CN113934601A - State evaluation method and system for switch cabinet acceptance robot - Google Patents
State evaluation method and system for switch cabinet acceptance robot Download PDFInfo
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- CN113934601A CN113934601A CN202111227732.0A CN202111227732A CN113934601A CN 113934601 A CN113934601 A CN 113934601A CN 202111227732 A CN202111227732 A CN 202111227732A CN 113934601 A CN113934601 A CN 113934601A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/3003—Monitoring arrangements specially adapted to the computing system or computing system component being monitored
- G06F11/3006—Monitoring arrangements specially adapted to the computing system or computing system component being monitored where the computing system is distributed, e.g. networked systems, clusters, multiprocessor systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/3058—Monitoring arrangements for monitoring environmental properties or parameters of the computing system or of the computing system component, e.g. monitoring of power, currents, temperature, humidity, position, vibrations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/32—Monitoring with visual or acoustical indication of the functioning of the machine
- G06F11/324—Display of status information
- G06F11/327—Alarm or error message display
Abstract
The application discloses a state evaluation method and system for a switch cabinet acceptance robot, which comprises a sensor module, a data transmission module, a data management module and a data analysis module, wherein the sensor module is arranged on the switch cabinet acceptance robot and used for acquiring working state data of the robot in real time; the data transmission module is used for packaging the data acquired by the sensor module and transmitting the data to the data management module; the data management module is used for analyzing and storing the received data; and the data analysis module is used for calling data in the data management module in real time to analyze the state of the robot and judging whether to give an early warning signal according to the current state of the robot. On the basis of high automation and digitization, the state of the robot is comprehensively monitored by using the Internet of things and the digitization management technology, so that the robot fault can be found and the alarm can be given in time.
Description
Technical Field
The invention belongs to the technical field of electric power detection, and relates to a state evaluation method and system for a switch cabinet acceptance robot.
Background
With the continuous maturity of the robot technology, more and more robots of different types are applied to life, production, operation and maintenance in different fields. However, the robot is composed of various precise components, and when a fault occurs in one of the components, the state of the robot is affected, and the practical application of the robot is affected.
The robot state is often detected only by one quantity when being detected in the prior art, the overall state of the robot cannot be comprehensively reflected, meanwhile, the detected data cannot be effectively stored and managed, and when a follow-up robot breaks down, the fault development condition of the robot cannot be checked through backtracking historical data. Therefore, there is a need to develop a state evaluation system for a switch cabinet acceptance robot, which is used to monitor and analyze the state of the robot in real time, and effectively store and manage data.
Disclosure of Invention
In order to overcome the defects in the prior art, the application provides the state evaluation method and system for the switch cabinet acceptance robot, the state of the robot can be analyzed and monitored, and the method and system have important significance for improving the state management level of the robot.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a state evaluation system of a switch cabinet acceptance robot comprises a sensor module, a data transmission module, a data management module and a data analysis module;
the sensor module is arranged on the switch cabinet acceptance robot and used for acquiring working state data of the robot in real time;
the data transmission module is used for packaging the data acquired by the sensor module and transmitting the data to the data management module;
the data management module is used for analyzing and storing the received data;
and the data analysis module is used for calling data in the data management module in real time to analyze the state of the robot and judging whether to give an early warning signal according to the current state of the robot.
The invention further comprises the following preferred embodiments:
preferably, an acquisition cycle is set in the sensor module, and information of the robot part is acquired according to the set acquisition cycle to obtain state data;
the sensor module comprises a temperature sensor, a vibration sensor and a rotating speed sensor;
the temperature sensor is arranged on an alternating current servo motor of the robot and records the temperature change of the alternating current servo motor during working;
the vibration sensor is arranged on a mechanical arm of the robot and records the vibration condition of the mechanical arm during working;
the rotating speed sensor is arranged on a rotating platform of the robot and records the rotating speed of the rotating platform during working;
the state data comprise robot temperature values, vibration signals and motor rotating speeds acquired by the sensor module.
Preferably, the data transmission module packages the data collected by the sensor module into JSON files and transmits the JSON files to the designated path of the data management module through the gigabit network, and when the data management module detects that new files appear in the designated path, the new files are extracted for analysis.
Preferably, the data management module receives the JSON file and parses the state data, extracts the primarily corresponding information from the JSON file according to the state data, and stores the primarily corresponding information in the MySQL database.
Preferably, the data analysis module is interconnected with the MySQL database, whether the database is updated or not is judged through a trigger, and when the MySQL database is updated, the data analysis module extracts corresponding data for analysis according to the id passing through the temperature value, the vibration signal value and the motor rotating speed value.
Preferably, in the data analysis module, a temperature value of the robot component is analyzed, if the temperature value is not within a specified range, an abnormal temperature alarm is performed, and if the temperature value is within the specified range, the temperature rise speed is further determined, and the temperature rise speed is specifically determined as follows:
extracting the temperature value of the current time and the temperature value received last time, and dividing the difference between the two temperature values by the interval time of two temperature measurements to obtain the speed of temperature rise, if the speed of temperature rise is greater than a threshold value, alarming that the temperature rises too fast is carried out, and the temperature rise needs to be monitored in advance;
meanwhile, the possible future temperature is predicted by using a moving average method, if the predicted temperature trend is abnormal, the predicted temperature trend is monitored in advance, specifically:
the moving average method has the formula:
when the temperature value fluctuates, a prediction model is established by using a moving average method, wherein the prediction model is as follows:
Preferably, in the data analysis module, the vibration signal value of the robot component is analyzed, if the vibration amplitude fluctuates within a specified range, it is determined that the robot is operating normally, otherwise, an abnormal vibration alarm is given.
Preferably, in the data analysis module, a rotational speed value of a motor of the robot is analyzed, and the rotational speed value of the motor is analyzed and determined in two different stages, specifically determined as follows:
when the motor is in a starting acceleration state, judging the rotational acceleration of the motor, extracting the rotational speed value of the current time and the rotational speed value received last time, dividing the difference between the two rotational speed values by the interval time of two rotational speed measurements to obtain a rotational acceleration value, and if the rotational acceleration value is greater than a threshold value, early warning the rotational acceleration value;
when the motor is in a stable operation state, monitoring the rotating speed value of the motor, if the rotating speed value of the motor fluctuates in a specified range, judging that the motor normally operates, and otherwise, giving an abnormal rotating speed alarm;
and meanwhile, the possible future motor rotating speed is predicted by using a moving average method, and if the trend of the predicted motor rotating speed is abnormal, the motor rotating speed is monitored in advance.
The invention also discloses a state evaluation method of the switch cabinet acceptance robot, which comprises the following steps:
the method comprises the following steps: after the switch cabinet acceptance robot is started, the corresponding sensor module starts to monitor each part of the robot;
step two: the sensor module collects robot state data according to a collection period, converts the robot state data into a JSON format file through the data transmission module and transmits the JSON format file to the data management module;
step three: the data management module analyzes the JSON file, extracts state data of the robot from the JSON file, and stores the state data and the time for acquiring the data into a mysql database correspondingly;
step four: when the mysql database is updated, a switch cabinet acceptance robot state evaluation system evaluation function is triggered, and the data analysis module extracts temperature, vibration signals and motor rotating speed from the mysql database and carries out state evaluation respectively, wherein the state evaluation comprises temperature data analysis, vibration data analysis and motor rotating speed analysis;
the temperature analysis comprises the steps of evaluating whether the current temperature value exceeds a standard range or not and evaluating whether the temperature rise speed exceeds a specified value or not;
the analysis of the vibration signal comprises assessing whether the vibration amplitude exceeds a specified value;
the analysis of the motor rotating speed comprises the steps of evaluating whether the motor acceleration exceeds a standard range when the motor is started and accelerated and whether the motor rotating speed exceeds a specified value when the motor stably runs;
step five: when any state evaluation of the robot does not meet the requirements, an alarm corresponding to the signal is sent out, and the time when the numerical value is abnormal and the corresponding numerical value abnormal value are recorded in the mysql database, so that the robot can be called and checked later.
Preferably, in step four, the data analysis module performs the analysis of the temperature data, the analysis of the vibration data and the analysis of the motor speed simultaneously through multiple threads.
The beneficial effect that this application reached:
on the basis of high automation and digitization, the state of the robot is comprehensively analyzed and monitored by using the Internet of things and the digitization management technology, data are effectively stored and managed, and the robot fault can be found and can be timely alarmed.
Drawings
Fig. 1 is a schematic structural diagram of a state evaluation system of a switch cabinet acceptance robot according to the present invention.
Detailed Description
The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present application is not limited thereby.
As shown in fig. 1, the state evaluation system of the switch cabinet acceptance robot of the invention comprises a sensor module, a data transmission module, a data management module and a data analysis module;
the sensor module for monitoring the state of the robot is connected with the data transmission module; the data transmission module is connected with the sensor module and the data management module; the data management module is connected with the data transmission module and the data analysis module.
The sensor module is arranged on the switch cabinet acceptance robot and used for acquiring working state data of the robot in real time;
in specific implementation, the sensor module sets a collection period, collects information of the robot part according to the set collection period, and converts information data from analog quantity to digital quantity to obtain state data.
The sensor module comprises a temperature sensor, a vibration sensor and a rotating speed sensor;
furthermore, the temperature sensors are arranged on an alternating current servo motor of the robot and record the temperature change of the alternating current servo motor during working, only 1 temperature sensor is needed to be arranged, and the temperature sensors are close to the alternating current servo motor as much as possible during installation so as to avoid inaccurate temperature detection caused by overlarge distance;
the vibration sensors are arranged on the mechanical arm of the robot, the vibration condition of the mechanical arm during working is recorded, and special attention needs to be paid to the fact that the mechanical arm is a three-axis mechanical arm, so that three vibration sensors are needed to detect three axes simultaneously, and when the mechanical arm is installed, the mechanical arm cannot collide with the vibration sensors when moving to the limit state;
the revolution speed sensor is arranged on a rotary platform of the robot, records the revolution speed of the rotary platform during working, and needs to be noticed when being installed, because the revolution speed sensor obtains revolution speed information by depending on signals received by the reflective patches, the revolution speed sensor is installed by avoiding the environment with light rays changing violently in a short time, and the revolution speed sensor only needs to be installed by 1.
The state data comprises temperature values of different parts of the robot, vibration signals and motor rotating speed.
The data transmission module is used for packaging the data acquired by the sensor module and transmitting the data to the data management module;
and the data transmission module packages the data acquired by the sensor module into JSON files and transmits the JSON files to the designated path of the data management module through a gigabit network, and the data management module extracts new files for analysis after detecting that the new files appear in the designated path.
Furthermore, the sensor module is connected with the data transmission module through a gigabit network port.
The data management module is used for analyzing and storing the received data;
and the data management module receives and analyzes the JSON file, operates three state data of a temperature value, a vibration signal value and a motor rotating speed value respectively during analysis, extracts initial corresponding information from the JSON file according to the three state data, and stores the initial corresponding information into the MySQL database.
The reason for selecting MySQL is that besides the high running speed of MySQL, various development platforms such as Linux, Windows and the like are supported, and in the future, data can be called when cross-platform calling is needed.
The data analysis module is connected with the data management module and used for calling data in the data management module in real time to analyze the state of the robot and judging whether to give an early warning signal according to the current state of the robot.
The data analysis module is interconnected with the MySQL database, whether the database is updated or not is judged through the trigger, and when the MySQL database is updated, the data analysis module extracts corresponding data according to id passing through a temperature value, a vibration signal value and a motor rotating speed value to analyze, and the method comprises the following steps:
1) analyzing the temperature value of the robot part, if the temperature value is not in the specified range, alarming the abnormal temperature, if the temperature value is in the specified range, further judging the speed of the temperature rise, wherein the speed of the temperature rise is specifically determined as follows:
and extracting the temperature value of the current time and the temperature value received last time, and dividing the difference between the two temperature values by the interval time of two temperature measurements to obtain the speed of temperature rise, wherein if the speed of temperature rise is greater than a threshold value, an alarm about the too fast temperature rise is given, and the alarm needs to be monitored in advance.
Meanwhile, a moving average method is used as a data smoothing mode to predict the possible future temperature, if the predicted temperature trend is abnormal, the temperature can be monitored in advance, and the calculation formula of the moving average method is as follows:
therefore, when the temperature value fluctuates, a prediction model is established by using a moving average method, and the prediction model is as follows:
2) And analyzing the vibration signal value of the robot part, judging that the robot normally operates if the vibration amplitude fluctuates in a specified range, and otherwise, giving an alarm when abnormal vibration occurs.
3) Analyzing the rotating speed value of the robot motor, wherein the rotating speed value of the motor is analyzed and judged in two different stages, and the specific judgment is as follows:
when the motor is in a starting acceleration state, judging the rotational acceleration of the motor, extracting the rotational speed value of the current time and the rotational speed value received last time, dividing the difference between the two rotational speed values by the interval time of two rotational speed measurements to obtain a rotational acceleration value, and if the rotational acceleration value is greater than a threshold value, early warning the rotational acceleration value;
when the motor is in a stable operation state, the rotating speed value of the motor is monitored, if the rotating speed value of the motor fluctuates in a specified range, the motor is judged to normally operate, and otherwise, abnormal rotating speed alarm is given.
And meanwhile, predicting the possible future motor rotating speed by using a moving average method, and monitoring the predicted motor rotating speed in advance if the trend of the predicted motor rotating speed is abnormal, wherein the calculation formulas are shown as a formula (1) and a formula (2).
The state evaluation method of the switch cabinet acceptance robot based on the state evaluation system of the switch cabinet acceptance robot comprises the following steps:
the method comprises the following steps: after the switch cabinet acceptance robot is started, the corresponding sensor module starts to monitor each part of the robot;
further, whether each sensor module normally operates is checked, the robot can be started up and started up after the sensor modules normally operate, and the checking means is as follows: and checking whether each sensor transmits data back according to a set acquisition cycle by calling the data of the database.
While the sensor data should remain unchanged when the robot is not started.
Step two: the sensor module collects robot state data according to a collection period, converts the robot state data into a JSON format file through the data transmission module and transmits the JSON format file to the data management module;
step three: the data management module analyzes the JSON file, extracts state data of the robot from the JSON file, and stores the state data and the time for acquiring the data into a mysql database correspondingly;
step four: when the mysql database is updated, a switch cabinet acceptance robot state evaluation system evaluation function is triggered, and the data analysis module extracts temperature, vibration signals and motor rotating speed from the mysql database and carries out state evaluation respectively, wherein the state evaluation comprises temperature data analysis, vibration data analysis and motor rotating speed analysis;
the temperature analysis comprises the steps of evaluating whether the current temperature value exceeds a standard range or not and evaluating whether the temperature rise speed exceeds a specified value or not;
the analysis of the vibration signal comprises assessing whether the vibration amplitude exceeds a specified value;
the analysis of the motor rotating speed comprises the steps of evaluating whether the motor acceleration exceeds a standard range when the motor is started and accelerated and whether the motor rotating speed exceeds a specified value when the motor stably runs;
in specific implementation, temperature data analysis, vibration data analysis and motor rotating speed analysis are simultaneously carried out through multiple threads.
Step five: when any state evaluation of the robot does not meet the requirements, an alarm corresponding to the signal is sent out, and the time when the numerical value is abnormal and the corresponding numerical value abnormal value are recorded in the mysql database, so that the robot can be called and checked later.
The invention utilizes the Internet of things and digital management technology to realize real-time and comprehensive monitoring of the state of the robot, and can give an alarm in time when a fault of the robot is found and process and solve the abnormity in time. The real-time performance and the non-blind area performance of monitoring promote the control of the state of the robot by field workers to be more careful and accurate, the real-time interaction between the workers and the robot and the system is realized, and the working reliability of the robot is greatly improved.
The present applicant has described and illustrated embodiments of the present invention in detail with reference to the accompanying drawings, but it should be understood by those skilled in the art that the above embodiments are merely preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not for limiting the scope of the present invention, and on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the scope of the present invention.
Claims (10)
1. The utility model provides a cubical switchboard acceptance robot state evaluation system, includes sensor module, data transmission module, data management module and data analysis module, its characterized in that:
the sensor module is arranged on the switch cabinet acceptance robot and used for acquiring working state data of the robot in real time;
the data transmission module is used for packaging the data acquired by the sensor module and transmitting the data to the data management module;
the data management module is used for analyzing and storing the received data;
and the data analysis module is used for calling data in the data management module in real time to analyze the state of the robot and judging whether to give an early warning signal according to the current state of the robot.
2. The switch cabinet acceptance robot state evaluation system according to claim 1, wherein:
setting an acquisition cycle in the sensor module, and acquiring information of the robot part according to the set acquisition cycle to obtain state data;
the sensor module comprises a temperature sensor, a vibration sensor and a rotating speed sensor;
the temperature sensor is arranged on an alternating current servo motor of the robot and records the temperature change of the alternating current servo motor during working;
the vibration sensor is arranged on a mechanical arm of the robot and records the vibration condition of the mechanical arm during working;
the rotating speed sensor is arranged on a rotating platform of the robot and records the rotating speed of the rotating platform during working;
the state data comprise robot temperature values, vibration signals and motor rotating speeds acquired by the sensor module.
3. The switch cabinet acceptance robot state evaluation system according to claim 1, wherein:
and the data transmission module packages the data acquired by the sensor module into JSON files and transmits the JSON files to the designated path of the data management module through a gigabit network, and the data management module extracts new files for analysis after detecting that the new files appear in the designated path.
4. The switch cabinet acceptance robot state evaluation system according to claim 3, wherein:
and the data management module receives the JSON file and analyzes the state data, extracts the primarily corresponding information from the JSON file according to the state data, and stores the primarily corresponding information into the MySQL database.
5. The switch cabinet acceptance robot state evaluation system according to claim 4, wherein:
the data analysis module is connected with the MySQL database, whether the database is updated or not is judged through the trigger, and when the MySQL database is updated, the data analysis module extracts corresponding data to analyze according to the id passing through the temperature value, the vibration signal value and the motor rotating speed value.
6. The switch cabinet acceptance robot state evaluation system according to claim 1, wherein:
in the data analysis module, the temperature value of the robot component is analyzed, if the temperature value is not in a specified range, abnormal temperature alarm is performed, if the temperature value is in the specified range, the speed of temperature rise is further judged, and the speed of temperature rise is specifically judged as follows:
extracting the temperature value of the current time and the temperature value received last time, and dividing the difference between the two temperature values by the interval time of two temperature measurements to obtain the speed of temperature rise, if the speed of temperature rise is greater than a threshold value, alarming that the temperature rises too fast is carried out, and the temperature rise needs to be monitored in advance;
meanwhile, the possible future temperature is predicted by using a moving average method, if the predicted temperature trend is abnormal, the predicted temperature trend is monitored in advance, specifically:
the moving average method has the formula:
when the temperature value fluctuates, a prediction model is established by using a moving average method, wherein the prediction model is as follows:
7. The switch cabinet acceptance robot state evaluation system according to claim 1, wherein:
and in the data analysis module, analyzing the vibration signal value of the robot component, judging that the robot normally operates if the vibration amplitude fluctuates in a specified range, and otherwise, giving an abnormal vibration alarm.
8. The switch cabinet acceptance robot state evaluation system according to claim 1, wherein:
in the data analysis module, the motor rotating speed value of the robot is analyzed and judged in two different stages, and the specific judgment is as follows:
when the motor is in a starting acceleration state, judging the rotational acceleration of the motor, extracting the rotational speed value of the current time and the rotational speed value received last time, dividing the difference between the two rotational speed values by the interval time of two rotational speed measurements to obtain a rotational acceleration value, and if the rotational acceleration value is greater than a threshold value, early warning the rotational acceleration value;
when the motor is in a stable operation state, monitoring the rotating speed value of the motor, if the rotating speed value of the motor fluctuates in a specified range, judging that the motor normally operates, and otherwise, giving an abnormal rotating speed alarm;
and meanwhile, the possible future motor rotating speed is predicted by using a moving average method, and if the trend of the predicted motor rotating speed is abnormal, the motor rotating speed is monitored in advance.
9. A state evaluation method of a switch cabinet acceptance robot based on the state evaluation system of the switch cabinet acceptance robot according to any one of claims 1 to 8, characterized in that:
the method comprises the following steps:
the method comprises the following steps: after the switch cabinet acceptance robot is started, the corresponding sensor module starts to monitor each part of the robot;
step two: the sensor module collects robot state data according to a collection period, converts the robot state data into a JSON format file through the data transmission module and transmits the JSON format file to the data management module;
step three: the data management module analyzes the JSON file, extracts state data of the robot from the JSON file, and stores the state data and the time for acquiring the data into a mysql database correspondingly;
step four: when the mysql database is updated, a switch cabinet acceptance robot state evaluation system evaluation function is triggered, and the data analysis module extracts temperature, vibration signals and motor rotating speed from the mysql database and carries out state evaluation respectively, wherein the state evaluation comprises temperature data analysis, vibration data analysis and motor rotating speed analysis;
the temperature analysis comprises the steps of evaluating whether the current temperature value exceeds a standard range or not and evaluating whether the temperature rise speed exceeds a specified value or not;
the analysis of the vibration signal comprises assessing whether the vibration amplitude exceeds a specified value;
the analysis of the motor rotating speed comprises the steps of evaluating whether the motor acceleration exceeds a standard range when the motor is started and accelerated and whether the motor rotating speed exceeds a specified value when the motor stably runs;
step five: when any state evaluation of the robot does not meet the requirements, an alarm corresponding to the signal is sent out, and the time when the numerical value is abnormal and the corresponding numerical value abnormal value are recorded in the mysql database, so that the robot can be called and checked later.
10. The method for evaluating the state of the switch cabinet acceptance robot according to claim 9, wherein the method comprises the following steps:
in the fourth step, the data analysis module analyzes the temperature data, the vibration data and the motor rotating speed simultaneously through multiple threads.
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| CN116070962A (en) * | 2023-03-06 | 2023-05-05 | 泰安鲁怡高分子材料有限公司 | Big data-based operation feasibility assessment system for aging test box |
| CN116070962B (en) * | 2023-03-06 | 2023-06-30 | 泰安鲁怡高分子材料有限公司 | Big data-based operation feasibility assessment system for aging test box |
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