A closed-loop monitoring method, system, and device for a track-type robot motion system.

Abstract

This disclosure relates to the field of robot control technology, and proposes a closed-loop monitoring method, system, and device for a track-based robot motion system. The closed-loop monitoring method includes the following steps: activating the closed-loop monitoring module based on the acquired motion control commands and the robot's current state; sequentially polling and detecting whether any abnormal events occur during operation; executing corresponding abnormal handling measures according to priority for detected abnormal events to resolve the abnormal state; and deactivating the closed-loop monitoring module when the target position is detected. This method enables the robot to automatically and systematically troubleshoot faults, achieves self-detection and self-starting after abnormal robot shutdown, improves the automation of robot operation, reduces labor costs, and increases work efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of robot control technology, specifically to a closed-loop monitoring method, system, and device for a track-type robot motion system. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] To ensure the stable and reliable operation of the power grid, daily inspections of the operating status of substation equipment are necessary. Intelligent substation inspection robots have become an important means of substation equipment inspection. These robots can replace manual labor in tasks such as infrared temperature measurement and equipment status monitoring and identification, thus advancing the process of unmanned operation of substations.

[0004] Currently, in indoor environments, track-mounted inspection robots are generally used to inspect indoor equipment. When performing inspection tasks, substation track-mounted inspection robots need to attach the detection equipment to the most suitable horizontal and vertical stopping points along the inspection track. The robot needs to move between different horizontal and vertical stopping points to inspect all the equipment that needs to be inspected. The inventors discovered that during the inspection process, the track-mounted robot often experiences abnormal stops on the track, preventing it from moving from the current stopping point to the next, causing abnormal interruptions to the inspection task. This necessitates on-site personnel to troubleshoot the problem, increasing labor costs and reducing work efficiency. Summary of the Invention

[0005] To address the aforementioned issues, this disclosure proposes a closed-loop monitoring method, system, and device for a track-based robot motion system. This enables the robot to automatically and systematically troubleshoot faults, achieve self-detection and self-starting after abnormal shutdown, improve the automation of robot operation, reduce labor costs, and increase work efficiency.

[0006] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0007] One or more embodiments provide a closed-loop monitoring method for a track-type robot motion system, comprising the following steps:

[0008] The closed-loop monitoring module is activated based on the acquired motion control commands and the robot's current state.

[0009] The system sequentially polls to detect whether any abnormal events have occurred during operation.

[0010] For detected abnormal events, execute the corresponding abnormal handling measures according to priority to resolve the abnormal state;

[0011] Once the target location is detected, the closed-loop monitoring module is shut down.

[0012] One or more embodiments provide a closed-loop monitoring system for a track-type robot motion system, comprising:

[0013] The monitoring startup module is configured to start the closed-loop monitoring module based on the acquired motion control commands and the current state of the robot.

[0014] The abnormal event detection module is configured to poll sequentially to detect whether any abnormal events have occurred during the operation.

[0015] The exception handling module is configured to perform corresponding exception handling measures according to the priority of detected exception events and resolve the exception status.

[0016] The monitoring termination module is configured to shut down the closed-loop monitoring module when the target location is detected.

[0017] One or more embodiments provide an electronic device for closed-loop monitoring of a track-based robot motion system, including a memory and a processor, and computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, perform the steps described in the above method.

[0018] One or more embodiments provide a computer-readable storage medium for storing computer instructions that, when executed by a processor, perform the steps described in the above method.

[0019] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0020] The closed-loop monitoring method disclosed herein initiates closed-loop monitoring automatically upon receiving motion control commands from the robot. Simultaneously, during the robot's movement, it innovatively proposes to sequentially detect and automatically resolve abnormal states according to priority order. This avoids the robot from being stuck on its trajectory for extended periods due to communication anomalies or malfunctions of various robot modules, thereby improving the robot's automated operation capabilities and enhancing the automation of inspections.

[0021] The advantages of this disclosure, as well as its additional advantages, will be described in detail in the following specific embodiments. Attached Figure Description

[0022] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute a limitation thereof.

[0023] Figure 1This is a flowchart of the closed-loop monitoring method of Embodiment 1 of this disclosure;

[0024] Figure 2 This is a system block diagram of the closed-loop monitoring system of Embodiment 2 of this disclosure;

[0025] Figure 3 This is a block diagram of the closed-loop monitoring electronic device according to Embodiment 3 of this disclosure. Detailed Implementation

[0026] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0027] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0028] It should be noted that the terminology used herein is for descriptive purposes only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. It should be noted that, without conflict, the various embodiments and features within those embodiments can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.

[0029] Example 1

[0030] In one or more of the technical solutions disclosed in the embodiments, such as Figure 1 As shown, a closed-loop monitoring method for a track-type robot motion system includes the following steps:

[0031] Step 1: Activate the closed-loop monitoring module based on the acquired motion control commands and the robot's current state;

[0032] Step 2: Poll sequentially to check for any abnormal events during operation;

[0033] Step 3: Execute corresponding exception handling measures according to the priority of the detected abnormal events to resolve the abnormal state;

[0034] Step 4: Once the target location is detected, shut down the closed-loop monitoring module.

[0035] The closed-loop monitoring method in this embodiment automatically starts closed-loop monitoring when the robot receives motion control commands. At the same time, during the robot's movement, it innovatively proposes to perform abnormal state detection and automatic resolution in sequence according to priority, which avoids the robot from being stuck on the running trajectory for a long time due to communication abnormalities or abnormal operation of various robot modules, thereby improving the robot's automated operation capability and improving the automation of inspection.

[0036] In some embodiments, step 1, activating the motion system closed-loop monitoring module, includes the following process:

[0037] Step 11: Determine whether the track-mounted inspection robot has received a motion control command;

[0038] Specifically, motion control commands can include parameter data such as motion axis, motion direction, and motion target position, as well as motion speed, start acceleration, and stop deceleration.

[0039] Upon receiving a motion control command, at least the parameter data including the motion axis, motion direction, and motion target position in the motion control command should be extracted.

[0040] Specifically, the motion axis includes horizontal motion and vertical motion, the motion direction includes forward, backward, upward and downward, and the motion target position includes the corresponding label number, pulse number, etc.

[0041] The robot's drive motor operates according to the number of pulses. The set number of pulses causes the motor to rotate, propelling the robot a certain distance.

[0042] Step 12: Based on the current robot status, determine whether the received motion control command can be executed;

[0043] Specifically, based on the current motion status of the robot, determine whether motion control commands can be executed, including whether the self-check has been completed and whether there are any fault alarms affecting the motion.

[0044] Step 13: The robot can execute motion control commands, convert the parameters of the motion control commands into instructions that the drive module can recognize, and send relevant control commands to the corresponding drive module; according to the parameters of the motion control commands, set the start flag of motion closed-loop monitoring and start the motion system closed-loop monitoring module.

[0045] Among them, the various start flags for motion closed-loop monitoring include the start drive module abnormal stop detection flag, the start drive module status and position detection flag, the start obstacle information detection flag, and the set motion system closed-loop monitoring enable flag.

[0046] In step 2, the following detection steps are executed sequentially: abnormal stop detection of the startup driver module, startup driver module status and position detection, and startup obstacle information detection. These steps are polled in turn to check for any abnormal events that occur during operation, and are repeated cyclically:

[0047] Step 21: Determine whether the communication status between the motion system closed-loop monitoring module and each drive module is abnormal;

[0048] Specifically, the communication anomaly detection method is as follows: a timed query mechanism is established between the motion system closed-loop monitoring module and each drive module. When the motion system closed-loop monitoring module fails to receive query feedback from each drive module more than the set number of times, it is determined that a communication anomaly event has occurred between the motion system closed-loop monitoring module and each drive module.

[0049] In some embodiments, the motion system closed-loop monitoring module communicates with each drive module to enable the motion system closed-loop monitoring module to obtain the position, speed, and motion status information of the drive modules, and to send control commands to the drive modules so that the robot moves to the target docking point.

[0050] Step 22: Determine whether there is an obstacle in each direction of movement;

[0051] The method for identifying obstacles may include the following steps:

[0052] S221: Send an obstacle avoidance sensor (ultrasonic and laser) query command; obstacle avoidance sensors in different directions can be distinguished by different addresses. Obstacle avoidance sensors can include ultrasonic sensors and laser rangefinders.

[0053] S222: Analyze the address information fed back by the obstacle avoidance sensor;

[0054] If the feedback address is 1, it means that the feedback data is obstacle information in the horizontal forward direction; if the feedback address is 2, it means that the feedback data is obstacle information in the horizontal backward direction; if the feedback address is 3, it means that the feedback data is obstacle information in the downward direction.

[0055] S223: Analyze the obstacle distance information fed back by the obstacle avoidance sensor and determine the alarm;

[0056] Obstacle distance information can be obtained by collecting the distance between the obstacle and the robot, and determining whether an obstacle alarm exists based on the set alarm distance. For example, if the set alarm distance is 50cm, and the detected distance of an obstacle in the forward direction is 60cm, then it is considered that there is no obstacle alarm; if the detected distance of an obstacle in the forward direction is 40cm, then it is considered that there is an obstacle alarm in the forward direction.

[0057] S224: After the first obstacle alarm, a stop-motion process is initiated. This mainly includes sending a stop command to the motor, storing the motion status information before stopping, and setting an obstacle stop flag.

[0058] S225: If an obstacle stop sign is present, continue monitoring the obstacle distance information. If the collected obstacle distance is greater than the alarm distance for N seconds, clear the obstacle alarm and resume the robot's movement based on the stored motion state information before stopping.

[0059] Furthermore, when an obstacle is present in the direction of movement, the robot stops moving in that direction. This prevents the robot from colliding with the obstacle and causing damage to the robot or the detection equipment.

[0060] Step 23: Determine if the power status of each driver module is abnormal;

[0061] In some embodiments, the substation track-mounted inspection robot uses a live sliding contact line for power. When the robot is moving, the current collector slide and the live sliding contact line move with friction. If there is poor contact between the two, the drive module, which is a high-power device of the robot, may experience a momentary power failure. Once a momentary power failure occurs, the drive module will not be able to work properly.

[0062] In this embodiment, the power status of the drive module is detected. When the pulse count at the current position of the drive module becomes 0 and the drive module is in the newly powered-on state, it is determined that a power abnormality event has occurred in the drive module.

[0063] Step 24: Determine if any of the drive modules have stopped without cause;

[0064] When the motion system closed-loop monitoring module starts, it will activate the abnormal stop detection flag of the drive module. When it is detected that the pulse count at the current position no longer changes, the target stopping point has not been reached, the drive module status has no alarm, and no other abnormal events other than the unexplained stop abnormal event occur, it is considered that an abnormal event of unexplained stop of the drive module has occurred.

[0065] During the process of the robot moving to the target docking point, the drive module may stop moving due to various short-term anomalies without any alarm information being reported. This problem will prevent the robot from moving to the target docking point normally. This embodiment sets up an anomaly detection for unexplained stops, which can realize comprehensive detection of abnormal robot stops and improve the stability of robot operation.

[0066] Step 25: Determine whether the accuracy of the zero-point positioning of the lifting motion exceeds the error limit;

[0067] Specifically, the method for determining whether the zero-point positioning accuracy of the lifting motion exceeds the error limit is as follows: Set the target stopping point to a position Acm above the zero point. If the zero-point positioning accuracy has no error, the stopping position information remains 0. When the zero-point positioning accuracy error exceeds Acm, the stopping position information will become -Acm. At this point, it is considered that an abnormal event of zero-point positioning accuracy of the lifting motion has occurred. Here, A can be any integer. Preferably, A can be between 1cm and 10cm.

[0068] Causes of zero-point position changes include loose connections between the lifting motor and the reducer, or deformation of the lifting hoisting carrier. When the robot's lifting axis is first powered on, it performs a self-check of the initial zero-point position. If the zero-point position changes, the position of the target stopping point, which is referenced to the zero-point position, also changes, causing the equipment to fail the check. This embodiment includes a detection function to determine if the accuracy of the lifting motion zero-point positioning exceeds the error limit, which improves the accuracy of the robot's positioning and thus improves the accuracy of the lifting height positioning.

[0069] Furthermore, it also includes an alarm device and a host computer connected to the robot. When the above-mentioned abnormal event is detected in step 2, an alarm is triggered according to the type of abnormal event, and an alarm message containing the type of abnormal event is sent to the host computer.

[0070] In step 3, the detected abnormal events are handled according to their priority, with the priority set from highest to lowest as follows:

[0071] 3.1) Set the priority of handling communication abnormal events between the motion system closed-loop monitoring module and the drive module to 1, which is the highest priority;

[0072] 3.2) Set the priority for handling obstacle-related stopping anomalies during movement to 2;

[0073] 3.3) Set the priority of handling abnormal power supply events of the driver module to 3;

[0074] 3.4) Set the priority of handling abnormal events such as the driver module stopping without cause to 4;

[0075] 3.5) Set the priority of handling abnormal events where the accuracy of zero-point positioning of lifting motion exceeds the limit to 5, which is the lowest priority;

[0076] Based on the causes of the above-mentioned abnormal events, abnormal handling measures are implemented to resolve the abnormal state; after the track-type inspection robot returns to normal, the abnormal event alarm information is cleared; the robot is then controlled to execute the saved motion command to the target docking point again.

[0077] In this embodiment, an innovative approach is proposed to handle anomalies according to the above priority order. This approach can meet the robot's motion conditions and ensure that the motion system will not become disordered due to errors in the execution of anomaly handling measures when multiple anomalies occur, thereby improving the effectiveness of closed-loop monitoring.

[0078] Furthermore, in this embodiment, communication and obstacle stopping anomaly handling are given high priority, which ensures that when an obstacle appears, movement is prohibited, the recovery processing of other abnormal events is stopped, the amount of data processing is reduced, and the safety of robot operation is improved.

[0079] When an abnormal power supply occurs, compared to an abnormal event where the drive module stops without cause, a power supply abnormality event indicates that the cause of the drive module's stoppage has already been identified, and the recovery method is faster. Compared to an abnormal event where the accuracy of the lifting motion zero-point positioning exceeds the limit, if a power supply abnormality event is not handled, the lifting motion module loses its motion function, and the accuracy of the lifting motion zero-point positioning cannot be reset. If an abnormal event where the drive module stops without cause is not handled, the lifting motion module loses its motion function, and the accuracy of the lifting motion zero-point positioning cannot be reset. The priority setting in this embodiment is more reasonable and can ensure the normal operation of the drive system.

[0080] The corresponding exception handling measures are as follows:

[0081] 3-1) For communication anomalies between the motion system closed-loop monitoring module and each drive module, the solution is to reconfigure the communication interface.

[0082] Specifically, if the detected abnormal event is a communication abnormality between the motion system closed-loop monitoring module and the drive module, the communication interface of the motion system closed-loop monitoring module is reconfigured, and the communication connection between the motion system closed-loop monitoring module and the drive module is re-established. The position, speed, and motion status information feedback of the drive module can be obtained by querying to confirm that the communication connection is successful.

[0083] 3-2) For abnormal obstacle stopping in each direction of movement, the handling measure is to wait for the obstacle to leave according to the set waiting time. If the abnormal obstacle stopping still exists after the waiting time expires, the detection of the current stopping point is abandoned according to the direction of the obstacle, or the current inspection task is abandoned directly.

[0084] Specifically, if the detected abnormal event is an obstacle stopping event during movement, the robot continuously monitors obstacle information in that direction of movement. If the obstacle disappears in that direction for 30 consecutive seconds, the obstacle stopping event is considered resolved, and the movement command before stopping is executed again. If the obstacle remains in that direction for 10 consecutive minutes, it indicates a possible equipment maintenance situation. If the obstacle is in the vertical direction, the robot is controlled to return to the vertical zero point and continue to perform the detection of the next horizontal docking point. If the obstacle is in the horizontal direction, for the robot's safety, it moves in the opposite direction, returns to the horizontal origin, and abandons the current equipment inspection task.

[0085] 3-3) For power supply abnormalities in each drive module, the solution is to reconfigure the drive module and perform a self-test for zero-point positioning.

[0086] Specifically, if the detected abnormal event is a power failure event of the drive module, it indicates that a momentary power outage occurred. At this time, the position information of the drive module becomes 0, and the drive module state is the state of just being powered on. Therefore, firstly, it is necessary to reconfigure the control mode, enable operation, etc. of the drive module to bring it back to the working state; secondly, it is necessary to perform a self-test operation of zero-point positioning on the drive module to redetermine the zero-point position to ensure the accuracy of the zero-point position.

[0087] 3-4) For any driver module that stops without warning, the solution is to perform a soft reset on the driver module, or / and perform a hardware power-on and initialization operation on the driver module.

[0088] Specifically, if the detected abnormal event is an abnormal event in which the drive module stops without cause, the drive module is first soft reset, and then the motion command before the stop is executed is continued. If the target docking point is reached, the abnormal event is successfully handled. If the stop still occurs without cause, the drive module is powered on again, and then the drive module is configured and initialized with self-test to ensure that the drive module can be controlled to move the robot to the target docking point.

[0089] 3-5) If the accuracy of the zero-point positioning of the lifting motion exceeds the limit, the solution is to recalibrate the zero point using the zero-point positioning detection device.

[0090] Specifically, in this embodiment, the zero-point positioning detection device is a photoelectric sensor. If the detected abnormal event is an error exceeding the limit in the accuracy of the zero-point positioning of the lifting motion, a self-check operation for zero-point positioning of the lifting motion shaft needs to be performed based on the signal from the upper photoelectric sensor to reset the initial zero-point position and ensure the accuracy of the zero-point position. Furthermore, to ensure that this abnormal event can be handled promptly, the alarm information for this abnormal event is set to not be automatically cleared; it can only be manually cleared after the problem has been addressed.

[0091] Furthermore, after the track-mounted inspection robot returns to normal, it clears the alarm information for abnormal events, including sending an alarm clearing message containing the type of abnormal event to the host computer. If there are no abnormal events at present, it sends an alarm shutdown command to the audible and visual alarm module. It then controls the robot to execute the saved motion command to the target docking point again and continues to perform closed-loop monitoring of the motion system.

[0092] In step 4, it is checked whether the target stopping point has been reached and the system is in a stopped state; if so, the system is sent to the station in position; all closed-loop monitoring flags are cleared; and the closed-loop monitoring of the motion system is terminated.

[0093] During the closed-loop monitoring of the motion system, it continuously checks whether the track-mounted inspection robot has reached the target stopping point and is in a stopped state.

[0094] In this embodiment, the motion system closed-loop monitoring module can monitor the communication, obstacles, power supply, drive module, and positioning device status of the track-type inspection robot's motion system during its movement to the target docking point. It can determine the cause of any abnormal events where the track-type inspection robot fails to reach the target docking point, implement appropriate handling measures based on the specific cause to resolve the abnormal state, and control the robot to correctly reach the target docking point after it returns to normal. This allows the track-type inspection robot to recover quickly after an abnormal situation occurs, preventing it from remaining in an abnormal state for an extended period while waiting for maintenance. This reduces labor costs and improves work efficiency.

[0095] Example 2

[0096] Based on Embodiment 1, this embodiment provides a closed-loop monitoring system for a track-type robot motion system, such as... Figure 2 As shown, it includes:

[0097] The monitoring startup module is configured to start the closed-loop monitoring module based on the acquired motion control commands and the current state of the robot.

[0098] The abnormal event detection module is configured to poll sequentially to detect whether any abnormal events have occurred during the operation.

[0099] The exception handling module is configured to perform corresponding exception handling measures according to the priority of detected exception events and resolve the exception status.

[0100] The monitoring termination module is configured to shut down the closed-loop monitoring module when the target location is detected.

[0101] It should be noted that each module in this embodiment corresponds one-to-one with each step in embodiment 1, and their specific implementation process is the same, so it will not be repeated here.

[0102] Example 3

[0103] Based on Embodiment 1, this embodiment provides an electronic device for closed-loop monitoring of a track-type robot motion system, such as... Figure 3 As shown, it includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor. When the processor executes the computer instructions, it performs the steps described in the method of Embodiment 1 above.

[0104] Example 4

[0105] Based on Embodiment 1, this embodiment provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, complete the steps described in the method of Embodiment 1.

[0106] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

[0107] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. A closed-loop monitoring method for a track-based robot motion system, characterized in that, Includes the following steps: The closed-loop monitoring module is activated based on the acquired motion control commands and the robot's current state. The motion control commands include parameter data for the motion axis, motion direction, and target position. The motion axis includes horizontal motion and vertical motion. The system sequentially polls to detect any abnormal events during operation; it then determines whether the zero-point positioning accuracy of the lifting motion exceeds the limit: the target stopping point is set to a position Acm above the zero point. If the zero-point positioning accuracy is error-free, the stopping position information remains 0. When the zero-point positioning accuracy error exceeds Acm, the stopping position information changes to -Acm. At this point, it is considered that an abnormal event has occurred in the zero-point positioning accuracy of the lifting motion; A is any integer between 1 and 10. For detected abnormal events, corresponding abnormal handling measures are executed according to priority to resolve the abnormal state. For obstacle stopping abnormalities in each direction of movement, the handling measure is to wait for the obstacle to leave according to the set waiting time. If the stopping abnormality still exists after the waiting time expires, the detection of the current stopping point is abandoned or the current inspection task is abandoned directly, depending on the direction of the obstacle. If the obstacle is in the vertical direction, the robot is controlled to return to the vertical zero point and continue to perform the inspection of the next horizontal docking point. If the obstacle is in the horizontal direction, for the safety of the robot, it moves in the opposite direction, returns to the horizontal origin, and abandons the equipment inspection task. Once the target location is detected, the closed-loop monitoring module is shut down.

2. The closed-loop monitoring method for a track-type robot motion system as described in claim 1, characterized in that, The motion system closed-loop monitoring module is activated, including the following process: Determine whether the track-mounted inspection robot has received motion control commands; Based on the current robot status, determine whether the received motion control command can be executed; When the robot can execute motion control commands, it converts the parameters of the motion control commands into instructions that the drive module can recognize and sends relevant control commands to the corresponding drive module; based on the parameters of the motion control commands, it sets the start flag for motion closed-loop monitoring and starts the motion system closed-loop monitoring module.

3. The closed-loop monitoring method for a track-type robot motion system as described in claim 1, characterized in that, The system sequentially polls for any abnormal events that occur during operation, and executes the following detection steps in a loop: Determine whether the communication status between the motion system closed-loop monitoring module and each drive module is abnormal; Determine whether there is an obstacle in each direction of movement; Determine if the power status of each driver module is abnormal; Determine if any driver module has stopped without cause; Determine whether the accuracy of the zero-point positioning during the lifting motion exceeds the error limit.

4. The closed-loop monitoring method for a track-type robot motion system as described in claim 3, characterized in that: It also includes an alarm device and a host computer connected to the robot. When the above-mentioned abnormal event is detected, the robot will issue an alarm according to the type of abnormal event and send an alarm message containing the type of abnormal event to the host computer.

5. The closed-loop monitoring method for a track-type robot motion system as described in claim 3, characterized in that: The method for identifying obstacles includes the following steps: Send an obstacle avoidance sensor query command to distinguish obstacle avoidance sensors in different directions by using different addresses; Analyze the address information fed back by the obstacle avoidance sensors; Analyze obstacle distance information and alarm judgment from obstacle avoidance sensors; After the first obstacle alarm, a decision is made to stop the movement, including sending a stop command to the motor, storing the movement status information before stopping, and setting an obstacle stop flag. If an obstacle stop sign is present, continue monitoring the obstacle distance information. If the collected obstacle distance is greater than the alarm distance for N seconds, clear the obstacle alarm and resume the robot's movement based on the stored motion state information before stopping.

6. The closed-loop monitoring method for a track-type robot motion system as described in claim 1, characterized in that, The priority for handling abnormal events, from highest to lowest, includes the following: The priority for handling communication anomalies between the motion system closed-loop monitoring module and the drive module is set to 1, which is the highest priority. Set the priority for handling obstacle-related stopping anomalies during movement to 2; Set the priority of handling abnormal power events of the driver module to 3; Set the priority of handling abnormal events such as the driver module stopping without cause to 4; The priority for handling abnormal events where the accuracy of zero-point positioning during lifting motion exceeds the error limit is set to 5.

7. The closed-loop monitoring method for a track-type robot motion system as described in claim 1, characterized in that, Anomaly handling measures specifically include: The solution to the communication anomaly between the motion system closed-loop monitoring module and each drive module is to reconfigure the communication interface. Or / and, for obstacle stopping anomalies in each direction of movement, the handling measures are as follows: if there is an obstacle stop sign, continue to monitor the obstacle distance information; if the collected obstacle distance is greater than the alarm distance for N seconds, clear the obstacle alarm and restore the robot's movement according to the stored motion state information before stopping. Or / and, for power supply abnormalities in each drive module, the handling measure is to reconfigure the drive module and perform a self-test for zero-point positioning; Or / and, for any driver module that stops without cause, the handling measures are to perform a soft reset on the driver module, or / and to perform a hardware power-on and initialization operation on the driver module. Or / and, if the accuracy of zero-point positioning during lifting motion exceeds the limit, the solution is to recalibrate the zero point using the zero-point positioning detection device.

8. A closed-loop monitoring system for a track-type robot motion system, characterized in that, include: The monitoring startup module is configured to start the closed-loop monitoring module based on the acquired motion control commands and the robot's current state; the motion control commands include parameter data for motion axes, motion directions, and the position of the motion target; the motion axes include horizontal motion and vertical motion; The abnormal event detection module is configured to sequentially poll and detect whether any abnormal events have occurred during operation; it determines whether the accuracy of the zero-point positioning of the lifting motion exceeds the error limit: the target stopping point is set to a position Acm above the zero point. If the zero-point positioning accuracy is error-free, the stopping position information remains 0. When the zero-point positioning accuracy error exceeds Acm, the stopping position information becomes -Acm. At this point, it is considered that an abnormal event of the zero-point positioning accuracy of the lifting motion has occurred; A is any integer between 1 and 10. The abnormal event handling module is configured to perform corresponding abnormal handling measures according to the priority of detected abnormal events and resolve the abnormal state. For obstacle stopping abnormalities in each direction of movement, the handling measure is to wait for the obstacle to leave according to the set waiting time. If the stopping abnormality still exists after the waiting time expires, the detection of the current stopping point is abandoned or the current inspection task is abandoned directly, depending on the direction of the obstacle. If the obstacle is in the vertical direction, the robot is controlled to return to the vertical zero point and continue to perform the inspection of the next horizontal docking point. If the obstacle is in the horizontal direction, for the safety of the robot, it moves in the opposite direction, returns to the horizontal origin, and abandons the equipment inspection task. The monitoring termination module is configured to shut down the closed-loop monitoring module when the target location is detected.

9. An electronic device for closed-loop monitoring of a track-type robot motion system, characterized in that, It includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the steps of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, Used to store computer instructions, which, when executed by a processor, perform the steps of any one of claims 1-7.

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