Hot start control method and system for standby drive of construction robot, and storage medium

Abstract

The application relates to the technical field of robot control, and discloses a construction robot standby drive hot start control method, a system and a storage medium. The method is based on a first drive and a second drive of the same control point, initializes the first drive to output power and the second drive to standby; according to a preset construction procedure, state parameter data of the first drive is collected in real time, and working state data thereof is identified; if the working state data is less than preset reference state data, the second drive is activated and preheated to output second drive power, the first drive power decreases at a preset first speed, the second drive power increases at a preset second speed, and a real-time sum of the two is greater than real-time power required by construction, and when the first drive power is lower than preset first reference power, the first drive power is controlled to standby. The method realizes rapid and stable hot start of the standby drive, and guarantees construction safety and efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robot control, and in particular to a hot start control method, system and storage medium for backup driving of a construction robot. BACKGROUND

[0002] With the acceleration of the intelligentization and automation process of the construction industry, construction robots have gradually become a new trend in the industry development. From traditional manual auxiliary operation to today's highly integrated and intelligent construction robots, their application range is constantly expanding, covering steel bar installation, wall building, spraying, welding and other construction links.

[0003] Construction robots differ significantly from ordinary industrial robots. Ordinary industrial robots usually work in a structured and stable factory environment, and the operation task is relatively fixed and highly repetitive. However, construction robots face complex and variable construction sites, such as uneven ground, harsh weather conditions, and complex building structures. At the same time, construction robots need to undertake heavy lifting, high-altitude operation and other high-intensity tasks. Compared with ordinary industrial robots, the load capacity, environmental adaptability and running stability of construction robots need to meet higher standards to ensure continuous and reliable operation in complex working conditions.

[0004] Since the items carried by construction robots are often heavy and valuable, once the drive system fails, it will not only cause the construction progress to stagnate, but also may cause serious consequences such as damage to the items, safety accidents and huge economic losses. Therefore, in order to ensure construction safety and efficiency, it is particularly important to design a hot backup redundancy at the joint of the construction robot. By setting up a backup drive system, the normal operation of the robot can be maintained when the main drive fails. However, how to achieve fast and stable hot start of the backup drive and avoid power interruption and control misalignment during the switching process has become a technical problem to be solved. SUMMARY

[0005] In order to achieve fast and stable hot start of the backup drive, the application provides a hot start control method, system and storage medium for backup driving of a construction robot.

[0006] In a first aspect, the application provides a hot start control method for backup driving of a construction robot, which adopts the following technical solution:

[0007] A hot start control method for backup driving of a construction robot, comprising the following steps:

[0008] Based on a first drive and a second drive located at the same control point, the first drive and the second drive are initialized, and in the initial state, the first drive is controlled to output first driving power to the control point, and the second drive is controlled to be in standby state;

[0009] Based on the preset construction process, the state parameter data of the first driver is collected in real time, and the working state data of the first driver is identified from the state parameter data;

[0010] If the working state data is less than the preset reference state data, the second driver is activated and preheated, and the second driver outputs second driving power to the control point;

[0011] The first driving power decreases at a preset first speed, and the second driving power increases at a preset second speed, wherein the real-time sum of the first driving power and the second driving power is greater than the real-time power required for operating the construction process;

[0012] When the first driving power is lower than the preset first reference power, the first driver is controlled to be in a standby state.

[0013] By adopting the above technical solution, the control point can be a joint of a robot, and the first driver and the second driver are arranged at the control point. Under normal circumstances, the first driver outputs power to the control point to complete the operation process, and the working state of the first driver is detected in real time during the working process of the first driver. When the first driver is abnormal, the standby second driver is started directly and seamlessly and gradually replaces the working of the first driver, so as to realize rapid and stable starting of the standby driver.

[0014] Optionally, the step of identifying the working state data of the first driver from the state parameter data further includes the following sub-steps:

[0015] In the initial state, initial electrical parameter data is obtained based on the construction process, and initial current data, initial voltage data and initial time data for completing the construction process are calculated to form a first reference template;

[0016] In the working state, real-time electrical parameter data is obtained based on the construction process, and real-time current data, real-time voltage data and real-time time data for completing the construction process are calculated to form a first real-time template; the robot motion control strategy in the initial state is the same as that in the working state;

[0017] A first similarity value of the first real-time template and the first reference template is calculated, and the first similarity value is output as the working state data.

[0018] By adopting the above technical solution, the state of the first driver completing the qualified construction process for the first time in the initial state is a good working state. This is used as the first reference template to perform similarity comparison on the parameters of the first driver in subsequent work. If the similarity is high, it means that the current working state of the first driver is good. Otherwise, the working state may be abnormal.

[0019] Optionally, the step of calculating the first similarity value between the first real-time template and the first reference template further includes the following sub-steps:

[0020] Calculating a first difference between the real-time current data and the initial current data;

[0021] Calculating a second difference between the real-time voltage data and the initial voltage data;

[0022] Calculating a third difference between the real-time time data and the initial time data;

[0023] Calculating a comprehensive difference based on a weighted average of the first difference, the second difference, and the third difference; the weight of the first difference > the weight of the second difference > the weight of the third difference;

[0024] If the comprehensive difference is greater than a preset first reference difference, a drive fault warning prompt is issued; otherwise, the first similarity value = (1-the comprehensive difference / the first reference difference) × 100%.

[0025] By adopting the above technical solution, the working status of the driver can be reflected from multiple aspects according to the multiple difference values, thereby obtaining a first similarity value that is more in line with the actual situation on site.

[0026] Optionally, the method further comprises the following steps:

[0027] Obtaining the workload of the first driver within a set first time period;

[0028] Calculating an average work intensity based on the workload and the first time period;

[0029] Calculating an intensity ratio between the average work intensity and a preset reference work intensity;

[0030] The first reference difference is positively adjusted according to the intensity ratio.

[0031] By adopting the above technical solution, the average working intensity of the first driver can reflect the usage of the first driver, and the intensity ratio can reflect the comparison between the average working intensity of the first driver and the reference working intensity. Adjusting the first reference difference according to the intensity ratio can enable the first driver with a high average working intensity to have a wider similarity comparison range and a larger first similarity value, so that the first similarity value is more in line with the actual working condition of the first driver.

[0032] Optionally, the method further comprises the following steps:

[0033] Within a preset second time period, a plurality of the first difference values, a plurality of the second difference values, and a plurality of the third difference values ​​are obtained;

[0034] Calculating a plurality of first discrete data of the first difference values;

[0035] Calculating a plurality of second discrete data of the second difference values;

[0036] Calculating a plurality of third discrete data of the third difference values;

[0037] Calculate comprehensive discrete data based on a weighted average of the first discrete data, the second discrete data, and the third discrete data;

[0038] If the comprehensive discrete data is greater than the preset reference discrete data, a robot mechanical failure warning prompt is issued.

[0039] By adopting the above technical solution, discrete data can reflect the working status of the robot's mechanical structure. When the movement of the robot's mechanical structure is disturbed by the outside world, the comprehensive discrete data will be greater than the reference discrete data, thereby making better use of the difference and providing early warning of more unexpected situations.

[0040] Optionally, the step of identifying the working status data of the first driver from the status parameter data further includes the following sub-steps:

[0041] In an initial state, initial motion parameter data is obtained based on the construction process, and initial motion data, initial amplitude data, and initial speed data for completing the construction process are calculated to form a second reference template;

[0042] In the working state, the real-time motion parameter data is obtained based on the construction process, and the real-time motion data, real-time amplitude data and real-time speed data for completing the construction process are calculated to form a second real-time template; the electrical control strategy in the initial state is the same as the electrical control strategy in the working state;

[0043] A second similarity value between the second real-time template and the second reference template is calculated, and the second similarity value is output as the working status data.

[0044] By adopting the above technical solution, the state of the first driver completing the qualified construction process for the first time in the initial state is a good working state. This is used as the second reference template to perform similarity comparison on the action, amplitude and speed of the first driver in subsequent work. If the similarity is high, it means that the current working state of the first driver is good. Otherwise, the working state may be abnormal.

[0045] Optionally, the step of calculating the second similarity value between the second real-time template and the second reference template further includes the following sub-steps:

[0046] Calculating a motion difference between the real-time motion data and the initial motion data;

[0047] Calculating an amplitude difference between the real-time amplitude data and the initial amplitude data;

[0048] Calculating a speed difference between the real-time speed data and the initial speed data;

[0049] Calculate an operation difference based on a weighted average of the action difference, the amplitude difference, and the speed difference, wherein the weight of the action difference is less than the weight of the amplitude difference and less than the weight of the speed difference;

[0050] If the operation difference is greater than a preset second reference difference, an action distortion warning prompt is issued; otherwise, the second similarity value = (1-the operation difference / the second reference difference) × 100%.

[0051] By adopting the above technical solution, the working state of the driver can be reflected from multiple aspects according to the difference in action attributes, thereby obtaining a second similarity value that is more in line with the actual situation on site.

[0052] In a second aspect, the present application provides a hot start control system for a backup drive of a construction robot, which adopts the following technical solution:

[0053] A hot start control system for a backup drive of a construction robot includes a processor, wherein the processor executes the steps of any one of the above-mentioned hot start control methods for a backup drive of a construction robot.

[0054] In a third aspect, the present application provides a storage medium that adopts the following technical solution:

[0055] A storage medium stores a program, which, when executed by a processor, implements the steps of the hot start control method for a construction robot standby drive as described above.

[0056] In summary, this application includes at least one of the following beneficial technical effects:

[0057] The dual-drive redundant design enables stable switching of the drive system. Initially, the primary drive outputs power in operation, while the backup drive is in standby mode. The primary drive's status parameters are collected in real time and compared with an initial reference template to calculate similarity values, thereby determining its operating status. If an abnormality occurs, the backup drive is activated and preheated, decreasing the primary drive's power while increasing it. This ensures that total power meets construction requirements until the primary drive is fully operational, achieving seamless switching.

[0058] Multi-dimensional parameter monitoring improves fault identification accuracy. Electrical parameters such as current and voltage are collected to form a first reference template, which is compared with the real-time template. The difference is calculated and weighted to obtain a comprehensive difference, dynamically adjusting the reference threshold to adapt to varying workloads. Mechanical parameters such as motion and amplitude are also acquired to construct a second reference template. The difference in operation is used to determine motion distortion. Furthermore, discrete data calculations are used to monitor mechanical structural stability, providing dual early warning for both electrical and mechanical faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 The present invention is a step diagram of a hot start control method for a backup drive of a construction robot.

[0060] Figure 2 Schematic diagram of the structure of the first driver and the second driver located at the same control point.

[0061] Figure 3 This is a diagram showing the steps of identifying the working state data of the first driver from the state parameter data.

[0062] Figure 4 This is a diagram of steps for calculating a first similarity value between a first real-time template and a first reference template.

[0063] Reference numerals: 1. first driver; 2. second driver; 3. control point. DETAILED DESCRIPTION

[0064] Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings.

[0065] Throughout this specification, reference to the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0066] The present application discloses a hot start control method for a construction robot backup drive, referring to Figure 1 and Figure 2 , including the following steps:

[0067] Initialization is performed on first and second actuators 1 and 2 located at the same control point 3 (e.g., a robot joint). This includes parameter configuration, self-testing, and establishing a communication connection. In the initial state, first actuator 1 is controlled to output a first drive power to control point 3, driving the robot to execute the preset construction process. Simultaneously, second actuator 2 is controlled to maintain a low-power standby state, monitoring system status in real time and preparing to respond to switching commands at any time.

[0068] Based on pre-set construction processes (such as rebar handling and wall construction), sensor modules (such as current sensors, voltage sensors, and displacement sensors) collect real-time state parameter data of the first actuator 1, covering electrical parameters (current, voltage, and power) and mechanical parameters (speed, torque, and displacement). The data processing module analyzes this collected data to identify the operating state data of the first actuator 1. Specifically, a template matching method is employed. In the initial state, initial electrical and mechanical parameter data is acquired based on the construction process to construct a first reference template. In the operating state, real-time parameter data is acquired to form a first real-time template, and similarity values ​​between the two are calculated as the operating state data.

[0069] If the operating status data is less than the preset reference status data, indicating that the first drive 1 has experienced an abnormality or performance degradation, the system immediately activates and preheats the second drive 2 to achieve an operational state. The system then controls the second drive 2 to output a second drive power to the control point 3. Simultaneously, the first drive power gradually decreases at a preset first speed, while the second drive power increases synchronously at a preset second speed. This ensures that during the switching process, the real-time sum of the first and second drive powers remains greater than the real-time power required to operate the construction process, preventing power interruptions from impacting construction progress.

[0070] When the first driving power is lower than the preset first reference power, the first driver 1 is deemed to have safely exited work and is controlled to enter the standby state. The second driver 2 completely takes over the driving task of the control point 3 to continuously ensure the stable operation of the construction robot.

[0071] By installing dual drivers at control points (3) such as the robot's joints, the first driver (1) normally delivers power to complete the operation while also monitoring its operating status in real time. If the first driver (1) malfunctions, the backup second driver (2) quickly hot-starts, seamlessly switching power through gradual power switching to replace the first driver (1). This effectively enables a fast and stable hot-start of the backup driver, ensuring the construction robot's continued reliable operation in complex working conditions and significantly improving construction safety and efficiency.

[0072] Reference Figure 3 and Figure 4 The step of identifying the working state data of the first driver 1 from the state parameter data further includes the following sub-steps:

[0073] In the initial state, when the construction robot first executes a preset construction process, the system uses high-precision sensors (such as Hall current sensors and voltage transformers) to collect real-time electrical parameter data from the first driver 1. Each construction process consists of n execution steps, such as 1, 2, 3, and so on. The system automatically records the initial current data I0(i), initial voltage data U0(i), and initial time data T0 after completing each execution step i in the process, forming a first reference template. The current data during each execution step i in the process is recorded, ultimately forming a current curve with each execution step as a node, which is the initial current data I0(i). The voltage data during each execution step i in the process is recorded, ultimately forming a voltage curve with each execution step as a node, which is the initial voltage data U0(i). The initial time data T0 represents the total duration of the construction process.

[0074] During operation, real-time electrical parameter data of the first driver 1 is continuously collected based on the same construction process. Real-time current data I1(i), real-time voltage data U1(i), and real-time time data T1 are also acquired to form a first real-time template. The real-time current data I1(i) and real-time voltage data U1(i) represent the current and voltage curves for each execution step, respectively. The real-time time data T1 represents the total duration of the construction process, as monitored in real time.

[0075] Calculating a first similarity value between the first real-time template and the first reference template, and outputting the first similarity value as working status data, the specific steps are as follows:

[0076] Calculate the first difference between the real-time current data and the initial current data; calculate the absolute value of the current difference between the real-time current data and the initial current data at each execution step, and calculate the absolute value and value of the current difference at all execution steps to obtain the first difference.

[0077] Calculate the second difference between the real-time voltage data and the initial voltage data; calculate the absolute value of the voltage difference between the real-time voltage data and the initial voltage data at each execution step, and calculate the absolute value and value of the voltage difference at all execution steps to obtain the second difference.

[0078] A third difference between the real-time time data and the initial time data is calculated, where the third difference is the total elapsed time difference between the real-time state and the initial time data.

[0079] The comprehensive difference is calculated based on the weighted average of the first difference, the second difference, and the third difference. The comprehensive difference = wI × first difference / rated current + wU × second difference / rated voltage + wT × third difference / initial time data T0. The weight of the first difference > the weight of the second difference > the weight of the third difference. The weight coefficient is set according to the degree of influence of the parameter on the drive system state:

[0080] The current weight wI=0.6, the current directly reflects the driver load and efficiency;

[0081] Voltage weight wU=0.3, voltage fluctuation affects system stability;

[0082] The time weight wT=0.1, and the time deviation reflects the overall process efficiency;

[0083] If the comprehensive difference is greater than a preset first reference difference, the current operating state of the first drive 1 deviates significantly from the initial healthy state and may be on the verge of failure or has already failed, and a drive failure warning prompt is issued; otherwise, the first similarity value = (1-comprehensive difference / first reference difference) × 100%.

[0084] Through the above steps, the state of the first driver 1 completing the qualified construction process for the first time is used as a benchmark to construct a reference template, which can realize the accurate similarity comparison of the driver parameters in subsequent work. It can timely and accurately judge the working state of the first driver 1, provide a reliable trigger basis for the hot start of the standby driver, and ensure the stability and reliability of the construction robot operation.

[0085] In order to make the first similarity value more consistent with the actual working condition of the first driver 1, the first reference difference value is dynamically adjusted based on the working intensity. The specific method further includes the following steps:

[0086] According to the characteristics of the construction process, a statistical window is set, such as 1 operation cycle; the workload of the first driver 1 is obtained within the set first time period; the workload is the completion amount of the construction process, which is output in the form of a percentage, and the completion progress is read directly from the system.

[0087] The average work intensity is calculated based on the workload and the first time period; average work intensity = workload / first time period, reflecting the task execution efficiency per unit time.

[0088] Calculate the intensity ratio between the average work intensity and the preset reference work intensity; intensity ratio = average work intensity / reference work intensity.

[0089] The first reference difference is positively adjusted based on the intensity ratio. A larger intensity ratio increases the first reference value, while a smaller intensity ratio decreases the first reference value. When the intensity ratio is greater than 1, it indicates high-intensity work, and the threshold is raised, relaxing the similarity criteria. When the intensity ratio is less than 1, it indicates low-intensity work, and the threshold is lowered, tightening the similarity criteria. The adjusted first reference difference is calculated as: the first reference difference before adjustment × (1 + a × (intensity ratio - 1)), where a is the adjustment factor, which is calibrated based on the equipment type.

[0090] When the drive is in a high-intensity operation state, the system automatically relaxes the similarity judgment criteria, allowing electrical parameters to fluctuate within a wider range without triggering an early warning. This not only avoids false alarms caused by normal load changes, but also maintains a positive assessment of the equipment status by increasing the first similarity value. During low-intensity operation, the system tightens the threshold and enhances sensitivity to small changes in parameters to ensure that early fault hazards are identified in a timely manner.

[0091] The method further comprises the steps of:

[0092] During a preset second time period, such as 10 consecutive operation cycles, a plurality of first difference values, a plurality of second difference values, and a plurality of third difference values ​​are obtained.

[0093] Calculate the first discrete data (discrete coefficient) of the multiple first differences. The first discrete data reflects the stability of the current fluctuation. For example, when the robot's mechanical structure freezes or the load suddenly changes, the current will fluctuate abnormally, causing the first discrete data to increase.

[0094] Calculate the second discrete data (discrepancy coefficient) of the multiple second differences. This second discrete data reflects voltage stability. Excessive voltage fluctuations can affect the drive system's power output and even damage components. Increased discrete data may indicate a power module failure, poor line contact, or external electromagnetic interference.

[0095] The third discrete data (coefficient of dispersion) of the multiple third differences is calculated. The third discrete data reflects the consistency of the robot's motion efficiency. For example, wear on the mechanical joints will cause the motion time to become longer and the fluctuation to increase, which will increase the third discrete data accordingly.

[0096] The comprehensive discrete data is calculated based on the weighted average of the first discrete data, the second discrete data, and the third discrete data; the comprehensive discrete data = the current discreteness weight × the first discrete data + the voltage discreteness weight × the second discrete data + the time discreteness weight × the third discrete data; in this embodiment, the weight distribution is as follows: the current discreteness weight = 0.5, as mechanical faults are most sensitive to current; the voltage discreteness weight = 0.3; and the time discreteness weight = 0.2.

[0097] If the comprehensive discrete data is greater than the preset reference discrete data, a robot mechanical failure warning prompt will be issued.

[0098] Comprehensive discrete data, as the core indicator reflecting the working state of the robot's mechanical structure, integrates the fluctuation characteristics of key parameters such as current, voltage, and time to build a precise fault warning system. When the robot's mechanical structure is subject to external interference (such as sudden load changes, mechanical jamming, or wear of transmission components), the degree of discreteness of the difference between each parameter will change significantly, causing the comprehensive discrete data to exceed the preset reference discrete data threshold. This method utilizes the collaborative analysis of multi-dimensional data to sensitively capture subtle anomalies in the mechanical structure. Once the comprehensive discrete data exceeds the limit, the system will immediately trigger a mechanical fault warning prompt, not only achieving a timely response to the current abnormal state, but also predicting potential failure risks in advance by continuously monitoring data fluctuation trends.

[0099] The step of identifying the working state data of the first driver 1 from the state parameter data further includes the following sub-steps:

[0100] In the initial state, when the construction robot first executes a pre-set construction process, the system collects motion parameter data from the first actuator 1 in real time using high-precision sensors (such as joint encoders, gyroscopes, accelerometers, laser rangefinders, and force sensors). For each construction process consisting of n steps, the system automatically records the initial motion data, initial amplitude data, and initial velocity data after completing each execution step i, forming a second reference template. The initial motion data is recorded by the joint encoders, including the rotation angles θ0(i) of each manipulator joint and the spatial pose data P0i (x, y, z) of the end effector, forming an initial motion trajectory curve. The initial amplitude data is recorded by the displacement sensor, which records the manipulator's extension and retraction amplitude L0i, and the force sensor, which obtains the actuator contact force F0i. The initial velocity data is combined with timestamps to calculate the joint angular velocity ω0(i) and the actuator linear velocity v0(i). These data are discretized according to the execution step i of the process, forming a multidimensional reference template containing the motion trajectory, amplitude range, and velocity curve.

[0101] In the working state, based on the same construction process and keeping the electrical control strategy (such as PID parameters, PWM modulation frequency) unchanged, real-time action parameter data is continuously collected to form a second real-time template.

[0102] Calculating a second similarity value between the second real-time template and the second reference template, specifically in the following steps:

[0103] The motion difference between the real-time motion data and the initial motion data, the amplitude difference between the real-time amplitude data and the initial amplitude data, and the speed difference between the real-time speed data and the initial speed data are calculated respectively.

[0104] The motion difference comprehensively considers the differences in joint angles and spatial postures, and is obtained by calculating the weighted sum of the angle differences at each time point and the Euclidean distance of the spatial coordinates.

[0105] The amplitude difference takes into account the changes in displacement amplitude and contact force, and is quantified by summing the absolute values.

[0106] The velocity difference covers the fluctuations of angular velocity and linear velocity, and the trajectory deviation is calculated by curve integration.

[0107] The operation difference is calculated based on the weighted average of the action difference, amplitude difference and speed difference. The weight distribution is as follows: the weight of the action difference < the weight of the amplitude difference < the weight of the speed difference. This is because speed stability directly affects the construction quality (such as insufficient concrete vibration frequency resulting in honeycombed surface), amplitude deviation affects operation accuracy (such as changes in spraying distance resulting in uneven coating thickness), and abnormal action trajectory reflects mechanical structure problems (such as joint wear resulting in path deviation).

[0108] The specific calculation process is:

[0109] The motion difference ΔA = ∑∑[wθ×|θ1(i)-θ0(i)|+wP×‖P1i-P0i‖], where the joint angle weight wθ = 0.6 and the spatial posture weight wP = 0.4. θ0(i) / θ1(i) are the initial / real-time robot arm joint rotation angles (unit: rad), reflecting the joint position state. P0i / P1i are the initial / real-time end-effector spatial coordinates (x, y, z), representing the spatial position of the robot end.

[0110] The amplitude difference ΔM = ∑[wL × |L1i - L0i| + wF × |F1i - F0i|], where the displacement amplitude weight wL = 0.5 and the contact force weight wF = 0.5. L0i / L1i are the initial / real-time robot arm extension and retraction lengths (unit: mm), which affect the working range accuracy. F0i / F1i are the initial / real-time actuator-workpiece contact forces (unit: N), which reflect load changes.

[0111] Velocity difference ΔV = ∑∑[wω×|ω1(i)-ω0(i)|+wv×|v1(i)-v0(i)|], where the angular velocity weight wω = 0.5 and the linear velocity weight wv = 0.5. ω0(i) / ω1(i) represents the initial / real-time joint angular velocity (unit: rad / s), which directly affects motion efficiency. v0(i) / v1(i) represents the initial / real-time end-effector linear velocity (unit: mm / s), which is strongly correlated with construction quality (such as vibration frequency).

[0112] Operation difference = (wV × ΔV / Vref) + (wM × ΔM / Mref) + (wA × ΔA / Aref), where Vref / Mref / Aref correspond to the standard reference values ​​of speed / amplitude / motion parameters and are used for difference normalization; speed weight wV = 0.5, amplitude weight wM = 0.3, and motion weight wA = 0.2.

[0113] If the operation difference is greater than the preset second reference difference, it indicates that there is a significant deviation between the real-time motion parameters of the first driver 1 and the standard motion template in the initial healthy state. The motion distortion may be caused by factors such as mechanical structure wear, loose transmission components, or sudden changes in external loads. In this case, a motion distortion warning prompt will be issued; otherwise, the second similarity value = (1-operation difference / second reference difference) × 100%.

[0114] Through multi-dimensional condition assessment, the system comprehensively covers the robotic arm's operating status, enabling early fault diagnosis (such as detecting speed fluctuations caused by vibrator bearing wear). A weighted averaging algorithm is used to mitigate interference from incidental factors, and automatic switching of reference templates based on different construction processes enhances the system's condition monitoring capabilities in multi-tasking scenarios. When the system detects an operating difference exceeding a certain limit, it triggers a three-level response mechanism that includes increasing monitoring frequency, sending an exception report, and automatically reducing operating speed. This ensures timely warnings before mechanical failures impact construction quality, enabling preventive maintenance and significantly reducing project risks.

[0115] An embodiment of the present application further discloses a hot start control system for a backup drive of a construction robot, comprising a processor, wherein the processor executes the steps of the hot start control method for a backup drive of a construction robot as described in any one of the above.

[0116] An embodiment of the present application further discloses a storage medium, in which a program is stored. When the program is executed by a processor, the steps of the hot start control method for the backup drive of the construction robot are implemented.

[0117] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A hot start control method for a construction robot standby drive, characterized in that: The steps include: Based on a first driver (1) and a second driver (2) located at the same control point (3), the first driver (1) and the second driver (2) are initialized, and in an initial state, the first driver (1) is controlled to output a first driving power to the control point (3), and the second driver (2) is controlled to be in a standby state; Based on a preset construction process, state parameter data of the first driver (1) is collected in real time, and working state data of the first driver (1) is identified from the state parameter data; If the working state data is less than the preset reference state data, the second driver (2) is activated and preheated; and the second driver (2) is controlled to output a second driving power to the control point (3); The first driving power decreases at a preset first speed, and the second driving power increases at a preset second speed, wherein a real-time sum of the first driving power and the second driving power is greater than a real-time power required to operate the construction process; When the first driving power is lower than a preset first reference power, controlling the first driver (1) to be in a standby state; The step of identifying the working state data of the first driver (1) from the state parameter data further includes the following sub-steps: In an initial state, initial electrical parameter data is acquired based on the construction process, and initial current data, initial voltage data, and initial time data for completing the construction process are calculated to form a first reference template; In the working state, the real-time electrical parameter data is obtained based on the construction process, and the real-time current data, real-time voltage data and real-time time data for completing the construction process are calculated to form a first real-time template; the robot motion control strategy in the initial state is the same as the robot motion control strategy in the working state; calculating a first similarity value between the first real-time template and the first reference template, and outputting the first similarity value as the working status data; The step of calculating the first similarity value between the first real-time template and the first reference template further includes the following sub-steps: Calculating a first difference between the real-time current data and the initial current data; Calculating a second difference between the real-time voltage data and the initial voltage data; Calculating a third difference between the real-time time data and the initial time data; Calculating a comprehensive difference based on a weighted average of the first difference, the second difference, and the third difference; the weight of the first difference > the weight of the second difference > the weight of the third difference; If the comprehensive difference is greater than a preset first reference difference, a drive fault warning prompt is issued; otherwise, the first similarity value = (1-the comprehensive difference / the first reference difference) × 100%.

2. The hot start control method for the standby drive of the construction robot according to claim 1, characterized in that: The method further comprises the steps of: Obtaining the workload of the first driver (1) within a set first time period; Calculating an average work intensity based on the workload and the first time period; Calculating an intensity ratio between the average work intensity and a preset reference work intensity; The first reference difference is positively adjusted according to the intensity ratio.

3. The hot start control method for the standby drive of the construction robot according to claim 1, characterized in that: The method further comprises the steps of: Within a preset second time period, a plurality of the first difference values, a plurality of the second difference values, and a plurality of the third difference values ​​are obtained; Calculating a plurality of first discrete data of the first difference values; Calculating a plurality of second discrete data of the second difference values; Calculating a plurality of third discrete data of the third difference values; Calculate comprehensive discrete data based on a weighted average of the first discrete data, the second discrete data, and the third discrete data; If the comprehensive discrete data is greater than the preset reference discrete data, a robot mechanical failure warning prompt is issued.

4. The hot start control method for the standby drive of the construction robot according to claim 1, characterized in that: The step of identifying the working state data of the first driver (1) from the state parameter data is replaced by the following sub-steps: In an initial state, initial motion parameter data is obtained based on the construction process, and initial motion data, initial amplitude data, and initial speed data for completing the construction process are calculated to form a second reference template; In the working state, the real-time motion parameter data is obtained based on the construction process, and the real-time motion data, real-time amplitude data and real-time speed data for completing the construction process are calculated to form a second real-time template; the electrical control strategy in the initial state is the same as the electrical control strategy in the working state; Calculating a second similarity value between the second real-time template and the second reference template, and outputting the second similarity value as the working status data: wherein the step of calculating the second similarity value between the second real-time template and the second reference template includes the following sub-steps: Calculating a motion difference between the real-time motion data and the initial motion data; Calculating an amplitude difference between the real-time amplitude data and the initial amplitude data; Calculating a speed difference between the real-time speed data and the initial speed data; Calculate an operation difference based on a weighted average of the action difference, the amplitude difference, and the speed difference, wherein the weight of the action difference is less than the weight of the amplitude difference and less than the weight of the speed difference; If the operation difference is greater than a preset second reference difference, an action distortion warning prompt is issued; otherwise, the second similarity value = (1-the operation difference / the second reference difference) × 100%.

5. A hot start control system for a construction robot backup drive, characterized in that: It includes a processor, in which the steps of the hot start control method of the construction robot backup drive as described in any one of claims 1 to 4 are executed.

6. A storage medium, characterized in that The storage medium stores a program, which, when executed by the processor, implements the steps of the hot start control method for the backup drive of the construction robot according to any one of claims 1 to 4.

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