CN116852366A - Method and device for detecting active joint brake, electronic equipment and storage medium - Google Patents

Method and device for detecting active joint brake, electronic equipment and storage medium Download PDF

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Publication number
CN116852366A
CN116852366A CN202310902457.0A CN202310902457A CN116852366A CN 116852366 A CN116852366 A CN 116852366A CN 202310902457 A CN202310902457 A CN 202310902457A CN 116852366 A CN116852366 A CN 116852366A
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CN
China
Prior art keywords
brake
detected
active joint
joint
motor
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Pending
Application number
CN202310902457.0A
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Chinese (zh)
Inventor
王伟
赵佳伟
周德刚
苏衍宇
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Harbin Sagebot Intelligent Medical Equipment Co Ltd
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Harbin Sagebot Intelligent Medical Equipment Co Ltd
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Application filed by Harbin Sagebot Intelligent Medical Equipment Co Ltd filed Critical Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority to CN202310902457.0A priority Critical patent/CN116852366A/en
Publication of CN116852366A publication Critical patent/CN116852366A/en
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    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J19/0004—Braking devices
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

The embodiment of the invention discloses a detection method and device of an active joint brake, electronic equipment and a storage medium. The method comprises the following steps: when the brake to be detected is in a brake on state, driving a motor in the active joint to be detected corresponding to the brake to be detected to work; determining a corresponding joint moment and a first motion change value of the active joint to be detected when the motor works; and detecting a first working state of the brake to be detected in a brake on state based on the joint moment and the first motion change value to obtain a detection result. The technical scheme of the embodiment of the invention can improve the detection efficiency and accuracy and ensure the safety in the detection process.

Description

Method and device for detecting active joint brake, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of robot control, in particular to a detection method and device of an active joint brake, electronic equipment and a storage medium.
Background
With the development of the medical robot industry, surgical robots play an increasingly important role in modern medicine. The surgical robot consists of multiple joints and connecting rods. The structure of the joint is provided with a motor, and the joint which moves through the motor is called an active joint. To prevent accidental movement of the active joints, a brake is provided at each active joint of the surgical robot, and when the active joint is not engaged in movement, the brake is applied to lock the active joint.
In order to avoid the accidental opening of the brakes at the active joints, which causes injury to doctors and users, the brake at each active joint needs to be detected in a working state so as to ensure that the brakes can work normally. In the prior art, a manual intervention mode is generally adopted to detect states of brakes at all active joints of the surgical robot. However, in the process of implementing the present invention, it is found that at least the following technical problems exist in the prior art: the number of active joints of the surgical robot is large, the brake is detected manually, and the time consumption and the workload are large; the manual detection is easy to make mistakes, and the safety is low.
Disclosure of Invention
The embodiment of the invention provides a detection method and device of an active joint brake, electronic equipment and a storage medium, so as to achieve the purposes of improving detection efficiency and accuracy and ensuring safety in a detection process.
According to an aspect of the present invention, there is provided a method for detecting an active joint brake, including:
when a brake to be detected is in a brake on state, driving a motor in an active joint to be detected corresponding to the brake to be detected to work;
determining a corresponding joint moment and a first motion change value of the active joint to be detected when the motor works;
And detecting a first working state of the brake to be detected in the brake on state based on the joint moment and the first motion change value, and obtaining a detection result.
According to another aspect of the present invention, there is provided a detection device for an active joint brake, the device comprising:
the motor driving module is used for driving a motor in the active joint to be detected corresponding to the brake to be detected to work when the brake to be detected is in a brake on state;
the joint moment determining module is used for determining the joint moment and the first motion change value corresponding to the active joint to be detected when the motor works;
and the first working state detection module is used for detecting the first working state of the brake to be detected in the brake on state based on the joint moment and the first motion change value to obtain a detection result.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of active joint brake detection according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the method for detecting an active joint brake according to any one of the embodiments of the present invention.
According to the technical scheme, when the brake to be detected is in a brake-on state, a motor in an active joint to be detected corresponding to the brake to be detected is driven to work, so that the braking function of the brake to be detected is detected when the motor works; and determining a corresponding joint moment and a first motion change value of the active joint to be detected when the motor works, and detecting a first working state of the brake to be detected in a brake on state based on the joint moment and the first motion change value to obtain a detection result. The detection process does not need to be manually participated, the problems that time and labor are wasted and mistakes are prone to being made in the prior art are solved, the detection efficiency and the accuracy are improved, and the safety in the detection process is guaranteed.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for detecting an active joint brake according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for active joint brake detection provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a detection device of an active joint brake according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing a method for detecting an active joint brake according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "includes," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a method for detecting an active joint brake according to an embodiment of the present invention. The embodiment is applicable to the situation that the brake at the active joint of the robot is subjected to working state detection, and the method can be executed by a detection device of the active joint brake, wherein the detection device of the active joint brake can be realized in a form of hardware and/or software.
As shown in fig. 1, the method of this embodiment may specifically include:
and S110, when the brake to be detected is in a brake-on state, driving a motor in the active joint to be detected corresponding to the brake to be detected to work.
The to-be-detected active joint is a joint of the surgical robot, which comprises a motor, and the to-be-detected brake is arranged at the to-be-detected active joint to brake the to-be-detected active joint during movement. Illustratively, the surgical robot may be a laparoscopic surgical robot.
In this embodiment, the brake to be detected may include two conditions, namely, a brake on state and a brake off state, in operation, when detecting the working state of the brake to be detected in the brake on state, the brake to be detected needs to be controlled to be in the brake on state. If the brake to be detected is in a brake on state and the working state is normal, the active joint to be detected is locked at the moment and cannot move.
In specific implementation, at least one mode selected from a current loop mode, a position loop mode and a speed loop mode can be adopted to drive a motor in the active joint to be detected corresponding to the brake to be detected to work. The driving joint to be detected generates a movement trend by driving the motor to work.
In this embodiment, in order to ensure safety in the detection process, before driving the motor in the active joint to be detected corresponding to the brake to be detected to perform work, the method further includes: and controlling at least one active joint to run to a preset initial safety position.
When the active joint to be detected is located at the initial safety position, the distance between the active joint to be detected and each joint in the surgical robot is larger than a preset distance; the preset distance can be set by a person skilled in the art according to the actual application situation, so as to determine the initial safety position of the active joint to be detected. At least one active joint is controlled to run to an initial safety position, so that the situation that the active joint to be detected moves after the motor works and collides with other joints on the surgical robot to cause danger is avoided.
S120, determining a corresponding joint moment and a first motion change value of the active joint to be detected when the motor works.
In this embodiment, the current of the motor during operation may be obtained, and the joint moment may be determined by the current. The detailed method for determining the joint moment can be seen in the prior art, and the detailed description of this embodiment is omitted. Further, the joint moment F corresponding to the active joint to be detected when the motor works s The following conditions are satisfied:
F smin ≤F s ≤F smax
wherein F is smin F for the free drive moment of the active joint to be detected smax Is the maximum desired braking force of the brake to be detected. The free driving moment is the moment generated by the driving of the motor under the condition that the active joint to be detected does not have a load. The free driving moment can be determined according to the information such as the joint position of the active joint to be detected, the gravity of the connecting rod, the friction force and the like; the person skilled in the art can also determine the free drive torque from the actual measurement.
In a specific implementation, the first motion change value may be an encoder change value of an encoder corresponding to the active joint to be detected, and the motion change degree of the active joint to be detected is reflected by the encoder change value. It should be noted that the active joint to be detected is connected with the encoder to reflect the movement condition of the active joint to be detected; the encoder may be a motor encoder. For example, the current encoder value of the encoder corresponding to the active joint to be detected at the current moment may be read, and the current encoder value may be compared with the pre-stored initial encoder value to determine the first motion change value.
In this embodiment, driving the motor in the active joint to be detected corresponding to the brake to be detected to perform work includes: sending a current instruction to a motor in the active joint to be detected in a current loop mode so as to drive the motor to work; after determining the corresponding joint moment and the first motion change value of the active joint to be detected when the motor works, the method further comprises the following steps: if the first motion change value is larger than the preset maximum motion value, stopping sending the current instruction, and controlling the motor to keep the current position in a position ring mode.
The preset maximum motion value can be a motion quantity threshold value when the active joint to be detected collides with the surgical robot; the person skilled in the art can determine the preset maximum movement value according to the actual structure and size of the surgical robot.
Specifically, a current instruction can be sent to the click in the active joint to be detected in a current loop mode so as to drive the click to work, so that the active joint to be detected has a movement trend. In order to prevent the brake to be detected from being abnormal in the working state when the brake is in the brake-on state, thereby causing the risk of the movement of the active joint to be detected, the first movement change value of the active joint to be detected can be detected; when the first motion change value is larger than a preset maximum motion value, indicating that the active joint to be detected collides with other joints, stopping sending a current instruction to avoid danger, and controlling the motor to keep the current position in a position ring mode so as to stop the motion of the active joint to be detected; when the first motion change value is smaller than or equal to the preset maximum motion value, the fact that the active joint to be detected is not collided with other joints at the current moment is indicated, and motion can be continued.
According to the method and the device, whether the active joint to be detected collides with other joints or not is determined by presetting the maximum motion value, so that dangers in the detection process are avoided, and the detection safety is improved.
And S130, detecting a first working state of the brake to be detected in a brake-on state based on the joint moment and the first motion change value, and obtaining a detection result.
Specifically, a maximum expected braking force of the brake to be detected and a preset motion threshold of the active joint to be detected can be obtained, and a detection result of the brake to be detected is determined based on the maximum expected braking force, the preset motion threshold, the first motion joint change value and the joint moment.
In this embodiment, detecting a first working state of a brake to be detected in a brake on state based on a joint moment and a first motion change value to obtain a detection result includes: when the joint moment is equal to the maximum expected braking force of the brake to be detected, if the first motion change value is equal to a preset motion threshold value, determining that the first working state is normal when the brake to be detected is in a brake on state; when the joint moment is equal to the free driving moment, if the first motion change value is larger than a preset motion threshold value, determining that the brake to be detected is damaged; if the first motion change value is larger than a preset motion threshold value when the joint moment is equal to the maximum expected braking force, and the first motion change value is equal to the preset motion threshold value when the joint moment is equal to the preset moment, determining that the first working state of the brake to be detected is abnormal when the brake to be detected is in a brake on state.
The maximum expected braking force is used for reflecting the maximum braking degree which can be achieved by the brake to be detected; the preset motion threshold value is used for reflecting the allowed motion degree of the active joint to be detected when the brake to be detected can be braked normally. For example, the preset motion threshold may be set to 0. The free driving moment comprises moment generated by driving the motor under the condition that the active joint to be detected does not have load; the preset torque is equal to the average of the free drive torque and the maximum desired braking force.
In a specific implementation, when the joint moment is equal to the maximum expected braking force of the brake to be detected, if the first motion change value is equal to the preset motion threshold value, the first motion change value is 0 when the joint moment reaches the maximum braking degree that the brake to be detected can bear, that is, the active joint to be detected does not move, the braking function of the brake to be detected is enabled, and the first working state is normal when the brake to be detected is in a brake on state.
When the joint moment is equal to the free driving moment, the fact that no load exists on the active joint to be detected currently, namely no braking force affects the active joint to be detected, is indicated. Meanwhile, if the first motion change value is larger than a preset motion threshold value, the motion of the active joint to be detected is indicated; at this time, when the brake to be detected is in the brake-on state, the brake to be detected is not operated, and the brake to be detected is determined to be damaged.
If the first motion change value is larger than the preset motion threshold value when the joint moment is equal to the maximum expected braking force, the braking degree of the brake to be detected cannot meet the degree that the first motion change value is equal to or smaller than the preset motion threshold value when the joint moment is equal to the maximum expected braking force; when the joint moment is reduced to a preset moment, the first motion change value is equal to a preset motion threshold value, reflects the braking force currently provided by the brake to be detected, can control the active joint to stop moving, indicates that the brake to be detected has braking force when being in a brake on state, but cannot work normally when the joint moment is equal to the maximum expected braking force, and can determine that the first working state is abnormal when the brake to be detected is in the brake on state.
In the embodiment, three working states of normal working, damage occurrence and abnormality occurrence of the brake to be detected in the brake on state are detected through the maximum expected braking force, the preset motion threshold value, the first motion joint change value and the joint moment, so that the detection efficiency and the accuracy are improved.
According to the technical scheme, when the brake to be detected is in a brake-on state, a motor in an active joint to be detected corresponding to the brake to be detected is driven to work, so that the braking function of the brake to be detected is detected when the motor works; and determining a corresponding joint moment and a first motion change value of the active joint to be detected when the motor works, and detecting a first working state of the brake to be detected in a brake on state based on the joint moment and the first motion change value to obtain a detection result. The detection process does not need to be manually participated, the problems that time and labor are wasted and mistakes are prone to being made in the prior art are solved, the detection efficiency and the accuracy are improved, and the safety in the detection process is guaranteed.
Fig. 2 is a flowchart of another method for detecting an active joint brake according to an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. Optionally, the method further comprises: when the brake to be detected is in a brake closing state, driving a motor in the active joint to be detected corresponding to the brake to be detected to work; determining the working current of a motor in the running process of the active joint to be detected and a second motion change value corresponding to the active joint to be detected when the motor works; and detecting a second working state of the brake to be detected in a brake closing state based on the working current and the second motion change value to obtain a detection result. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein. As shown in fig. 2, the method includes:
and S210, when the brake to be detected is in a brake-on state, driving a motor in the active joint to be detected corresponding to the brake to be detected to work.
S220, determining a corresponding joint moment and a first motion change value of the active joint to be detected when the motor works.
And S230, detecting a first working state of the brake to be detected in a brake-on state based on the joint moment and the first motion change value, and obtaining a detection result.
And S240, when the brake to be detected is in a brake-off state, driving a motor in the active joint to be detected corresponding to the brake to be detected to work.
When the brake to be detected is in a brake closing state, if the brake to be detected works normally, the active joint to be detected can move under the drive of the motor. Therefore, the motor in the active joint to be detected can be driven to work, and whether the brake to be detected can work normally or not can be determined by detecting the movement condition of the active joint to be detected when the brake to be detected is in a brake off state.
In this embodiment, a position command may be sent to the motor in the active joint to be detected by means of a position ring, so as to drive the motor to work, so that the active joint to be detected moves to a position corresponding to the position command.
S250, determining the working current of the motor in the running process of the active joint to be detected and a second motion change value corresponding to the active joint to be detected when the motor works.
Optionally, the second motion change value may be an encoder change value of an encoder corresponding to the active joint to be detected, and the motion change degree of the active joint to be detected is reflected by the encoder change value. It should be noted that the active joint to be detected is connected with the encoder to reflect the movement condition of the active joint to be detected; the encoder may be a motor encoder. For example, the current encoder value of the encoder corresponding to the active joint to be detected at the current moment may be read, and the current encoder value may be compared with the pre-stored initial encoder value to determine the second motion change value.
In this embodiment, driving the motor in the active joint to be detected corresponding to the brake to be detected to perform work includes: a position command is sent to a motor in the active joint to be detected in a position ring mode, so that the motor is driven to work; after determining the working current of the motor in the running process of the active joint to be detected, the method further comprises the following steps: and if the working current is larger than the preset brake damage current, stopping sending the position command.
Specifically, when the working current is greater than the preset brake damage current, the brake to be detected is easily damaged. In order to avoid the damage of the brake to be detected, the position instruction can be stopped, and the safety in the detection process is improved.
And S260, detecting a second working state of the brake to be detected in a brake closing state based on the working current and the second motion change value, and obtaining a detection result.
Specifically, the driving motion variable quantity and the free driving current generated by the motor can be obtained; and determining a detection result of the brake to be detected based on the driving motion variable quantity, the free driving current, the second motion joint variable value and the working current. The free driving current comprises current generated by a motor corresponding to the active joint to be detected under the condition that the active joint to be detected does not have a load; the driving motion variable quantity comprises a motion variable quantity expected to be generated when a driving motor drives the active joint to be detected to move.
In this embodiment, detecting a second working state of a brake to be detected in a brake off state based on a working current and a second motion change value to obtain a detection result includes: when the second motion change value is equal to the driving motion change amount, if the working current corresponding to the second motion change value is smaller than or equal to the free driving current, determining that the second working state is normal when the brake to be detected is in a brake off state; if the working current is greater than or equal to the preset brake damage current, determining that the brake to be detected is damaged; when the second motion change value is equal to the driving motion change amount, if the working current corresponding to the second motion change value is larger than the free driving current and smaller than the preset brake damage current, determining that the second working state is abnormal when the brake to be detected is in a brake closing state.
Specifically, when the second motion change value is equal to the driving motion change amount, if the working current corresponding to the second motion change value is smaller than or equal to the free driving current, it is indicated that the active joint to be detected is not controlled by the brake to be detected, that is, the brake to be detected does not work, and it can be determined that the second working state is normal when the brake to be detected is in the brake off state. When the working current is greater than or equal to the preset brake damage current, the brake to be detected can be determined to be damaged. If the working current corresponding to the second motion change value is larger than the free driving current and smaller than the preset brake damage current, the fact that the active joint to be detected is controlled by the brake to be detected is indicated, meanwhile, the brake to be detected is not damaged, and the second working state of the brake to be detected can be determined to be abnormal.
In this embodiment, after obtaining the detection result, the method further includes: displaying the first detection result and/or the second detection result to the operation terminal according to a preset display mode; the preset display mode comprises at least one of a graphic mode, a table mode, an indicator lamp mode, a voice mode and a text mode. The method is convenient for operators to intuitively check the detection result through the operation terminal, and when the brake to be detected is found to have abnormal conditions or to be damaged, the problem can be solved or rechecked in time, so that the influence on the normal work of the operation robot is avoided.
Furthermore, based on the first detection result and/or the second detection result, when the working state is abnormal or the brake to be detected is damaged, an abnormal information record can be generated, so that an operator can trace the abnormal problem conveniently.
According to the technical scheme provided by the embodiment of the invention, the detection result of the brake to be detected in the brake closing state is determined based on the driving motion variable quantity, the free driving current, the second motion joint variable value and the working current, so that the effects of improving the detection efficiency and the accuracy and ensuring the safety in the detection process are realized. And, through showing the testing result to operation terminal, help in time solving the problem or go on the rechecking.
Fig. 3 is a schematic structural diagram of an active joint brake detection device according to an embodiment of the present invention, where the device is configured to perform the active joint brake detection method according to any of the foregoing embodiments. The device and the method for detecting the active joint brake in the above embodiments belong to the same inventive concept, and reference may be made to the embodiments of the method for detecting the active joint brake for details which are not described in detail in the embodiments of the device for detecting the active joint brake. As shown in fig. 3, the apparatus includes:
the motor driving module 10 is used for driving a motor in an active joint to be detected corresponding to the brake to be detected to work when the brake to be detected is in a brake on state;
the joint moment determining module 11 is used for determining a joint moment and a first motion change value corresponding to the active joint to be detected when the motor works;
the first working state detection module 12 is configured to detect a first working state of the brake to be detected in the brake on state based on the joint moment and the first motion change value, so as to obtain a detection result.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the first working state detection module 12 module includes:
The first working state determining unit is used for determining that the first working state is normal when the brake to be detected is in a brake on state if the first motion change value is equal to a preset motion threshold value when the joint moment is equal to the maximum expected braking force of the brake to be detected; when the joint moment is equal to the free driving moment, if the first motion change value is larger than a preset motion threshold value, determining that the brake to be detected is damaged; the free driving moment comprises moment generated by driving the motor under the condition that the active joint to be detected does not have load; if the first motion change value is larger than a preset motion threshold value when the joint moment is equal to the maximum expected braking force, and the first motion change value is equal to the preset motion threshold value when the joint moment is equal to the preset moment, determining that the first working state of the brake to be detected is abnormal when the brake to be detected is in a brake on state; wherein the preset torque is equal to the average of the free drive torque and the maximum desired braking force.
On the basis of any optional technical scheme of the embodiment of the present invention, optionally, the motor driving module 10 includes:
the motor driving unit is used for sending a current instruction to a motor in the active joint to be detected in a current loop mode so as to drive the motor to work;
Further comprises:
and the motor control unit is used for stopping sending the current instruction and controlling the motor to keep the current position in a position ring mode after determining the corresponding joint moment and the first motion change value of the active joint to be detected when the motor works, and if the first motion change value is larger than the preset maximum motion value.
On the basis of any optional technical scheme in the embodiment of the invention, the method further comprises the following steps:
the motor working module is used for driving a motor in the active joint to be detected corresponding to the brake to be detected to work when the brake to be detected is in a brake off state;
the working current determining module is used for determining the working current of the motor in the running process of the active joint to be detected and a second motion change value corresponding to the active joint to be detected when the motor works;
the second working state detection module is used for detecting the second working state of the brake to be detected in a brake closing state based on the working current and the second motion change value to obtain a detection result.
On the basis of any optional technical scheme in the embodiment of the invention, optionally, the second working state detection module comprises:
the second working state determining unit is used for determining that the second working state is normal when the brake to be detected is in a brake closing state if the working current corresponding to the second motion change value is smaller than or equal to the free driving current when the second motion change value is equal to the driving motion change value; the free driving current comprises current generated by a motor corresponding to the active joint to be detected under the condition that the active joint to be detected does not have a load; if the working current is greater than or equal to the preset brake damage current, determining that the brake to be detected is damaged; when the second motion change value is equal to the driving motion change amount, if the working current corresponding to the second motion change value is larger than the free driving current and smaller than the preset brake damage current, determining that the second working state is abnormal when the brake to be detected is in a brake closing state.
On the basis of any optional technical scheme in the embodiment of the invention, an optional motor working module comprises:
the position instruction sending unit is used for sending a position instruction to a motor in the active joint to be detected in a position ring mode so as to drive the motor to work;
further comprises:
and the position command stopping and sending unit is used for stopping sending the position command if the working current is larger than the preset brake damage current after the working current of the motor in the running process of the active joint to be detected is determined.
On the basis of any optional technical scheme in the embodiment of the invention, the method further comprises the following steps:
the active joint operation module is used for controlling at least one active joint to operate to a preset initial safety position before driving a motor in the active joint to be detected corresponding to the brake to be detected to work.
The detection device of the active joint brake provided by the embodiment of the invention can execute the detection method of the active joint brake provided by any embodiment of the invention, and the technical scheme of the embodiment of the invention drives the motor in the active joint to be detected corresponding to the brake to be detected to work when the brake to be detected is in a brake-on state so as to detect the braking function of the brake to be detected when the motor works; and determining a corresponding joint moment and a first motion change value of the active joint to be detected when the motor works, and detecting a first working state of the brake to be detected in a brake on state based on the joint moment and the first motion change value to obtain a detection result. The detection process does not need to be manually participated, the problems that time and labor are wasted and mistakes are prone to being made in the prior art are solved, the detection efficiency and the accuracy are improved, and the safety in the detection process is guaranteed.
It should be noted that, in the embodiment of the active joint brake detection device, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Fig. 4 is a schematic structural diagram of an electronic device implementing a method for detecting an active joint brake according to an embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 20 includes at least one processor 21, and a memory, such as a Read Only Memory (ROM) 22, a Random Access Memory (RAM) 23, etc., communicatively connected to the at least one processor 21, wherein the memory stores a computer program executable by the at least one processor, and the processor 21 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 22 or the computer program loaded from the storage unit 28 into the Random Access Memory (RAM) 23. In the RAM23, various programs and data required for the operation of the electronic device 20 may also be stored. The processor 21, the ROM22 and the RAM23 are connected to each other via a bus 24. An input/output (I/O) interface 25 is also connected to bus 24.
Various components in the electronic device 20 are connected to the I/O interface 25, including: an input unit 26 such as a keyboard, a mouse, etc.; an output unit 27 such as various types of displays, speakers, and the like; a storage unit 28 such as a magnetic disk, an optical disk, or the like; and a communication unit 29 such as a network card, modem, wireless communication transceiver, etc. The communication unit 29 allows the electronic device 20 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 21 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 21 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 21 performs the various methods and processes described above, such as the active joint brake detection method.
In some embodiments, the method of active joint brake detection may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 28. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 20 via the ROM22 and/or the communication unit 29. When the computer program is loaded into RAM23 and executed by processor 21, one or more steps of the active joint brake detection method described above may be performed. Alternatively, in other embodiments, the processor 21 may be configured to perform the active joint brake detection method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A method of detecting an active joint brake, comprising:
when a brake to be detected is in a brake on state, driving a motor in an active joint to be detected corresponding to the brake to be detected to work;
determining a corresponding joint moment and a first motion change value of the active joint to be detected when the motor works;
and detecting a first working state of the brake to be detected in the brake on state based on the joint moment and the first motion change value, and obtaining a detection result.
2. The method according to claim 1, wherein detecting a first operation state of the brake to be detected in the brake on state based on the joint moment and the first motion change value, to obtain a detection result, includes:
when the joint moment is equal to the maximum expected braking force of the brake to be detected, if the first motion change value is equal to a preset motion threshold value, determining that the first working state is normal when the brake to be detected is in the brake on state;
when the joint moment is equal to the free driving moment, if the first motion change value is larger than the preset motion threshold value, determining that the brake to be detected is damaged;
the free driving moment comprises moment generated by the driving of the motor when the active joint to be detected does not have load;
if the first motion change value is larger than the preset motion threshold value when the joint moment is equal to the maximum expected braking force, and the first motion change value is equal to the preset motion threshold value when the joint moment is equal to the preset moment, determining that the first working state is abnormal when the brake to be detected is in the brake on state;
Wherein the preset torque is equal to the average of the free drive torque and the maximum desired braking force.
3. The method according to claim 1, wherein the driving the motor in the active joint to be detected corresponding to the brake to be detected comprises:
sending a current instruction to a motor in the active joint to be detected in a current loop mode so as to drive the motor to work;
after determining the corresponding joint moment and the first motion change value of the active joint to be detected when the motor works, the method further comprises the following steps:
and if the first motion change value is larger than a preset maximum motion value, stopping sending the current instruction, and controlling the motor to keep the current position in a position ring mode.
4. The method as recited in claim 1, further comprising:
when a brake to be detected is in a brake closing state, driving a motor in an active joint to be detected corresponding to the brake to be detected to work;
determining the working current of the motor in the running process of the active joint to be detected and a second motion change value corresponding to the active joint to be detected when the motor works;
And detecting a second working state of the brake to be detected in the brake closing state based on the working current and the second motion change value, and obtaining a detection result.
5. The method according to claim 4, wherein detecting a second operation state of the brake to be detected in the brake-off state based on the operation current and the second motion variation value, to obtain a detection result, includes:
when the second motion change value is equal to the driving motion change amount, if the working current corresponding to the second motion change value is smaller than or equal to the free driving current, determining that the second working state is normal when the brake to be detected is in the brake closing state; the free driving current comprises current generated by a motor corresponding to the active joint to be detected under the condition that the active joint to be detected does not have a load;
if the working current is greater than or equal to a preset brake damage current, determining that the brake to be detected is damaged;
when the second motion change value is equal to the driving motion change amount, if the working current corresponding to the second motion change value is larger than the free driving current and smaller than the preset brake damage current, determining that the second working state is abnormal when the brake to be detected is in the brake closing state.
6. The method of claim 4, wherein the driving the motor in the active joint to be detected corresponding to the brake to be detected comprises:
sending a position instruction to a motor in the active joint to be detected in a position ring mode so as to drive the motor to work;
after the working current of the motor in the running process of the active joint to be detected is determined, the method further comprises the following steps:
and if the working current is larger than the preset brake damage current, stopping sending the position command.
7. The method of claim 1, further comprising, prior to said driving the motor in the active joint to be inspected corresponding to the brake to be inspected:
and controlling at least one active joint to run to a preset initial safety position.
8. A device for detecting an active joint brake, comprising:
the motor driving module is used for driving a motor in the active joint to be detected corresponding to the brake to be detected to work when the brake to be detected is in a brake on state;
the joint moment determining module is used for determining the joint moment and the first motion change value corresponding to the active joint to be detected when the motor works;
And the first working state detection module is used for detecting the first working state of the brake to be detected in the brake on state based on the joint moment and the first motion change value to obtain a detection result.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of detecting an active joint brake of any one of claims 1-7.
10. A computer readable storage medium, characterized in that it stores computer instructions for causing a processor to implement the method of detecting an active joint brake according to any one of claims 1-7 when executed.
CN202310902457.0A 2023-07-21 2023-07-21 Method and device for detecting active joint brake, electronic equipment and storage medium Pending CN116852366A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310902457.0A CN116852366A (en) 2023-07-21 2023-07-21 Method and device for detecting active joint brake, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310902457.0A CN116852366A (en) 2023-07-21 2023-07-21 Method and device for detecting active joint brake, electronic equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116852366A true CN116852366A (en) 2023-10-10

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Country Status (1)

Country Link
CN (1) CN116852366A (en)

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