Optical fiber remote self-healing system operation monitoring method, system, device and medium

Abstract

The present invention discloses a method, system, device and medium for monitoring the operation of an optical fiber remote self-healing system. The method obtains the real-time operation feedback data corresponding to a manipulator, and extracts the real-time operation feedback data to obtain the initial photoelectric pulse data corresponding to a photoelectric encoder and the initial magnetoelectric pulse data corresponding to a magnetoelectric encoder. The initial photoelectric pulse data and the initial magnetoelectric pulse data are respectively subjected to data interference elimination to obtain the corresponding target photoelectric pulse data and the target magnetoelectric pulse data. Finally, all the target photoelectric pulse data and the target magnetoelectric pulse data are used to construct the system operation monitoring data corresponding to the optical fiber remote self-healing system. The photoelectric encoder and the pulse encoder are arranged on the moving axis of the manipulator, so that the encoders cooperate with each other to overcome the defects of each encoder itself, so as to ensure that the encoder feedback is reliable, so that the optical fiber remote self-healing system can work stably for a long time in an unmanned environment.

Description

Technical Field

[0001] The present invention relates to the technical field of optical fiber remote self-healing systems, and in particular to an optical fiber remote self-healing system operation monitoring method, system, equipment and medium. Background Art

[0002] The optical fiber remote self-healing system is a device that automatically plugs and unplugs the optical fiber flange head based on a robot. The robot can realize longitudinal and lateral movement, and remotely plugs and unplugs the optical fiber flange head through the optical fiber clamp at the front end of the robot to repair the function of the optical fiber routing line, that is, remotely plugs and unplugs the optical fiber to adjust the communication line and realize self-healing of the communication line.

[0003] The existing optical fiber remote self-healing system is used to detect the connectivity of optical fibers; issue an alarm for abnormal optical fiber connection; send an optical fiber flange head replacement instruction to the media server; receive the instruction, so that the optical fiber flange head is shifted accordingly from the optical fiber connector array, and the manipulator completes the insertion, removal, and transfer of the optical fiber flange head, so that the optical fiber flange head is replaced to repair the connectivity of the optical fiber; during the period when the position of the optical fiber flange head changes, the manipulator also manages the optical fiber, that is, temporarily hooks the fiber body on the cable management frame to prevent the manipulator from breaking the fiber line.

[0004] However, the existing optical fiber remote self-healing system operation monitoring method is prone to low accuracy of the acquired optical fiber remote self-healing system operation monitoring data due to defects in the information collection equipment itself or interference from other factors. Summary of the invention

[0005] The present invention provides a method, system, device and medium for monitoring the operation of an optical fiber remote self-healing system, which solves the technical problem that the existing method for monitoring the operation of an optical fiber remote self-healing system is prone to low accuracy of the acquired optical fiber remote self-healing system operation monitoring data due to defects in the information collection device itself or being easily interfered by other factors.

[0006] The present invention provides a method for monitoring the operation of an optical fiber remote self-healing system, which relates to a manipulator of the optical fiber remote self-healing system, wherein the manipulator is provided with a plurality of photoelectric encoders and a plurality of magnetoelectric encoders, and the method comprises:

[0007] Obtaining real-time operation feedback data corresponding to the manipulator;

[0008] Extracting the real-time operation feedback data to obtain initial photoelectric pulse data corresponding to the photoelectric encoder and initial magnetoelectric pulse data corresponding to the magnetoelectric encoder;

[0009] Eliminate data interference on the initial photoelectric pulse data and the initial magnetoelectric pulse data to obtain corresponding target photoelectric pulse data and target magnetoelectric pulse data;

[0010] All of the target photoelectric pulse data and the target magnetoelectric pulse data are used to construct system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0011] Optionally, the step of performing data interference elimination on the initial photoelectric pulse data and the initial magnetoelectric pulse data to obtain corresponding target photoelectric pulse data and target magnetoelectric pulse data comprises:

[0012] Respectively obtain historical photoelectric pulse data corresponding to the photoelectric encoder;

[0013] According to the historical photoelectric pulse data and the initial photoelectric pulse data, determine the photoelectric interference type corresponding to the initial photoelectric pulse data and eliminate the interference to obtain the corresponding target photoelectric pulse data;

[0014] Respectively obtain historical magnetoelectric pulse data corresponding to the magnetoelectric encoder;

[0015] According to the historical magnetoelectric pulse data and the initial magnetoelectric pulse data, the magnetoelectric interference type corresponding to the initial magnetoelectric pulse data is determined and the interference is eliminated to obtain the corresponding target magnetoelectric pulse data.

[0016] Optionally, the step of determining the photoelectric interference type corresponding to the initial photoelectric pulse data and eliminating the interference to obtain the corresponding target photoelectric pulse data according to the historical photoelectric pulse data and the initial photoelectric pulse data includes:

[0017] Respectively comparing the initial photoelectric pulse data with the corresponding historical photoelectric pulse data, and judging whether the initial photoelectric pulse data has burr interference based on the comparison result;

[0018] If yes, acquiring burr interference data corresponding to the initial photoelectric pulse data, and generating a corresponding amplitude modulation wave based on the burr interference data;

[0019] Using the amplitude modulation wave to amplitude modulate the initial photoelectric pulse data to obtain intermediate photoelectric pulse data;

[0020] If not, the initial photoelectric pulse data is used as the intermediate photoelectric pulse data;

[0021] Based on the system static photoelectric pulse data corresponding to the intermediate photoelectric pulse data, determining whether the intermediate photoelectric pulse data has jitter interference;

[0022] If yes, then add the corresponding filtering time constant to the initial filtering circuit corresponding to the intermediate photoelectric pulse data to obtain the target filtering circuit;

[0023] The target filter circuit is used to update the intermediate photoelectric pulse data to obtain target photoelectric pulse data;

[0024] If not, the intermediate photoelectric pulse data is used as the target photoelectric pulse data.

[0025] Optionally, the step of determining the type of magnetoelectric interference corresponding to the initial magnetoelectric pulse data and eliminating the interference based on the historical magnetoelectric pulse data and the initial magnetoelectric pulse data to obtain the corresponding target magnetoelectric pulse data includes:

[0026] Comparing the initial magnetoelectric pulse data with the corresponding historical magnetoelectric pulse data respectively, and judging whether the initial magnetoelectric pulse data has magnetic field interference based on the comparison result;

[0027] If yes, obtaining the interference magnetic field corresponding to the initial magneto-electric pulse data;

[0028] By filtering the interfering magnetic field, the initial magnetoelectric pulse data is updated to intermediate magnetoelectric pulse data;

[0029] If not, the initial magnetoelectric pulse data is used as the intermediate magnetoelectric pulse data;

[0030] Determining whether the intermediate magnetoelectric pulse data meets a preset pulse data range;

[0031] If yes, the intermediate magnetoelectric pulse data is used as the target magnetoelectric pulse data;

[0032] If not, a filtering algorithm is used to perform pulse filtering on the intermediate magnetoelectric pulse data to obtain target magnetoelectric pulse data.

[0033] Optionally, the step of using all of the target photoelectric pulse data and the target magnetoelectric pulse data to construct system operation monitoring data corresponding to the optical fiber remote self-healing system includes:

[0034] Overlapping and integrating the target photoelectric pulse data with the corresponding target magnetoelectric pulse data to obtain corresponding initial operation monitoring data;

[0035] Acquiring difference data in the initial operation monitoring data;

[0036] Obtaining corresponding target operation monitoring data according to the difference data and the corresponding initial operation monitoring data;

[0037] All of the target operation monitoring data are used to construct system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0038] Optionally, the step of obtaining corresponding target operation monitoring data according to the difference data and the corresponding initial operation monitoring data includes:

[0039] Determining whether the difference data satisfies a preset difference type;

[0040] If yes, the target photoelectric pulse data corresponding to the initial operation monitoring data is used as the corresponding target operation monitoring data;

[0041] If not, the target magnetoelectric pulse data corresponding to the initial operation monitoring data is used as the corresponding target operation monitoring data.

[0042] The present invention also provides an optical fiber remote self-healing system operation monitoring system, which relates to a manipulator of the optical fiber remote self-healing system, wherein the manipulator is provided with a plurality of photoelectric encoders and a plurality of magnetoelectric encoders, and the system comprises:

[0043] A real-time operation feedback data acquisition module, used to acquire the real-time operation feedback data corresponding to the manipulator;

[0044] An initial photoelectric pulse data and initial magnetoelectric pulse data obtaining module is used to extract the real-time operation feedback data to obtain the initial photoelectric pulse data corresponding to the photoelectric encoder and the initial magnetoelectric pulse data corresponding to the magnetoelectric encoder;

[0045] A module for obtaining target photoelectric pulse data and target magnetoelectric pulse data, for eliminating data interference from the initial photoelectric pulse data and the initial magnetoelectric pulse data, respectively, to obtain corresponding target photoelectric pulse data and target magnetoelectric pulse data;

[0046] The system operation monitoring data construction module is used to use all the target photoelectric pulse data and the target magnetoelectric pulse data to construct the system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0047] The present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of implementing any of the above-mentioned methods for monitoring the operation of an optical fiber remote self-healing system.

[0048] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed, any of the above-mentioned methods for monitoring the operation of an optical fiber remote self-healing system is implemented.

[0049] It can be seen from the above technical solutions that the present invention has the following advantages:

[0050] The present invention obtains the real-time operation feedback data corresponding to the manipulator, and extracts the real-time operation feedback data to obtain the initial photoelectric pulse data corresponding to the photoelectric encoder and the initial magnetoelectric pulse data corresponding to the magnetoelectric encoder. The initial photoelectric pulse data and the initial magnetoelectric pulse data are respectively subjected to data interference elimination to obtain the corresponding target photoelectric pulse data and the target magnetoelectric pulse data. Finally, all the target photoelectric pulse data and the target magnetoelectric pulse data are used to construct the system operation monitoring data corresponding to the optical fiber remote self-healing system. The technical problem that the existing optical fiber remote self-healing system operation monitoring method is easily affected by the defects of the information acquisition equipment itself or is easily interfered by other factors, resulting in the low accuracy of the acquired optical fiber remote self-healing system operation monitoring data is solved. By arranging the photoelectric encoder and the pulse encoder on the moving axis of the manipulator, the encoders cooperate with each other to overcome the defects of each encoder itself, so as to ensure the reliable feedback of the encoder, so that the optical fiber remote self-healing system can work stably for a long time in an unmanned environment, and protect the optical fiber and the optical fiber connector from being damaged by accidental accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0052] Figure 1 A flowchart of a method for monitoring operation of an optical fiber remote self-healing system provided in Embodiment 1 of the present invention;

[0053] Figure 2 A flowchart of a method for monitoring operation of an optical fiber remote self-healing system provided in Embodiment 2 of the present invention;

[0054] Figure 3 This is a structural block diagram of an optical fiber remote self-healing system operation monitoring system provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0055] The embodiments of the present invention provide a method, system, device and medium for monitoring the operation of an optical fiber remote self-healing system, which are used to solve the technical problem that the existing method for monitoring the operation of an optical fiber remote self-healing system is prone to low accuracy of the acquired optical fiber remote self-healing system operation monitoring data due to defects in the information collection device itself or being easily interfered by other factors.

[0056] In the embodiment of the present invention, the terminal is specifically a fiber remote self-healing system distributed in various places, and the fiber remote self-healing system is connected to the server through the network. The server and the server can be independent physical servers, or a server cluster or distributed system composed of multiple physical servers. The server can be a centralized processing terminal for operators, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms.

[0057] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] See also Figure 1 , Figure 1 A flowchart of the steps of a method for monitoring the operation of an optical fiber remote self-healing system provided in Embodiment 1 of the present invention.

[0059] The present invention provides a method for monitoring the operation of an optical fiber remote self-healing system, which relates to a manipulator of the optical fiber remote self-healing system. The manipulator is provided with a plurality of photoelectric encoders and a plurality of magnetoelectric encoders. The method comprises:

[0060] Step 101: Obtain real-time operation feedback data corresponding to the robot.

[0061] The manipulator is arranged on the optical fiber remote self-healing system, including a manipulator body, that is, a mobile fixture adapted to the optical fiber flange head, and an xyz-axis slide mechanism that drives the manipulator body to move, so that the front end of the manipulator is aligned with the optical fiber connector plugged into the optical fiber flange head, and plugged or unplugged. The x-axis, y-axis and z-axis on the xyz-axis slide mechanism are respectively provided with servo motors and encoder groups, and the servo motors of each axis are precisely controlled by the encoder group, and feedback pulses are sent through the encoder group to feedback the moving speed and moving distance of the manipulator body. The encoder group includes at least one photoelectric encoder and one magnetoelectric encoder. The photoelectric encoder has low accuracy and is easy to damage when the volume is small, but has strong anti-interference ability. The magnetoelectric encoder maintains high accuracy under the premise of small volume, and is not easy to damage, but is easily interfered. By setting the encoder group, the two encoders can complement each other and check each other, avoiding the influence of faults or interference on the accuracy of the manipulator, and thus the optical fiber remote self-healing system can maintain long-term stable operation.

[0062] In the embodiment of the present invention, the real-time operation feedback data refers to the moving speed and moving distance of the manipulator collected by the encoder group set on each axis of the xyz-axis slide mechanism that drives the manipulator body to move, that is, the manipulator operation data and motor operation data collected by the photoelectric encoder and magnetoelectric encoder set on each axis of the xyz-axis slide mechanism that drives the manipulator to move. The operation feedback data corresponding to the manipulator collected by all photoelectric encoders and magnetoelectric encoders is obtained in real time.

[0063] Step 102: extract the real-time operation feedback data to obtain initial photoelectric pulse data corresponding to the photoelectric encoder and initial magnetoelectric pulse data corresponding to the magnetoelectric encoder.

[0064] In the embodiment of the present invention, the initial photoelectric pulse data corresponding to the photoelectric encoder in the real-time operation feedback data is extracted, and the initial magnetoelectric pulse data corresponding to the magnetoelectric encoder in the real-time operation feedback data is extracted.

[0065] Step 103 , respectively perform data interference elimination on the initial photoelectric pulse data and the initial magnetoelectric pulse data to obtain corresponding target photoelectric pulse data and target magnetoelectric pulse data.

[0066] In the embodiment of the present invention, the historical photoelectric pulse data corresponding to the photoelectric encoder is obtained respectively, and based on the historical photoelectric pulse data and the initial photoelectric pulse data, the photoelectric interference type corresponding to the initial photoelectric pulse data is determined and the interference is eliminated to obtain the corresponding target photoelectric pulse data. The historical magnetoelectric pulse data corresponding to the magnetoelectric encoder is obtained respectively, and based on the historical magnetoelectric pulse data and the initial magnetoelectric pulse data, the magnetoelectric interference type corresponding to the initial magnetoelectric pulse data is determined and the interference is eliminated to obtain the corresponding target magnetoelectric pulse data.

[0067] Step 104: using all target photoelectric pulse data and target magnetoelectric pulse data, construct system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0068] The system operation monitoring data refers to the monitoring data obtained by removing interference and screening the data collected by all photoelectric encoders and magnetoelectric encoders, and is used to represent the real-time operation status of the optical fiber remote self-healing system.

[0069] In the embodiment of the present invention, the target photoelectric pulse data are overlapped and integrated with the corresponding target magnetoelectric pulse data to obtain the initial operation monitoring data. The difference data in the initial operation monitoring data is obtained, and the corresponding target operation monitoring data is obtained based on the difference data and the corresponding initial operation monitoring data. All the target operation monitoring data are used to construct the system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0070] In an embodiment of the present invention, by obtaining the real-time operation feedback data corresponding to the manipulator and extracting the real-time operation feedback data, the initial photoelectric pulse data corresponding to the photoelectric encoder and the initial magnetoelectric pulse data corresponding to the magnetoelectric encoder are obtained. By eliminating the data interference of the initial photoelectric pulse data and the initial magnetoelectric pulse data respectively, the corresponding target photoelectric pulse data and the target magnetoelectric pulse data are obtained. Finally, all the target photoelectric pulse data and the target magnetoelectric pulse data are used to construct the system operation monitoring data corresponding to the optical fiber remote self-healing system. The technical problem that the existing optical fiber remote self-healing system operation monitoring method is easily affected by the defects of the information collection equipment itself or is easily interfered by other factors, resulting in the low accuracy of the acquired optical fiber remote self-healing system operation monitoring data is solved. By arranging the photoelectric encoder and the pulse encoder on the moving axis of the manipulator, the encoders cooperate with each other to overcome the defects of each encoder itself, so as to ensure the reliable feedback of the encoder, so that the optical fiber remote self-healing system can work stably for a long time in an unmanned environment, and protect the optical fiber and the optical fiber connector from being damaged by accidental accidents.

[0071] See also Figure 2 , Figure 2 A flowchart of the steps of a method for monitoring the operation of an optical fiber remote self-healing system provided in Embodiment 2 of the present invention.

[0072] Another optical fiber remote self-healing system operation monitoring method provided by the present invention relates to a manipulator of the optical fiber remote self-healing system, the manipulator is provided with a plurality of photoelectric encoders and a plurality of magnetoelectric encoders, and the method comprises:

[0073] Step 201: Obtain real-time operation feedback data corresponding to the robot.

[0074] In an embodiment of the present invention, real-time operation feedback data corresponding to the manipulator collected by photoelectric encoders and magnetoelectric encoders on the x-axis, y-axis and z-axis of the xyz-axis slide mechanism that drives the manipulator body to move is obtained.

[0075] Step 202: extract the real-time operation feedback data to obtain initial photoelectric pulse data corresponding to the photoelectric encoder and initial magnetoelectric pulse data corresponding to the magnetoelectric encoder.

[0076] In the embodiment of the present invention, the real-time operation feedback data is divided, and the initial photoelectric pulse data corresponding to the photoelectric encoder and the initial magnetoelectric pulse data corresponding to the magnetoelectric encoder are extracted respectively.

[0077] Step 203: respectively obtain historical photoelectric pulse data corresponding to the photoelectric encoder.

[0078] In the embodiment of the present invention, all historical photoelectric pulse data corresponding to each photoelectric encoder is obtained for comparison with the corresponding initial photoelectric pulse data.

[0079] Step 204: According to the historical photoelectric pulse data and the initial photoelectric pulse data, the photoelectric interference type corresponding to the initial photoelectric pulse data is determined and the interference is eliminated to obtain the corresponding target photoelectric pulse data.

[0080] Further, step 204 may include the following sub-steps S11-S18:

[0081] S11 , respectively comparing the initial photoelectric pulse data with the corresponding historical photoelectric pulse data, and judging whether there is burr interference in the initial photoelectric pulse data based on the comparison result.

[0082] In the embodiment of the present invention, the initial photoelectric pulse data corresponding to each photoelectric encoder is compared with the corresponding historical photoelectric pulse data to determine whether there is burr interference in the loop, that is, to determine whether there is burr interference in the initial photoelectric pulse data.

[0083] S12: If yes, obtain burr interference data corresponding to the initial photoelectric pulse data, and generate a corresponding amplitude modulation wave based on the burr interference data.

[0084] In an embodiment of the present invention, if it is determined after comparison operation that the initial photoelectric pulse data has burr interference, the initial photoelectric pulse data is subjected to wavelet denoising and mean filtering to obtain corresponding burr interference data and generate a corresponding amplitude modulation wave.

[0085] S13, using an amplitude modulation wave to perform amplitude modulation on the initial photoelectric pulse data to obtain intermediate photoelectric pulse data.

[0086] In an embodiment of the present invention, after determining that the initial photoelectric pulse data has burr interference, the corresponding burr interference data is obtained and a corresponding amplitude modulation wave is generated, and the corresponding initial photoelectric pulse data is amplitude modulated by the amplitude modulation wave to obtain the corresponding intermediate photoelectric pulse data.

[0087] S14: If not, the initial photoelectric pulse data is used as the intermediate photoelectric pulse data.

[0088] In the embodiment of the present invention, if the initial photoelectric pulse data does not have burr interference, the initial photoelectric pulse data is directly used as the intermediate photoelectric pulse data.

[0089] S15. Determine whether there is jitter interference in the intermediate photoelectric pulse data based on the system static photoelectric pulse data corresponding to the intermediate photoelectric pulse data.

[0090] The system static photoelectric pulse data refers to the pulse data output by the light spot encoder when the motor on the same axis as the photoelectric encoder is stationary.

[0091] In the embodiment of the present invention, when the motor is stationary, there should be no pulse in theory. If a pulse signal is still read at this time, the pulse is external jitter interference. Therefore, it is possible to determine whether the intermediate photoelectric pulse data has jitter interference through the system static photoelectric pulse data corresponding to the intermediate photoelectric pulse data.

[0092] S16: If yes, add the corresponding filtering time constant to the initial filtering circuit corresponding to the intermediate photoelectric pulse data to obtain the target filtering circuit.

[0093] In an embodiment of the present invention, based on the jitter interference corresponding to the intermediate photoelectric pulse data, the initial filter circuit and the corresponding filter time constant corresponding to the intermediate photoelectric pulse data are determined, and the corresponding target filter circuit is obtained by applying the corresponding filter time constant to the initial filter circuit.

[0094] S17, using a target filter circuit to update the intermediate photoelectric pulse data to obtain target photoelectric pulse data.

[0095] In the embodiment of the present invention, the intermediate photoelectric pulse data with jitter interference are respectively passed through corresponding target filter circuits, thereby eliminating the corresponding jitter interference and obtaining target photoelectric pulse data.

[0096] S18: If not, the intermediate photoelectric pulse data is used as the target photoelectric pulse data.

[0097] In the embodiment of the present invention, when there is no jitter interference in the intermediate photoelectric pulse data, the intermediate photoelectric pulse data is directly used as the corresponding target photoelectric pulse data.

[0098] In the embodiment of the present invention, the order of determining the burr interference and jitter interference of the initial photoelectric pulse data can be adjusted based on actual needs, and the present invention does not limit this. After identifying the corresponding interference, when outputting the target photoelectric pulse data, the maintenance reminder information containing the specific interference type is also output.

[0099] Step 205: respectively obtain historical magnetoelectric pulse data corresponding to the magnetoelectric encoder.

[0100] In the embodiment of the present invention, all historical magnetoelectric pulse data corresponding to each magnetoelectric encoder are obtained for comparison with the corresponding initial magnetoelectric pulse data.

[0101] Step 206: Determine the type of magnetoelectric interference corresponding to the initial magnetoelectric pulse data based on the historical magnetoelectric pulse data and the initial magnetoelectric pulse data, eliminate the interference, and obtain the corresponding target magnetoelectric pulse data.

[0102] Further, step 206 may include the following sub-steps S21-S28:

[0103] S21, respectively comparing the initial magnetoelectric pulse data with the corresponding historical magnetoelectric pulse data, and judging whether there is magnetic field interference in the initial magnetoelectric pulse data based on the comparison result.

[0104] In the embodiment of the present invention, the initial magnetoelectric pulse data corresponding to each magnetoelectric encoder is compared and calculated with the corresponding historical magnetoelectric pulse data to determine whether there is magnetic field interference in the initial magnetoelectric pulse data.

[0105] S22: If yes, obtain the interference magnetic field corresponding to the initial magneto-electric pulse data.

[0106] In an embodiment of the present invention, if the comparison calculation result shows that the initial magnetoelectric pulse data has magnetic field interference, the harmonic source (generally a nearby electrical component) is obtained through calculation, and the interference is eliminated based on the magnetic field of the harmonic source or based on the specific interfering magnetic field calculated.

[0107] S23, updating the initial magnetoelectric pulse data to intermediate magnetoelectric pulse data by filtering the interfering magnetic field.

[0108] In an embodiment of the present invention, corresponding filtering processing is performed based on the magnetic field of the harmonic source or based on the calculated specific interference magnetic field to obtain an initial magnetoelectric pulse signal that eliminates the magnetic field interference, and the initial magnetoelectric pulse data that eliminates the magnetic field interference is used as intermediate magnetoelectric pulse data.

[0109] S24. If not, the initial magneto-electric pulse data is used as the intermediate magneto-electric pulse data.

[0110] In the embodiment of the present invention, when there is no magnetic field interference in the initial magnetoelectric pulse data, the initial magnetoelectric pulse data is directly used as the intermediate magnetoelectric pulse data.

[0111] S25, determining whether the intermediate magnetoelectric pulse data meets a preset pulse data range.

[0112] The preset pulse data range refers to the range that the magnetoelectric pulse data normally output by the magnetoelectric encoder should meet, which is set based on the corresponding properties of the magnetoelectric encoder and the actual situation.

[0113] In the embodiment of the present invention, the intermediate magnetoelectric pulse data is compared with a preset pulse data range to determine whether the intermediate magnetoelectric pulse data falls within the preset pulse data range.

[0114] S26. If yes, the intermediate magneto-electric pulse data is used as the target magneto-electric pulse data.

[0115] In an embodiment of the present invention, when the intermediate magnetoelectric pulse data is within a preset pulse data range, the intermediate magnetoelectric pulse data is used as the target magnetoelectric pulse data.

[0116] S27. If not, use a filtering algorithm to perform pulse filtering on the intermediate magnetoelectric pulse data to obtain target magnetoelectric pulse data.

[0117] In an embodiment of the present invention, when the intermediate magnetoelectric pulse data is not within the preset pulse data range, a filtering algorithm is used to filter out individual sudden change pulse data in the intermediate magnetoelectric pulse data, thereby obtaining target magnetoelectric pulse data.

[0118] In the embodiment of the present invention, the order of determining the magnetic field interference and pulse data range of the initial photoelectric pulse data can be adjusted based on actual needs, and the present invention does not limit this. After identifying the corresponding interference, when outputting the target magnetic and electric pulse data, maintenance reminder information containing the specific interference type is also output.

[0119] Step 207: using all target photoelectric pulse data and target magnetoelectric pulse data, construct system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0120] Further, step 207 may include the following sub-steps S31-S34:

[0121] S31, overlapping and integrating the target photoelectric pulse data with the corresponding target magnetoelectric pulse data to obtain corresponding initial operation monitoring data.

[0122] In an embodiment of the present invention, the target photoelectric pulse data and target magnetoelectric pulse data collected at the same time by the photoelectric encoders and magnetoelectric encoders on each axis of the xyz-axis slide mechanism that drives the manipulator to move are overlapped and integrated to obtain corresponding initial operation monitoring data.

[0123] S32: Obtain difference data in the initial operation monitoring data.

[0124] In an embodiment of the present invention, a consistency comparison is performed on the target photoelectric pulse data and the target magnetoelectric pulse data in the initial operation monitoring data to obtain corresponding difference data.

[0125] S33. Obtain corresponding target operation monitoring data according to the difference data and the corresponding initial operation monitoring data.

[0126] Further, S33 may include the following sub-steps S331-S333:

[0127] S331. Determine whether the difference data meets the preset difference type.

[0128] In the embodiment of the present invention, the preset difference type refers to the difference data being a sudden and irregular difference. It is determined whether the difference data is a sudden and irregular difference.

[0129] S332: If yes, the target photoelectric pulse data corresponding to the initial operation monitoring data is used as the corresponding target operation monitoring data.

[0130] In the embodiment of the present invention, when the difference data is a sudden and irregular difference, the difference factor corresponding to the initial operation monitoring data is external interference, and the target photoelectric pulse data corresponding to the initial operation monitoring data is selected as the corresponding target operation monitoring data.

[0131] S333: If not, the target magnetoelectric pulse data corresponding to the initial operation monitoring data is used as the corresponding target operation monitoring data.

[0132] In an embodiment of the present invention, when there is an equal difference or a smoothly changing difference between the difference data, the difference factor corresponding to the initial operation monitoring data is the accuracy influence, and the target magnetoelectric pulse data corresponding to the initial operation monitoring data is selected as the corresponding target operation monitoring data.

[0133] S34. Using all target operation monitoring data, construct system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0134] In the embodiment of the present invention, the target operation monitoring data obtained by screening and analyzing all the initial operation monitoring data is used to construct the system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0135] In an embodiment of the present invention, by acquiring real-time operation feedback data corresponding to the manipulator, the real-time operation feedback data is subjected to data extraction to obtain initial photoelectric pulse data corresponding to the photoelectric encoder and initial magnetoelectric pulse data corresponding to the magnetoelectric encoder. The historical photoelectric pulse data corresponding to the photoelectric encoder are respectively acquired, and based on the historical photoelectric pulse data and the initial photoelectric pulse data, the photoelectric interference type corresponding to the initial photoelectric pulse data is determined and the interference is eliminated to obtain the corresponding target photoelectric pulse data. The historical magnetoelectric pulse data corresponding to the magnetoelectric encoder are respectively acquired, and based on the historical magnetoelectric pulse data and the initial magnetoelectric pulse data, the magnetoelectric interference type corresponding to the initial magnetoelectric pulse data is determined and the interference is eliminated to obtain the corresponding target magnetoelectric pulse data. The historical magnetoelectric pulse data and the initial magnetoelectric pulse data are used to determine the magnetoelectric interference type corresponding to the initial magnetoelectric pulse data and the interference is eliminated to obtain the corresponding target magnetoelectric pulse data. By adding an encoder structure to the manipulator mechanism on the optical fiber remote self-healing system, the added encoder is in the form of an encoder group, including at least one photoelectric encoder and one magnetoelectric encoder. Through the shared function of the photoelectric encoder and the magnetoelectric encoder, they complement each other and combine the advantages of each encoder to obtain accurate feedback pulses. Each time a feedback pulse is obtained, they can be checked against each other to detect whether there is an abnormality in the encoder or the environment, so as to raise a corresponding alarm. By setting up the form of an encoder group, the stability and accuracy of the encoder are significantly improved, without the need to use a photoelectric encoder that is too large for accuracy, or a magnetoelectric encoder that is more expensive and anti-interference. The encoder group includes at least one photoelectric encoder and one magnetoelectric encoder. In practical applications, other types of encoders can also be added to cooperate with each other to overcome the defects of each encoder to ensure reliable feedback of the encoder, so that the optical fiber remote self-healing system can work stably for a long time in an unmanned environment, avoid damage to the manipulator or light, and can detect abnormalities in a timely manner through mutual detection of encoders.

[0136] See also Figure 3 , Figure 3 This is a structural block diagram of an optical fiber remote self-healing system operation monitoring system provided in Embodiment 3 of the present invention.

[0137] An embodiment of the present invention provides an optical fiber remote self-healing system operation monitoring system, which relates to a manipulator of the optical fiber remote self-healing system. The manipulator is provided with multiple photoelectric encoders and multiple magnetoelectric encoders. The system includes:

[0138] The real-time operation feedback data acquisition module 301 is used to acquire the real-time operation feedback data corresponding to the manipulator.

[0139] The initial photoelectric pulse data and initial magnetoelectric pulse data obtaining module 302 is used to extract the real-time operation feedback data to obtain the initial photoelectric pulse data corresponding to the photoelectric encoder and the initial magnetoelectric pulse data corresponding to the magnetoelectric encoder.

[0140] The module 303 for obtaining target photoelectric pulse data and target magnetoelectric pulse data is used to eliminate data interference from the initial photoelectric pulse data and the initial magnetoelectric pulse data respectively, and obtain corresponding target photoelectric pulse data and target magnetoelectric pulse data.

[0141] The system operation monitoring data building module 304 is used to use all the target photoelectric pulse data and target magnetoelectric pulse data to build the system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0142] Optionally, the module 303 for obtaining target photoelectric pulse data and target magnetoelectric pulse data includes:

[0143] The historical photoelectric pulse data acquisition module is used to respectively acquire the historical photoelectric pulse data corresponding to the photoelectric encoder.

[0144] The target photoelectric pulse data obtaining module is used to determine the photoelectric interference type corresponding to the initial photoelectric pulse data and eliminate the interference according to the historical photoelectric pulse data and the initial photoelectric pulse data, so as to obtain the corresponding target photoelectric pulse data.

[0145] The historical magnetoelectric pulse data acquisition module is used to respectively acquire the historical magnetoelectric pulse data corresponding to the magnetoelectric encoder.

[0146] The target magnetoelectric pulse data acquisition module is used to determine the magnetoelectric interference type corresponding to the initial magnetoelectric pulse data and eliminate the interference based on the historical magnetoelectric pulse data and the initial magnetoelectric pulse data, so as to obtain the corresponding target magnetoelectric pulse data.

[0147] Optionally, the target photoelectric pulse data obtaining module may perform the following steps:

[0148] The initial photoelectric pulse data is compared with the corresponding historical photoelectric pulse data respectively, and based on the comparison result, it is determined whether the initial photoelectric pulse data has burr interference;

[0149] If yes, then acquiring the burr interference data corresponding to the initial photoelectric pulse data, and generating the corresponding amplitude modulation wave based on the burr interference data;

[0150] The initial photoelectric pulse data is amplitude modulated by using an amplitude modulation wave to obtain intermediate photoelectric pulse data;

[0151] If not, the initial photoelectric pulse data is used as the intermediate photoelectric pulse data;

[0152] Determining whether there is jitter interference in the intermediate photoelectric pulse data based on the system static photoelectric pulse data corresponding to the intermediate photoelectric pulse data;

[0153] If yes, then the initial filter circuit corresponding to the intermediate photoelectric pulse data is added with the corresponding filter time constant to obtain the target filter circuit;

[0154] The target filter circuit is used to update the intermediate photoelectric pulse data to obtain the target photoelectric pulse data;

[0155] If not, the intermediate photoelectric pulse data is used as the target photoelectric pulse data.

[0156] Optionally, the target magnetoelectric pulse data obtaining module may perform the following steps:

[0157] The initial magnetoelectric pulse data are compared with the corresponding historical magnetoelectric pulse data respectively, and based on the comparison results, it is determined whether the initial magnetoelectric pulse data has magnetic field interference;

[0158] If yes, then obtain the interference magnetic field corresponding to the initial magneto-electric pulse data;

[0159] By filtering the interfering magnetic field, the initial magnetoelectric pulse data is updated to the intermediate magnetoelectric pulse data;

[0160] If not, the initial magnetoelectric pulse data is used as the intermediate magnetoelectric pulse data;

[0161] Determining whether the intermediate magnetoelectric pulse data meets a preset pulse data range;

[0162] If yes, the intermediate magnetoelectric pulse data is used as the target magnetoelectric pulse data;

[0163] If not, a filtering algorithm is used to perform pulse filtering on the intermediate magnetoelectric pulse data to obtain target magnetoelectric pulse data.

[0164] Optionally, the system operation monitoring data building module 304 includes:

[0165] The initial operation monitoring data acquisition module is used to overlap and integrate the target photoelectric pulse data with the corresponding target magnetoelectric pulse data to obtain the corresponding initial operation monitoring data.

[0166] The difference data acquisition module is used to acquire the difference data in the initial operation monitoring data.

[0167] The target operation monitoring data obtaining module is used to obtain the corresponding target operation monitoring data according to the difference data and the corresponding initial operation monitoring data.

[0168] The system operation monitoring data construction submodule is used to use all target operation monitoring data to construct the system operation monitoring data corresponding to the optical fiber remote self-healing system.

[0169] Optionally, the target operation monitoring data obtaining module may perform the following steps:

[0170] Determine whether the difference data meets the preset difference type;

[0171] If yes, the target photoelectric pulse data corresponding to the initial operation monitoring data is used as the corresponding target operation monitoring data;

[0172] If not, the target magnetoelectric pulse data corresponding to the initial operation monitoring data is used as the corresponding target operation monitoring data.

[0173] An embodiment of the present invention further provides an electronic device, comprising: a memory and a processor, wherein a computer program is stored in the memory; when the computer program is executed by the processor, the processor executes the method for monitoring the operation of an optical fiber remote self-healing system as described in any of the above embodiments.

[0174] The memory may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. The memory has a storage space for program codes for executing any method step in the above method. For example, the storage space for program codes may include individual program codes for implementing the various steps in the above method, respectively. These program codes may be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. The program code may be compressed, for example, in an appropriate form. When these codes are run by a computing and processing device, the computing and processing device executes the various steps in the optical fiber remote self-healing system operation monitoring method described above.

[0175] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for monitoring the operation of an optical fiber remote self-healing system according to any of the above embodiments is implemented.

[0176] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0177] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0178] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0179] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0180] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0181] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring the operation of an optical fiber remote self-healing system, characterized in that: A manipulator of the optical fiber remote self-healing system is provided with a plurality of photoelectric encoders and a plurality of magnetoelectric encoders, and the method comprises: Obtaining real-time operation feedback data corresponding to the manipulator; Extracting the real-time operation feedback data to obtain initial photoelectric pulse data corresponding to the photoelectric encoder and initial magnetoelectric pulse data corresponding to the magnetoelectric encoder; Eliminate data interference on the initial photoelectric pulse data and the initial magnetoelectric pulse data to obtain corresponding target photoelectric pulse data and target magnetoelectric pulse data; Using all of the target photoelectric pulse data and the target magnetoelectric pulse data, construct system operation monitoring data corresponding to the optical fiber remote self-healing system; The step of using all the target photoelectric pulse data and the target magnetoelectric pulse data to construct system operation monitoring data corresponding to the optical fiber remote self-healing system includes: Overlapping and integrating the target photoelectric pulse data with the corresponding target magnetoelectric pulse data to obtain corresponding initial operation monitoring data; Acquiring difference data in the initial operation monitoring data; Obtaining corresponding target operation monitoring data according to the difference data and the corresponding initial operation monitoring data; All of the target operation monitoring data are used to construct system operation monitoring data corresponding to the optical fiber remote self-healing system.

2. The method for monitoring the operation of an optical fiber remote self-healing system according to claim 1, characterized in that: The step of performing data interference elimination on the initial photoelectric pulse data and the initial magnetoelectric pulse data to obtain corresponding target photoelectric pulse data and target magnetoelectric pulse data comprises: Respectively obtain historical photoelectric pulse data corresponding to the photoelectric encoder; According to the historical photoelectric pulse data and the initial photoelectric pulse data, determine the photoelectric interference type corresponding to the initial photoelectric pulse data and eliminate the interference to obtain the corresponding target photoelectric pulse data; Respectively obtain historical magnetoelectric pulse data corresponding to the magnetoelectric encoder; According to the historical magnetoelectric pulse data and the initial magnetoelectric pulse data, the magnetoelectric interference type corresponding to the initial magnetoelectric pulse data is determined and the interference is eliminated to obtain the corresponding target magnetoelectric pulse data.

3. The method for monitoring the operation of an optical fiber remote self-healing system according to claim 2, characterized in that: The step of determining the photoelectric interference type corresponding to the initial photoelectric pulse data and eliminating the interference according to the historical photoelectric pulse data and the initial photoelectric pulse data to obtain the corresponding target photoelectric pulse data includes: Respectively comparing the initial photoelectric pulse data with the corresponding historical photoelectric pulse data, and judging whether the initial photoelectric pulse data has burr interference based on the comparison result; If yes, acquiring burr interference data corresponding to the initial photoelectric pulse data, and generating a corresponding amplitude modulation wave based on the burr interference data; Using the amplitude modulation wave to amplitude modulate the initial photoelectric pulse data to obtain intermediate photoelectric pulse data; If not, the initial photoelectric pulse data is used as the intermediate photoelectric pulse data; Based on the system static photoelectric pulse data corresponding to the intermediate photoelectric pulse data, determining whether the intermediate photoelectric pulse data has jitter interference; If yes, then add the corresponding filtering time constant to the initial filtering circuit corresponding to the intermediate photoelectric pulse data to obtain the target filtering circuit; The target filter circuit is used to update the intermediate photoelectric pulse data to obtain target photoelectric pulse data; If not, the intermediate photoelectric pulse data is used as the target photoelectric pulse data.

4. The method for monitoring the operation of an optical fiber remote self-healing system according to claim 2, characterized in that: The step of determining the type of magnetoelectric interference corresponding to the initial magnetoelectric pulse data and eliminating the interference based on the historical magnetoelectric pulse data and the initial magnetoelectric pulse data to obtain the corresponding target magnetoelectric pulse data includes: Comparing the initial magnetoelectric pulse data with the corresponding historical magnetoelectric pulse data respectively, and judging whether the initial magnetoelectric pulse data has magnetic field interference based on the comparison result; If yes, obtaining the interference magnetic field corresponding to the initial magneto-electric pulse data; By filtering the interfering magnetic field, the initial magnetoelectric pulse data is updated to intermediate magnetoelectric pulse data; If not, the initial magnetoelectric pulse data is used as the intermediate magnetoelectric pulse data; Determining whether the intermediate magnetoelectric pulse data meets a preset pulse data range; If yes, the intermediate magnetoelectric pulse data is used as the target magnetoelectric pulse data; If not, a filtering algorithm is used to perform pulse filtering on the intermediate magnetoelectric pulse data to obtain target magnetoelectric pulse data.

5. The method for monitoring the operation of an optical fiber remote self-healing system according to claim 1, characterized in that: The step of obtaining corresponding target operation monitoring data according to the difference data and the corresponding initial operation monitoring data comprises: Determining whether the difference data satisfies a preset difference type; If yes, the target photoelectric pulse data corresponding to the initial operation monitoring data is used as the corresponding target operation monitoring data; If not, the target magnetoelectric pulse data corresponding to the initial operation monitoring data is used as the corresponding target operation monitoring data.

6. An optical fiber remote self-healing system operation monitoring system, characterized in that: A manipulator of the optical fiber remote self-healing system is provided with a plurality of photoelectric encoders and a plurality of magnetoelectric encoders, and the system comprises: A real-time operation feedback data acquisition module, used to acquire the real-time operation feedback data corresponding to the manipulator; An initial photoelectric pulse data and initial magnetoelectric pulse data obtaining module is used to extract the real-time operation feedback data to obtain the initial photoelectric pulse data corresponding to the photoelectric encoder and the initial magnetoelectric pulse data corresponding to the magnetoelectric encoder; A module for obtaining target photoelectric pulse data and target magnetoelectric pulse data, for eliminating data interference from the initial photoelectric pulse data and the initial magnetoelectric pulse data, respectively, to obtain corresponding target photoelectric pulse data and target magnetoelectric pulse data; A system operation monitoring data construction module, used to construct system operation monitoring data corresponding to the optical fiber remote self-healing system using all the target photoelectric pulse data and the target magnetoelectric pulse data; The step of using all the target photoelectric pulse data and the target magnetoelectric pulse data to construct system operation monitoring data corresponding to the optical fiber remote self-healing system includes: Overlapping and integrating the target photoelectric pulse data with the corresponding target magnetoelectric pulse data to obtain corresponding initial operation monitoring data; Acquiring difference data in the initial operation monitoring data; Obtaining corresponding target operation monitoring data according to the difference data and the corresponding initial operation monitoring data; All of the target operation monitoring data are used to construct system operation monitoring data corresponding to the optical fiber remote self-healing system.

7. The optical fiber remote self-healing system operation monitoring system according to claim 6, characterized in that: The modules for obtaining target photoelectric pulse data and target magnetoelectric pulse data include: A historical photoelectric pulse data acquisition module, used to respectively acquire the historical photoelectric pulse data corresponding to the photoelectric encoder; A target photoelectric pulse data obtaining module is used to determine the photoelectric interference type corresponding to the initial photoelectric pulse data and eliminate the interference according to the historical photoelectric pulse data and the initial photoelectric pulse data, so as to obtain the corresponding target photoelectric pulse data; A historical magnetoelectric pulse data acquisition module is used to respectively acquire the historical magnetoelectric pulse data corresponding to the magnetoelectric encoder; The target magnetoelectric pulse data obtaining module is used to determine the magnetoelectric interference type corresponding to the initial magnetoelectric pulse data and eliminate the interference based on the historical magnetoelectric pulse data and the initial magnetoelectric pulse data, so as to obtain the corresponding target magnetoelectric pulse data.

8. An electronic device, characterized in that: It comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the optical fiber remote self-healing system operation monitoring method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the optical fiber remote self-healing system operation monitoring and early warning method according to any one of claims 1 to 5 is implemented.

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