A robotic system for engineering monitoring

Abstract

The application relates to the technical field of robot control, in particular to a robot system for engineering monitoring. The application is characterized by the carrier, the robot component, the data collection module, the feature aggregation module and the posture control module. The feature aggregation module is used to determine the signal execution amount and the follow-up delay characteristic amount according to the change of the base stress value in the signal execution period. The construction unit is used to determine the follow-up delay characteristic data set of each signal execution amount and judge whether the monitoring data obtained at the current position is qualified. The posture control module is used to determine the operation limit trajectory of the mechanical arm according to the mechanical arm position signal corresponding to the heterogeneous signal execution amount, add a pause point to the operation limit trajectory, and then control the mechanical arm to move along the operation limit trajectory. Thus, the quality of the monitoring data is updated by extracting data features and constructing a related model, and the quality and data effectiveness of the data collection of the robot are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, and in particular to a robot system for engineering monitoring. BACKGROUND

[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 operation, which has low efficiency, insufficient precision and is greatly affected by environmental factors. With the continuous development of technology, robot technology has been gradually applied to the field of engineering monitoring to solve the drawbacks of traditional monitoring methods and achieve automation, intelligence and high precision of engineering monitoring. However, the existing robot systems for engineering monitoring still have some deficiencies in data collection, processing and robot posture control, and the accuracy and comprehensiveness of data collection need to be improved to adapt to complex engineering monitoring environments and task requirements.

[0003] For example, Chinese Patent Publication No. CN116512315A 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 state data to the monitoring platform, including running state data and wear state data. The monitoring platform controls the working condition of the collaborative robot according to the running state data and obtains the service life of the collaborative robot according to the wear state data. The working condition of the collaborative robot is controlled through the monitoring platform, and the collaborative robot can be controlled to operate in a suitable operating condition.

[0004] The existing technology also has the following problems:

[0005] The existing technology does not consider the terrain and environmental complexity of the factory scene, cannot effectively process the large amount of collected data to achieve efficient analysis of representative data, and cannot construct a relevant model by extracting data features to judge the quality of monitoring data, affecting the quality and effectiveness of data collection by the robot. SUMMARY

[0006] Therefore, the present application provides a robot system for engineering monitoring to overcome the problems that the existing technology cannot effectively process a large amount of collected data to achieve efficient analysis of representative data, and cannot construct a relevant model by extracting data features to judge the quality of monitoring data.

[0007] To achieve the above-mentioned purpose, the present application provides a robot system for engineering monitoring, comprising:

[0008] a carrier;

[0009] A robot component comprises a base installed on the carrier and a mechanical arm connected to the base;

[0010] A data collection module comprises a plurality of pressure monitoring units distributed on the bottom of the base to obtain force values of the base, a scanning unit arranged at the end of the mechanical arm to obtain monitoring data, and a recording unit to read the position signals of the mechanical arm;

[0011] A feature aggregation module connected to the data collection module comprises a feature extraction unit and a construction unit, the feature extraction unit is used to determine the signal execution amount according to the time stamp based on the position signal of the mechanical arm and the follow-up delay characteristic quantity according to the change of the force value of the base in the signal execution period determined according to the adjacent time stamp;

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

[0013] A posture control module connected to the feature aggregation module and the robot component respectively is used to screen the opposite signal execution amount according to the set length, and to determine the running limit trajectory of the mechanical arm according to the position signal of the mechanical arm corresponding to the opposite signal execution amount;

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

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

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

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

[0018] Further, the feature extraction unit is used to determine the signal execution amount, wherein,

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

[0020] Further, the feature extraction unit is configured to determine a servo delay characteristic quantity, wherein,

[0021] The feature extraction unit is configured to obtain an absolute value of a change amount of the base force value of each pressure monitoring unit in the signal execution period, calculate a ratio of the absolute value of the change amount to the signal execution amount, and determine a dimensionless value of the ratio as the servo delay characteristic quantity.

[0022] Further, the construction unit is configured to determine a servo delay characteristic data set, wherein,

[0023] The construction unit determines the servo delay characteristic quantity corresponding to each signal execution amount, and determines a set composed of a plurality of servo delay characteristic quantities corresponding to the same signal execution amount as the servo delay characteristic data set.

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

[0025] The construction unit is configured to obtain a difference between the maximum value and the minimum value in each servo delay characteristic data set, determine the difference as the set length, and calculate a standard deviation of the set length between a plurality of servo delay characteristic data sets of the signal execution amount.

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

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

[0028] Further, the posture control module is configured to screen an abnormal signal execution amount according to the determination result that the monitoring data obtained at the current position is unqualified, wherein,

[0029] The posture control module is configured to screen a servo delay characteristic data set whose set length exceeds a preset set length threshold, and screen the signal execution amount corresponding to the servo delay characteristic data set as the abnormal signal execution amount.

[0030] Further, the posture control module is configured to determine a running limit trajectory of the robot arm, wherein,

[0031] The posture control module is configured to determine a signal execution period corresponding to the abnormal signal execution amount, obtain a robot arm position signal in the signal execution period, determine a running trajectory segment of the robot arm in the signal execution period, and determine the running trajectory segment as the running limit trajectory.

[0032] Further, the posture control module is used to add a plurality of operation pause points on the operation limit trajectory, control the mechanical arm to move along the operation limit trajectory again and continue to move after pausing at the operation pause point for a preset time length, so that the scanning unit updates the monitoring data obtained in the operation limit trajectory.

[0033] Compared with the prior art, the beneficial effects of the present application are that, by setting the carrier, the robot component, the data collection module, the feature aggregation module and the posture control module, the base force value is obtained by the pressure monitoring unit, the monitoring data is obtained by the scanning unit, the mechanical arm position signal is read by the recording unit, the signal execution amount is determined by the feature aggregation module, and the follow-up delay representation amount is determined according to the change of the base force value in the signal execution period, the follow-up delay representation data set of each signal execution amount is determined by the construction unit, and it is determined whether the monitoring data obtained at the current position is qualified, the operation limit trajectory of the mechanical arm is determined by the posture control module according to the mechanical arm position signal corresponding to the heterogeneous signal execution amount, and the mechanical arm is controlled to move along the operation limit trajectory again after adding the pause point on the operation limit trajectory, thereby realizing effective processing of a large amount of collected data to realize efficient analysis of representative data, and improving the quality and data effectiveness of the robot data collection by extracting data features to construct a related model to update the monitoring data.

[0034] Further, the present application determines the signal execution amount by calculating the time length of the period between adjacent time stamps, and calculates the time consumed by each action instruction in the mechanical arm movement process by introducing the time stamp, thereby realizing multi-dimensional information data induction analysis and effective processing of a large amount of data to realize efficient analysis of representative data.

[0035] Further, the present application takes the ratio of the absolute value of the base force value change of the pressure monitoring unit to the signal execution amount as the follow-up delay representation amount, realizes the quantification of the abstract characteristic of the mechanical arm follow-up delay, which makes the originally difficult to intuitively measure follow-up delay present in the form of specific numerical value, and the force value change of the pressure monitoring unit is obtained in the signal execution period, which can capture the dynamic response characteristics of the mechanical arm in the movement process in real time, thereby realizing effective processing of a large amount of collected data to realize efficient analysis of representative data.

[0036] Further, the application reflects the discrete degree of the data set length of each servo delay by calculating the set length standard deviation, can identify abnormal fluctuations in the data in time, in a large amount of monitoring data, there may be some invalid or unreliable data caused by various reasons, by judging whether the monitoring data is qualified, the effective data can be quickly screened out for storage and analysis, reducing the interference of invalid data on the analysis process, improving the efficiency and accuracy of data analysis.

[0037] Further, when the monitoring data is unqualified, the mechanical arm may have unstable factors on the running limit trajectory, causing data deviation, by adding a running pause point on the running limit trajectory, the mechanical arm is paused for a preset time at the pause point, which can make the mechanical arm collect data in a relatively stable state, which helps to reduce the data error caused by unstable movement, vibration and other factors of the mechanical arm, and further, realizes effective processing of a large amount of collected data to realize efficient analysis of representative data, constructs a related model by extracting data features to judge the quality of monitoring data, improves the quality and effectiveness of data collection of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The system block diagram of the robot system for engineering monitoring of the embodiment of the application;

[0039] Figure 2 The logic flow chart of the construction unit judging whether the monitoring data acquired at the current position is qualified or not of the embodiment of the application;

[0040] Figure 3 The logic flow chart of the posture control module filtering the opposite sex signal execution amount of the embodiment of the application. DETAILED DESCRIPTION

[0041] In order to make the purpose and advantages of the application more clear and obvious, the application will be further described below in combination with embodiments; it should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the protection scope of the application.

[0042] The preferred embodiments of the application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the application, and are not used to limit the protection scope of the application.

[0043] It should be noted that in the description of the application, the terms "upper", "lower", "inner", "outer" and the like indicate the direction or positional relationship of the terms based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the application.

[0044] Further, it needs to be explained that, in the description of the present application, unless explicitly specified and limited, the terms "mounting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection, it can be mechanical connection, or electrical connection, it can be direct connection, or indirect connection through intermediate medium, or internal connection of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] Please refer to Figure 1 The system block diagram of the robot system for engineering monitoring of the embodiment of the present application is shown, the robot system for engineering monitoring of the present application comprises:

[0046] A carrier;

[0047] Specifically, the specific structure of the carrier is not limited in the present application, which can be a wheeled trolley or a tracked trolley that can carry a mechanical arm to travel, and the related application is widely used in production workshops and environmental survey fields, which will not be described here.

[0048] A robot component comprising a base mounted on the carrier and a mechanical arm connected to the base;

[0049] Specifically, the base and the carrier in the present application can be connected through a rotating shaft to realize the rotation of the base along the surface of the carrier with the rotating shaft as the rotation center, one end of the mechanical arm is connected to the base, and the mechanical arm can comprise a plurality of sub-arms hingedly connected at the head and tail.

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

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

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

[0053] Specifically, the recording unit of the present application can be a memory connected to the scanning unit to store the position information of the end of the mechanical arm on which the scanning unit is mounted. Those skilled in the art can understand that the position information of the end of the mechanical arm on which the scanning unit is mounted can be obtained according to the action instruction, which will not be described here.

[0054] a feature aggregation module connected with the data collection module, comprising a feature extraction unit and a construction unit, the feature extraction unit being configured to determine a follow-up delay representation quantity according to a signal execution amount determined based on a timestamp of a mechanical arm position signal and according to a change of a base force value within a signal execution period determined according to adjacent timestamps;

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

[0056] a posture control module connected with the feature aggregation module and the robot component respectively, configured to screen a heterogeneous signal execution amount according to the set length, and determine a running limit trajectory of the mechanical arm according to a mechanical arm position signal corresponding to the heterogeneous signal execution amount;

[0057] the posture control module is further configured to control the mechanical arm to move along the running limit trajectory with added pause points.

[0058] Specifically, the posture control module is not limited in the present application, and can be constituted by a logic component, which can be a field programmable logic component, a microprocessor, a processor used in a computer, etc., which will not be described herein.

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

[0060] In implementation, the pressure monitoring units are symmetrically arranged around the rotation shaft at the center of the base, so as to realize omnidirectional monitoring of the bottom of the base.

[0061] Specifically, the recording unit is configured to determine a mechanical arm position signal and a timestamp of the mechanical arm position signal, wherein,

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

[0063] As understood by those skilled in the art, the mechanical arm is widely used in various production processes, such as automobile manufacturing, electronic product assembly, etc. In these scenarios, the mechanical arm needs to complete a series of precise actions, such as grabbing, placing, welding, etc. according to a pre-set program, and each motion instruction clearly specifies the position to be reached by the mechanical arm. In actual scenarios, a controller can generate accurate motion instructions according to task requirements, which contain key parameters such as target position, speed, acceleration, execution timestamp, etc., which will not be described herein.

[0064] Specifically, the feature extraction unit is configured to determine a signal execution amount, wherein,

[0065] The feature extraction unit acquires, in time sequence, continuous mechanical arm position signals and time stamps corresponding to the mechanical arm position signals, determines a time period between adjacent time stamps as the signal execution time period, and determines a length of the signal execution time period as the signal execution amount.

[0066] Specifically, the feature extraction unit calculates the length of the time period between adjacent time stamps to determine the signal execution amount. By introducing the time stamp, the time taken by each motion instruction in the mechanical arm movement process is calculated, so as to analyze the operation of the mechanical arm, realize multi-dimensional information data analysis, and effectively process a large amount of data to realize efficient analysis of representative data.

[0067] Specifically, the feature extraction unit is configured to determine a follow-up delay characteristic amount, wherein,

[0068] The feature extraction unit is configured to acquire a change amount absolute value of the base force value of each pressure monitoring unit in the signal execution time period, calculate a ratio of the change amount absolute value to the signal execution amount, and determine a dimensionless value of the ratio as the follow-up delay characteristic amount.

[0069] It can be understood that the follow-up delay characteristic amount can reflect the relationship between the change of the base force of the mechanical arm in the movement process and the action execution time. If the follow-up delay characteristic amount is large, it means that there may be obvious shaking or instability of the mechanical arm in the movement process, resulting in mismatch between the base force change and the action execution time.

[0070] Specifically, the feature extraction unit calculates the length of the time period between adjacent time stamps to determine the signal execution amount. By introducing the time stamp, the time taken by each motion instruction in the mechanical arm movement process is calculated, so as to analyze the operation of the mechanical arm, realize multi-dimensional information data analysis, and effectively process a large amount of data to realize efficient analysis of representative data.

[0071] Specifically, the construction unit is configured to determine the follow-up delay characteristic data set, wherein,

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

[0073] It can be understood that the signal execution quantity in the present application embodies the time consumed by the robot arm to execute the action instruction, and the servo delay characteristic quantity reflects the correlation between the force change of the base and the action execution time when the robot arm is moving. The servo delay characteristic data set can clearly show the servo delay characteristic quantity corresponding to each signal execution quantity, and the numerical range of the servo delay characteristic quantity corresponding to each signal execution quantity can reflect the fluctuation of the servo delay characteristic quantity under the signal execution quantity. If the numerical range of the servo delay characteristic quantity corresponding to a certain signal execution quantity is narrow, it means that the servo delay of the robot arm is relatively stable under this execution time, and if the numerical range is wide, it means that the servo delay fluctuates greatly.

[0074] Specifically, please refer to Figure 2 The construction unit is used to determine whether the monitoring data obtained at the current position is qualified, and the construction unit is used to determine whether the monitoring data obtained at the current position is qualified, wherein,

[0075] The construction unit is used to obtain the difference between the maximum value and the minimum value of each servo delay characteristic data set, determine the difference as the set length, and calculate the set length standard deviation y c0 between the servo delay characteristic data sets of a plurality of signal execution quantities.

[0076] If the set length standard deviation y c0 exceeds the preset set length standard deviation threshold y c , the construction unit determines that the monitoring data obtained at the current position is unqualified.

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

[0078] In implementation, the preset set length standard deviation threshold y c may be determined according to the average value y1 of the set length of the servo delay characteristic data set corresponding to the signal execution quantity obtained by pre-test of the robot system in the monitoring data acquisition process at a plurality of positions, and the set length standard deviation threshold y c is determined according to the average value y1 of the set length obtained by pre-test. Here, a value mode of the set length standard deviation threshold is provided, y c=delta*y1, delta is a standard deviation threshold value factor, in order to avoid the value of the set length standard deviation threshold value being too large to cause misjudgment of the stable state monitoring data acquisition, and to avoid the value of the set length standard deviation threshold value being too small to cause the state of monitoring data acquisition to be abnormal, the value range of delta can be [0.15, 0.2], preferably, the value of delta can be 0.18.

[0079] It can be understood that the set length standard deviation is calculated to reflect the dispersion degree of the set length of each servo delay characteristic data, and if the set length fluctuates greatly, it means that the change of the servo delay characteristic under different signal execution amounts lacks stability, which may be caused by factors such as unstable operation of the robot, external environmental interference or sensor failure, etc.

[0080] The present application reflects the dispersion degree of the set length of each servo delay characteristic data by calculating the set length standard deviation, can identify abnormal fluctuations in the data in time, and in a large amount of monitoring data, there may be some invalid or unreliable data caused by various reasons. By determining whether the monitoring data is qualified, effective data can be quickly screened out 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 in the figure, it is a logic flow chart of the posture control module of the embodiment of the present application for screening the opposite signal execution amount, the posture control module screens the opposite signal execution amount according to the determination result of the unqualified monitoring data obtained at the current position, wherein,

[0082] The posture control module is used to screen the servo delay characteristic data set whose set length exceeds the preset set length threshold value, and screen the signal execution amount corresponding to the servo delay characteristic data set as the opposite signal execution amount.

[0083] The posture control module does not screen the servo delay characteristic data set whose set length does not exceed the preset set length threshold value.

[0084] In implementation, the preset set length threshold value can be obtained by pre-test, the average value y1 of the set length of the servo delay characteristic data set corresponding to the signal execution amount in the monitoring data acquisition process of the robot system at a plurality of positions is obtained by pre-test, and the set length threshold value y0 is determined according to the average value y1 obtained by pre-test. Here, a value mode of the set length threshold value is provided, y0 = mu * y1, mu is a length threshold value factor, the value range of mu can be [0.8, 0.9], preferably, the value of mu can be 0.85.

[0085] Specifically, the application screens the follow-up delay representation data set with a set length exceeding a preset threshold through the posture control module, accurately locates the signal execution amount that may cause data anomalies, because the set length reflects the fluctuation range of the follow-up delay representation amount, and the data quality is obviously affected by the changes of the running gravity center of the mechanical arm superimposed by the external environment or the ground concave-convex when the monitoring parameter corresponding to the opposite signal execution amount exceeds the threshold value representing the monitoring data process, and then the quality of the monitoring data is determined by extracting data features to construct a related model.

[0086] Specifically, the posture control module is used to determine the running limit trajectory of the mechanical arm, wherein,

[0087] The posture control module is used to determine the signal execution period corresponding to the opposite signal execution amount, and obtain the mechanical arm position signal in the signal execution period, to determine the running trajectory segment of the mechanical arm in the signal execution period, and determine the running limit trajectory of the running trajectory segment.

[0088] In implementation, the running trajectory segment of the mechanical arm can be determined according to the motion instruction of the mechanical arm, and those skilled in the art can understand that the motion instruction includes specifying the position and posture of the mechanical arm end in the Cartesian coordinate system, and the motion instruction will explicitly indicate that the mechanical arm end is to be moved from one three-dimensional coordinate point to another coordinate point. According to these instructions, the running trajectory segment is obtained by connecting the target points to be reached by the mechanical arm end in sequence in the signal execution period, which will not be described here.

[0089] Specifically, the posture control module is used to add a plurality of running pause points on the running limit trajectory, control the mechanical arm to move along the running limit trajectory again and pause at the running pause points for a preset duration before continuing to move, so that the scanning unit updates the monitoring data obtained in the running limit trajectory.

[0090] Specifically, the number of running pause points added on the running limit trajectory of the application can be set by those skilled in the art, and the number of running pause points is in the range of [1, 5], preferably, the value of the number of running pause points is 2, which can provide adjustment and buffer time for the mechanical arm, reduce abnormal fluctuations in the mechanical arm movement process, and make the mechanical arm run more smoothly. The pause preset duration of the running pause point can ensure that the mechanical arm has enough buffer time to reduce the unstable state of the mechanical arm, and the value of the pause preset duration is in the range of [3, 5], and the interval unit is s. Here, a value of the pause preset duration is provided, and the pause preset duration can be valued at 4s.

[0091] Specifically, when the monitoring data is unqualified, the mechanical arm may have unstable factors on the running limit track, causing data deviation, by adding a running pause point on the running limit track, the mechanical arm is paused at the pause point for a preset time, which can make the mechanical arm collect data in a relatively stable state, which helps to reduce the data error caused by unstable movement, vibration and other factors of the mechanical arm, and then, the collected large amount of data is effectively processed to realize efficient analysis of representative data, the quality of the monitoring data is judged by extracting data features to construct a related model, and the quality and effectiveness of the data collected by the robot are improved.

[0092] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after the changes or replacements will fall within the protection scope of the present application.

[0093] The above is only the preferred embodiment of the present application and is not used to limit the present application; for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A robotic system for engineering monitoring, characterized in that, The application relates to a robot system, comprising: a carrier; a robot component comprising a base mounted on the carrier and a mechanical arm connected to the base; a data collection module comprising a plurality of pressure monitoring units distributed on the bottom of the base to obtain force values of the base, a scanning unit arranged at the end of the mechanical arm to obtain monitoring data, and a recording unit to read a mechanical arm position signal; a feature aggregation module connected to the data collection module, comprising a feature extraction unit and a construction unit, the feature extraction unit being used to determine a follow-up delay representation quantity according to a signal execution amount determined based on time stamps of the mechanical arm position signal and according to changes in the force values of the base within a signal execution period determined according to adjacent time stamps; the feature extraction unit is used to determine the follow-up delay representation quantity, wherein the feature extraction unit is used to obtain absolute values of the change amount of the force values of the base of each pressure monitoring unit within the signal execution period, calculate a ratio of the absolute values of the change amount to the signal execution amount, and determine a dimensionless value of the ratio as the follow-up delay representation quantity; the construction unit is used to determine a follow-up delay representation data set of each signal execution amount, and determine whether the monitoring data obtained at the current position is qualified according to a comparison of the set lengths of the follow-up delay representation data sets; the construction unit is used to determine the follow-up delay representation data set, wherein the construction unit determines the follow-up delay representation quantity corresponding to each signal execution amount, and determines a set composed of a plurality of follow-up delay representation quantities corresponding to the same signal execution amount as the follow-up delay representation data set; a posture control module connected to the feature aggregation module and the robot component respectively, used to screen a heterogeneous signal execution amount according to the set length, and determine a running limit track of the mechanical arm according to the mechanical arm position signal corresponding to the heterogeneous signal execution amount; the posture control module is also used to control the mechanical arm to move along the running limit track with added pause points.

2. The robotic system for engineering monitoring of claim 1, wherein, Each pressure monitoring unit is distributed and arranged at the edge of the bottom of the base, and a plurality of pressure monitoring units are symmetrically distributed with the center of the base as the center.

3. The robotic system for engineering monitoring of claim 1, wherein, the recording unit is used to determine the mechanical arm position signal and the time stamp of the mechanical arm position signal, wherein the recording unit reads the action instruction of the mechanical arm, determines the position information of the mechanical arm after the mechanical arm executes each action instruction as the mechanical arm position signal, and determines the execution time of the action instruction as the time stamp of the mechanical arm position signal.

4. The robotic system for engineering monitoring of claim 3, wherein, the feature extraction unit is used to determine the signal execution amount, wherein the feature extraction unit obtains continuous mechanical arm position signals and time stamps corresponding to each mechanical arm position signal in sequence, determines a period between adjacent time stamps as the signal execution period in sequence, and determines the length of the signal execution period as the signal execution amount.

5. The robotic system for engineering monitoring of claim 4, wherein, the construction unit is used to determine whether the monitoring data obtained at the current position is qualified, wherein the construction unit is used to obtain a difference value between the maximum value and the minimum value in each follow-up delay representation data set, determine the difference value as the set length, and calculate the standard deviation of the set lengths between a plurality of follow-up delay representation data sets; If the set length standard deviation exceeds a preset set length standard deviation threshold, the constructing unit determines that the monitoring data acquired at the current position is unqualified; If the set length standard deviation does not exceed the preset set length standard deviation threshold, the constructing unit determines that the monitoring data acquired at the current position is qualified, and stores the monitoring data.

6. The robotic system for engineering monitoring of claim 5, wherein, The posture control module is configured to filter the opposite signal execution amount according to the determination result that the monitoring data acquired at the current position is unqualified, wherein The posture control module is configured to filter a servo delay representation data set with a set length exceeding a preset set length threshold, and filter the signal execution amount corresponding to the servo delay representation data set as the opposite signal execution amount.

7. The robotic system for engineering monitoring of claim 6, wherein, The posture control module is configured to determine the operation limit trajectory of the mechanical arm, wherein The posture control module is configured to determine the signal execution period corresponding to the opposite signal execution amount, acquire the mechanical arm position signal within the signal execution period, determine the operation trajectory segment of the mechanical arm within the signal execution period, and determine the operation limit trajectory as the operation trajectory segment.

8. The robotic system for engineering monitoring of claim 7, wherein, The posture control module is configured to add a plurality of operation pause points on the operation limit trajectory, control the mechanical arm to move along the operation limit trajectory again and pause at the operation pause points for a preset time length before continuing to move, so that the scanning unit updates the monitoring data acquired within the operation limit trajectory.

Images