Robot system for engineering monitoring

Abstract

The invention relates to the technical field of robot control, in particular to a robot system for engineering monitoring, which is provided with a carrier, a robot component, a data collection module, a feature aggregation module and an attitude control module. Signal execution quantities are determined through a feature aggregation module, follow-up delay characterization quantities are determined according to the change condition of a base stress value in a signal execution time period, a follow-up delay characterization data set of the signal execution quantities is determined through a construction unit, and whether monitoring data obtained at the current position is qualified or not is judged. An operation limiting track of the mechanical arm is determined through a posture control module according to a mechanical arm position signal corresponding to the anisotropic signal execution quantity, and after a pause point is added to the operation limiting track, the mechanical arm is controlled again to move along the operation limiting track; the quality of the monitoring data is updated by extracting the data features to construct the related model, and the data collection quality and the data validity of the robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and particularly to a robot system for engineering monitoring. Background Art

[0002] Engineering monitoring is crucial in various engineering projects, and its accuracy and reliability are directly related to the quality, safety, and subsequent maintenance management of the project. Traditional engineering monitoring methods often rely on manual operations, which have problems such as low efficiency, insufficient accuracy, and being greatly affected by environmental factors. With the continuous development of technology, robot technology has gradually been applied to the field of engineering monitoring to solve the drawbacks of traditional monitoring methods and achieve automation, intelligence, and high precision in engineering monitoring. However, existing robot systems for engineering monitoring still have some deficiencies in data collection, processing, and robot attitude control. The accuracy and comprehensiveness of data collection need to be improved, and it is difficult to adapt to complex engineering monitoring environments and task requirements.

[0003] For example, Chinese Patent Publication No.: CN116512315A, which discloses a collaborative robot system and a collaborative robot monitoring method. The collaborative robot system includes a collaborative robot and a monitoring platform. The collaborative robot sends status data to the monitoring platform, and the status data includes operating status data and wear status data. The monitoring platform controls the working condition of the collaborative robot according to the operating status data, obtains the service life of the collaborative robot according to the wear status data, and can control the collaborative robot to be in a suitable operating condition by controlling the working condition of the collaborative robot through the monitoring platform.

[0004] The following problems also exist in the prior art:

[0005] The prior art does not consider the terrain and environmental complexity of the workshop scenario, cannot effectively process a large amount of collected data to achieve efficient analysis of representative data, cannot construct relevant models by extracting data features to judge the quality of monitoring data, and affects the quality and data effectiveness of data collection by the robot. Summary of the Invention

[0006] Therefore, the present invention provides a robot system for engineering monitoring to overcome the problems in the prior art that it cannot effectively process a large amount of collected data to achieve efficient analysis of representative data and cannot construct relevant models by extracting data features to judge the quality of monitoring data.

[0007] To achieve the above object, the present invention provides a robot system for engineering monitoring, including:

[0008] A vehicle;

[0009] A robot component, which includes a base mounted on the vehicle and a robotic arm connected to the base;

[0010] A data collection module, which includes several pressure monitoring units distributed at the bottom of the base to obtain the force values on the base, a scanning unit arranged at the end of the robotic arm to obtain monitoring data, and a recording unit for reading the position signals of the robotic arm;

[0011] A feature aggregation module, which is connected to the data collection module and includes a feature extraction unit and a construction unit. The feature extraction unit is used to determine the signal execution quantity based on the time stamp of the robotic arm position signal and determine the follow-up delay characterization quantity according to the change of the force value on the base during the signal execution period. The signal execution period is determined according to adjacent time stamps;

[0012] The construction unit is used to determine the follow-up delay characterization data set of each signal execution quantity, and determine whether the monitoring data obtained at the current position is qualified according to the comparison of the set lengths of the follow-up delay characterization data sets;

[0013] An attitude control module, which is respectively connected to the feature aggregation module and the robot component, is used to screen the opposite-sex signal execution quantities according to the set length, and determine the running limit trajectory of the robotic arm according to the robotic arm position signals corresponding to the opposite-sex signal execution quantities;

[0014] The attitude control module is also used to control the robotic arm to move along the running limit trajectory with added pause points.

[0015] Further, each pressure monitoring unit is distributed at the bottom edge of the base, and several pressure monitoring units are symmetrically distributed with respect to the center of the base.

[0016] Further, the recording unit is used to determine the robotic arm position signal and the time stamp of the robotic arm position signal, where,

[0017] The recording unit reads the action instructions of the robotic arm, determines the position information of the robotic arm after executing each action instruction as the robotic arm position signal, and determines the execution moment of the action instruction as the time stamp of the robotic arm position signal.

[0018] Further, the feature extraction unit is used to determine the signal execution quantity, where,

[0019] The feature extraction unit obtains continuous robotic arm position signals and the time stamps corresponding to each robotic arm position signal in time sequence, determines the period between adjacent time stamps as the signal execution period in time sequence, and determines the duration of the signal execution period as the signal execution quantity.

[0020] Further, the feature extraction unit is used to determine the follow-up delay characterization quantity, where

[0021] the feature extraction unit is used to obtain the absolute value of the change in the base force value of each pressure monitoring unit during the signal execution period, calculate the ratio of the absolute value of the change to the signal execution amount, and determine the value after removing the dimension of the ratio as the follow-up delay characterization quantity.

[0022] Further, the construction unit is used to determine the follow-up delay characterization data set, where

[0023] the construction unit determines the follow-up delay characterization quantity corresponding to each signal execution amount, and determines the set composed of several follow-up delay characterization quantities corresponding to the same signal execution amount as the follow-up delay characterization data set.

[0024] Further, the construction unit is used to determine whether the monitoring data obtained at the current position is qualified, where

[0025] the construction unit is used to obtain the difference between the maximum value and the minimum value in each follow-up delay characterization data set, determine the difference as the set length, and calculate the standard deviation of the set lengths between the follow-up delay characterization data sets of several signal execution amounts;

[0026] If the standard deviation of the set lengths exceeds the preset standard deviation threshold of the set lengths, the construction unit determines that the monitoring data obtained at the current position is unqualified;

[0027] If the standard deviation of the set lengths does not exceed the preset standard deviation threshold of the set lengths, the construction unit determines that the monitoring data obtained at the current position is qualified and stores the monitoring data.

[0028] Further, the attitude control module filters out the opposite-sex signal execution amounts according to the determination result that the monitoring data obtained at the current position is unqualified, where

[0029] the attitude control module is used to filter out the follow-up delay characterization data sets with a set length exceeding the preset set length threshold, and filter the signal execution amounts corresponding to the follow-up delay characterization data sets as the opposite-sex signal execution amounts.

[0030] Further, the attitude control module is used to determine the operating limit trajectory of the robotic arm, where

[0031] the attitude control module is used to determine the signal execution period corresponding to the opposite-sex signal execution amount, and obtain the robotic arm position signal during the signal execution period to determine the operating trajectory segment of the robotic arm during the signal execution period, and determine the operating trajectory segment as the operating limit trajectory.

[0032] Further, the attitude control module is used to add a number of running pause points on the running limit trajectory, control the robotic arm to move along the running limit trajectory again, and continue to move after pausing for a preset duration at the running pause points, so that the scanning unit updates the monitoring data obtained within the running limit trajectory.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting a vehicle, a robotic component, a data collection module, a feature aggregation module, and an attitude control module, the present invention obtains the force value on the base through a pressure monitoring unit, obtains monitoring data through a scanning unit, reads the robotic arm position signal through a recording unit, determines the signal execution amount through the feature aggregation module, and determines the follow-up delay characterization amount according to the change of the force value on the base during the signal execution period. The present invention determines the follow-up delay characterization data set of each signal execution amount and determines whether the monitoring data obtained at the current position is qualified through a construction unit. The attitude control module determines the running limit trajectory of the robotic arm according to the robotic arm position signal corresponding to the different-sex signal execution amount, adds a pause point on the running limit trajectory, and then controls the robotic arm to move along the running limit trajectory again. Furthermore, the present invention realizes the effective processing of a large amount of collected data to achieve the efficient analysis of representative data, and updates the quality of the monitoring data by extracting data features to construct a relevant model, improving the quality and data effectiveness of data collection by the robot.

[0034] Further, the present invention calculates the time duration between adjacent timestamps through a feature extraction unit to determine the signal execution amount. By introducing timestamps, the present invention calculates the time spent on each action instruction during the movement process of the robotic arm, so as to conduct inductive analysis on the operation of the robotic arm, realize the inductive analysis of multi-dimensional information data, and realize the effective processing of a large amount of data to achieve the efficient analysis of representative data.

[0035] Further, the present invention uses the ratio of the absolute value of the change amount of the force value on the base of the pressure monitoring unit to the signal execution amount as the follow-up delay characterization amount, realizing the quantification of the abstract characteristic of the follow-up delay of the robotic arm, so that the originally difficult-to-intuitively-measure follow-up delay can be presented in the form of specific numerical values. By obtaining the change of the force value of the pressure monitoring unit during the signal execution period, the dynamic response characteristics of the robotic arm during the movement process can be captured in real time. Furthermore, the present invention realizes the effective processing of a large amount of collected data to achieve the efficient analysis of representative data.

[0036] Furthermore, the present invention calculates the standard deviation of the set length to reflect the degree of dispersion of the lengths of the follow-up delay characterization data sets, enabling the timely identification of abnormal fluctuations in the data. Among a large amount of monitoring data, there may be some invalid or unreliable data due to various reasons. By determining whether the monitoring data is qualified, effective data can be quickly screened for storage and analysis, reducing the interference of invalid data on the analysis process and improving the efficiency and accuracy of data analysis.

[0037] Furthermore, when the monitoring data is unqualified in the present invention, there may be unstable factors on the operating limit trajectory of the robotic arm that cause data deviation. By adding operating pause points on the operating limit trajectory and allowing the robotic arm to pause for a preset duration at the pause points, the robotic arm can collect data in a relatively stable state, which helps to reduce data errors caused by factors such as unstable movement and vibration of the robotic arm. Furthermore, effective processing of the large amount of collected data is achieved to enable efficient analysis of representative data. By extracting data features to construct relevant models to judge the quality of the monitoring data, the quality and effectiveness of data collection by the robot are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a system block diagram of the robot system for engineering monitoring according to an embodiment of the present invention;

[0039] Figure 2 is a logic flowchart for the construction unit in an embodiment of the present invention to determine whether the monitoring data obtained at the current position is qualified;

[0040] Figure 3 is a logic flowchart for the attitude control module in an embodiment of the present invention to screen the execution amount of the opposite-sex signal. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] In order to make the objectives and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only for explaining the present invention and are not used to limit the present invention.

[0042] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only for explaining the technical principles of the present invention and do not limit the protection scope of the present invention.

[0043] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0044] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Please refer to Figure 1 As shown, it is a system block diagram of the robot system for engineering monitoring according to an embodiment of the present invention. The robot system for engineering monitoring of the present invention includes:

[0046] A vehicle;

[0047] Specifically, the present invention does not limit the specific structure of the vehicle. It can be a wheeled vehicle or a tracked vehicle that can carry a robotic arm to move forward. Relevant applications widely exist in the production workshop and the environmental exploration field, and will not be elaborated here.

[0048] A robot component, which includes a base installed on the vehicle and a robotic arm connected to the base;

[0049] Specifically, the base in the present invention and the vehicle can be connected by a rotating shaft to enable the base to rotate around the rotating shaft on the surface of the vehicle. One end of the robotic arm is connected to the base, and the robotic arm can include several sub-arms articulated end to end.

[0050] A data collection module, which includes several pressure monitoring units distributed at the bottom of the base to obtain the force value on the base, a scanning unit arranged at the end of the robotic arm to obtain monitoring data, and a recording unit for reading the position signal of the robotic arm;

[0051] Specifically, the pressure monitoring unit of the present invention can be a capacitive pressure monitoring unit, which converts the extrusion force between the base and the surface of the vehicle into an electrical signal to output the force value on the base, and will not be elaborated here.

[0052] Specifically, the scanning unit of the present invention can be a laser scanner, and the obtained monitoring data includes point cloud data to construct a BIM model of the engineering site.

[0053] Specifically, the recording unit of the present invention can be a memory, which is connected to the scanning unit and used to store the position information of the end of the robotic arm where the scanning unit is installed. Those skilled in the art can understand that the position information of the end of the robotic arm where the scanning unit is installed can be obtained according to the action instruction, and will not be elaborated here.

[0054] A feature aggregation module, which is connected to the data collection module, and includes a feature extraction unit and a construction unit, wherein the feature extraction unit is used to determine the follow-up delay characterization amount according to the signal execution amount determined based on the timestamp of the robot arm position signal and the change of the base force value during the signal execution period, and the signal execution period is determined according to adjacent timestamps;

[0055] The construction unit is used to determine the follow-up delay characterization data set of each signal execution amount, and determine whether the monitoring data obtained at the current position is qualified according to the set length comparison of the follow-up delay characterization data set;

[0056] A posture control module, which is connected to the feature aggregation module and the robot component respectively, and is used to screen the heterogeneous signal execution amount according to the set length, and determine the operation limit trajectory of the robot arm according to the robot arm position signal corresponding to the heterogeneous signal execution amount;

[0057] The posture control module is also used to control the robot arm to move along an operation restriction trajectory with a pause point added.

[0058] Specifically, the present invention does not limit the posture control module, which can be composed of logic components. The logic components can be field programmable logic components, microprocessors, processors used in computers, etc., which will not be described in detail here.

[0059] Specifically, each pressure monitoring unit is distributed on the bottom edge of the base, and a plurality of pressure monitoring units are symmetrically distributed around the center of the base.

[0060] During implementation, the pressure monitoring units are symmetrically distributed around the rotation axis at the center of the base to achieve all-round monitoring of the bottom of the base.

[0061] Specifically, the recording unit is used to determine the robot arm position signal and the timestamp of the robot arm position signal, wherein:

[0062] The recording unit reads the motion instructions of the robot arm, determines the position information of the robot arm after executing each motion instruction as the robot arm position signal, and determines the execution time of the motion instruction as the timestamp of the robot arm position signal.

[0063] It can be understood by those skilled in the art that robotic arms are widely used in various production links, such as automobile manufacturing, electronic product assembly, etc. In these scenarios, robotic arms need to complete a series of precise actions according to pre-set programs, such as grasping, placing, welding, etc. Each action instruction clearly specifies the position to be reached by the robotic arm. In actual scenarios, the controller can generate precise action instructions according to task requirements, which include key parameters such as target position, speed, acceleration, execution timestamp, etc., which will not be repeated here.

[0064] Specifically, the feature extraction unit is used to determine the signal execution amount, where

[0065] the feature extraction unit obtains continuous robotic arm position signals and the timestamps corresponding to each robotic arm position signal in sequence, determines the time period between adjacent timestamps as the signal execution period in sequence, and determines the duration of the signal execution period as the signal execution amount.

[0066] Specifically, the present invention determines the signal execution amount by calculating the time period duration between adjacent timestamps through the feature extraction unit. By introducing timestamps, the present invention calculates the time taken for each action instruction in the movement process of the robotic arm, so as to conduct inductive analysis on the operation of the robotic arm, realize the inductive analysis of multi-dimensional information data, and realize the effective processing of a large amount of data to achieve the efficient analysis of representative data.

[0067] Specifically, the feature extraction unit is used to determine the follow-up delay characterization amount, where

[0068] the feature extraction unit is used to obtain the absolute value of the change amount of the base force values of each pressure monitoring unit within the signal execution period, calculate the ratio of the absolute value of the change amount to the signal execution amount, and determine the value after removing the dimension of the ratio as the follow-up delay characterization amount.

[0069] It can be understood that the follow-up delay characterization amount can reflect the relationship between the change in the base force during the movement of the robotic arm and the action execution time. If the value of the follow-up delay characterization amount is relatively large, it indicates that there may be obvious shaking or instability during the movement of the robotic arm, resulting in a mismatch between the change in the base force and the action execution time.

[0070] Specifically, the present invention uses the ratio of the absolute value of the change amount of the base force of the pressure monitoring unit to the signal execution amount as the follow-up delay characterization amount, realizing the quantification of the abstract characteristic of the follow-up delay of the robotic arm. This enables the originally difficult-to-intuitively-measure follow-up delay to be presented in the form of specific numerical values. By obtaining the change in the force value of the pressure monitoring unit within the signal execution period, the dynamic response characteristics of the robotic arm during the movement process can be captured in real time. Furthermore, the effective processing of a large amount of collected data is realized to achieve the efficient analysis of representative data.

[0071] Specifically, the construction unit is used to determine the follow-up delay characterization data set, where

[0072] the construction unit determines the follow-up delay characterization amounts corresponding to each signal execution amount, and determines the set composed of several follow-up delay characterization amounts corresponding to the same signal execution amount as the follow-up delay characterization data set.

[0073] It can be understood that in the present invention, the signal execution amount reflects the time consumed by the robotic arm to execute the action instruction, and the follow-up delay characterization amount reflects the correlation between the force change of the base and the action execution time when the robotic arm is moving. By constructing the follow-up delay characterization data set, it can be clearly seen the follow-up delay characterization amount corresponding to each signal execution amount. The numerical range of the follow-up delay characterization amount corresponding to each signal execution amount can reflect the fluctuation of the follow-up delay characterization amount under this signal execution amount. If the numerical range of the follow-up delay characterization amount corresponding to a certain signal execution amount is narrow, it indicates that the follow-up delay of the robotic arm is relatively stable at this execution time. If the numerical range is wide, it means that the fluctuation of the follow-up delay is large.

[0074] Specifically, please refer to Figure 2 As shown, it is a logic flow chart for the construction unit in the embodiment of the present invention to determine whether the monitored data obtained at the current position is qualified. The construction unit is used to determine whether the monitored data obtained at the current position is qualified, where

[0075] The construction unit is used to obtain the difference between the maximum value and the minimum value in each follow-up delay characterization data set, determine the difference as the set length, and calculate the standard deviation y of the set lengths between the follow-up delay characterization data sets of several signal execution amounts c0 ;

[0076] If the standard deviation y of the set lengths c0 exceeds the preset standard deviation threshold y of the set lengths c , then the construction unit determines that the monitored data obtained at the current position is unqualified;

[0077] If the standard deviation y of the set lengths c0 does not exceed the preset standard deviation threshold y of the set lengths c , then the construction unit determines that the monitored data obtained at the current position is qualified and stores the monitored data.

[0078] In implementation, the preset standard deviation threshold y of the set lengths c can be obtained according to pre-tests. The average value y1 of the set lengths of the follow-up delay characterization data sets corresponding to the signal execution amounts during the process of obtaining monitored data by the robot system at several positions is obtained through pre-tests. The standard deviation threshold y of the set lengths is determined according to the average value y1 of the set lengths obtained through pre-tests c , and a way to obtain the value of the standard deviation threshold y of the set lengths is provided here. y c= δ × y1, where δ is the standard deviation threshold value factor. To avoid misjudging the acquisition of monitoring data in the stable state due to an overly large value of the standard deviation threshold of the set length, and to avoid missing the abnormal recognition of the state stability of the monitoring data acquisition due to an overly small value of the standard deviation threshold of the set length, the value range of δ can be [0.15, 0.2]. Preferably, the value of δ can be 0.18.

[0079] It can be understood that by calculating the standard deviation of the set length, the degree of dispersion of each follow-up delay characterization data set length is reflected. If the set length fluctuates greatly, it means that the change of the follow-up delay characterization quantity under different signal execution amounts lacks stability, which may be due to factors such as unstable operation of the robotic arm, external environmental interference, or sensor failure, resulting in deviations in the monitoring data.

[0080] The present invention calculates the standard deviation of the set length to reflect the degree of dispersion of each follow-up delay characterization data set length, and can timely identify abnormal fluctuations in the data. Among a large amount of monitoring data, there may be some invalid or unreliable data due to various reasons. By determining whether the monitoring data is qualified, effective data can be quickly screened for storage and analysis, reducing the interference of invalid data on the analysis process, and improving the efficiency and accuracy of data analysis.

[0081] Specifically, please refer to Figure 3 As shown, it is a logic flowchart for the attitude control module of the embodiment of the present invention to screen the opposite-sex signal execution amount. The attitude control module screens the opposite-sex signal execution amount according to the determination result that the monitoring data obtained based on the current position is unqualified, where

[0082] The attitude control module is used to screen the follow-up delay characterization data set whose set length exceeds the preset set length threshold, and screen the signal execution amount corresponding to the follow-up delay characterization data set as the opposite-sex signal execution amount;

[0083] The attitude control module does not screen the follow-up delay characterization data set whose set length does not exceed the preset set length threshold.

[0084] In implementation, the preset set length threshold can be obtained by pre-testing. The average value y1 of the set length of the follow-up delay characterization data set corresponding to the signal execution amount during the acquisition of monitoring data by the robot system at several positions is pre-tested, and the set length threshold y0 is determined according to the average value y1 of the set length obtained by pre-testing. Here, a way to obtain the set length threshold is provided, y0 = μ × y1, where μ is the length threshold value factor, and the value range of μ can be [0.8, 0.9]. Preferably, the value of μ can be 0.85.

[0085] Specifically, the present invention screens the set of follow-up delay characterization data whose set length exceeds a preset threshold through the attitude control module, and accurately locates the signal execution amount that may cause data anomalies. Since the set length reflects the fluctuation range of the follow-up delay characterization amount, if the monitoring parameter corresponding to the abnormal signal execution amount exceeds the threshold, it indicates that the data quality is significantly affected by the external environment or the change of the operation center of gravity of the manipulator superimposed by the unevenness of the ground surface. Furthermore, the quality of the monitoring data is determined by extracting data features and constructing a relevant model.

[0086] Specifically, the attitude control module is used to determine the operation limit trajectory of the manipulator, where

[0087] the attitude control module is used to determine the signal execution period corresponding to the abnormal signal execution amount, and obtain the manipulator position signal within the signal execution period to determine the operation trajectory segment of the manipulator within the signal execution period, and determine the operation trajectory segment as the operation limit trajectory.

[0088] In implementation, the operation trajectory segment of the manipulator can be determined according to the action instructions of the manipulator. Those skilled in the art can understand that the action instructions include specifying the position and attitude of the end of the manipulator in the Cartesian coordinate system. The action instructions will clearly indicate that the end of the manipulator needs to move from one three-dimensional coordinate point to another coordinate point. According to these instructions, within the signal execution period, the target points that the end of the manipulator needs to reach are connected in sequence to obtain the operation trajectory segment, which will not be elaborated here.

[0089] Specifically, the attitude control module is used to add several operation pause points on the operation limit trajectory, control the manipulator to move along the operation limit trajectory again, and pause for a preset duration at the operation pause points and then continue to move, so that the scanning unit updates the monitoring data obtained within the operation limit trajectory.

[0090] Exemplarily, the number of operation pause points added by the present invention to the operation limit trajectory can be set by those skilled in the art. The value range of the number of operation pause points is [1, 5]. Preferably, the value of the number of operation pause points is 2, which can provide adjustment and buffering time for the manipulator, reduce abnormal fluctuations during the movement of the manipulator, and make the operation of the manipulator more stable. The preset pause duration at the operation pause points can ensure that the manipulator has enough buffering time to reduce the unstable state of the manipulator. The value range of the preset pause duration is [3, 5], and the interval unit is s. Here, a value of the preset pause duration is provided, and the preset pause duration can be 4s.

[0091] Specifically, when the monitoring data is unqualified, there may be unstable factors on the operation limit trajectory of the robotic arm that cause data deviation. By adding operation pause points on the operation limit trajectory and allowing the robotic arm to pause for a preset duration at the pause points, the robotic arm can collect data in a relatively stable state, which helps to reduce data errors caused by factors such as unstable movement and vibration of the robotic arm. Furthermore, it realizes the effective processing of a large amount of collected data to achieve the efficient analysis of representative data, judges the quality of the monitoring data by extracting data features and constructing relevant models, and improves the quality and data validity of data collection by the robot.

[0092] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

[0093] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A robot system for engineering monitoring, characterized in that, Comprising: A vehicle; A robotic component, which includes a base mounted on the vehicle and a robotic arm connected to the base; A data collection module, which includes a number of pressure monitoring units distributed at the bottom of the base to obtain the force values on the base, a scanning unit provided at the end of the robotic arm to obtain monitoring data, and a recording unit for reading the position signal of the robotic arm; A feature aggregation module, which is connected to the data collection module and includes a feature extraction unit and a construction unit. The feature extraction unit is used to determine the signal execution quantity based on the signal execution quantity determined according to the time stamp of the robotic arm position signal and the follow-up delay characterization quantity determined according to the change of the force value on the base during the signal execution period. The signal execution period is determined according to adjacent time stamps; The construction unit is used to determine the follow-up delay characterization data set of each signal execution quantity, and determine whether the monitoring data obtained at the current position is qualified according to the comparison of the set lengths of the follow-up delay characterization data sets; An attitude control module, which is respectively connected to the feature aggregation module and the robotic component, and is used to screen out different-sex signal execution quantities according to the set length, and determine the operating limit trajectory of the robotic arm according to the robotic arm position signal corresponding to the different-sex signal execution quantity; The attitude control module is also used to control the robotic arm to move along the operating limit trajectory with pause points added.

2. The robot system for engineering monitoring according to claim 1, wherein Each pressure monitoring unit is distributed at the bottom edge of the base, and a number of pressure monitoring units are symmetrically distributed with respect to the center of the base.

3. The robot system for engineering monitoring according to claim 1, characterized in that, The recording unit is used to determine the robotic arm position signal and the time stamp of the robotic arm position signal. Among them, The recording unit reads the action instruction of the robotic arm, determines the position information after the robotic arm executes each action instruction as the robotic arm position signal, and determines the execution moment of the action instruction as the time stamp of the robotic arm position signal.

4. The robot system for engineering monitoring according to claim 3, characterized in that, The feature extraction unit is used to determine the signal execution quantity. Among them, The feature extraction unit obtains continuous robotic arm position signals and the corresponding time stamps of each robotic arm position signal in time sequence, determines the period between adjacent time stamps in time sequence as the signal execution period, and determines the duration of the signal execution period as the signal execution quantity.

5. The robot system for engineering monitoring according to claim 4, characterized in that, The feature extraction unit is used to determine the follow-up delay characterization quantity. Among them, The feature extraction unit is used to obtain the absolute value of the change amount of the force value on the base of each pressure monitoring unit during the signal execution period, calculate the ratio of the absolute value of the change amount to the signal execution quantity, and determine the value after removing the dimension of the ratio as the follow-up delay characterization quantity.

6. The robotic system for engineering monitoring according to claim 5, wherein The construction unit is used to determine the follow-up delay characterization data set. Among them, The construction unit determines the follow-up delay characterization quantity corresponding to each signal execution quantity, and determines the set composed of a number of follow-up delay characterization quantities corresponding to the same signal execution quantity as the follow-up delay characterization data set.

7. The robot system for engineering monitoring according to claim 6, characterized in that, The construction unit is used to determine whether the monitoring data obtained at the current position is qualified. Among them, The construction unit is used to obtain the difference between the maximum value and the minimum value in each follow-up delay characterization data set, determine the difference as the set length, and calculate the standard deviation of the set lengths between the follow-up delay characterization data sets of a number of signal execution quantities; If the standard deviation of the set length exceeds the preset threshold of the standard deviation of the set length, the construction unit determines that the monitoring data obtained at the current position is unqualified; If the standard deviation of the set length does not exceed the preset threshold of the standard deviation of the set length, the construction unit determines that the monitoring data obtained at the current position is qualified and stores the monitoring data.

8. The robot system for engineering monitoring according to claim 7, wherein, The attitude control module filters the execution amount of the opposite-sex signal according to the determination result that the monitoring data obtained at the current position is unqualified, where the attitude control module is used to filter the set of follow-up delay characterization data whose set length exceeds the preset set length threshold, and filter the execution amount of the signal corresponding to the set of follow-up delay characterization data as the execution amount of the opposite-sex signal.

9. The robot system for engineering monitoring according to claim 8, wherein, The attitude control module is used to determine the operation limit trajectory of the robotic arm, where the attitude control module is used to determine the signal execution period corresponding to the execution amount of the opposite-sex signal, and obtain the robotic arm position signal during the signal execution period to determine the operation trajectory segment of the robotic arm during the signal execution period, and determine the operation trajectory segment as the operation limit trajectory.

10. The robot system for engineering monitoring according to claim 9, characterized in that, The attitude control module is used to add a number of operation stop points on the operation limit trajectory, control the robotic arm to move along the operation limit trajectory again and pause for a preset duration at the operation stop points and then continue to move, so that the scanning unit updates the monitoring data obtained within the operation limit trajectory.

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