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

Abstract

The present invention discloses a manipulator operation monitoring system and method based on multi-source fusion, which belongs to the field of manipulator operation monitoring. The present invention performs position anomaly assessment of the movement process based on the position of each moving part during the operation of the manipulator and the vibration data during the movement process, performs force process assessment and analysis based on the uniformity of the force data of each corresponding working part, performs transfer process anomaly assessment based on the movement process position anomaly assessment result and the force process assessment and analysis result, performs transfer process anomaly warning according to the transfer process anomaly assessment result, performs transfer process anomaly analysis based on the position offset and vibration anomaly of the transfer process, and simultaneously predicts the danger of the workpiece transfer process based on the force data of the corresponding working part, thereby improving the safety and monitoring efficiency of the workpiece transfer process.

Description

Technical Field

[0001] The present invention belongs to the field of manipulator operation monitoring, and in particular 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 movements of a human arm and is widely used in industrial manufacturing, medical treatment, services, aerospace and other fields. It completes complex tasks such as grasping, handling, assembly, welding, etc. through the collaborative work of mechanical structure, sensors and control systems. A manipulator is usually composed of the following parts: joints: to realize the rotation, bending and other movements of the manipulator; connecting rods: to connect the joints and form the skeleton of the manipulator; end effectors: such as grippers, suction cups, welding guns, etc., used to perform specific tasks; motors (such as servo motors and stepper motors): to provide power. The operation process of the manipulator is usually to clamp the workpiece and place it in the specified position; during the operation of the manipulator, the operation status of the manipulator needs to be monitored. At this time, a manipulator operation monitoring system based on multi-source fusion is needed.

[0003] When monitoring the operation status of a manipulator, existing technologies are unable to analyze abnormalities during the transfer process based on positional deviations and abnormal vibrations. This results in an inability to comprehensively analyze the force data of the corresponding working parts to predict the danger of the workpiece transfer process. This often leads to the clamped workpiece falling midway. Therefore, a manipulator operation monitoring system and method with high safety and monitoring efficiency is needed.

[0004] In order to solve the problems raised by this background technology, the present application designs a manipulator operation monitoring system and method based on multi-source fusion. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the present invention proposes a manipulator operation monitoring system and method based on multi-source fusion.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a manipulator operation monitoring method based on multi-source fusion, which includes the following specific steps:

[0007] 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;

[0008] 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;

[0009] Perform force process evaluation and analysis based on the uniformity of force data of each corresponding working part;

[0010] Evaluate the abnormality of the transport process based on the results of the position abnormality assessment during the motion process and the force process assessment and analysis results;

[0011] Issue abnormal warning for the transfer process based on the abnormal assessment results of the transfer process.

[0012] It should be noted here that, as a preferred technical solution for the manipulator operation monitoring method based on multi-source fusion, the position of each moving component during the operation of the manipulator includes the movement trajectory data of the middle position of each component moving component during the operation of the manipulator and the standard movement trajectory data of the middle position of each component moving component. Since the manipulator is usually composed 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 of the manipulator.

[0013] It should be noted that, as a preferred technical solution for the manipulator operation monitoring method based on multi-source fusion, the motion process position abnormality assessment 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:

[0014] S21, obtaining position movement trajectory data of each moving component during the operation of the manipulator, and performing position offset anomaly analysis based on the position movement trajectory data deviation of each moving component and the distance data of the trajectory of each moving component relative to the workpiece;

[0015] The position deviation anomaly analysis includes the following specific steps:

[0016] S211. Obtaining the movement trajectory data of the midpoint position of each moving component relative to its corresponding drive assembly. Because each moving component is driven by the drive assembly installed on the previous moving component, obtaining the movement trajectory data of the midpoint position of each moving component relative to its corresponding drive assembly can better reflect the operating status of each drive assembly.

[0017] S212, obtaining the movement trajectory data of the midpoint position of each moving component relative to its corresponding driving assembly, and simultaneously obtaining the closest distance data of the movement trajectory of the midpoint position of each moving component relative to the workpiece to evaluate position offset abnormality;

[0018] S22. Acquire vibration data of the manipulator during the movement process, and perform vibration abnormality analysis based on the vibration data of the manipulator during the movement process;

[0019] S23. Obtain the position deviation anomaly analysis result and the vibration anomaly analysis result obtained by analysis, perform weighted summation, and obtain a motion process position anomaly assessment result.

[0020] It should be noted that, as a preferred technical solution for the manipulator operation monitoring method based on multi-source fusion, the force process evaluation and analysis based on the uniformity of the force data of each corresponding working part includes the following specific steps:

[0021] S31. Obtain force data of each force-bearing end during the gripping process of the corresponding manipulator, and simultaneously obtain standard force data of each force-bearing end, wherein the standard force data is the force of each force-bearing end that can just hold the workpiece, and is calculated by dividing the weight of the workpiece by the friction coefficient between the workpiece and the manipulator and then by the number of force-bearing ends;

[0022] S32, 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;

[0023] Among them, the calculation formula of 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;

[0024] S33, obtaining the force data of each force-bearing end during the corresponding manipulator grasping process to perform force uniformity analysis;

[0025] The force uniformity analysis results can be: , where Fz is the average force at the load-bearing end;

[0026] S34. Obtain the force process analysis result and the force uniformity analysis result, perform weighted summation on them, and obtain the force process evaluation result.

[0027] It should be noted that, as a preferred technical solution for the manipulator operation monitoring method based on multi-source fusion, the transfer process abnormality assessment based on the motion process position abnormality assessment results and the force process assessment analysis results includes the following specific contents:

[0028] 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 summing the inverse of the motion process position abnormality assessment results and the force process assessment analysis results.

[0029] It should be noted that, as a preferred technical solution for the manipulator operation monitoring method based on multi-source fusion, the abnormality warning of the transfer process based on the abnormality assessment results of the transfer process includes the following specific contents:

[0030] 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 transfer process abnormality assessment result is greater than the set transfer process abnormality assessment standard value, it indicates that the transfer process is dangerous and a transfer process warning is issued.

[0031] A 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 anomaly assessment module, a force process assessment and analysis module, a transfer process anomaly assessment module, and an anomaly warning module. The data acquisition module is used to obtain the position of each moving component 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;

[0032] The position anomaly assessment module performs position anomaly assessment during the movement process based on the position of each moving component during the operation of the manipulator and the vibration data during the movement process;

[0033] 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;

[0034] The transfer process abnormality assessment module performs transfer process abnormality assessment based on the motion process position abnormality assessment results and the force process assessment analysis results;

[0035] The abnormality warning module performs abnormality warning of the transfer process according to the abnormality assessment result of the transfer process.

[0036] An electronic device comprises: a processor and a memory, wherein the memory stores a computer program that can be called by the processor;

[0037] The processor executes the above-mentioned manipulator operation monitoring method based on multi-source fusion by calling the computer program stored in the memory.

[0038] A computer-readable storage medium stores instructions. When the instructions are executed on a computer, the computer is caused to execute the above-mentioned manipulator operation monitoring method based on multi-source fusion.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The sensor module is used to obtain the positions of each moving component during the operation of the robot, the force data of the corresponding working parts, and the vibration data during the movement process. Based on the positions of each moving component during the operation of the robot and the vibration data during the movement process, the movement process position anomaly assessment is performed. Based on the uniformity of the force data of each corresponding working part, the force process assessment and analysis is performed. Based on the movement process position anomaly assessment results and the force process assessment and analysis results, the transfer process anomaly assessment is performed. According to the transfer process anomaly assessment results, a transfer process anomaly warning is issued. Based on the position offset and vibration anomaly of the transfer process, the transfer process anomaly analysis is performed. At the same time, the force data of the corresponding working parts are integrated to predict the danger of the workpiece transfer process, thereby improving the safety and monitoring efficiency of the workpiece transfer process. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of the overall process of the manipulator operation monitoring method based on multi-source fusion of the present invention;

[0042] Figure 2 Schematic diagram of step S2 of the manipulator operation monitoring method based on multi-source fusion of the present invention;

[0043] Figure 3 Schematic diagram of step S3 of the manipulator operation monitoring method based on multi-source fusion of the present invention;

[0044] Figure 4 Schematic diagram of the overall framework of the manipulator operation monitoring system based on multi-source fusion of the present invention;

[0045] Figure 5 This is a schematic diagram of scene data transmission according to the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only some embodiments of the present application, rather than all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present application, its application, or use.

[0047] Example 1

[0048] To solve the technical problem raised in the background technology: the existing technology is unable to analyze the abnormality of the transfer process based on the position deviation and vibration abnormality during the transfer process, resulting in the inability to comprehensively analyze the force data of the corresponding working parts to predict the danger of the workpiece transfer process, which often leads to the clamped workpiece falling during the transfer process;

[0049] The implementation scenario of this embodiment is as follows Figure 5As shown, specifically: the sensor module obtains the position 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; the data analysis terminal performs an abnormal position assessment during the movement process based on the position of each moving part during the operation of the manipulator and the vibration data during the movement process; performs a force process assessment and analysis based on the uniformity of the force data of each corresponding working part; performs an abnormal transfer process assessment based on the results of the abnormal position assessment during the movement process and the results of the force process assessment and analysis; the early warning module issues an early warning through the early warning information of the data analysis terminal;

[0050] The present invention provides a preferred embodiment: Figure 1-Figure 3 As shown, the manipulator operation monitoring method based on multi-source fusion includes the following specific steps:

[0051] S1. The sensor module obtains the position 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;

[0052] In this embodiment, the position of each moving component during the operation of the manipulator includes 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. Since the manipulator is usually composed 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 includes the vibration frequency and vibration amplitude data of the manipulator during the movement of the manipulator. It should be noted in this embodiment that various types of data in this step are obtained through the corresponding data acquisition terminal and stored in the corresponding storage component;

[0053] S2, based on the position of each moving part during the operation of the manipulator and the vibration data during the movement, perform position abnormality assessment during the movement process;

[0054] In this embodiment, the motion process position abnormality assessment based on the position of each moving component during the operation of the manipulator and the vibration data during the motion process includes the following specific steps:

[0055] S21, obtaining position movement trajectory data of each moving component during the operation of the manipulator, and performing position offset anomaly analysis based on the position movement trajectory data deviation of each moving component and the distance data of the trajectory of each moving component relative to the workpiece;

[0056] The position deviation anomaly analysis includes the following specific steps:

[0057] S211. Obtaining the movement trajectory data of the midpoint position of each moving component relative to its corresponding drive assembly. Because each moving component is driven by the drive assembly installed on the previous moving component, obtaining the movement trajectory data of the midpoint position of each moving component relative to its corresponding drive assembly can better reflect the operating status of each drive assembly.

[0058] S212: Obtain the movement trajectory data of the midpoint position of each moving component relative to its corresponding driving assembly, and simultaneously obtain the closest distance data of the movement trajectory of the midpoint position of each moving component relative to the workpiece to evaluate the position offset abnormality. In this embodiment, the position offset abnormality calculation formula is preferably: , where n is the number of moving components, L is the set distance standard, Li is the closest distance data of the motion trajectory of the midpoint position of the i-th moving component relative to the workpiece, T is the duration of the movement process of a single workpiece, Dti is the distance of the motion trajectory of the midpoint position of the i-th moving component relative to the standard motion trajectory at time t, Dmi is the maximum safe distance range of the motion trajectory of the midpoint position of the i-th moving component relative to the standard motion trajectory, and dt is the time integral. Since the influence of the moving components at a longer distance will cause the error of the subsequent moving components to expand, the moving components cannot be considered together, and weight distribution needs to be performed according to the distance to the workpiece;

[0059] S22. Acquire vibration data of the manipulator during the movement process, and perform vibration anomaly analysis based on the vibration data of the manipulator during the movement process. In this embodiment, the vibration anomaly 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 manipulator's vibration amplitude safety range. Here, the manipulator's vibration amplitude safety range is the vibration amplitude range allowed for equipment operation;

[0060] S23, obtaining the position deviation abnormality analysis result and the vibration abnormality analysis result obtained by analysis, performing weighted summation, and obtaining a motion process position abnormality assessment result;

[0061] S3. Perform force process evaluation and analysis based on the uniformity of the force data of each corresponding working part;

[0062] In this embodiment, the force process evaluation and analysis based on the uniformity of the force data of each corresponding working part includes the following specific steps:

[0063] S31. Obtain force data of each force-bearing end during the gripping process of the corresponding manipulator, and simultaneously obtain standard force data of each force-bearing end, wherein the standard force data is the force of each force-bearing end that can just hold the workpiece, and is calculated by dividing the weight of the workpiece by the friction coefficient between the workpiece and the manipulator and then by the number of force-bearing ends;

[0064] S32, 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;

[0065] Among them, the calculation formula of 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;

[0066] S33, obtaining the force data of each force-bearing end during the corresponding manipulator grasping process to perform force uniformity analysis;

[0067] The force uniformity analysis results can be: , where Fz is the average force at the load-bearing end;

[0068] S34, obtaining the force process analysis result and the force uniformity analysis result, performing weighted summation to obtain the force process evaluation result;

[0069] S4. Evaluate the abnormality of the transport process based on the position abnormality evaluation results of the motion process and the force process evaluation and analysis results;

[0070] In this embodiment, the transport process abnormality assessment based on the motion process position abnormality assessment results and the force process assessment analysis results includes the following specific contents:

[0071] Obtaining the motion process position abnormality assessment results and the force process assessment analysis results obtained by analysis, and obtaining the transfer process abnormality assessment results by summing the inverse of the motion process position abnormality assessment results and the force process assessment analysis results;

[0072] S5. Issue an abnormal warning for the transfer process based on the abnormal assessment results of the transfer process;

[0073] In this embodiment, the abnormality warning of the transfer process according to the abnormality assessment result of the transfer process includes the following specific contents:

[0074] 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 transfer process abnormality assessment result is greater than the set transfer process abnormality assessment standard value, it indicates that the transfer process is dangerous and a transfer process warning is issued.

[0075] It should be noted in the embodiment that the method for obtaining the values of the various standard values and weighted weight ratios in this embodiment is as follows: the positions of the various moving parts during the operation of the historical manipulator, the force data of the corresponding working parts, and the vibration data during the movement are obtained, and the data are substituted into the various steps in this embodiment to perform abnormality assessment calculations during the transfer process, and whether a drop hazard event occurs during the transfer process is obtained. The results of the transfer process abnormality assessment calculations and the results of whether a drop hazard event occurs are obtained and substituted into the fitting software (such as MATLAB), and the values of the various standard values and weighted weight ratios that meet the highest drop judgment accuracy are output, and the obtained values are obtained;

[0076] The advantages of this embodiment over the prior art are as follows: the position of each moving component during the operation of the manipulator, the force data of the corresponding working parts and the vibration data during the movement are obtained through the sensor module; the position abnormality of the movement process is evaluated based on the position of each moving component during the operation of the manipulator and the vibration data during the movement; the force process evaluation and analysis is performed based on the uniformity of the force data of each corresponding working part; the transfer process abnormality is evaluated based on the movement process position abnormality evaluation results and the force process evaluation and analysis results; the transfer process abnormality warning is performed according to the transfer process abnormality evaluation results; the transfer process abnormality is analyzed based on the position offset and vibration abnormality of the transfer process; and at the same time, the force data of the corresponding working parts are integrated to predict the danger of the workpiece transfer process, thereby improving the safety and monitoring efficiency of the workpiece transfer process.

[0077] Example 2

[0078] like Figure 4 As 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, which 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. Among them, 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 process through the sensor module;

[0079] The position anomaly assessment module evaluates the position anomaly during the movement process based on the position of each moving part during the operation of the robot and the vibration data during the movement;

[0080] 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;

[0081] The transfer process abnormality assessment module evaluates the transfer process abnormality based on the position abnormality assessment results of the motion process and the force process assessment analysis results;

[0082] The abnormal warning module can provide abnormal warning for the transportation process according to the abnormal evaluation results of the transportation process; at the same time, Figure 4 The arrows in the figure represent the signal transmission connection relationship between the modules.

[0083] Example 3

[0084] This embodiment provides an electronic device, including: a processor and a memory, wherein the memory stores a computer program that can be called by the processor;

[0085] The processor executes the above-mentioned manipulator operation monitoring method based on multi-source fusion by calling the computer program stored in the memory.

[0086] The electronic device may have relatively large differences due to different configurations or performances, and may include one or more processors and one or more memories, wherein the memories store at least one computer program, which is loaded and executed by the processor to implement the manipulator operation monitoring method based on multi-source fusion provided by the above method embodiment. The electronic device may also include other components for implementing the functions of the device. For example, the electronic device may also have components such as a wired or wireless network interface and an input / output interface to input and output data. This embodiment will not be described in detail here.

[0087] Example 4

[0088] This embodiment provides a computer-readable storage medium having a rewritable computer program stored thereon;

[0089] When the computer program is executed on a computer device, the computer device is caused to execute the above-mentioned manipulator operation monitoring method based on multi-source fusion.

[0090] For example, the computer readable storage medium can be a read-only memory, a random access memory, a read-only CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0091] The above embodiments can be implemented in whole or in part via 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. A computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions according to the embodiments of the present invention are fully or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, computer instructions can be transferred 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. A computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives.

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; The specific steps include: Acquire the position movement trajectory data of each moving part during the operation of the manipulator, and perform position offset anomaly 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; The position deviation anomaly analysis includes the following specific steps: Obtain the movement trajectory data of the midpoint position of each moving component relative to its corresponding drive component, and at the same time obtain the closest distance data of the movement trajectory of the midpoint position of each moving component relative to the workpiece to evaluate the position offset abnormality; wherein, the position offset abnormality calculation formula is: , where n is the number of moving components, L is the set distance standard, Li is the closest distance data of the motion trajectory of the midpoint position of the i-th moving component relative to the workpiece, T is the duration of the movement process of a single workpiece, Dti is the distance of the motion trajectory of the midpoint position of the i-th moving component relative to the standard motion trajectory at time t, Dmi is the maximum safe distance range of the motion trajectory of the midpoint position of the i-th moving component relative to the standard motion trajectory, and dt is the time integral; Acquire the vibration data of the manipulator during the movement process, and perform vibration anomaly analysis based on the vibration data of the manipulator during the movement process; Obtaining the position deviation anomaly analysis results and the vibration anomaly analysis results obtained by analysis, performing weighted summation, and obtaining the motion process position anomaly assessment result; Perform force process evaluation and analysis based on the uniformity of force data of each corresponding working part; Evaluate the abnormality of the transport process based on the results of the position abnormality assessment during the motion process and the force process assessment and analysis results; Issue abnormal warning for the transfer process 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 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 at the same time 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 analyze the force uniformity; Obtain the force process analysis results and the force uniformity analysis results, perform weighted summation, and obtain the force process evaluation results.

3. The method for monitoring the operation of a manipulator based on multi-source fusion according to claim 2, characterized in that: The abnormality assessment of the transport process based on the abnormality assessment results of the motion process position 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 summing the inverse of the motion process position abnormality assessment results and the force process assessment analysis results.

4. The method for monitoring the operation of a manipulator based on multi-source fusion according to claim 3, 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 can be carried out; If the transfer process abnormality assessment result is greater than the set transfer process abnormality assessment standard value, it indicates that the transfer process is dangerous and a transfer process warning is issued.

5. The method for monitoring the operation of a manipulator based on multi-source fusion according to claim 4, characterized in that: The positions of the various moving parts during the operation of the manipulator include the movement trajectory data of the middle position of each component moving assembly during the operation of the manipulator and the standard movement trajectory data of the middle position of each component moving assembly; the force data of the working part include the force information of each force-bearing end of the working part; the vibration data during the movement process include the vibration frequency and vibration amplitude data of the manipulator during the movement of the manipulator.

6. 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 according to any one of claims 1 to 5, characterized in that: It specifically includes a data acquisition module, a position anomaly assessment module, a force process assessment and analysis module, a transfer process anomaly assessment module and an anomaly warning module. 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 movement process based on the position of each moving component during the operation of the manipulator and the vibration data during the movement 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 transfer process abnormality assessment module performs transfer process abnormality assessment based on the motion process position abnormality assessment results and the force process assessment analysis results; The abnormality warning module performs abnormality warning of the transfer process according to the abnormality assessment result of the transfer process.

7. 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 5 by calling the computer program stored in the memory.

8. A computer-readable storage medium, characterized in that Instructions are stored, and when the instructions are executed on a computer, the computer is caused to execute the manipulator operation monitoring method based on multi-source fusion as described in any one of claims 1 to 5.

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