;樊开夫;谭晶晶;周智勇;苏德辉;;实验室研究与探索(12);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112873214A (en) | 2021-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3657027B2 (en) | Time management system and method for vehicle fault diagnosis apparatus | |
| JP2016221615A (en) | Robot device diagnosis method and robot system | |
| CN105276163A (en) | Gear transmission and usage measuring device for measuring usage of gear transmission | |
| JP6544291B2 (en) | Method and apparatus for diagnosing abnormality of joint drive robot | |
| CN103017812B (en) | Automobile instrument networked testing system and testing method thereof | |
| CN112873214B (en) | Robot state real-time monitoring system and method based on acceleration information | |
| CN215471148U (en) | Robot state real-time monitoring device based on acceleration information | |
| CA2986207A1 (en) | Failure diagnostic device and failure diagnostic method | |
| CN112262027B (en) | Abnormality determination device and abnormality determination method | |
| EP3311275B1 (en) | Control system with error detection | |
| JP7110843B2 (en) | Abnormality determination device and abnormality determination method | |
| CN112224241A (en) | Speed acquisition system, fault alarm method and device | |
| JP6881673B2 (en) | Anomaly detection device and abnormality detection method | |
| JP5037437B2 (en) | Encoder with internal information output function | |
| CN113043325A (en) | Method and device for detecting motion state of robot joint | |
| CN214561049U (en) | Joint structure for industrial robot and robot system | |
| CN112045671A (en) | Universal mechanical arm motion state detection system | |
| CN117914223B (en) | Control system of servo motor | |
| US20230042139A1 (en) | System and Method for Monitoring a Failsafe Function of Sensors in a Motor | |
| JP6941234B2 (en) | Logic analyzer | |
| JP2000193489A (en) | Position detector and cable used therefor | |
| CN112873264B (en) | Industrial robot joint structure, robot control system and method | |
| CN108519842A (en) | A kind of motion simulator control system | |
| CN212749613U (en) | Modularized multi-axis numerical control system based on bus type | |
| CN105965953A (en) | Intelligent online detecting method for under-voltage amount of large hydraulic press |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |