A method and system for monitoring the entire process of a dye delivery robot

Abstract

This invention discloses a method and system for monitoring the entire process of a dye delivery robot, relating to the field of industrial robot operation monitoring technology. The method includes the following steps: S1, constructing a full-process operation monitoring benchmark for the dye delivery robot; S2, aligning the robot's operation process using the full-process operation monitoring benchmark; S3, using the robot's operation alignment results to perform stage coupling on the dye delivery process; S4, using the operation-delivery coupling results to determine the continuity of the entire process; and S5, using the continuity determination results to construct the full-process operation monitoring results. This invention, by setting stage coupling based on the robot's operation alignment results, can provide clear and reliable stage-level input for subsequent full-process continuity determination within a unified semantic framework for all stages, using the benchmark operation stage identifier in the operation alignment results as the sole criterion. This effectively solves the problem of the separation between the operation state and the delivery state.

Description

Technical Field

[0001] This invention relates to the field of industrial robot operation monitoring technology, specifically to a method and system for full-process operation monitoring of a dye delivery robot. Background Technology

[0002] In industrial production fields such as dyeing and finishing, dyeing and printing, dye delivery robots are widely used in operations such as quantitative dye delivery, pipeline switching, and workstation distribution. When performing dye delivery tasks, the operation of these robots typically consists of multiple continuous phases, with the dye undergoing initiation, delivery, switching, and termination of delivery at different stages. In existing production environments, to ensure the stability of the delivery process, it is usually necessary to monitor the robot's operating status and the dye delivery status.

[0003] In existing technologies, there is a lack of a stage-level coupling mechanism with the benchmark operation stage identifier as the core between the robot operation alignment result and the dye delivery process. This results in the operation behavior and delivery behavior only forming a parallel relationship in time, but failing to establish a clear stage correspondence. Consequently, the determination of the continuity of the entire process lacks a clear and unified stage basis, which restricts the accuracy of the full-process operation monitoring of the dye delivery robot. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a method and system for monitoring the entire operation of a dye delivery robot, thereby resolving the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, embodiments of the present invention provide a method and system for monitoring the entire operation of a dye delivery robot, comprising the following steps: S1. Establish a benchmark for the full-process operation monitoring of the dye delivery robot; S2. Use the full-process operation monitoring benchmark to align the robot's operation process and obtain the robot operation alignment result; S3. Use the robot's alignment results to perform stage coupling on the dye delivery process to obtain the operation-delivery coupling results; S4. Use the operation-transport coupling results to determine the continuity of the entire process and obtain the results of the continuity determination of the entire process. S5. Use the full-process continuity determination results to construct the full-process operation monitoring results and obtain the full-process operation monitoring output of the dye delivery robot.

[0006] To further optimize this technical solution, step S1 provides a unified, stable, and reusable process reference object for the full-process operation monitoring of the dye delivery robot; Step S1, in the process of building the operational monitoring baseline, includes the following steps: Determining the boundaries of dye delivery tasks; The process of task execution is divided into stages; Establish the temporal continuity relationship between process stages; Construction of baseline objects for end-to-end operation monitoring; The baseline expression for the full-process operation monitoring of the dye delivery robot obtained in step S1 is as follows: ; in: This represents the baseline for monitoring the entire operation of the dye delivery robot. This indicates the number of process stages included in a single complete dye delivery mission. Indicates the first Each process stage, each process stage It should include at least the following basic elements:

[0007] in: For the first The stage markers of each process phase; For the first The time intervals corresponding to each process stage.

[0008] To further optimize this technical solution, step S2 describes the continuous operating state of the robot during actual operation and performs structured mapping and temporal alignment with the standardized full-process operation monitoring benchmark output in step S1. This transforms the actual operating process, which was originally in a "free evolution state," into an aligned operating result that can be uniformly analyzed, segmented, and anomaly determined by subsequent steps. Step S2, in the process of aligning the robot's operation, includes the following steps: Extraction of runtime status; Establish the baseline mapping relationship; Trajectory alignment calculation; Alignment consistency check; The expression for the robot alignment result output in step S2 is: ; in, : Alignment results of robot operation; In actual operation, the first One identified running state node that participated in the alignment; Running status node Full-process operation monitoring benchmark The corresponding baseline operating stage identifier; Running status node The time alignment offset relative to the start position of its corresponding reference stage; : Describes the running status node The characteristics of the state evolution trajectory after alignment.

[0009] To further optimize this technical solution, step S3 introduces a staged description of the dye delivery process based on the stage alignment of the robot's actual operation process with the full-process operation monitoring benchmark already completed in step S2. The benchmark operation stage identifier in the operation alignment result is used as the sole criterion to establish a stage correspondence between the robot's operation behavior and the dye delivery behavior within a unified process stage coordinate system. Step S3, in the process of stage coupling, includes the following steps: Extraction of runtime phase identifiers; Structured description of the dye delivery stage; Delivery phase — baseline phase mapping; Operation-transportation stage coupling determination; The results of the stage coupling converge.

[0010] To further optimize this technical solution, in step S3, during the identification extraction in the running phase, the robot running alignment result output in step S2 is used. In the process, extract the baseline operating stage identifier corresponding to each operating status node. ; Step S3, during the structured description of the dye delivery stage, forms a set of dye delivery stages: ; The classification criteria for each dye delivery stage are consistent with the full-process operation monitoring benchmark established in step S1.

[0011] To further optimize this technical solution, in step S3, during the mapping of the delivery stage to the baseline stage, based on the full-process operation monitoring baseline, each dye delivery stage is mapped... Mapping to the corresponding baseline operation stage identifiers to form a stage mapping relationship: .

[0012] To further optimize this technical solution, in step S3, when performing the coupling determination of the operation-transportation stage, the operation status node is... With dye delivery stage Perform stage-level coupling determination:

[0013] When the running status node and the dye delivery stage correspond to the same baseline running stage, it is considered that the two are coupled within that stage.

[0014] To further optimize this technical solution, in step S3, when converging the stage coupling results, all corresponding relationships that satisfy the stage coupling conditions are converged to form a set of operation-transmission coupling results: .

[0015] To further optimize this technical solution, step S4, based on the completion of the operation-transportation stage coupling in step S3, determines the stage continuity and sequential integrity of the entire dye delivery robot's operation process. Step S5: Based on the completion of the full-process continuity determination in Step S4, map the stage-level continuity determination information back to the full-process operation monitoring baseline. And integrate them into a complete end-to-end operation monitoring result.

[0016] A full-process operation monitoring system for a dye delivery robot, constructed based on the full-process operation monitoring method for a dye delivery robot according to any one of claims 1-9, characterized in that the system includes the following modules: a full-process operation monitoring benchmark construction module, a robot operation process alignment module, an operation-delivery stage coupling module, a full-process continuity determination module, and a full-process operation monitoring result construction module. In a second aspect, embodiments of the present invention provide a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program instructions are executed by the processor, the steps of a full-process operation monitoring method and system for a dye delivery robot as described in the first aspect of the present invention are implemented.

[0017] Thirdly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program instructions are executed by a processor, they implement the steps of a full-process operation monitoring method and system for a dye delivery robot as described in the first aspect of the present invention.

[0018] Compared with the prior art, the present invention provides a method and system for monitoring the entire process operation of a dye delivery robot, which has the following beneficial effects: The method and system for monitoring the entire process of dye delivery robot, by setting up stage coupling based on robot operation alignment results, can obtain operation-delivery coupling results. Within a unified semantic framework of the entire process stages, the baseline operation stage identifier in the operation alignment results can be used as the sole criterion to accurately map dye delivery behavior to the corresponding robot operation stage. This provides clear and reliable stage-level input for subsequent continuous determination of the entire process, effectively solving the problem of the separation between operation state and delivery state. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the whole-process operation monitoring method and system for a dye delivery robot proposed in this invention. Figure 2 This is a schematic diagram of the alignment robot operation process for the whole-process operation monitoring method of the dye delivery robot proposed in this invention. Figure 3 This is a schematic diagram of the stage coupling process of the whole-process operation monitoring method for a dye delivery robot proposed in this invention; Figure 4 This is a schematic diagram illustrating the process of constructing and monitoring the entire operation of a dye delivery robot proposed in this invention. Detailed Implementation

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0024] Example 1: Reference Figures 1-4 This is the first embodiment of the present invention, which provides a method for monitoring the entire process operation of a dye delivery robot, including the following steps: S1. Establish a benchmark for the full-process operation monitoring of the dye delivery robot; Step S1 provides a unified, stable, and reusable process reference object for the full-process operation monitoring of the dye delivery robot. Through this step, a complete dye delivery task is abstracted into a process structure with clear boundaries, stage sequence, and temporal continuity, so that the analysis of robot operation behavior and dye delivery behavior in subsequent steps can be carried out under the same process coordinate system, thereby avoiding ambiguity caused by inconsistent process definitions between different monitoring objects.

[0025] Step S1, in the process of building the operational monitoring baseline, includes the following steps: Determining the boundaries of dye delivery tasks: Taking a dye delivery task performed by a dye delivery robot as the process analysis object, the analysis is based on existing mature industrial control technologies. The task is confirmed by a combination of task issuance and completion feedback indicators, or by dye delivery start and end signals, thereby ensuring that the selected task is a complete and independent execution cycle.

[0026] The process of task execution is divided into stages: Based on the existing operating status identifiers or control event identifiers defined in the industrial control system, the execution process of the dye delivery task is divided into stages; the stage division is based on the objectively existing control signals or changes in operating status in the system, rather than being set by human experience. Furthermore, a single dye delivery task is broken down into several sequentially arranged process stages, with a clear sequential relationship between each stage.

[0027] Establishing the temporal continuity of process stages: Employ mature time calibration and synchronization technologies to establish a unified time continuity relationship for each process stage; Using the existing unified time base in the industrial control system as a reference, the start and end times of each stage are calibrated to ensure that all process stages are on the same time axis and there is no time overlap or sequential reversal.

[0028] Construction of baseline objects for end-to-end operation monitoring: After completing the task boundary determination, phase division, and establishment of time continuity, the above results are uniformly encapsulated to form a benchmark object for full-process operation monitoring. This baseline object contains the stage identifiers for each process stage, the stage sequence relationships, and the corresponding time interval information.

[0029] The final output of step S1, the baseline expression for the full-process operation monitoring of the dye delivery robot, is: ; in: This represents the baseline for monitoring the entire operation of the dye delivery robot. This indicates the number of process stages included in a single complete dye delivery mission. Indicates the first Each process stage, each process stage It should include at least the following basic elements:

[0030] in: For the first A stage identifier for each process stage, used to distinguish different process stages; For the first The time interval corresponding to each process stage is used to characterize the time position of that stage in the complete task process.

[0031] S2. Use the full-process operation monitoring benchmark to align the robot's operation process and obtain the robot operation alignment result; Step S2 describes the continuous operating state of the robot during actual operation and maps it in a structured manner and aligns it with the standardized full-process operation monitoring benchmark output in step S1. This transforms the actual operating process, which was originally in a "free evolution state," into an aligned operating result that can be uniformly analyzed, segmented, and anomaly determined by subsequent steps.

[0032] Step S2, in the process of aligning the robot's operation, includes the following steps: Extraction of runtime status: Based on the same operational state representation criteria as in step S1, the state information generated by the dye delivery robot during actual operation is extracted to form an operational state sequence that is consistent with the monitoring benchmark at the structural level.

[0033] Establishment of baseline mapping relationship: Using the full-process operation monitoring benchmark output in step S1 as a reference, and through a mature operation phase mapping method, each state node in the operation state sequence is mapped to the corresponding benchmark phase interval, establishing a one-to-one correspondence between "actual operation state - benchmark operation phase". This mapping relationship is used to define the range of the baseline stage to which each running state should belong, so as to avoid the occurrence of referenceless drift on the time axis during the running process.

[0034] Trajectory alignment calculation: Based on the established mapping relationship, mature time series alignment and trajectory matching technologies are used to correct the actual operating state sequence on both the time scale and the state change scale, so that it is consistent with the monitoring benchmark in terms of the start and end positions of the stages and the rhythm of state changes.

[0035] Alignment consistency check; Perform a consistency check on the aligned running results to confirm that the aligned running state meets the stage boundary conditions and state distribution constraints defined by the benchmark in each benchmark stage, ensuring that the aligned results have stable availability.

[0036] The expression for the robot alignment result finally output in step S2 is: ; in, The alignment result from the robot's operation is an object that is directly referenced in subsequent steps; The full-process operation monitoring benchmark for the dye delivery robot, constructed in step S1, is used to define the stage structure of the operation process. In actual operation, the first One identified running state node that participated in the alignment; Running status node Full-process operation monitoring benchmark The corresponding baseline operation stage identifier is used to characterize the stage position alignment result; Running status node The time alignment offset relative to the starting position of its corresponding reference stage is used to characterize the alignment relationship on the time scale; : Describes the running status node The state evolution trajectory characteristics presented after alignment are used to maintain the continuity of the operation process and the consistency within the stage.

[0037] Unlike existing mature technologies that only perform time alignment or state comparison on a single operating parameter or a local operating segment, the difference in this step is: The alignment process is not a pure time correction detached from the semantics of the process, but strictly adheres to the full-process operation monitoring benchmark constructed in step S1. It completes the overall alignment of the operation process at the operation stage level, so that the alignment result naturally has full-process interpretability and stage consistency, thereby providing a unified and stable analysis basis for subsequent full-process operation monitoring.

[0038] S3. Use the robot's alignment results to perform stage coupling on the dye delivery process to obtain the operation-delivery coupling results; Step S3: Based on the phase alignment of the actual robot operation process with the full-process operation monitoring benchmark completed in Step S2, introduce a phased description of the dye delivery process, and use the benchmark operation phase identifier in the operation alignment result as the sole criterion to establish a phase correspondence between the robot operation behavior and the dye delivery behavior within a unified process phase coordinate system.

[0039] Step S3, in the process of stage coupling, includes the following steps: Extraction of runtime phase identifiers: The robot running alignment result output from step S2 In the process, extract the baseline operating stage identifier corresponding to each operating status node. This identifier is used as the sole stage criterion for subsequent stage coupling analysis.

[0040] Structured description of the dye delivery stage: The dye delivery process is described in stages, forming a set of dye delivery stages: ; The classification criteria for each dye delivery stage are consistent with the full-process operation monitoring benchmark established in step S1, so that the dye delivery stage is comparable to the benchmark operation stage in terms of stage granularity and stage semantics.

[0041] Delivery phase – baseline phase mapping: Based on the full-process operation monitoring benchmark, each dye delivery stage Mapping to the corresponding baseline operation stage identifiers to form a stage mapping relationship: ; This mapping process ensures that the dye delivery stage and the operation stage are compared under the same stage identification system, avoiding coupling ambiguity caused by different stage definition systems.

[0042] Operation-Transportation Stage Coupling Determination: With both the operation phase identifier and the delivery phase identifier clearly defined, the operation status nodes are... With dye delivery stage Perform stage-level coupling determination:

[0043] When the running status node and the dye delivery stage correspond to the same baseline running stage, it is considered that the two are coupled within that stage.

[0044] Phase coupling results convergence: All correspondences that satisfy the stage coupling conditions are aggregated to form a set of operation-delivery coupling results: ; This result is a stage-level abstraction based on the output of step S2. Its focus is on stage consistency relationships rather than runtime details or trajectory patterns. The results, using the full-process operation monitoring benchmark as a unified reference, clearly show the actual correspondence between the dye delivery process and each stage of robot operation. This is used to characterize the integration of operation behavior and delivery behavior at the stage level and serves as a direct input for subsequent full-process operation monitoring and analysis.

[0045] Existing mature technologies typically treat robot operation status monitoring and process transport monitoring as independent analysis objects, and only correlate them at the time axis or event trigger level; The analysis logic in this step uses the baseline stage identifier in the alignment result as an intermediary to complete the stage-level coupling of operation behavior and delivery behavior within a unified full-process stage semantic framework. This makes the coupling result naturally have process consistency and stage interpretability, which is not available in existing time- or signal-centric association methods.

[0046] S4. Use the operation-transport coupling results to determine the continuity of the entire process and obtain the results of the continuity determination of the entire process. Step S4, based on the completion of the operation-transportation stage coupling in step S3, determines the stage continuity and sequential integrity of the entire dye delivery robot's operation process.

[0047] Step S4, in the process of determining the continuity of the entire process, includes the following steps: Serialization processing of coupling results: Extract the stage identifier from the run-transport coupling results output in step S3. and the corresponding running status and transport stage ; The coupling results are sorted according to the phase sequence defined in the full-process operation monitoring benchmark to form a complete phase sequence for subsequent continuity determination.

[0048] Phase missing checks: The organized phase sequence and the full-process operation monitoring benchmark will be used. Perform a phased comparison; Check if there are any instances where the baseline phase is not covered in the coupling results. If any are found to be missing, mark them as a continuity interruption.

[0049] Phase sequence consistency check: Verify the order of adjacent stages in the stage sequence to ensure that the stage execution order is consistent with the baseline order of the entire process, and avoid stage reversal or abnormal jumps. The determination is completed using a mature sequential consistency check method.

[0050] Stage duplication and redundancy checks: Process multiple records appearing in the coupling results at the same stage to determine whether there are abnormal duplicates or redundant stages of execution; If the phase repeats as expected (e.g., multiple delivery operations within a phase), it is recorded as normal; otherwise, it is marked as abnormal.

[0051] Summary of continuity determination results: The above inspection results are summarized to form continuous judgment information for each stage; Output the overall continuity status, which describes whether the continuity of the entire process meets the baseline requirements.

[0052] Step S4 finally outputs the overall continuity determination result, which is expressed as: ; in, This indicates the continuity determination process in step S4, which includes stage missing checks, sequence consistency checks, and stage duplication and redundancy checks.

[0053] S5. Use the full-process continuity determination results to construct the full-process operation monitoring results and obtain the full-process operation monitoring output of the dye delivery robot; Step S5: Based on the completion of the full-process continuity determination in Step S4, map the stage-level continuity determination information back to the full-process operation monitoring baseline. And integrate them into a complete end-to-end operation monitoring result.

[0054] Step S5, in constructing the full-process operation monitoring results, includes the following steps: The stage determination results are mapped to the baseline stage: The continuity determination result of the entire process output from step S4 Extract the continuous state of each baseline stage; Using the benchmark phase set For reference, the continuity state of each stage is mapped to the corresponding baseline stage identifier. : ; This mapping ensures that the output results correspond strictly one-to-one with the full-process monitoring benchmark.

[0055] Phase state integration and conflict resolution: For multiple decision records that may exist in the same stage, use logical merging or priority selection methods to generate a single stage state; The processing rules include: missing stages are marked as "abnormal interruption", multiple duplicate records are selected based on the most severe abnormal state, and the output stage state is ensured to be unique and traceable.

[0056] Full-process monitoring results generation: Integrate the stage-level states in baseline order to form a complete sequence: ; Each stage corresponding It indicates continuous status (such as "continuous / interrupted / abnormal repetition"), ensuring that the entire output structure is complete and readable.

[0057] Output structuring: right Perform unified encapsulation, including stage identifiers. Continuous state Correspondence with the benchmark; The output results can be directly used for system monitoring, visualization, or archiving, ensuring the traceability and operability of subsequent steps.

[0058] This output can be directly used in the full-process operation monitoring method to systematically monitor the robot's dye delivery process. Through the continuous status information corresponding to each stage, the system can determine in real-time or periodically whether the robot's operation at each stage is complete, whether the sequence is correct, and whether there are any abnormal repetitions, thus forming a complete full-process operation view. This structured output can not only be used by operators to quickly identify potential problems, but also for the monitoring system to perform summary analysis, alarm triggering, and archiving of historical operation records, achieving traceable, manageable, and optimizable full-process monitoring of the dye delivery robot's operation.

[0059] The difference between this step and existing mature technologies is that it maps the stage continuity determination results back to the full-process operation monitoring benchmark, ensuring semantic consistency of stages; at the same time, it integrates the continuity status of each stage into a complete full-process sequence, realizing end-to-end full-process operation monitoring output; the final output is a structured result that can be directly used for system monitoring, visualization and subsequent analysis, thereby forming a closed-loop full-process monitoring system and enhancing traceability and operability.

[0060] Example 2: This embodiment provides a full-process operation monitoring system for a dye delivery robot, including the following modules: The full-process operation monitoring baseline construction module corresponds to step S1. This module is used to construct the full-process operation monitoring baseline for the dye delivery robot, clarifying the standard stage division and stage sequence relationship of the robot operation process and the dye delivery process. The full-process operation monitoring baseline output by the module provides a unified reference for subsequent operation process alignment and stage coupling, enabling the system to monitor the robot's operating status under the same process semantics.

[0061] The robot operation alignment module corresponds to step S2. Based on the full-process operation monitoring benchmark, this module performs stage alignment processing on the actual robot operation process, mapping the actual operation trajectory to the benchmark stage structure to obtain the robot operation alignment result. This result is used to eliminate time differences and stage offsets during operation, providing an aligned operation basis for the subsequent stage coupling of the dye delivery process.

[0062] The operation-transportation stage coupling module corresponds to step S3. This module utilizes the robot operation alignment results to perform stage coupling analysis on the dye transport process, associating the robot operation stage with the corresponding dye transport stage to form the operation-transportation coupling result. This module enables the robot's actions and dye transport behavior to be expressed in the same stage dimension, providing basic data for determining the continuity of the entire process.

[0063] The end-to-end continuity determination module, corresponding to step S4, determines the continuity of the dye delivery robot's stages throughout the entire process based on the operation-transport coupling results. It identifies any interruptions, repetitions, or sequence anomalies in the stages, obtaining the end-to-end continuity determination result. This module characterizes whether the entire process execution conforms to the expected process structure and is an important intermediate result for end-to-end monitoring.

[0064] The module for constructing end-to-end operation monitoring results corresponds to step S5. Based on the end-to-end continuity determination results, this module maps the continuity status of each stage back to the end-to-end operation monitoring baseline, constructing a complete end-to-end operation monitoring output. This output reflects the overall execution status of the robot operation and dye delivery process in stages, and can be directly used for system monitoring display, status analysis, and historical operation records.

[0065] Example 3: This embodiment provides a possible scenario for the practical application of a method and system for monitoring the entire operation of a dye delivery robot: In a textile dyeing and finishing workshop, there are multiple dye delivery robots used to transport liquid dyes of different formulations from the storage tank area to each dyeing station. Each robot needs to complete several operational stages in sequence when performing a dye delivery task, including path initiation, pipeline connection, quantitative dye delivery, pipeline cleaning, and return to standby.

[0066] In actual operation, the system first establishes a full-process operation monitoring benchmark for the dye delivery robot, clarifying the standard sequence and correspondence between each operational stage and the dye delivery stage in a complete delivery task. This benchmark serves as a unified reference, is stored, and used for subsequent task monitoring.

[0067] When a robot begins performing a dye delivery task, the system continuously monitors the robot's actual operation and aligns its actual operating status with a pre-built full-process operation monitoring baseline. This ensures that the robot's current state is accurately mapped to the corresponding baseline stage. In this way, even if different robots or different tasks have different execution rhythms, the system can still accurately identify their operating stages.

[0068] While the robot is operating, the system synchronously acquires the status information of the dye delivery process and associates this information with the aligned robot operation stages, forming a one-to-one correspondence between operation stages and dye delivery stages. Thus, the system can determine whether dye delivery occurs as expected in each operation stage.

[0069] Subsequently, based on the correspondence between the operation and delivery stages, the system performs a full-process continuity assessment of the entire delivery task, checking for interruptions, abnormal repetitions, or sequence deviations between stages. For example, if the robot fails to enter the cleaning stage in sequence after completing the delivery, the system can identify this abnormal state during the continuity assessment.

[0070] Example 4: This embodiment also provides a computer device applicable to a method and system for monitoring the entire operation of a dye delivery robot, including a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to realize the method and system for monitoring the entire operation of a dye delivery robot as proposed in the above embodiment.

[0071] This embodiment also provides a storage medium storing a computer program, which, when executed by a processor, implements a full-process operation monitoring method and system for a dye delivery robot as proposed in the above embodiments.

[0072] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0073] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0074] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0075] More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0076] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for monitoring the entire operation of a dye delivery robot, characterized in that, Includes the following steps: S1. Establish a benchmark for the full-process operation monitoring of the dye delivery robot; S2. Use the full-process operation monitoring benchmark to align the robot's operation process and obtain the robot operation alignment result; S3. Use the robot's alignment results to perform stage coupling on the dye delivery process to obtain the operation-delivery coupling results; S4. Use the operation-transport coupling results to determine the continuity of the entire process and obtain the results of the continuity determination of the entire process. S5. Use the full-process continuity determination results to construct the full-process operation monitoring results and obtain the full-process operation monitoring output of the dye delivery robot.

2. The method for monitoring the entire process operation of a dye delivery robot according to claim 1, characterized in that, Step S1 provides a unified, stable, and reusable process reference object for the full-process operation monitoring of the dye delivery robot. Step S1, in the process of building the operational monitoring baseline, includes the following steps: Determining the boundaries of dye delivery tasks; The process of task execution is divided into stages; Establish the temporal continuity relationship between process stages; Construction of baseline objects for end-to-end operation monitoring; The baseline expression for the full-process operation monitoring of the dye delivery robot obtained in step S1 is as follows: ； in: This represents the baseline for monitoring the entire operation of the dye delivery robot. This indicates the number of process stages included in a single complete dye delivery mission. Indicates the first Each process stage, each process stage It should include at least the following basic elements: in: For the first The stage markers of each process phase; For the first The time intervals corresponding to each process stage.

3. The method for monitoring the entire process operation of a dye delivery robot according to claim 1, characterized in that, Step S2 describes the continuous operating state of the robot during actual operation and performs a structured mapping and temporal alignment with the standardized full-process operation monitoring benchmark output in step S1. This transforms the actual operating process, which was originally in a "free evolution state," into an aligned operating result that can be uniformly analyzed, segmented, and anomaly determined by subsequent steps. Step S2, in the process of aligning the robot's operation, includes the following steps: Extraction of runtime status; Establish the baseline mapping relationship; Trajectory alignment calculation; Alignment consistency check; The expression for the robot alignment result output in step S2 is: ； in, : Alignment results of robot operation; In actual operation, the first One identified running state node that participated in the alignment; Running status node Full-process operation monitoring benchmark The corresponding baseline operating stage identifier; Running status node The time alignment offset relative to the start position of its corresponding reference stage; : Describes the running status node The characteristics of the state evolution trajectory after alignment.

4. The method for monitoring the entire process operation of a dye delivery robot according to claim 1, characterized in that, Step S3, based on the phase alignment of the actual robot operation process with the full-process operation monitoring benchmark completed in step S2, introduces a phased description of the dye delivery process, and uses the benchmark operation phase identifier in the operation alignment result as the only criterion to establish a phase correspondence between the robot operation behavior and the dye delivery behavior within a unified process phase coordinate system. Step S3, in the process of stage coupling, includes the following steps: Extraction of runtime phase identifiers; Structured description of the dye delivery stage; Delivery phase — baseline phase mapping; Operation-transportation stage coupling determination; The results of the stage coupling converge.

5. The method for monitoring the entire process operation of a dye delivery robot according to claim 4, characterized in that, In step S3, during the identification extraction in the runtime phase, the robot running alignment result output in step S2 is used. In the process, extract the baseline operating stage identifier corresponding to each operating status node. ; Step S3, during the structured description of the dye delivery stage, forms a set of dye delivery stages: ； The classification criteria for each dye delivery stage are consistent with the full-process operation monitoring benchmark established in step S1.

6. The method for monitoring the entire operation of a dye delivery robot according to claim 4, characterized in that, In step S3, during the mapping of the delivery stage to the baseline stage, based on the full-process operation monitoring baseline, each dye delivery stage is mapped... Mapping to the corresponding baseline operation stage identifiers to form a stage mapping relationship: 。 7. The method for monitoring the entire operation of a dye delivery robot according to claim 4, characterized in that, In step S3, when performing the coupling determination of the operation-transportation stage, the operation status node is... With dye delivery stage Perform stage-level coupling determination: When the running status node and the dye delivery stage correspond to the same baseline running stage, it is considered that the two are coupled within that stage.

8. The method for monitoring the entire process operation of a dye delivery robot according to claim 4, characterized in that, In step S3, when the stage coupling results are aggregated, all corresponding relationships that satisfy the stage coupling conditions are aggregated to form a set of operation-delivery coupling results: 。 9. The method for monitoring the entire process operation of a dye delivery robot according to claim 1, characterized in that, Based on the completion of the operation-transportation stage coupling in step S3, step S4 determines the stage continuity and sequential integrity of the entire dye delivery robot's operation process. Step S5: Based on the completion of the full-process continuity determination in Step S4, map the stage-level continuity determination information back to the full-process operation monitoring baseline. And integrate them into a complete end-to-end operation monitoring result.

10. A full-process operation monitoring system for a dye delivery robot, constructed based on the full-process operation monitoring method for a dye delivery robot according to any one of claims 1-9, characterized in that, The system includes the following modules: full-process operation monitoring benchmark construction module, robot operation process alignment module, operation-transportation stage coupling module, full-process continuity determination module, and full-process operation monitoring result construction module.

Images