Multi-joint mechanical arm moving track intelligent monitoring system based on artificial intelligence

Abstract

The invention relates to the technical field of mechanical arm operation monitoring, in particular to a multi-joint mechanical arm operation track intelligent monitoring system based on artificial intelligence, which comprises a mechanical arm track monitoring platform, a mechanical arm operation unit, a track generation unit, a joint track tracking unit, an interference matching unit, a track action analysis unit and an offset management unit, according to the method, on the premise that the moving track is determined, whether the joint position coordinates of the multi-joint mechanical arm are accurate or not is preliminarily analyzed, on the premise that the joint position coordinates are accurate, whether the track in the joint moving step process is normal or not is analyzed in a deep mode, and analysis is conducted in combination with vibration interference factors of the multi-joint mechanical arm; according to the method, the moving trajectory coincidence degree is reasonably analyzed, analysis is carried out according to the moving trajectory coincidence degree, the moving trajectory standard is known, the moving trajectory is adjusted reasonably and specifically according to the information feedback condition, and the accuracy and stability of the moving trajectory of the multi-joint mechanical arm are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arm operation monitoring, and particularly to an intelligent monitoring system for the operation trajectory of a multi-joint robotic arm based on artificial intelligence. Background Art

[0002] A multi-joint robotic arm is a mechanical device commonly used for automated operations in industries such as manufacturing, healthcare, and aerospace. It typically includes one or more joints, actuators, sensors, and a control system, and can be programmed to perform various tasks. Due to the complex structure of the robotic arm, there are often deviations during operation. Therefore, it is necessary to intelligently monitor the operation trajectory of the multi-joint robotic arm.

[0003] However, in the prior art, it is impossible to monitor the operation trajectory of a multi-joint robotic arm based on the angles of joint position coordinates, which is not conducive to adjusting the operation trajectory of the multi-joint robotic arm. Moreover, it does not consider that vibration in a vibrating environment will cause disturbances to each joint of the robotic arm, which is likely to lead to misjudgment of the multi-joint robotic arm, thereby reducing the standardization and monitoring effect of the operation trajectory of the multi-joint robotic arm.

[0004] In view of the above technical deficiencies, a solution is proposed herein. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent monitoring system for the operation trajectory of a multi-joint robotic arm based on artificial intelligence to solve the above-mentioned technical deficiencies. The present invention analyzes from the perspective of screening the operation trajectory of the multi-joint robotic arm to determine the operation trajectory of the multi-joint robotic arm, providing data support for subsequent analysis. On the premise of accurate joint position coordinates, it deeply analyzes whether the trajectory during the joint operation steps is normal, and combines the vibration interference factors of the multi-joint robotic arm for analysis, thereby reasonably analyzing the trajectory coincidence degree, and analyzing based on the trajectory coincidence degree to understand the standardization of the operation trajectory, so as to reasonably and pertinently adjust the operation trajectory according to the information feedback to improve the accuracy and stability of the operation trajectory of the multi-joint robotic arm.

[0006] The purpose of the present invention can be achieved by the following technical solutions: An intelligent monitoring system for the operation trajectory of a multi-joint robotic arm based on artificial intelligence, comprising a robotic arm trajectory monitoring platform, a robotic arm operation unit, a trajectory generation unit, a joint trajectory tracking unit, an interference matching unit, a trajectory action analysis unit, and an offset management unit.

[0007] The robotic arm operation unit is used to collect the position information of the multi-joint robotic arm and send it to the trajectory generation unit for feedback screening analysis of the generated operation trajectory. The minimum value obtained by multiplying the corresponding values of the number of operation steps and the operation efficiency evaluation value is used to set the corresponding operation trajectory route as the specified operation trajectory line;

[0008] The joint trajectory tracking unit is used to collect the actual position coordinates of each joint and perform coordinate tracking verification feedback analysis on the actual position coordinates of each joint to obtain a joint deviation signal or a joint standard signal;

[0009] The interference matching unit is used to respond to the joint standard signal, collect the vibration time period of the multi-joint robotic arm, and perform deviation interference matching division analysis on the vibration time period to obtain the deviation factor coefficient corresponding to the flutter interference value belonging to the preset flutter interference value interval;

[0010] The trajectory action analysis unit is used to respond to the joint standard signal and perform operation trajectory action supervision analysis to obtain a trajectory stability signal, a trajectory risk signal, a trajectory anomaly signal, or a trajectory normal signal.

[0011] Preferably, the process of feedback screening analysis for generating the operation trajectory by the trajectory generation unit is as follows:

[0012] Collect the operation time period of the multi-joint robotic arm and set it as the time threshold. At the same time, establish the space coordinate system of the multi-joint robotic arm, and then obtain the position information of the multi-joint robotic arm within the time threshold. The position information includes the initial point coordinates and the target point coordinates. Plan the operation trajectory route of the multi-joint robotic arm based on the initial point coordinates and the target point coordinates of the multi-joint robotic arm, obtain the operation energy consumption information of each operation trajectory route. The operation trajectory route includes the number of operation steps and the operation efficiency evaluation value, and then obtain the value obtained by multiplying the corresponding values of the number of operation steps and the operation efficiency evaluation value. The operation trajectory route corresponding to the minimum value obtained by multiplying the corresponding values of the number of operation steps and the operation efficiency evaluation value is set as the specified operation trajectory line;

[0013] The operation efficiency evaluation value represents the value obtained by multiplying the operation duration of the operation trajectory route by the corresponding value of the operation energy consumption.

[0014] Preferably, the process of coordinate tracking verification feedback analysis by the joint trajectory tracking unit is as follows:

[0015] S1. Retrieve relevant information about the operation trajectory;

[0016] S2. Perform joint point verification and matching processing;

[0017] S3. Output the comparison result.

[0018] Preferably, retrieving running trajectory related information: obtaining the specified running trajectory line from the initial point to the target point of the multi-joint robotic arm and the number of running steps of the specified running trajectory line;

[0019] Joint point verification and matching processing: obtaining the actual position coordinates of each joint at the end of each execution step of the multi-joint robotic arm, and comparing and analyzing the actual position coordinates of each joint at the end of each running step with the specified position coordinates one by one. If the actual position coordinates are different from the specified position coordinates, a joint deviation signal is generated; if the actual position coordinates are the same as the specified position coordinates, a joint standard signal is generated;

[0020] Output of comparison result: sending the joint deviation signal or the joint standard signal to the deviation management unit.

[0021] Preferably, the deviation interference matching and division analysis process of the interference matching unit is as follows:

[0022] Obtaining the vibration period of the multi-joint robotic arm within the time threshold, dividing the vibration period into g sub-time nodes, where g is a natural number greater than zero, obtaining the vibration amplitude of each sub-time node, and then obtaining the average value of the vibration amplitudes, and setting the average value of the vibration amplitudes as the flutter interference value. Comparing and analyzing the flutter interference value with the preset flutter interference value range stored in it, and obtaining the deviation factor coefficient corresponding to the flutter interference value belonging to the preset flutter interference value range.

[0023] Preferably, the running trajectory action supervision and analysis process of the trajectory action analysis unit is as follows:

[0024] Performing state discrimination on the actual running trajectory line corresponding to the joint standard signal. If there is a vibration period in the actual running trajectory line corresponding to the joint standard signal, obtaining the deviation factor coefficient corresponding to the vibration period in the actual running trajectory line corresponding to the joint standard signal, and then obtaining the effective overlap range according to the deviation factor coefficient and the preset overlap degree. The effective overlap range is [preset overlap degree minus deviation factor coefficient, preset overlap degree].

[0025] Preferably, obtaining the overlap degree between the actual running trajectory line corresponding to the joint standard signal and the specified running trajectory line, analyzing the overlap degree between the actual running trajectory line corresponding to the joint standard signal and the specified running trajectory line, and generating a trajectory stability signal or a trajectory risk signal;

[0026] If there is no vibration period in the actual running trajectory line corresponding to the joint standard signal, obtaining the actual running trajectory lines and the specified running trajectory lines of each joint during the execution of each running step of the multi-joint robotic arm within the time threshold, and obtaining the overlap degree between the actual running trajectory line of the multi-joint robotic arm and the specified running trajectory line;

[0027] Discriminate and process the coincidence degree between the actual operation trajectory line and the specified operation trajectory line of the multi-joint robotic arm to generate a trajectory anomaly signal or a trajectory normal signal.

[0028] The beneficial effects of the present invention are as follows:

[0029] (1) The present invention analyzes from the perspective of screening the operation trajectory of the multi-joint robotic arm to determine the operation trajectory of the multi-joint robotic arm, providing data support for subsequent analysis. On the premise of determining the operation trajectory, it analyzes from the perspective of the position coordinates of each joint of the multi-joint robotic arm to preliminarily analyze whether the joint position coordinates of the multi-joint robotic arm are accurate;

[0030] (2) On the premise that the joint position coordinates are accurate, the present invention deeply analyzes whether the trajectory during the joint operation steps is normal, and analyzes in combination with the vibration interference factors of the multi-joint robotic arm, and then reasonably analyzes the trajectory coincidence degree, and analyzes according to the trajectory coincidence degree to understand the standardness of the operation trajectory, so as to reasonably and pertinently adjust the operation trajectory according to the information feedback situation to improve the accuracy and stability of the operation trajectory of the multi-joint robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below with reference to the accompanying drawings;

[0032] Figure 1 is the system flowchart of the present invention;

[0033] Figure 2 is the partial analysis reference diagram of the second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] Embodiment 1:

[0036] Please refer to Figures 1 to 2As shown in the figure, the present invention is an intelligent monitoring system for the operating trajectory of a multi-joint robotic arm based on artificial intelligence, including a robotic arm trajectory monitoring platform, a robotic arm operating unit, a trajectory generation unit, a joint trajectory tracking unit, an interference matching unit, a trajectory motion analysis unit, and an offset management unit. The robotic arm trajectory monitoring platform is unidirectionally communicatively connected to both the robotic arm operating unit and the joint trajectory tracking unit. The robotic arm operating unit is unidirectionally communicatively connected to the trajectory generation unit. The trajectory generation unit is unidirectionally communicatively connected to the robotic arm trajectory monitoring platform. The joint trajectory tracking unit is unidirectionally communicatively connected to the interference matching unit, the trajectory motion analysis unit, and the offset management unit. The interference matching unit is unidirectionally communicatively connected to the trajectory motion analysis unit. The trajectory motion analysis unit is unidirectionally communicatively connected to the offset management unit;

[0037] When the multi-joint robotic arm is monitored by the robotic arm trajectory monitoring platform, a supervision instruction is generated and sent to the robotic arm operating unit. After receiving the supervision instruction, the robotic arm operating unit immediately collects the position information of the multi-joint robotic arm and sends the position information to the trajectory generation unit. After receiving the position information, the trajectory generation unit immediately performs a running trajectory generation feedback screening analysis on the position information, and then reasonably operates the multi-joint robotic arm to run. The specific running trajectory generation feedback screening analysis process is as follows:

[0038] The running period of the multi-joint robotic arm is collected and set as the time threshold. At the same time, a spatial coordinate system of the multi-joint robotic arm is established, and then the position information of the multi-joint robotic arm within the time threshold is obtained. The position information includes the initial point coordinate and the target point coordinate. According to the initial point coordinate and the target point coordinate of the multi-joint robotic arm, the running trajectory route of the multi-joint robotic arm is planned, and the running energy consumption information of each running trajectory route is obtained. The running trajectory route includes the number of running steps and the operation efficiency evaluation value. Then, the value obtained by multiplying the corresponding values of the number of running steps and the operation efficiency evaluation value is obtained. The running trajectory route corresponding to the minimum value obtained by multiplying the corresponding values of the number of running steps and the operation efficiency evaluation value is set as the specified running trajectory line, and the specified running trajectory line is sent to the robotic arm trajectory monitoring platform;

[0039] In the embodiment of the present invention, the operation efficiency evaluation value represents the value obtained by multiplying the running duration of the running trajectory route by the corresponding value of the running energy consumption. It should be noted that the smaller the value of the operation efficiency evaluation value, the greater the selectivity of the running trajectory route;

[0040] The joint trajectory tracking unit is used to collect the actual position coordinates of each joint and perform a coordinate tracking verification feedback analysis on the actual position coordinates of each joint to determine whether the joint position of the multi-joint robotic arm is standard, and then make reasonable adjustments according to the feedback situation. The specific coordinate tracking verification feedback analysis process is as follows:

[0041] S1. Retrieving information related to the operating trajectory: Obtain the specified operating trajectory line from the initial point to the target point of the multi-joint robotic arm and the number of operating steps of the specified operating trajectory line;

[0042] S2. Verification and matching processing of joint positions: Obtain the actual position coordinates of each joint at the end of each execution step of the multi-joint robotic arm, and compare and analyze the actual position coordinates of each joint at the end of each operating step with the specified position coordinates one by one. If the actual position coordinates are different from the specified position coordinates, a joint deviation signal is generated. If the actual position coordinates are the same as the specified position coordinates, a joint standard signal is generated;

[0043] S3. Output of comparison results: Send the joint deviation signal or the joint standard signal to the deviation management unit. After receiving the joint deviation signal or the joint standard signal, the deviation management unit immediately performs the preset warning operation corresponding to the joint deviation signal or the joint standard signal. That is, the preset warning operation corresponding to the joint deviation signal is "display joint deviation", and the preset warning operation corresponding to the joint standard signal is "display joint normal", which helps to analyze whether the operating trajectory of the multi-joint robotic arm is normal from the perspective of joint coordinates, so as to make corrections in a timely manner;

[0044] In the embodiments of the present invention, in actual situations, multi-joint robotic arms are often used in factory production, and their production environments often have vibration conditions. Therefore, during the vibration of the multi-joint robotic arm, trajectory disturbances are caused, which easily lead to trajectory deviations, and it is impossible to accurately judge whether the operating trajectory of the multi-joint robotic arm is normal. Therefore, considering the interference conditions under different vibration states for trajectory analysis helps to improve the efficiency of multi-joint robotic arm trajectory monitoring.

[0045] Embodiment 2:

[0046] When a joint standard signal is generated, the interference matching unit is used to respond to the joint standard signal, collect the vibration period of the multi-joint robotic arm, and perform deviation interference matching division analysis on the vibration period, so as to take into account the vibration interference factors when analyzing the operating trajectory of the multi-joint robotic arm, which helps to improve the accuracy of the analysis results. The specific deviation interference matching division analysis process is as follows:

[0047] Obtain the vibration period of the multi-joint robotic arm within the time threshold, divide the vibration period into g sub-time nodes, where g is a natural number greater than zero, obtain the vibration amplitude of each sub-time node, and then obtain the average value of the vibration amplitudes, and set the average value of the vibration amplitudes as the flutter interference value. Compare and analyze the flutter interference value with the preset flutter interference value range stored in it to obtain the deviation factor coefficient corresponding to the flutter interference value belonging to the preset flutter interference value range;

[0048] According to the order of the vibration periods, the deviation factor coefficients corresponding to each vibration period are further obtained;

[0049] In the embodiments of the present invention, deviation factor coefficients are set for each preset flutter interference value interval;

[0050] After the joint standard signal is generated, the trajectory motion analysis unit is used to respond to the joint standard signal and perform supervision and analysis of the running trajectory motion to determine whether there are any deviations or norms in the running trajectory motion of each joint, so as to make timely adjustments to ensure the standardization of the running trajectory. The specific process of the running trajectory motion supervision and analysis is as follows:

[0051] Perform a state discrimination on the actual running trajectory line corresponding to the joint standard signal. If there is a vibration period in the actual running trajectory line corresponding to the joint standard signal, the deviation factor coefficient corresponding to the vibration period existing in the actual running trajectory line corresponding to the joint standard signal is obtained. Then, based on the deviation factor coefficient and the preset coincidence degree, the effective coincidence degree range is obtained. The effective coincidence degree range is [preset coincidence degree minus the deviation factor coefficient, preset coincidence degree];

[0052] In the embodiments of the present invention, for example, the preset coincidence degree is 100%, and the deviation factor coefficient is 0.12%. Then the effective coincidence degree range is [99.88%, 100%]. Both the preset coincidence degree and the deviation factor coefficient are set manually according to the actual situation;

[0053] Obtain the coincidence degree between the actual running trajectory line corresponding to the joint standard signal and the specified running trajectory line, and analyze the coincidence degree between the actual running trajectory line corresponding to the joint standard signal and the specified running trajectory line:

[0054] If the coincidence degree between the actual running trajectory line corresponding to the joint standard signal and the specified running trajectory line belongs to the effective coincidence degree range, a trajectory stability signal is generated. If the coincidence degree between the actual running trajectory line corresponding to the joint standard signal and the specified running trajectory line does not belong to the effective coincidence degree range, a trajectory risk signal is generated;

[0055] If there is no vibration period in the actual running trajectory line corresponding to the joint standard signal, obtain the actual running trajectory lines and the specified running trajectory lines of each joint during the execution of each running step of the multi-joint robotic arm within the time threshold, and perform a coincidence degree analysis on the actual running trajectory line and the specified running trajectory line of the multi-joint robotic arm to obtain the coincidence degree between the actual running trajectory line and the specified running trajectory line of the multi-joint robotic arm;

[0056] Determine and process the coincidence degree between the actual operation trajectory line and the specified operation trajectory line of the multi-joint manipulator. If the coincidence degree between the actual operation trajectory line and the specified operation trajectory line of the multi-joint manipulator is not equal to the preset coincidence degree, generate a trajectory anomaly signal. If the coincidence degree between the actual operation trajectory line and the specified operation trajectory line of the multi-joint manipulator is equal to the preset coincidence degree, generate a trajectory normal signal;

[0057] Send the trajectory stability signal, trajectory risk signal, trajectory anomaly signal or trajectory normal signal to the offset management unit. After receiving the trajectory stability signal, trajectory risk signal, trajectory anomaly signal or trajectory normal signal, the offset management unit immediately performs the preset warning operation corresponding to the trajectory stability signal, trajectory risk signal, trajectory anomaly signal or trajectory normal signal, so as to reasonably and pertinently adjust the operation trajectory according to the information feedback situation, in order to improve the accuracy and stability of the operation trajectory of the multi-joint manipulator;

[0058] In summary, the present invention analyzes from the perspective of screening the operation trajectory of the multi-joint manipulator to determine the operation trajectory of the multi-joint manipulator and provide data support for subsequent analysis. On the premise of determining the operation trajectory, analyze from the perspective of the position coordinates of each joint of the multi-joint manipulator to preliminarily analyze whether the joint position coordinates of the multi-joint manipulator are accurate. And on the premise of accurate joint position coordinates, analyze whether the trajectory during the joint operation steps is normal in an in-depth manner, and analyze in combination with the vibration interference factors of the multi-joint manipulator, and then reasonably analyze the trajectory coincidence degree, and analyze based on the trajectory coincidence degree to understand the trajectory standardness, so as to reasonably and pertinently adjust the operation trajectory according to the information feedback situation, in order to improve the accuracy and stability of the operation trajectory of the multi-joint manipulator.

[0059] The setting of the threshold value is for the convenience of comparison. Regarding the size of the threshold value, it depends on the amount of sample data and the base quantity set by those skilled in the art for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantified value.

[0060] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An intelligent monitoring system for the operating trajectory of a multi-joint robotic arm based on artificial intelligence, characterized in that, It includes a robotic arm trajectory monitoring platform, a robotic arm operation unit, a trajectory generation unit, a joint trajectory tracking unit, an interference matching unit, a trajectory motion analysis unit, and an offset management unit; The robotic arm operation unit is used to collect the position information of the multi-joint robotic arm and send it to the trajectory generation unit for feedback screening analysis of the generated operation trajectory. The minimum value among the values obtained by multiplying the corresponding values of the number of operation steps and the operation efficiency evaluation value is used to set the corresponding operation trajectory route as the specified operation trajectory line; The joint trajectory tracking unit is used to collect the actual position coordinates of each joint and perform coordinate tracking verification feedback analysis on the actual position coordinates of each joint to obtain a joint deviation signal or a joint standard signal; The interference matching unit is used to respond to the joint standard signal, collect the vibration time period of the multi-joint robotic arm, and perform deviation interference matching division analysis on the vibration time period to obtain the deviation factor coefficient corresponding to the flutter interference value belonging to the preset flutter interference value range; The trajectory motion analysis unit is used to respond to the joint standard signal and perform operation trajectory motion supervision analysis to obtain a trajectory stability signal, a trajectory risk signal, a trajectory anomaly signal, or a trajectory normal signal.

2. The intelligent monitoring system for the operating trajectory of a multi-joint robotic arm based on artificial intelligence according to claim 1, characterized in that, The process of feedback screening analysis for generating the operation trajectory by the trajectory generation unit is as follows: Collect the operation time period of the multi-joint robotic arm and set it as the time threshold. At the same time, establish the space coordinate system of the multi-joint robotic arm, and then obtain the position information of the multi-joint robotic arm within the time threshold. The position information includes the initial point coordinates and the target point coordinates. Plan the operation trajectory route of the multi-joint robotic arm based on the initial point coordinates and the target point coordinates of the multi-joint robotic arm, obtain the operation energy consumption information of each operation trajectory route. The operation trajectory route includes the number of operation steps and the operation efficiency evaluation value, and then obtain the value obtained by multiplying the corresponding values of the number of operation steps and the operation efficiency evaluation value. The operation trajectory route corresponding to the minimum value obtained by multiplying the corresponding values of the number of operation steps and the operation efficiency evaluation value is set as the specified operation trajectory line; The operation efficiency evaluation value represents the value obtained by multiplying the operation duration of the operation trajectory route by the corresponding value of the operation energy consumption.

3. An intelligent monitoring system for the operating trajectory of a multi-joint robotic arm based on artificial intelligence according to claim 1, characterized in that, The process of coordinate tracking verification feedback analysis by the joint trajectory tracking unit is as follows: S1. Retrieve relevant information about the operation trajectory; S2. Perform joint point verification and matching processing; S3. Output the comparison result.

4. An intelligent monitoring system for the operating trajectory of a multi-joint robotic arm based on artificial intelligence according to claim 3, characterized in that, Retrieve relevant information about the operation trajectory: Obtain the specified operation trajectory line from the initial point to the target point of the multi-joint robotic arm and the number of operation steps of the specified operation trajectory line; Perform joint point verification and matching processing: Obtain the actual position coordinates of each joint corresponding to the end moment of each execution step of the multi-joint robotic arm, and perform one-to-one comparison analysis between the actual position coordinates of each joint corresponding to the end moment of each operation step and the specified position coordinates. If the actual position coordinates are different from the specified position coordinates, generate a joint deviation signal. If the actual position coordinates are the same as the specified position coordinates, generate a joint standard signal; Output the comparison result: Send the joint deviation signal or the joint standard signal to the offset management unit.

5. An intelligent monitoring system for the operating trajectory of a multi-joint robotic arm based on artificial intelligence according to claim 1, characterized in that, The process of deviation interference matching division analysis by the interference matching unit is as follows: Obtain the vibration time period of the multi-joint robotic arm within the time threshold, divide the vibration time period into g sub-time nodes, where g is a natural number greater than zero. Obtain the vibration amplitude at each sub-time node, and then obtain the average value of the vibration amplitude. Set the average value of the vibration amplitude as the flutter interference value. Compare and analyze the flutter interference value with the preset flutter interference value range stored internally to obtain the deviation factor coefficient corresponding to the flutter interference value belonging to the preset flutter interference value range.

6. The intelligent monitoring system for the running trajectory of a multi-joint robotic arm based on artificial intelligence according to claim 1, characterized in that, The operation trajectory action supervision and analysis process of the trajectory action analysis unit is as follows: Perform state discrimination on the actual operation trajectory line corresponding to the joint standard signal. If there is a vibration time period in the actual operation trajectory line corresponding to the joint standard signal, obtain the deviation factor coefficient corresponding to the existence of the vibration time period in the actual operation trajectory line corresponding to the joint standard signal. Then, based on the deviation factor coefficient and the preset coincidence degree, obtain the effective coincidence degree range, and the effective coincidence degree range is [preset coincidence degree minus deviation factor coefficient, preset coincidence degree].

7. An intelligent monitoring system for the operating trajectory of a multi-joint robotic arm based on artificial intelligence according to claim 6, characterized in that, Obtain the coincidence degree between the actual operation trajectory line corresponding to the joint standard signal and the specified operation trajectory line, analyze the coincidence degree between the actual operation trajectory line corresponding to the joint standard signal and the specified operation trajectory line, and generate a trajectory stability signal or a trajectory risk signal; If there is no vibration time period in the actual operation trajectory line corresponding to the joint standard signal, obtain the actual operation trajectory lines of each joint during the execution of each operation step of the multi-joint robotic arm within the time threshold and the specified operation trajectory line, and obtain the coincidence degree between the actual operation trajectory line of the multi-joint robotic arm and the specified operation trajectory line; Perform discrimination processing on the coincidence degree between the actual operation trajectory line of the multi-joint robotic arm and the specified operation trajectory line, and generate a trajectory anomaly signal or a trajectory normal signal.

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