CN113483799A - Magnetic encoder detection method, magnetic encoder detection device, computer equipment and storage medium - Google Patents
Magnetic encoder detection method, magnetic encoder detection device, computer equipment and storage medium Download PDFInfo
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- CN113483799A CN113483799A CN202110712067.8A CN202110712067A CN113483799A CN 113483799 A CN113483799 A CN 113483799A CN 202110712067 A CN202110712067 A CN 202110712067A CN 113483799 A CN113483799 A CN 113483799A
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- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
Abstract
The application relates to the technical field of industrial robot detection, in particular to a magnetic encoder detection method, a magnetic encoder detection device, computer equipment and a storage medium. A magnetic encoder detection method includes: acquiring detection data of at least one circle of rotation of a magnetic ring; carrying out normalization processing on the detection data according to a theoretical data curve of the rotation of the magnetic ring; acquiring a preset width and a preset threshold value; and processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain a dead point position. The magnetic encoder can accurately find the bad area on the magnetic ring of the magnetic encoder, and is convenient to test and maintain. The defects of the magnetic encoder are effectively avoided, and the interference on the rotation displacement data of the joint of the computing robot is caused.
Description
Technical Field
The application relates to the technical field of industrial robot detection, in particular to a magnetic encoder detection method, a magnetic encoder detection device, computer equipment and a storage medium.
Background
In recent years, with the rapid development of the industrial automation industry, higher and higher requirements are put on the cost, reliability, environmental adaptability and detection accuracy of an encoder for detecting robot motion.
However, defects or external disturbances (e.g., bad areas) may exist in the magnetic encoder itself, and data which is not desired to be obtained may exist in the detection data of the magnetic encoder, which may interfere with the calculation of the rotational displacement data of the robot joint, and affect the accuracy of the result.
Disclosure of Invention
In view of the above, it is necessary to provide a magnetic encoder detection method, apparatus, computer device and storage medium for solving the above technical problems.
The embodiment of the application provides a magnetic encoder detection method, which comprises the following steps:
acquiring detection data of at least one circle of rotation of a magnetic ring;
according to a theoretical data curve of the rotation of the magnetic ring, normalization processing is carried out on the detection data;
acquiring a preset width and a preset threshold value;
and processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain a dead point position.
In one embodiment, the processing the detection data according to the preset width and the preset threshold to obtain a dead point position includes:
sequentially calculating data difference values corresponding to two points with a preset width in the detection data subjected to the normalization processing;
and defining the position corresponding to the data difference value larger than the preset threshold value as a dead point position.
In one embodiment, before sequentially calculating a data difference value corresponding to two points separated by a preset width in the detection data subjected to the normalization processing, the method further includes:
and intercepting single-circle data corresponding to one circle of rotation of the magnetic ring in the detection data.
In one embodiment, the calculation formula for sequentially calculating the data difference value corresponding to two points separated by a preset width is as follows:
Zi＝abs(Yi+α-Yi)。
in one embodiment, the magnetic encoder detection method further comprises:
and assembling the magnetic ring according to the position of the dead point.
In one embodiment, the detection device for the magnetic encoder of the robot joint comprises a motor and the magnetic encoder connected with the motor, the detection device comprises a processor and a memory, the memory stores a computer program, and the processor executes the computer program to realize the detection method for the magnetic encoder.
In one embodiment, the magnetic encoder detection apparatus for a robot joint further comprises:
a tagging device, the processor when executing the computer program further performs:
driving the motor to rotate so that the marking device corresponds to the obtained dead point position; and
and driving the marking device to mark the position of the dead point.
In one embodiment, the processor, when executing the computer program, further performs:
acquiring the limit position of the robot joint;
judging whether the dead point position is within the limit position or not; and
and if the dead point position is judged to be within the limit position, a warning message is sent out.
In one embodiment, a computer device comprises a memory storing a computer program and a processor implementing the steps of the method of any of the above embodiments when the processor executes the computer program.
In one of the embodiments, a computer storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of the above embodiments.
According to the magnetic encoder detection method and device, the computer equipment and the storage medium, the magnetic encoder detection device of the robot joint obtains detection data of at least one circle of rotation of the magnetic ring; carrying out normalization processing on the detection data according to a theoretical data curve of the rotation of the magnetic ring; acquiring a preset width and a preset threshold value; and processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain a dead point position. The magnetic encoder can accurately find the bad area on the magnetic ring of the magnetic encoder, and is convenient to test and maintain. The interference of the defects of the magnetic encoder on the rotation displacement data of the joint of the computing robot is effectively avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a diagram of an exemplary magnetic encoder detection method;
FIG. 2 is a schematic flow chart of a magnetic encoder detection method in one embodiment;
FIG. 3 is a schematic flow chart diagram illustrating a magnetic encoder detection method according to another embodiment;
FIG. 4 is a schematic view of a bad position marking process of the magnetic encoder detection method in one embodiment;
FIG. 5 is a schematic flow chart of a magnetic encoder detection method in another embodiment;
FIG. 6 is a schematic diagram of a robot joint according to an embodiment;
FIG. 7 is a schematic illustration of joint limits of a robot joint in one embodiment;
FIG. 8 is a schematic flow chart of data processing in another embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all couplings of one or more of the associated listed items.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
As shown in fig. 1, the magnetic encoder detection method provided by the present application can be applied to a magnetic encoder detection device for a robot joint. The magnetic encoder detection device acquires detection data of at least one circle of rotation of the magnetic ring; according to a theoretical data curve of the rotation of the magnetic ring, normalization processing is carried out on the detection data; acquiring a preset width and a preset threshold value; and processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain the dead point position. Therefore, the bad area on the magnetic ring of the magnetic encoder can be accurately found, and the magnetic encoder is convenient to test and maintain. The defects of the magnetic encoder are effectively avoided, and the interference on the rotation displacement data of the joint of the computing robot is caused.
In one embodiment, as shown in fig. 2, a magnetic encoder detection method is provided, which is described by taking as an example that the method is applied to a magnetic encoder detection device of a robot joint as shown in fig. 1, and comprises the following steps:
s202: and acquiring detection data of at least one circle of rotation of the magnetic ring.
The rotary magnetic encoder is generally used for detecting angular position data of a device to be detected, and comprises a magnetic ring and a sensor, and when the magnetic ring rotates relative to the sensor, the magnetic encoder can read corresponding relative angular position data. The detection data of at least one turn includes: the magnetic ring detection device comprises single-circle detection data and multi-circle detection data, wherein the single-circle detection data refers to data acquired on a single complete motion cycle corresponding to a magnetic ring. The multi-turn detection data refers to data acquired over two or more movement periods corresponding to the magnetic loop.
Specifically, the magnetic encoder detection device obtains detection data of at least one rotation of the magnetic ring, wherein the magnetic encoder detection device obtains a single rotation of the detection data, i.e. data obtained over a single complete movement cycle of the magnetic ring. The magnetic encoder detection device acquires a plurality of turns of detection data corresponding to data acquired by the magnetic ring over more than one cycle of motion.
S204: and carrying out normalization processing on the detection data according to a theoretical data curve of the rotation of the magnetic ring.
The theoretical data curve refers to an ideal data curve of the detection data of the rotation of the magnetic ring. The normalization processing is to change the obtained detection data into a difference between the actual measurement data and the theoretical data for convenience of data processing.
Specifically, the magnetic encoder detection device can acquire single-turn detection data, that is, data acquired over a single complete movement cycle of the magnetic loop. And carrying out normalization processing on the single-circle detection data according to the theoretical data curve of the rotation of the magnetic ring.
In particular, the magnetic encoder detection device acquires a plurality of turns of detection data, i.e. data corresponding to the magnetic ring acquired over more than one movement period. And carrying out normalization processing on the multi-turn detection data according to a theoretical data curve of the rotation of the magnetic ring.
S206: and acquiring a preset width and a preset threshold value.
The preset width refers to a preset distance between two detection data points on the acquired detection data of the magnetic ring in one or more than two movement periods, and the preset width is called as a preset width. The preset threshold is a preset difference value of difference values of two points of data corresponding to a preset distance. The preset width and the preset threshold are used for judging whether a dead pixel occurs on the magnetic ring, wherein the preset width represents the width of a large peak value which may occur when the dead pixel occurs empirically, and the preset threshold represents the amplitude of the large peak value which may occur when the dead pixel occurs empirically. The preset width and the preset threshold value are set by an operator according to experience and input to a control device of the magnetic encoder.
Specifically, the magnetic encoder detection device acquires detection data of at least one rotation of the magnetic ring, and performs normalization processing on the detection data. The magnetic encoder detection device obtains a preset width and a preset threshold value set by an operator.
S208: and processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain the dead point position.
Specifically, the magnetic encoder detection device obtains detection data of at least one rotation of the magnetic ring, wherein the magnetic encoder detection device obtains a single rotation of the detection data, i.e. data obtained over a single complete movement cycle of the magnetic ring. The magnetic encoder detection device acquires a plurality of turns of detection data corresponding to data acquired over two or more periods of motion of the magnetic ring. And carrying out normalization processing on the detection data according to a theoretical data curve of the rotation of the magnetic ring. The magnetic encoder detection device acquires a preset width between two data points on the detection data and acquires a preset threshold value of two-point data corresponding to a preset distance. And processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain dead pixel positions, and repeating the operation until all the dead pixel positions are found.
In the embodiment, the magnetic encoder detection device acquires detection data of at least one circle of rotation of the magnetic ring; according to a theoretical data curve of the rotation of the magnetic ring, normalization processing is carried out on the detection data; acquiring a preset width and a preset threshold value; and processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain the dead point position. The magnetic encoder can accurately find the bad area on the magnetic ring of the magnetic encoder, and is convenient to test and maintain. The interference of the defects of the magnetic encoder on the rotation displacement data of the joint of the computing robot is effectively avoided.
As shown in fig. 3, in one embodiment, processing the detection data according to the preset width and the preset threshold to obtain the location of the dead point includes:
s302: and sequentially calculating data difference values corresponding to two points with preset width in the detection data subjected to normalization processing.
Specifically, the magnetic encoder detection device acquires detection data of at least one rotation of the magnetic ring, and performs normalization processing on the detection data according to a theoretical data curve of the rotation of the magnetic ring. The magnetic encoder detection device acquires a preset width between two data points on the detection data, and sequentially calculates data difference values corresponding to two points with a preset width in the detection data subjected to normalization processing.
S304: and defining the position corresponding to the data difference value larger than the preset threshold value as a dead point position.
Specifically, the magnetic encoder detection device obtains a preset width between two data points on the detection data, and sequentially calculates a data difference value corresponding to two points having a preset width in the detection data subjected to normalization processing. The magnetic encoder detection device obtains a preset threshold value of two points of data corresponding to a preset distance, compares the obtained data difference value with the preset threshold value, and specifies the position corresponding to the data difference value with the data difference value larger than the preset threshold value as a dead point position.
In this embodiment, the magnetic encoder detection apparatus sequentially calculates a data difference value corresponding to two points having a preset width from the detection data subjected to the normalization processing, and specifies a position corresponding to the data difference value larger than a preset threshold as a dead point position.
In this embodiment, the position corresponding to the data difference value larger than the preset threshold is defined as the position of the dead center, and the dead center position on the magnetic ring is found by setting different preset thresholds and preset widths, so that the bad area on the magnetic ring of the magnetic encoder is accurately found, and the test and maintenance of the magnetic encoder are facilitated.
In one embodiment, before sequentially calculating a data difference value corresponding to two points separated by a preset width in the detection data subjected to the normalization processing, the method further includes:
and intercepting single-circle data of one circle of rotation of the corresponding magnetic ring in the detection data.
Specifically, the detection data of at least one circle of rotation of the magnetic ring is obtained, and the detection data is normalized according to a theoretical data curve of the rotation of the magnetic ring. And intercepting single-circle data of one circle of rotation of the corresponding magnetic ring in the detection data subjected to normalization processing. The magnetic encoder detection device acquires a preset width between two data points on the detection data, and sequentially calculates data difference values corresponding to two points with a preset width in the detection data subjected to normalization processing. The magnetic encoder detection device obtains a preset threshold value of two points of data corresponding to a preset distance, compares the obtained data difference value with the preset threshold value, and specifies the position corresponding to the data difference value with the data difference value larger than the preset threshold value as a dead point position.
In this embodiment, the detection data of at least one rotation of the magnetic ring is obtained, normalization processing is performed on the detection data according to the theoretical data curve of the rotation of the magnetic ring, and single-circle data corresponding to one rotation of the magnetic ring in the detection data subjected to normalization processing is intercepted. The single-turn data is processed to obtain the position of the dead pixel, so that the data storage space is saved, and the data processing efficiency is improved.
In one embodiment, the calculation formula sequentially calculates the data difference value corresponding to two points separated by a preset width:
Zi＝abs(Yi+α-Yi)
where i is 0 to n- α, i is the ith point in the detection data, ZiAnd calculating the data difference value of the ith point and the (i + alpha) th point, wherein alpha is a preset width.
Specifically, as shown in fig. 8, the detection data obtained after the magnetic ring rotates at least one turn is shown as a in fig. 8, and the detection data is normalized according to the theoretical data curve of the rotation of the magnetic ring. The single-turn data of one turn of rotation of the corresponding magnetic ring in the normalized detection data is intercepted and shown as b in fig. 8. The single turn of data may be captured by a variety of methods, not limited herein, such as capturing a 360 ° range on the X-axis to obtain n detected data points.
Specifically, the magnetic encoder detecting device obtains a preset width α between two data points on the detected data, and performs normalization processing on the detected data as shown in c in fig. 8 by using a formula Zi＝abs(Yi+α-Yi) Calculating a data difference value Z corresponding to two points with a preset widthiAs shown at d in fig. 8. The magnetic encoder detection device obtains a preset threshold beta of two-point data corresponding to a preset distance as shown in e in fig. 8, and obtains a data difference value ZiComparing with a preset threshold beta, and comparing the data difference value ZiThe position corresponding to the data difference value of the preset threshold β is marked as f in fig. 8, and specified as a dead-center position as g in fig. 8.
In one embodiment, the magnetic encoder detection method further includes: and assembling the magnetic ring according to the position of the dead point.
Specifically, the magnetic encoder detection device obtains detection data of at least one rotation of the magnetic ring, wherein the magnetic encoder detection device obtains a single rotation of the detection data, i.e. data obtained over a single complete movement cycle of the magnetic ring. The magnetic encoder detection device acquires a plurality of turns of detection data corresponding to data acquired over two or more periods of motion of the magnetic ring. And carrying out normalization processing on the detection data according to a theoretical data curve of the rotation of the magnetic ring. The magnetic encoder detection device acquires a preset width between two data points on the detection data and acquires a preset threshold value of two-point data corresponding to a preset distance. And processing the detection data subjected to normalization processing according to the preset width and the preset threshold value to obtain dead point positions, repeating the operation until all the dead point positions are found, and assembling the magnetic ring according to the dead point positions after all the dead point positions are obtained.
Specifically, the magnetic ring is assembled so that the area of the dead point position is located outside the movement range of the joint driver, that is, within the joint limit, the movement range of the robot joint is not 0-360 degrees but is smaller than the value, and the limit position of the robot joint is called as the joint limit.
In this embodiment, the magnetic ring is assembled such that the area of the dead point is located outside the movement range of the joint driver, i.e., within the joint limit, thereby improving the accuracy of measuring the rotational position of the joint driver during normal operation.
It should be understood that although the steps in the flowcharts of fig. 2 and 3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps of fig. 2 and 3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 1, the magnetic encoder detection device for the robot joint comprises a motor 300 and a magnetic encoder connected to the motor 300, the detection device comprises a processor and a memory, the memory stores a computer program, and the processor implements the magnetic encoder detection method as described above when executing the computer program.
Specifically, the robot joint comprises a motor and a magnetic encoder connected with the motor, wherein the motor provides power for the magnetic encoder to drive the magnetic encoder to rotate. The detection device comprises a processor and a memory, the memory stores a computer program, and the processor executes the computer program to realize the magnetic encoder detection method. The magnetic encoder detecting device acquires detection data of at least one rotation of the magnetic ring 200 and stores the detection data in the memory. And carrying out normalization processing on the detection data according to a theoretical data curve of the rotation of the magnetic ring 200. The magnetic encoder detection device acquires a preset width between two data points on the detection data and acquires a preset threshold value of two-point data corresponding to a preset distance. And processing the detection data subjected to normalization processing according to the preset width and the preset threshold value to obtain dead point positions, repeating the operation until all the dead point positions are found, and assembling the magnetic ring 200 according to the dead point positions after all the dead point positions are obtained.
As shown in fig. 1 and 4, in one embodiment, the magnetic encoder detection apparatus for a robot joint further includes a marking apparatus 100, and the processor executes the computer program to further perform:
s402: and driving the motor to rotate, so that the marking device corresponds to the obtained dead spot position.
Specifically, the magnetic encoder detection device processes the detection data subjected to normalization processing according to a preset width and a preset threshold value to obtain a dead spot position, and the magnetic encoder detection device drives the motor to rotate, so that the marking device corresponds to the obtained dead spot position.
S404: and driving a marking device to mark the position of the dead center.
Specifically, the magnetic encoder detection device processes the detection data subjected to normalization processing according to a preset width and a preset threshold value to obtain a dead-spot position, the magnetic encoder detection device drives the motor to rotate, so that the marking device corresponds to the obtained dead-spot position, and the magnetic encoder detection device drives the marking device to mark the dead-spot position.
As shown in fig. 5, in one embodiment, the processor of the magnetic encoder detection apparatus of the robot joint further executes, when executing the computer program:
s502: and acquiring the limit positions of the joints of the robot.
Specifically, as shown in fig. 6 and 7, the movement range of the robot joint is not 0 to 360 °, but is smaller than 360 °, and the non-movement range of the robot joint is found, so as to obtain the limit position of the robot joint.
S504: and judging whether the dead pixel position is within the limit position, and if the dead pixel position is within the limit position, sending a warning message.
Specifically, the magnetic encoder detection device of the robot joint acquires the limit position of the robot joint, judges whether the dead center position is within the limit position, and if the dead center position is within the limit position, the magnetic encoder detection device sends out a warning message. If the position of the dead point is judged to be outside the limit position, the robot joint cannot rotate to the position when moving normally, the dead point does not affect normal data measurement, and in this case, the dead point does not need to be processed (or only the dead point position needs to be recorded for later use).
For specific limitations of the magnetic encoder detection device for the robot joint, reference may be made to the above limitations of the magnetic encoder detection method, which are not described herein again. The modules in the magnetic encoder detection device of the robot joint can be completely or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing periodic task allocation data, such as configuration files, theoretical operating parameters and theoretical deviation value ranges, task attribute information and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a periodic task allocation method.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program:
and acquiring detection data of at least one circle of rotation of the magnetic ring.
And carrying out normalization processing on the detection data according to a theoretical data curve of the rotation of the magnetic ring.
And acquiring a preset width and a preset threshold value.
And processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain the dead point position.
In one embodiment, the processing of the detection data according to the preset width and the preset threshold to obtain the location of the dead point when the processor executes the computer program includes:
and sequentially calculating data difference values corresponding to two points with preset width in the detection data subjected to normalization processing.
And defining the position corresponding to the data difference value larger than the preset threshold value as a dead point position.
In one embodiment, before sequentially calculating data difference values corresponding to two points separated by a preset width in the detection data subjected to the normalization processing when the processor executes the computer program, the method further includes:
and intercepting single-circle data of one circle of rotation of the corresponding magnetic ring in the detection data.
In one embodiment, the processor, when executing the computer program, implements a calculation formula for sequentially calculating data difference values corresponding to two points separated by a preset width:
Zi＝abs(Yi+α-Yi)
where i is 0 to n- α, i is the ith point in the detection data, ZiAnd calculating the data difference value of the ith point and the (i + alpha) th point, wherein alpha is a preset width.
In one embodiment, the processor, when executing the computer program, implements a magnetic encoder detection method, further comprising:
and assembling the magnetic ring according to the position of the dead point.
In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program:
the vehicle lateral control method according to any one of the embodiments described above laterally controls the vehicle.
Automatic driving is realized according to the transverse control.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
and acquiring detection data of at least one circle of rotation of the magnetic ring.
And carrying out normalization processing on the detection data according to a theoretical data curve of the rotation of the magnetic ring.
And acquiring a preset width and a preset threshold value.
And processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain the dead point position.
In one embodiment, the computer program when executed by the processor implements processing of the detection data according to the preset width and the preset threshold to obtain a dead point position, including:
and sequentially calculating data difference values corresponding to two points with preset width in the detection data subjected to normalization processing.
And defining the position corresponding to the data difference value larger than the preset threshold value as a dead point position.
In one embodiment, before sequentially calculating data difference values corresponding to two points separated by a preset width in the detection data subjected to the normalization processing when the computer program is executed by the processor, the method further includes:
and intercepting single-circle data of one circle of rotation of the corresponding magnetic ring in the detection data.
In one embodiment, the computer program when executed by the processor implements a calculation formula for sequentially calculating data difference values corresponding to two points separated by a preset width:
Zi＝abs(Yi+α-Yi)
where i is 0 to n- α, i is the ith point in the detection data, ZiAnd calculating the data difference value of the ith point and the (i + alpha) th point, wherein alpha is a preset width.
In one embodiment, the computer program when executed by the processor implements a magnetic encoder detection method, further comprising:
and assembling the magnetic ring according to the position of the dead point.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments may be arbitrarily coupled, and for the sake of brevity, all possible couplings of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the couplings of the technical features, the technical features should be considered as the scope of the present description.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A magnetic encoder detection method, comprising:
acquiring detection data of at least one circle of rotation of a magnetic ring;
according to a theoretical data curve of the rotation of the magnetic ring, normalization processing is carried out on the detection data;
acquiring a preset width and a preset threshold value;
and processing the detection data subjected to the normalization processing according to the preset width and the preset threshold value to obtain a dead point position.
2. The method of claim 1, wherein the processing the detection data according to the preset width and the preset threshold to obtain a location of a dead point comprises:
sequentially calculating data difference values corresponding to two points with a preset width in the detection data subjected to the normalization processing;
and defining the position corresponding to the data difference value larger than the preset threshold value as a dead point position.
3. The method of claim 2, wherein before sequentially calculating the data difference corresponding to two points separated by a predetermined width from the detection data subjected to the normalization process, the method further comprises:
and intercepting single-circle data corresponding to one circle of rotation of the magnetic ring in the detection data.
4. The magnetic encoder detection method of claim 2, wherein the calculation formula for sequentially calculating the data difference value corresponding to two points separated by a preset width is:
Zi＝abs(Yi+α-Yi)
where i is 0 to n- α, i is the ith point in the detection data, ZiAnd calculating the data difference value of the ith point and the (i + alpha) th point, wherein alpha is a preset width.
5. The magnetic encoder detection method of claim 1, further comprising:
and assembling the magnetic ring according to the position of the dead point.
6. A magnetic encoder detection apparatus for a robot joint, wherein the robot joint comprises a motor and a magnetic encoder connected to the motor, the detection apparatus comprising a processor and a memory, the memory storing a computer program, wherein the processor implements the magnetic encoder detection method according to any one of claims 1-5 when executing the computer program.
7. A robotic joint magnetic encoder detection apparatus as claimed in claim 6, further comprising a marking apparatus, the processor when executing the computer program further performs:
driving the motor to rotate so that the marking device corresponds to the obtained dead point position; and
and driving the marking device to mark the position of the dead point.
8. The apparatus of claim 6, wherein the processor, when executing the computer program, further performs:
acquiring the limit position of the robot joint;
judging whether the dead point position is within the limit position or not; and
and if the dead point position is judged to be within the limit position, a warning message is sent out.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 5.
10. A computer storage medium on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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Cited By (1)
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