The application discloses a task difficulty adaptive
industrial robot health monitoring method and
system, a storage medium and a
computer device, and the method comprises the following steps: collecting joint bearing rotating speed and vibration signals of a target
industrial robot in real time, calculating physical deviation and distribution difference between a current working condition and each preset typical working condition according to the joint bearing rotating speed and vibration signals, and determining a
task level of health monitoring tasks according to the physical deviation and the distribution difference; determining a target reference working condition according to the
task level, calculating physical deviation between the current working condition and the target reference working condition, generating physical deviation features according to the physical deviation, generating
signal statistical features according to the vibration signals, and splicing the physical deviation features and the
signal statistical features to obtain a combined
feature vector; calculating scores of each candidate health monitoring model according to the combined
feature vector; if the task is a simple task, performing health state monitoring according to the candidate health monitoring model with the highest
score; and if the task is a complex task, performing online migration training on the candidate health monitoring model corresponding to the target reference working condition, and performing health state monitoring after the training.