Multi-channel monitoring data compression method and system for industrial robot
A technology for industrial robots and monitoring data, applied in electrical components, code conversion, etc., can solve problems such as the inability to transmit vibration data safely and efficiently, and achieve the effects of improving efficiency and safety, reducing signal redundancy, and improving signal quality
Active Publication Date: 2021-08-06
XI AN JIAOTONG UNIV
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[0004] The technical problem to be solved by the present invention is to provide an industrial robot multi-channel monitoring data compression method and system for the deficiencies in the above-mentioned prior art, which uses the inter-correlation function to correlate each channel data of the robot to improve the signal quality, and uses the chaos matrix to Signal encryption and compression improve the efficiency and security of signal transmission, and solve the problem that a large amount of redundant and massive vibration data generated by industrial robot multi-channel real-time monitoring cannot be safely and efficiently transmitted to the remote maintenance center
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[0107] Taking a classic six-axis industrial robot as an example, 16 sensors are arranged on the robotic arm of the robot in an evenly spaced manner. image 3 , and then through the data acquisition system to collect data for 1 minute at a sampling frequency of 25.6KHz, the multi-channel discrete vibration time series of the robot are respectively x 1 (n),x 2 (n),x 3 (n),...,x 16 (n), then the length of data per channel L=1536000. For the convenience of compression, combined with the characteristics of data storage, the data is divided into blocks, the length of each compressed data is N=512, and the original signal is compressed 3000 times in order to complete the compression of all signals of the total length.
[0108] For the convenience of illustration, the first group of data with the same time window length N=512 is selected for analysis.
[0109] see figure 2 , according to the cross-correlation function, calculate the cross-correlation energy value (E 1 ,E 2 ,.....
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The invention discloses a multi-channel monitoring data compression method and system for an industrial robot, and the method comprises the steps: fusing the multi-channel data only containing the local state information of the robot into a comprehensive signal with the global information through a cross-correlation function fusion algorithm according to the correlation characteristics between the monitoring data of each channel of the industrial robot, signal redundancy between data of each channel sensor is obviously reduced, and signal quality is improved. The comprehensive signal is encrypted and compressed through the composite chaos matrix and is transmitted to a remote maintenance center through a network, and the remote maintenance center recovers an original signal by using a secret key in combination with an orthogonal matching pursuit algorithm, so that safe and efficient transmission of the signal is realized. According to the invention, the efficiency and safety of signal transmission can be improved, the problem that a large amount of redundant mass vibration data generated by multi-channel real-time monitoring of the industrial robot cannot be safely and efficiently transmitted to a remote maintenance center is solved, and meanwhile, a data basis is provided for fault diagnosis and health assessment of the industrial robot.
Description
technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a method and system for compressing multi-channel monitoring data of industrial robots. Background technique [0002] The extensive use of industrial robots has improved social productivity and promoted social development. In order to reduce the maintenance cost of industrial robots, a remote health monitoring system for industrial robots needs to be developed. In order to accurately identify the types of industrial robot failures, a large amount of vibration data needs to be collected. In order to improve the efficiency of data transmission and reduce the cost of data transmission, the monitoring data needs to be compressed before being transmitted to the remote maintenance center. Therefore, a good multi-channel monitoring data compression method has very important practical value. [0003] However, there is almost no research on the compression method ...
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IPC IPC(8): H03M7/30
CPCH03M7/30
Inventor 胡桥余小杰续丹张阳坤刘耀辉谢星聚
Owner XI AN JIAOTONG UNIV
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