A system and method for consistency detection of industrial robots based on dtw distance

Abstract

The present invention provides a method for detecting the consistency of industrial robots based on DTW distance, which includes the following steps: acquiring feedback currents of N robots during normal operation and extracting single cycle sequence data T of the feedback currents of N robots during normal operation respectively i ;According to the single cycle sequence data T of the feedback current of N robots in normal operation i Get the reference sequence T 0 ; Obtain the sequence to be detected corresponding to the feedback current when the robot is running in real time; calculate the single cycle sequence data T of the feedback current of N robots when the robot is running normally through the DTW algorithm i similarity between to get the similarity range S s ; Calculate the similarity S between the sequence to be detected and the reference sequence by the DTW algorithm t ; according to the similarity S t and the similarity range S s Detect the consistency of industrial robots. The invention can improve the accuracy of the consistency detection of the industrial robot. Correspondingly, the present invention also provides a DTW distance-based industrial robot consistency detection system.

Description

technical field [0001] The present invention relates to the field of robot technology, and in particular, to a DTW distance-based industrial robot consistency detection system and method. Background technique [0002] In most disciplines, time series is a common representation of data. For time series processing, a common task is to compare the similarity of two sequences. Industrial robots generate a large amount of time series data every day. By comparing the similarity between the time series data to be detected and the reference time series data, the consistency of industrial robots can be detected and the health status of industrial robots can be judged. [0003] In the prior art, the similarity between the time series data to be detected and the reference time series data is generally determined by calculating the Euclidean distance between the two, so as to detect the consistency of the industrial robot. However, the lengths of the time series data to be detected an...

AI Technical Summary

Problems solved by technology

[0004] Based on this, in order to solve the problem that the prior art judges the similarity between the time series data to be detected and the reference time series data by calculating the Euclidean distance, which easily causes errors in the consistency detection of industrial robots, the present invention provides a method based on DTW distance The industrial robot consistency detection system and method, its specific technical scheme is as follows:

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