Manipulator operation monitoring system and method based on multi-source fusion

Abstract

The invention discloses a manipulator operation monitoring system and a manipulator operation monitoring method based on multi-source fusion, belongs to the field of manipulator operation monitoring, and aims to evaluate position abnormity in a moving process based on positions of moving parts in the manipulator operation process and vibration data in the moving process. And carrying out stress process assessment analysis based on the uniformity of the stress data of the corresponding working parts, carrying out transfer process abnormality assessment based on the movement process position abnormality assessment result and the stress process assessment analysis result, and carrying out transfer process abnormality early warning according to the transfer process abnormality assessment result. Transfer process anomaly analysis is carried out based on the position deviation condition and the vibration anomaly condition in the transfer process, meanwhile, the workpiece transfer process danger prediction is carried out by integrating the stress data of the corresponding working part, and the safety and the monitoring efficiency of the workpiece transfer process are improved.

Description

Technical Field

[0001] The present invention belongs to the field of manipulator operation monitoring, and specifically relates to a manipulator operation monitoring system and method based on multi-source fusion. Background Art

[0002] A manipulator is an automated device that can simulate the movement of a human arm and is widely used in industrial manufacturing, medical, service, aerospace and other fields. It completes complex tasks such as grasping, handling, assembling, and welding through the coordinated work of mechanical structures, sensors, and control systems. A manipulator usually consists of the following parts: joints: realizing the rotation, bending, etc. of the manipulator; connecting rods: connecting the joints to form the skeleton of the manipulator; end effectors: such as grippers, suction cups, welding torches, etc., for performing specific tasks; motors (such as servo motors, stepper motors): providing power. The operation process of the manipulator is usually to clamp the workpiece and place it at a specified position; during the operation process of the manipulator, it is necessary to monitor the operation state of the manipulator, and at this time, a manipulator operation monitoring system based on multi-source fusion is required; When the prior art monitors the operation state of the manipulator, it is unable to analyze the abnormalities in the transfer process based on the position offset and vibration abnormalities during the transfer process, resulting in the inability to comprehensively predict the danger of the workpiece transfer process based on the force data of the corresponding working parts, so that the event of the clamped workpiece falling midway occurs frequently. Therefore, a manipulator operation monitoring system and method with high safety and monitoring efficiency are required; To solve the problems raised in this background art, the present application designs a manipulator operation monitoring system and method based on multi-source fusion. Summary of the Invention

[0003] In view of the deficiencies of the prior art, the present invention proposes a manipulator operation monitoring system and method based on multi-source fusion.

[0004] To achieve the above object, the present invention provides the following technical solutions: A manipulator operation monitoring method based on multi-source fusion, which includes the following specific steps: The sensing module obtains the positions of each moving part during the operation of the manipulator, the force data of the corresponding working parts, and the vibration data during the movement process; Based on the positions of each moving part during the operation of the manipulator and the vibration data during the movement process, evaluate the position abnormality during the movement process; Based on the uniformity of the force data of the corresponding working parts, evaluate and analyze the force process; Based on the results of the position abnormality evaluation during the movement process and the results of the force process evaluation and analysis, evaluate the abnormality during the transfer process; According to the evaluation results of the transfer process abnormality, give an early warning of the transfer process abnormality.

[0005] It should be noted here that, as a preferred technical solution of the manipulator operation monitoring method based on multi-source fusion, the positions of the moving components during the operation of the manipulator include the moving trajectory data of the middle positions of the constituent moving components during the operation of the manipulator and the standard moving trajectory data of the middle positions of the constituent moving components. Since the manipulator usually consists of multiple moving components, the force data of the working part includes the force information of each force-bearing end of the working part, and the vibration data during the movement process includes the vibration frequency and vibration amplitude data of the manipulator during the movement process of the manipulator.

[0006] It should be noted here that, as a preferred technical solution of the manipulator operation monitoring method based on multi-source fusion, the evaluation of the position abnormality during the movement process based on the positions of the moving components during the operation of the manipulator and the vibration data during the movement process includes the following specific steps: S21. Obtain the moving trajectory data of the moving components during the operation of the manipulator, and perform position offset abnormality analysis based on the deviation of the moving trajectory data of the moving components and the distance data of the trajectories of the moving components relative to the workpiece. Among them, the position offset abnormality analysis includes the following specific steps: S211. Obtain the moving trajectory data of the midpoint position of each moving component relative to its corresponding driving component. Since each moving component is driven by a driving component installed on the previous moving component, obtaining the moving trajectory data of the midpoint position of each moving component relative to its corresponding driving component can better reflect the operating status of each driving component. S212. Obtain the moving trajectory data of the midpoint position of each moving component relative to its corresponding driving component, and at the same time obtain the closest distance data of the moving trajectory of the midpoint position of each moving component relative to the workpiece to evaluate the position offset abnormality. S22. Obtain the vibration data of the manipulator during the movement process, and perform vibration abnormality analysis through the vibration data of the manipulator during the movement process. S23. Obtain the position offset abnormality analysis result and the vibration abnormality analysis result obtained through analysis, and perform weighted summation to obtain the position abnormality evaluation result during the movement process.

[0007] It should be noted here that, as a preferred technical solution of the manipulator operation monitoring method based on multi-source fusion, the evaluation and analysis of the force application process based on the uniformity of the force data of the corresponding working parts includes the following specific steps: S31. Obtain the force data of each force-bearing end during the grasping process of the corresponding manipulator, and at the same time obtain the standard force data of each force-bearing end. The standard force data is the force of each force-bearing end that can just hold the workpiece, and the calculation method is the gravity of the workpiece divided by the friction coefficient between the workpiece and the manipulator and then divided by the number of force-bearing ends. S32. Obtain the force data of each force-bearing end and the standard force data of each force-bearing end during the grasping process of the corresponding manipulator, and perform a force process analysis based on the differences between the force data of each force-bearing end and the standard force data of each force-bearing end; Among them, the calculation formula for the force process analysis result is preferably: , where M is the number of force-bearing ends, Fj is the force data of the jth force-bearing end, and Fm is the standard force data of the force-bearing end; S33. Obtain the force data of each force-bearing end during the grasping process of the corresponding manipulator and perform a force uniformity analysis; Among them, the force uniformity analysis result can be: , where Fz is the average force of the force-bearing end; S34. Obtain the force process analysis result and the force uniformity analysis result, and perform a weighted sum to obtain the force process evaluation result.

[0008] Here, it should be noted that as a preferred technical solution of the manipulator operation monitoring method based on multi-source fusion, the abnormal transfer process evaluation based on the abnormal evaluation result of the motion process position and the force process evaluation analysis result includes the following specific contents: Obtain the analyzed abnormal evaluation result of the motion process position and the force process evaluation analysis result, and obtain the abnormal transfer process evaluation result by summing the reciprocal of the abnormal evaluation result of the motion process position and the force process evaluation analysis result.

[0009] Here, it should be noted that as a preferred technical solution of the manipulator operation monitoring method based on multi-source fusion, the abnormal transfer process warning based on the abnormal transfer process evaluation result includes the following specific contents: Obtain the obtained abnormal transfer process evaluation result, and compare it with the set abnormal transfer process evaluation standard value. If the abnormal transfer process evaluation result is less than or equal to the set abnormal transfer process evaluation standard value, it indicates that the transfer process is safe and the transfer process can be carried out; if the abnormal transfer process evaluation result is greater than the set abnormal transfer process evaluation standard value, it indicates that the transfer process is dangerous and a transfer process warning is issued.

[0010] The manipulator operation monitoring system based on multi-source fusion is implemented based on the above-mentioned manipulator operation monitoring method based on multi-source fusion. It specifically includes a data acquisition module, a position abnormal evaluation module, a force process evaluation analysis module, a transfer process abnormal evaluation module, and an abnormal warning module. Among them, the data acquisition module is used to obtain the positions of each moving part, the force data of the corresponding working part, and the vibration data during the operation of the manipulator through the sensing module; The position anomaly evaluation module performs position anomaly evaluation during the movement process based on the positions of the moving components and the vibration data during the movement process of the manipulator; The force application process evaluation and analysis module performs force application process evaluation and analysis based on the uniformity of the force data of the corresponding working parts; The transfer process anomaly evaluation module performs transfer process anomaly evaluation based on the results of the movement process position anomaly evaluation and the results of the force application process evaluation and analysis; The anomaly warning module performs transfer process anomaly warning according to the results of the transfer process anomaly evaluation.

[0011] An electronic device includes: a processor and a memory, wherein a computer program that can be called by the processor is stored in the memory; The processor executes the above-mentioned manipulator operation monitoring method based on multi-source fusion by calling the computer program stored in the memory.

[0012] A computer-readable storage medium stores instructions, and when the instructions run on a computer, the computer is made to execute the above-mentioned manipulator operation monitoring method based on multi-source fusion.

[0013] Compared with the prior art, the beneficial effects of the present invention are: By obtaining the positions of the moving components, the force data of the corresponding working parts, and the vibration data during the movement process of the manipulator through the sensing module, performing position anomaly evaluation during the movement process based on the positions of the moving components and the vibration data during the movement process, performing force application process evaluation and analysis based on the uniformity of the force data of the corresponding working parts, performing transfer process anomaly evaluation based on the results of the movement process position anomaly evaluation and the results of the force application process evaluation and analysis, performing transfer process anomaly warning according to the results of the transfer process anomaly evaluation, performing transfer process anomaly analysis based on the position offset situation and vibration anomaly situation during the transfer process, and simultaneously comprehensively predicting the danger of the workpiece transfer process based on the force data of the corresponding working parts, the safety and monitoring efficiency of the workpiece transfer process are improved. Description of the Drawings

[0014] Figure 1 It is a schematic diagram of the overall flow of the manipulator operation monitoring method based on multi-source fusion of the present invention; Figure 2 It is a schematic diagram of the flow of step S2 of the manipulator operation monitoring method based on multi-source fusion of the present invention; Figure 3 It is a schematic diagram of the flow of step S3 of the manipulator operation monitoring method based on multi-source fusion of the present invention; Figure 4 It is a schematic diagram of the overall framework of the manipulator operation monitoring system based on multi-source fusion of the present invention; Figure 5 Schematic diagram of scenario data transmission for the present invention. Specific implementation manners

[0015] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way constitutes a limitation on the present application and its application or use.

[0016] Embodiment 1 To solve the technical problems proposed in the background art: the prior art cannot perform abnormal analysis of the transfer process based on the position offset and vibration abnormality during the transfer process, resulting in the inability to comprehensively predict the danger of the workpiece transfer process based on the force data of the corresponding working parts, thereby causing the event of the clamped workpiece falling midway to occur frequently; The implementation scenario of this embodiment is as Figure 5 shown, specifically: the sensing module obtains the positions of the moving parts during the operation of the manipulator, the force data of the corresponding working parts, and the vibration data during the movement process. The data analysis terminal performs an abnormal evaluation of the position during the movement process based on the positions of the moving parts during the operation of the manipulator and the vibration data during the movement process, performs an evaluation and analysis of the force application process based on the uniformity of the force data of the corresponding working parts, and performs an abnormal evaluation of the transfer process based on the results of the abnormal evaluation of the position during the movement process and the results of the evaluation and analysis of the force application process. The warning module issues a warning through the warning information of the data analysis terminal; The present invention provides a preferred embodiment: as Figures 1-3 shown, a method for monitoring the operation of a manipulator based on multi-source fusion, which includes the following specific steps: S1. The sensing module obtains the positions of the moving parts during the operation of the manipulator, the force data of the corresponding working parts, and the vibration data during the movement process; In this embodiment, the positions of the moving parts during the operation of the manipulator include the moving trajectory data of the middle positions of the component moving assemblies during the operation of the manipulator and the standard moving trajectory data of the middle positions of the component moving assemblies. Since the manipulator usually consists of multiple moving assemblies, the force data of the working parts includes the force information of each force application end of the working parts, and the vibration data during the movement process includes the vibration frequency and vibration amplitude data of the manipulator during the movement process. It should be noted in this embodiment that various types of data in this step are obtained through the corresponding data acquisition terminals and stored in the corresponding storage components; S2. Perform an abnormal evaluation of the position during the movement process based on the positions of the moving parts during the operation of the manipulator and the vibration data during the movement process; In this embodiment, the abnormal position evaluation during the movement process based on the positions of the moving components and the vibration data during the movement of the manipulator includes the following specific steps: S21. Obtain the position movement trajectory data of each moving component during the operation of the manipulator, and perform position deviation abnormal analysis based on the deviation of the position movement trajectory data of each moving component and the distance data of the trajectory of each moving component relative to the workpiece; Among them, the position deviation abnormal analysis includes the following specific steps: S211. Obtain the movement trajectory data of the midpoint position of each moving component relative to its corresponding driving component. Since each moving component is driven by a driving component installed on the previous moving component, obtaining the movement trajectory data of the midpoint position of each moving component relative to its corresponding driving component can better reflect the operating state of each driving component; S212. Obtain the movement trajectory data of the midpoint position of each moving component relative to its corresponding driving component, and at the same time obtain the closest distance data between the movement trajectory of the midpoint position of each moving component and the workpiece to evaluate the position deviation abnormality. In this embodiment, the position deviation abnormality calculation formula is preferably: , where n is the number of moving components, L is the set distance standard quantity, Li is the closest distance data between the movement trajectory of the midpoint position of the i-th moving component and the workpiece, T is the movement duration of a single workpiece, Dti is the distance between the movement trajectory of the midpoint position of the i-th moving component and the standard movement trajectory at time t, Dmi is the maximum value of the safe distance range between the movement trajectory of the midpoint position of the i-th moving component and the standard movement trajectory, dt is the time integral. Among them, since the influence of moving components at a greater distance will cause the error of subsequent moving components to expand, the moving components cannot be considered together, and weight distribution needs to be carried out according to the distance to the workpiece; S22. Obtain the vibration data of the manipulator during the movement process, and perform vibration abnormal analysis through the vibration data of the manipulator during the movement process. In this embodiment, the vibration abnormal analysis formula is preferably: , where Gt is the vibration amplitude data of the manipulator at time t, and Gm is the maximum value of the safe vibration amplitude range of the manipulator. Here, the safe vibration amplitude range of the manipulator is the vibration amplitude range allowed for the operation of the equipment; S23. Obtain the position deviation abnormal analysis result and the vibration abnormal analysis result obtained from the analysis, and perform weighted summation to obtain the abnormal position evaluation result during the movement process; S3. Perform force process evaluation and analysis based on the uniformity of the force data of the corresponding working parts; In this embodiment, the force process evaluation and analysis based on the uniformity of the force data of the corresponding working parts includes the following specific steps: S31. Obtain the force data of each force - receiving end during the grasping process of the corresponding manipulator, and at the same time obtain the standard force data of each force - receiving end. The standard force data is the force of each force - receiving end that can just clamp the workpiece. The calculation method is the gravity of the workpiece divided by the friction coefficient between the workpiece and the manipulator and then divided by the number of force - receiving ends; S32. Obtain the force data of each force - receiving end and the standard force data of each force - receiving end during the grasping process of the corresponding manipulator, and conduct a force - process analysis based on the differences between the force data of each force - receiving end and the standard force data of each force - receiving end; Among them, the calculation formula for the force - process analysis result is preferably: , where M is the number of force - receiving ends, Fj is the force data of the j - th force - receiving end, and Fm is the standard force data of the force - receiving end; S33. Obtain the force data of each force - receiving end during the grasping process of the corresponding manipulator and conduct a force - uniformity analysis; Among them, the force - uniformity analysis result can be: , where Fz is the average force of the force - receiving end; S34. Obtain the force - process analysis result and the force - uniformity analysis result and perform a weighted sum to obtain the force - process evaluation result; S4. Conduct a transfer - process anomaly assessment based on the motion - process position anomaly assessment result and the force - process assessment analysis result; In this embodiment, conducting a transfer - process anomaly assessment based on the motion - process position anomaly assessment result and the force - process assessment analysis result includes the following specific contents: Obtain the analyzed motion - process position anomaly assessment result and the force - process assessment analysis result, and obtain the transfer - process anomaly assessment result by summing the motion - process position anomaly assessment result and the reciprocal of the force - process assessment analysis result; S5. Conduct a transfer - process anomaly warning according to the transfer - process anomaly assessment result; In this embodiment, conducting a transfer - process anomaly warning according to the transfer - process anomaly assessment result includes the following specific contents: Obtain the obtained transfer - process anomaly assessment result, compare it with the set transfer - process anomaly assessment standard value. If the transfer - process anomaly assessment result is less than or equal to the set transfer - process anomaly assessment standard value, it indicates that the transfer process is safe and the transfer process can be carried out; if the transfer - process anomaly assessment result is greater than the set transfer - process anomaly assessment standard value, it indicates that the transfer process is dangerous and a transfer - process warning is issued.

[0017] It should be noted that in the embodiment, the value-taking methods of the standard values and weighted weight ratios in this embodiment are as follows: obtain the positions of the moving parts, the force data of the corresponding working parts, and the vibration data during the movement in the historical operation of the manipulator, substitute them into the steps in this embodiment for the abnormal evaluation calculation of the transfer process, and obtain whether a dropping hazard event occurs during the transfer process. Substitute the abnormal evaluation calculation result of the transfer process and the obtained result of whether a dropping hazard event occurs into the fitting software (such as matlab), output the value-taking of the standard values and weighted weight ratios that meet the highest dropping judgment accuracy rate, and obtain the obtained values; The advantages of this embodiment over the prior art are as follows: obtain the positions of the moving parts, the force data of the corresponding working parts, and the vibration data during the movement in the operation of the manipulator through the sensing module. Perform the abnormal evaluation of the movement process position based on the positions of the moving parts and the vibration data during the movement in the operation of the manipulator, perform the force process evaluation and analysis based on the uniformity of the force data of the corresponding working parts, perform the abnormal evaluation of the transfer process based on the abnormal evaluation result of the movement process position and the force process evaluation and analysis result, perform the abnormal warning of the transfer process according to the abnormal evaluation result of the transfer process, perform the abnormal analysis of the transfer process based on the position deviation and vibration abnormality of the transfer process, and at the same time comprehensively perform the danger prediction of the workpiece transfer process based on the force data of the corresponding working parts, improving the safety and monitoring efficiency of the workpiece transfer process.

[0018] Embodiment 2 As Figure 4 shown, the manipulator operation monitoring system based on multi-source fusion is implemented based on the above-mentioned manipulator operation monitoring method based on multi-source fusion, and specifically includes a data acquisition module, a position abnormal evaluation module, a force process evaluation and analysis module, a transfer process abnormal evaluation module, and an abnormal warning module. Among them, the data acquisition module is used to obtain the positions of the moving parts, the force data of the corresponding working parts, and the vibration data during the movement in the operation of the manipulator through the sensing module; The position abnormal evaluation module performs the abnormal evaluation of the movement process position based on the positions of the moving parts and the vibration data during the movement in the operation of the manipulator; The force process evaluation and analysis module performs the force process evaluation and analysis based on the uniformity of the force data of the corresponding working parts; The transfer process abnormal evaluation module performs the abnormal evaluation of the transfer process based on the abnormal evaluation result of the movement process position and the force process evaluation and analysis result; The abnormal warning module performs the abnormal warning of the transfer process according to the abnormal evaluation result of the transfer process; at the same time, Figure 4 the arrows in represent the signal transmission connection relationship between the modules.

[0019] Embodiment 3 This embodiment provides an electronic device, including: a processor and a memory, wherein a computer program that can be called by the processor is stored in the memory; The processor executes the above-mentioned method for monitoring the operation of a manipulator based on multi-source fusion by calling the computer program stored in the memory.

[0020] This electronic device may have relatively large differences due to different configurations or performances, and can include one or more processors and one or more memories. Among them, at least one computer program is stored in the memory, and this computer program is loaded and executed by the processor to implement the method for monitoring the operation of a manipulator based on multi-source fusion provided by the above method embodiment. This electronic device can also include other components for implementing the functions of the device. For example, this electronic device can also have components such as wired or wireless network interfaces and input / output interfaces for data input and output. This embodiment will not be elaborated here.

[0021] Embodiment 4 This embodiment proposes a computer-readable storage medium, on which a rewritable computer program is stored; When the computer program runs on a computer device, it causes the computer device to execute the above-mentioned method for monitoring the operation of a manipulator based on multi-source fusion.

[0022] For example, the computer-readable storage medium can be a read-only memory, a random access memory, a compact disc read-only memory, magnetic tape, floppy disk, and optical data storage device, etc.

[0023] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions according to the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired network or / and a wireless network. The computer-readable storage medium can be any available medium that the computer can access, or a data storage device such as a server or a data center that includes one or more collections of available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

Claims

1. A manipulator operation monitoring method based on multi-source fusion, characterized in that: It includes the following specific steps: The sensor module obtains the position of each moving part during the operation of the robot, the force data of the corresponding working parts, and the vibration data during the movement; Based on the position of each moving part during the operation of the robot and the vibration data during the movement, the abnormal position of the movement process is evaluated; Perform force process evaluation and analysis based on the uniformity of force data of corresponding working parts; Based on the abnormal position assessment results of the motion process and the force process assessment and analysis results, the abnormality assessment of the transport process is performed; An abnormal warning for the transfer process is issued based on the abnormal assessment results of the transfer process.

2. The method for monitoring the operation of a manipulator based on multi-source fusion according to claim 1, characterized in that: The method of evaluating the position abnormality of the motion process based on the position of each moving part during the operation of the manipulator and the vibration data during the motion process includes the following specific steps: Acquire the position movement trajectory data of each moving part during the operation of the manipulator, and perform position deviation abnormality analysis based on the position movement trajectory data deviation of each moving part and the distance data of the trajectory of each moving part relative to the workpiece; Acquire the vibration data of the manipulator during the movement, and perform vibration abnormality analysis based on the vibration data of the manipulator during the movement; The position abnormality analysis results and vibration abnormality analysis results obtained by analysis are weighted summed to obtain the position abnormality assessment result of the motion process.

3. The manipulator operation monitoring method based on multi-source fusion according to claim 2 is characterized in that: The force process evaluation and analysis based on the uniformity of the force data of each corresponding working part includes the following specific steps: Obtain the force data of each force-bearing end during the corresponding manipulator grasping process, and simultaneously obtain the standard force data of each force-bearing end; Obtaining force data of each force-bearing end and standard force data of each force-bearing end during the corresponding manipulator grasping process, and performing force process analysis based on the difference between the force data of each force-bearing end and the standard force data of each force-bearing end; Obtain the force data of each force-bearing end during the corresponding manipulator grasping process to perform force uniformity analysis; The force process analysis results and the force uniformity analysis results are obtained and weighted summed to obtain the force process evaluation results.

4. The method for monitoring the operation of a manipulator based on multi-source fusion according to claim 3, characterized in that: The abnormality assessment of the transport process based on the abnormal position assessment results of the motion process and the force process assessment analysis results includes the following specific contents: The motion process position abnormality assessment results and the force process assessment analysis results obtained by analysis are obtained, and the transfer process abnormality assessment results are obtained by taking the inverse sum of the motion process position abnormality assessment results and the force process assessment analysis results.

5. The method for monitoring the operation of a manipulator based on multi-source fusion according to claim 4, characterized in that: The abnormal warning of the transport process according to the abnormal assessment result of the transport process includes the following specific contents: Obtain the obtained transfer process abnormality assessment result, and compare it with the set transfer process abnormality assessment standard value. If the transfer process abnormality assessment result is less than or equal to the set transfer process abnormality assessment standard value, it indicates that the transfer process is safe and the transfer process can be carried out; If the abnormal assessment result of the transfer process is greater than the set abnormal assessment standard value of the transfer process, it indicates that the transfer process is dangerous and an early warning of the transfer process is issued.

6. The method for monitoring the operation of a manipulator based on multi-source fusion according to claim 5, characterized in that: The position deviation abnormality analysis comprises the following specific steps: Obtaining the moving trajectory data of the midpoint position of each moving component relative to its corresponding driving component; The moving trajectory data of the midpoint position of each moving component relative to its corresponding driving component is obtained, and at the same time, the closest distance data of the midpoint position motion trajectory of each moving component relative to the workpiece is obtained to evaluate the position deviation abnormality.

7. The method for monitoring the operation of a manipulator based on multi-source fusion according to claim 6, characterized in that: The positions of each moving component during the operation of the manipulator include the movement trajectory data of the middle position of each moving component and the standard movement trajectory data of the middle position of each moving component during the operation of the manipulator, the force data of the working part includes the force information of each force-bearing end of the working part, and the vibration data during the movement process includes the vibration frequency and vibration amplitude data of the manipulator during the movement of the manipulator.

8. A manipulator operation monitoring system based on multi-source fusion, which is implemented based on the manipulator operation monitoring method based on multi-source fusion as claimed in any one of claims 1 to 7, characterized in that: It specifically includes a data acquisition module, a position abnormality assessment module, a force process assessment and analysis module, a transfer process abnormality assessment module and an abnormality warning module, wherein the data acquisition module is used to obtain the position of each moving part during the operation of the manipulator, the force data of the corresponding working part and the vibration data during the movement through the sensor module; The position anomaly assessment module performs position anomaly assessment during the motion process based on the position of each moving component during the operation of the manipulator and the vibration data during the motion process; The force process evaluation and analysis module performs force process evaluation and analysis based on the uniformity of the force data of each corresponding working part; The transport process abnormality assessment module performs transport process abnormality assessment based on the motion process position abnormality assessment results and the force process assessment analysis results; The abnormal warning module performs abnormal warning of the transportation process according to the abnormal evaluation result of the transportation process.

9. An electronic device, comprising: A processor and a memory, wherein the memory stores a computer program that can be called by the processor; It is characterized in that the processor executes the manipulator operation monitoring method based on multi-source fusion as described in any one of claims 1 to 7 by calling the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: Instructions are stored, and when the instructions are executed on a computer, the computer executes the manipulator operation monitoring method based on multi-source fusion as described in any one of claims 1-7.

Images