CN117124333A - Enterprise equipment monitoring management system based on Internet of things - Google Patents
Enterprise equipment monitoring management system based on Internet of things Download PDFInfo
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- CN117124333A CN117124333A CN202311363579.3A CN202311363579A CN117124333A CN 117124333 A CN117124333 A CN 117124333A CN 202311363579 A CN202311363579 A CN 202311363579A CN 117124333 A CN117124333 A CN 117124333A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of equipment monitoring, in particular to an enterprise equipment monitoring management system based on the Internet of things.
Description
Technical Field
The invention relates to the technical field of equipment monitoring, in particular to an enterprise equipment monitoring management system based on the Internet of things.
Background
Along with the development of science and technology, the internet of things technology becomes more popular and reliable, and the introduction of the internet of things technology realizes automatic monitoring and data collection of enterprise equipment, so that the accuracy and the instantaneity of monitoring are greatly improved, a better equipment management means is provided for enterprises, and the equipment monitoring is more intelligent, efficient and safe.
Chinese patent publication No.: the invention discloses an enterprise equipment efficient management system which comprises an equipment management system, user terminals and an administrator terminal, wherein the equipment management system, the user terminals and the administrator terminal are connected with a remote cloud platform, the user terminals are provided for common users to use, the administrator terminal is provided for the administrator to use, the equipment management system comprises an equipment archive module, an equipment positioning module and an equipment monitoring module, and the users and the administrator view basic information of equipment through the equipment archive module.
However, the prior art has the following problems:
in the prior art, the offset monitoring is carried out on the mechanical arm equipment often in a coordinate comparison mode, however, after the mechanical arm is not considered to grasp an object and move, the mechanical arm can generate disturbance at the tail end of a track due to inertia factors so as to influence an offset monitoring result, and the monitoring precision is not high.
Disclosure of Invention
Therefore, the invention provides an enterprise equipment monitoring management system based on the Internet of things, which is used for solving the problems that after an object is grabbed and moved by a mechanical arm in the prior art, the mechanical arm generates disturbance at the tail end of a track due to inertia factors, so that an offset monitoring result is influenced, and the monitoring precision is low.
In order to achieve the above object, the present invention provides an enterprise equipment monitoring and management system based on internet of things, which comprises:
the acquisition module comprises a speed acquisition unit, a gravity acquisition unit and an image acquisition unit, wherein the speed acquisition unit is arranged on the mechanical arm and used for acquiring the moving speed of the end node of the mechanical arm, the gravity acquisition unit is used for acquiring the grabbing object gravity value of the mechanical arm, and the image acquisition unit is arranged on one side of the mechanical arm and used for acquiring the actual running track of the end node of the mechanical arm;
the data processing module is connected with the acquisition module and the sample storage module and comprises an analysis unit and an operation unit which are connected with each other;
the analysis unit is used for calculating inertia characterization parameters based on the gravity value of the grabber and the moving speed of the end node, and correspondingly determining whether the mechanical arm meets a preset running state or not;
the operation unit is used for calculating the deviation amount of the actual running track and the pre-stored standard running track and comparing the deviation amount with a deviation amount comparison threshold value when the mechanical arm meets a preset running state so as to judge whether the mechanical arm has deviation or not;
the operation unit is used for determining a characteristic track section in the actual running track based on basic parameters of the actual running track when the mechanical arm does not meet the preset running state, and comparing the characteristic track section with a pre-constructed offset area to judge whether the mechanical arm is offset or not;
the non-characteristic track section is compared with the standard running track to obtain deviation, and the deviation is compared with an adjusted deviation comparison threshold to judge whether the mechanical arm is deviated or not;
the basic parameters comprise the form of the moving track section and the moving speed of the tail end node of the mechanical arm in the corresponding moving track section, and the range of the offset area is determined based on the inertia characterization parameters.
Further, the process of calculating the inertia characterization parameter by the analysis unit based on the gripper gravity value and the end node movement speed includes,
the analysis unit calculates an inertia characterization parameter In according to equation (1),
(1)
in the formula (1), G represents a grabber gravity value, G0 represents a preset gravity comparison parameter, V represents a moving speed of the end node of the mechanical arm, and V0 represents a preset speed comparison parameter.
Further, the process of determining whether the mechanical arm meets a preset running state based on the inertia characterization parameter by the analysis unit comprises,
the analysis unit compares the inertia characterization parameter with a preset first inertia comparison threshold value,
under a first inertia comparison result, the analysis unit determines that the mechanical arm meets a preset running state;
under a second inertia comparison result, the analysis unit determines that the mechanical arm does not meet a preset running state;
the first inertia comparison result is that the inertia characterization parameter is smaller than the first inertia comparison threshold value, and the second inertia comparison result is that the inertia characterization parameter is larger than or equal to the first inertia comparison threshold value.
Further, the process of calculating the deviation amount of the actual running track from the pre-stored standard running track by the operation unit comprises,
the operation unit determines an actual three-dimensional coordinate of the actual running track, and determines a standard three-dimensional coordinate of the standard running track, compares the actual three-dimensional coordinate with the standard three-dimensional coordinate one by one, calculates a deviation amount P according to a formula (2),
(2)
in the formula (2), X i X-axis coordinate value representing the ith actual three-dimensional coordinate, X i ' X-axis coordinate value representing the ith standard three-dimensional coordinate, Y i Y-axis coordinate value representing the ith actual three-dimensional coordinate, Y i ' Y-axis coordinate value, Z representing the ith standard three-dimensional coordinate i X-axis coordinate value, Z representing the ith actual three-dimensional coordinate i ' represents an X-axis coordinate value of an ith standard three-dimensional coordinate, i represents an integer greater than 0, and n represents the number of coordinates in the actual three-dimensional coordinate or standard three-dimensional coordinate.
Further, the operation unit judges whether the mechanical arm has offset or not based on the comparison result of the deviation amount and the deviation amount comparison threshold value comprises,
under a first deviation comparison condition, the operation unit judges that the mechanical arm has deviation;
the first deviation comparison condition is that the deviation value is larger than or equal to the deviation value comparison threshold value.
Further, the process of determining the characteristic track segment in the actual running track by the operation unit based on the basic parameters of the actual running track comprises,
the operation unit divides the moving track into a plurality of moving track sections, determines the form of the moving track sections, determines the moving speed of the tail end node of the mechanical arm in the moving track sections,
under the preset track judging condition, the operation unit determines the running track section as a characteristic track section;
the preset track judging condition comprises that the shape of the moving track section is a right angle, the moving speed of the tail end node of the mechanical arm in the moving track section is larger than a preset speed comparison threshold value,
or the form of the moving track section is arc-shaped, the maximum curvature of the arc-shaped section is larger than a preset curvature threshold value, and the moving speed of the tail end node of the mechanical arm in the moving track section is larger than a preset speed comparison threshold value.
Further, the arithmetic unit adjusts the radius of the offset region based on the inertia characterization parameter, and constructs an offset region, wherein,
a plurality of radius adjustment modes for adjusting the radius of the offset region based on the inertia characterization parameters are arranged in the operation unit, and the radius obtained by adjusting the radius adjustment modes is different;
and the offset area is a spherical area constructed according to the determined radius by taking the midpoint of the standard running track segment corresponding to the characteristic track segment as a reference.
Further, the operation unit judges whether the mechanical arm is offset based on the comparison result of the characteristic track segment and the pre-constructed offset region comprises,
under a preset comparison condition, the operation unit judges that the mechanical arm has offset;
the preset comparison condition is that the characteristic track segment intersects with the offset region.
Further, the process of adjusting the offset contrast threshold by the operation unit comprises,
the operation unit increases the offset value to a preset offset adjustment parameter compared with a threshold value.
Further, the operation unit judges whether the mechanical arm has offset or not based on the comparison result of the offset and the adjusted offset comparison threshold value comprises,
under a second deviation comparison condition, the operation unit judges that the mechanical arm has deviation;
the second deviation comparison condition is that the deviation is greater than or equal to an adjusted deviation comparison threshold.
Compared with the prior art, the invention has the advantages that the acquisition module and the data processing module are arranged, the acquisition module acquires the moving speed of the tail end node of the mechanical arm, the grabbing object gravity value of the mechanical arm and the actual running track of the tail end node of the mechanical arm, the data processing module is connected with the acquisition module and the sample storage module, and calculates the inertia characterization parameters based on the grabbing object gravity value and the moving speed of the tail end node to determine whether the mechanical arm meets the preset running state, and the mechanical arm is correspondingly judged whether to deviate or not under the condition that the mechanical arm meets the preset running state and does not meet the preset running state.
In particular, in the invention, the inertia characterization parameter is calculated based on the gravity value of the grabber and the moving speed of the end node of the mechanical arm, the gravity value of the grabber characterizes the inertia of the grabber by taking the gravity value of the grabber and the moving speed of the end node of the mechanical arm into consideration, in actual conditions, if the inertia of the grabber is larger, the moving state of the grabber is less prone to change, and if the moving speed of the end node of the mechanical arm is larger, the swing amplitude of the grabber when the end of the moving track stops is larger, the swing amplitude is prone to be misjudged as the moving track of the mechanical arm is offset, therefore, the invention can be used for datamation of the conditions through the inertia characterization parameter, is convenient for a data processing module to monitor, and the method of self-adaptively adjusting deviation is adopted, so that the equipment monitoring precision of the mechanical arm of an industrial enterprise is improved.
Particularly, in the invention, when the mechanical arm meets the preset running state, the deviation amount of the actual running track and the pre-stored standard running track is calculated and compared with the deviation amount comparison threshold value to judge whether the mechanical arm has deviation, the mechanical arm meets the preset running state, the inertia of the grabber of the mechanical arm is small, the grabber is easy to change the running state, and the moving speed of the end node of the mechanical arm is small, so that the swing amplitude of the grabber when the end of the running track stops is small, and therefore, the invention adopts a conventional running track comparison mode to reduce the data operation amount of a system and improve the monitoring efficiency of the deviation of the system.
In particular, in the invention, the characteristic track section in the actual running track is determined based on the basic parameters of the actual running track, in the actual situation, if the direction of the running track of the mechanical arm is changed, the form of the running track section is increased compared with the linear motion, and the mechanical arm is influenced by inertia when changing the direction of the running track, therefore, the running track section, namely the characteristic track section, of which the direction of the running track is changed can be determined based on the form of the running track section and the moving speed of the tail end node of the mechanical arm in the corresponding running track section, the subsequent corresponding processing of the characteristic track section is facilitated, the deviation judging effect of the mechanical arm is improved, and the monitoring precision of mechanical arm equipment of an industrial enterprise is improved.
In particular, in the invention, under the condition that the mechanical arm does not meet the preset running state, an offset area is constructed, the characteristic track section is compared with the offset area to judge whether the mechanical arm has offset, the range of the offset area is determined based on inertia characterization parameters, for a non-characteristic track section, the deviation amount of the non-characteristic track section and a standard running track is calculated, an offset comparison threshold value is adjusted, the deviation amount is compared with the adjusted deviation amount comparison threshold value to judge whether the mechanical arm has deviation, the mechanical arm does not meet the preset running state, the inertia of a grabber representing the mechanical arm is larger, and the moving speed of a terminal node of the mechanical arm is larger, so that the swing amplitude of the grabber when the terminal of the running track stops is larger, the running track of the mechanical arm is easier to be misjudged to deviate, and therefore, under the condition that the mechanical arm does not meet the preset running state, the deviation determination of the characteristic track section adopts a construction deviation area, if the characteristic track section is intersected with the deviation area, the mechanical arm is determined to have deviation, and the larger the inertia characterization parameter is, the larger the swing amplitude of the grabber when the tail end of the moving track stops is, so that the radius of the deviation area is larger, and for the non-characteristic track section, the swing amplitude of the grabber when the tail end of the non-moving track moves is smaller, a conventional moving track comparison mode is adopted, in addition, under the condition that the mechanical arm does not meet the preset moving state, the mechanical arm needs to overcome larger inertia force and resistance in the moving process of carrying the grabber, so that the moving track is easier to deviate, the deviation comparison threshold value is adaptively increased, and in combination, under the condition that the mechanical arm does not meet the preset moving state, the accuracy of deviation determination is reduced, erroneous judgment is prevented, and monitoring precision is improved.
Drawings
Fig. 1 is a schematic structural diagram of an enterprise equipment monitoring and management system based on the internet of things according to an embodiment of the invention;
FIG. 2 is a flowchart of a data processing module according to an embodiment of the present invention for determining whether a robot arm satisfies a preset operation state;
FIG. 3 is a logic flow diagram of a data processing module determining a characteristic trace segment according to an embodiment of the invention;
FIG. 4 is a flow chart of a data processing module for determining whether there is an offset in a characteristic trace segment according to an embodiment of the invention.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, fig. 2, fig. 3, and fig. 4, which are schematic structural diagrams of an enterprise equipment monitoring management system based on the internet of things, a decision flow chart for determining whether a mechanical arm meets a preset running state by a data processing module, a logic flow chart for determining a characteristic track segment by the data processing module, and a decision flow chart for determining whether an offset exists in the characteristic track segment by the data processing module according to an embodiment of the present invention, the enterprise equipment monitoring management system based on the internet of things includes:
the acquisition module comprises a speed acquisition unit, a gravity acquisition unit and an image acquisition unit, wherein the speed acquisition unit is arranged on the mechanical arm and used for acquiring the moving speed of the end node of the mechanical arm, the gravity acquisition unit is used for acquiring the grabbing object gravity value of the mechanical arm, and the image acquisition unit is arranged on one side of the mechanical arm and used for acquiring the actual running track of the end node of the mechanical arm;
the data processing module is connected with the acquisition module and the sample storage module and comprises an analysis unit and an operation unit which are connected with each other;
the analysis unit is used for calculating inertia characterization parameters based on the gravity value of the grabber and the moving speed of the end node, and correspondingly determining whether the mechanical arm meets a preset running state or not;
the operation unit is used for calculating the deviation amount of the actual running track and the pre-stored standard running track and comparing the deviation amount with a deviation amount comparison threshold value when the mechanical arm meets a preset running state so as to judge whether the mechanical arm has deviation or not;
the operation unit is used for determining a characteristic track section in the actual running track based on basic parameters of the actual running track when the mechanical arm does not meet the preset running state, and comparing the characteristic track section with a pre-constructed offset area to judge whether the mechanical arm is offset or not;
the non-characteristic track section is compared with the standard running track to obtain deviation, and the deviation is compared with an adjusted deviation comparison threshold to judge whether the mechanical arm is deviated or not;
the basic parameters comprise the form of the moving track section and the moving speed of the tail end node of the mechanical arm in the corresponding moving track section, and the range of the offset area is determined based on the inertia characterization parameters.
Specifically, the specific structures of the speed acquisition unit, the gravity acquisition unit and the image acquisition unit are not limited, the speed acquisition unit can be an inertial sensor for measuring the moving speed, the gravity acquisition unit can be a moment sensor arranged on a joint of the mechanical arm for deducing the weight of the object to be grabbed according to the moment of the joint, and the image acquisition unit can be a depth camera for conveniently acquiring the actual running track of the end node of the mechanical arm based on the depth image, which is the prior art and is not repeated herein.
In particular, the present invention is not limited to a specific form of the data processing module, and the data processing module may be formed of logic components or a combination of logic components, and the logic components include a field programmable part, a microprocessor, and a computer.
Specifically, the setting mode of the pre-stored standard running track is not limited, in this embodiment, the mechanical arm can be operated to perform teaching motion through the demonstrator or the manual controller in advance, the mechanical arm is driven to a desired position and gesture, then the moving track of the end node is recorded as the standard running track, and of course, preferably, the corresponding coordinates of the standard running track in the three-dimensional space coordinate system are synchronously recorded, so that subsequent analysis is facilitated.
Specifically, in the present embodiment, the deviation amount comparison threshold P0 is set in advance, where p0=lh×α, lh represents the length of the actual running track, α represents the deviation coefficient, and α is set within the interval [0.1cm,1cm ].
Specifically, in the invention, when the mechanical arm meets the preset running state, the deviation amount of the actual running track and the pre-stored standard running track is calculated and compared with the deviation amount comparison threshold value to judge whether the mechanical arm has deviation, the mechanical arm meets the preset running state, the inertia of the grabber of the mechanical arm is small, the grabber is easy to change the running state, and the moving speed of the end node of the mechanical arm is small, so that the swing amplitude of the grabber when the end of the running track stops is small.
In particular, the process of calculating the inertia characterization parameter by the analysis unit based on the gripper gravity value and the end node movement speed comprises,
the analysis unit calculates an inertia characterization parameter In according to equation (1),
(1)
in the formula (1), G represents a grabber gravity value, G0 represents a preset gravity comparison parameter, V represents a moving speed of the end node of the mechanical arm, and V0 represents a preset speed comparison parameter.
Specifically, in the present embodiment, the preset speed comparison parameter V0 is preset, and v0=0.5×vm is set so that Vm represents the maximum movement speed that the end node of the robot arm can reach.
The preset gravity comparison parameter G0 is obtained by pre-measurement, the mechanical arm is obtained to grasp different weights, the tail end node of the mechanical arm is enabled to linearly move by 40cm at 0.5Vm, the swing amplitude of the tail end of the mechanical arm after stopping moving is measured, the gravity value of the weight grasped by the mechanical arm when the swing amplitude is 0.5cm is obtained, and the gravity value is determined as the gravity comparison parameter.
Specifically, in the invention, the inertia characterization parameter is calculated based on the gravity value of the grabber and the moving speed of the end node of the mechanical arm, the gravity value of the grabber characterizes the inertia of the grabber by taking the gravity value of the grabber and the moving speed of the end node of the mechanical arm into consideration, in actual conditions, if the inertia of the grabber is larger, the moving state of the grabber is less prone to change, and if the moving speed of the end node of the mechanical arm is larger, the swing amplitude of the grabber when the end of the moving track stops is larger, the swing amplitude is prone to be misjudged as the moving track of the mechanical arm is offset, therefore, the invention can be used for datamation of the conditions through the inertia characterization parameter, is convenient for a data processing module to monitor, and the method of self-adaptively adjusting deviation is adopted, so that the equipment monitoring precision of the mechanical arm of an industrial enterprise is improved.
Specifically, referring to fig. 2, the process of determining whether the mechanical arm meets the preset running state based on the inertia characterization parameter by the analysis unit includes,
the analysis unit compares the inertial characterization parameter with a preset first inertial comparison threshold In1,
under a first inertia comparison result, the analysis unit determines that the mechanical arm meets a preset running state;
under a second inertia comparison result, the analysis unit determines that the mechanical arm does not meet a preset running state;
the first inertia comparison result is that the inertia characterization parameter is smaller than the first inertia comparison threshold value, and the second inertia comparison result is that the inertia characterization parameter is larger than or equal to the first inertia comparison threshold value.
Specifically, in1 is calculated based on the inertia characterization parameter In0 calculated by g=g0 and v=v0, and 0.4in0 < in1 < 0.6in0 is set In this embodiment.
Specifically, the process of calculating the deviation amount of the actual running track from the pre-stored standard running track by the operation unit includes,
the operation unit determines an actual three-dimensional coordinate of the actual running track, and determines a standard three-dimensional coordinate of the standard running track, compares the actual three-dimensional coordinate with the standard three-dimensional coordinate one by one, calculates a deviation amount P according to a formula (2),
(2)
in the formula (2), X i X-axis coordinate value representing the ith actual three-dimensional coordinate, X i ' X-axis coordinate value representing the ith standard three-dimensional coordinate, Y i Y-axis coordinate value representing the ith actual three-dimensional coordinate, Y i ' Y-axis coordinate value, Z representing the ith standard three-dimensional coordinate i X-axis coordinate value, Z representing the ith actual three-dimensional coordinate i ' represents an X-axis coordinate value of an ith standard three-dimensional coordinate, i represents an integer greater than 0, and n represents the number of coordinates in the actual three-dimensional coordinate or standard three-dimensional coordinate.
Specifically, the non-characteristic track segment is a part of the actual running track, so that the non-characteristic track segment is compared with the standard running track, and the method for obtaining the deviation amount can refer to the method for obtaining the deviation amount of the actual running track and the pre-stored standard running track, which is not described herein.
Specifically, the operation unit judges whether the mechanical arm is deviated or not based on the comparison result of the deviation amount and the deviation amount comparison threshold value comprises,
under a first deviation comparison condition, the operation unit judges that the mechanical arm has deviation;
the first deviation comparison condition is that the deviation value is larger than or equal to the deviation value comparison threshold value.
Specifically, as shown in fig. 3, the process of determining the characteristic track segment in the actual running track by the operation unit based on the basic parameters of the actual running track includes,
the operation unit divides the moving track into a plurality of moving track sections, determines the form of the moving track sections, determines the moving speed of the tail end node of the mechanical arm in the moving track sections,
under the preset track judging condition, the operation unit determines the running track section as a characteristic track section;
the preset track judging condition comprises that the shape of the moving track section is a right angle, the moving speed of the tail end node of the mechanical arm in the moving track section is larger than a preset speed comparison threshold value,
or the form of the moving track section is arc-shaped, the maximum curvature of the arc-shaped section is larger than a preset curvature threshold value, and the moving speed of the tail end node of the mechanical arm in the moving track section is larger than a preset speed comparison threshold value.
Specifically, in the present embodiment, the speed comparison threshold Ve0 is calculated based on V0, and 0.4V0 < Ve0 < 0.6V0 is set.
Specifically, the predetermined curvature threshold value is set within an interval [1/20cm,1/30cm ].
Specifically, in the invention, the characteristic track section in the actual running track is determined based on the basic parameters of the actual running track, in the actual situation, if the direction of the running track of the mechanical arm is changed, the form of the running track section is increased compared with the linear motion, and the mechanical arm is influenced by inertia when changing the direction of the running track, therefore, the running track section, namely the characteristic track section, of which the direction of the running track is changed can be determined based on the form of the running track section and the moving speed of the tail end node of the mechanical arm in the corresponding running track section, the subsequent corresponding processing of the characteristic track section is facilitated, the deviation judging effect of the mechanical arm is improved, and the monitoring precision of mechanical arm equipment of an industrial enterprise is improved.
Specifically, the arithmetic unit adjusts the radius of the offset region based on the inertia characterization parameter, and constructs an offset region in which,
a plurality of radius adjustment modes for adjusting the radius of the offset region based on the inertia characterization parameters are arranged in the operation unit, and the radius obtained by adjusting the radius adjustment modes is different;
and the offset area is a spherical area constructed according to the determined radius by taking the midpoint of the standard running track segment corresponding to the characteristic track segment as a reference.
For the standard running track section corresponding to the characteristic track section, the standard running track section is determined by time, and it should be understood by those skilled in the art that the mechanical arm acts based on the predetermined operation parameters, so the actions executed by the mechanical arm should be the same in theory in a plurality of time periods from the start of running to the end of running, therefore, in this embodiment, the time corresponding to the characteristic track section is determined by counting based on the start action, and likewise, the time corresponding to the characteristic track section is determined by counting based on the start time when the standard running track is generated, and the standard running track section formed in the time period, that is, the standard running track section corresponding to the characteristic track section is determined.
At least three radius adjustment modes are provided in this embodiment, wherein,
the operation unit compares the inertia characterization parameter In with a preset second inertia comparison threshold value In2 and a third inertia comparison threshold value In3, in1 is less than In2 and less than In3,
the first radius adjustment mode is that the arithmetic unit adjusts the radius of the offset area to a first radius value R1 according to a preset first radius adjustment parameter R1, and R1=r0+r1 is set;
the second radius adjustment mode is that the arithmetic unit adjusts the radius of the offset area to a second radius value R2 according to a preset second radius adjustment parameter R2, and R2=r0+r2 is set;
the third radius adjustment mode is that the arithmetic unit adjusts the radius of the offset area to a third radius value R3 according to a preset third radius adjustment parameter R3, and R3=r0+r3 is set;
the first radius adjustment mode needs to meet In more than or equal to In3, the second radius adjustment mode needs to meet In2 more than or equal to In less than or equal to In3, the third radius adjustment mode needs to meet In less than In2, R1 > R2 > R3, R1 > R2 > R3, R0 represents the initial radius of the offset region, R0 > 0.5re, and re represents the length of the standard running track section.
Specifically, in this embodiment, in2 and in3 are calculated based on in0, and in2=0.8in0 and in3=1.1in0 are set.
Specifically, in the present embodiment, r1, r2, and r3 are calculated based on r0, and 0.4r0 > r1 > 0.3r0 > r2 > 0.2r0 > r3 > 0.1r0 is set.
Specifically, in the invention, under the condition that the mechanical arm does not meet the preset running state, an offset area is constructed, the characteristic track section is compared with the offset area to judge whether the mechanical arm is offset or not, the range of the offset area is determined based on inertia characterization parameters, for the non-characteristic track section, the offset amount comparison threshold is adjusted, the offset amount is compared with the adjusted offset amount comparison threshold to judge whether the mechanical arm is offset or not, the mechanical arm does not meet the preset running state, the inertia of a grabbing object of the mechanical arm is larger, and the moving speed of a tail end node of the mechanical arm is larger, so that the swing amplitude of the grabbing object when the tail end of the running track stops is larger, the running track of the mechanical arm is more easily judged to be offset, therefore, under the condition that the mechanical arm does not meet the preset running state, the offset area is adopted, the offset judgment of the characteristic track section is adopted to judge that the mechanical arm is offset if the characteristic track section is intersected with the offset area, the larger inertia characterization parameters indicate that the swing amplitude of the grabbing object when the tail end of the running track stops is larger, the radius of the offset area is larger, the swing amplitude of the offset area is larger, the mechanical arm is also larger, the non-characteristic track is not met, the preset running track is still has the larger, the swing amplitude of the grabbing object when the mechanical arm is more than the preset running track is more stable, the swing amplitude is required to be more accurately compared, the mechanical arm is not to meet the preset running track, the swing amplitude is more than the condition is required to be more, and the condition is not to be met, and the condition is more stable, and the condition is not has the condition to be compared, and the condition to be in the condition that the condition to have the swing mode is in the condition to have the conventional running condition is lower and has the swing amplitude and has the condition and has the low running condition and has the performance and has the low compared condition and has the high condition and has the stability, erroneous judgment is prevented, and monitoring precision is improved.
Specifically, as shown in fig. 4, the operation unit determines whether the mechanical arm has an offset based on the comparison result of the characteristic track segment and the pre-constructed offset region, which includes,
under a preset comparison condition, the operation unit judges that the mechanical arm has offset;
the preset comparison condition is that the characteristic track segment intersects with the offset region.
Specifically, the process of adjusting the offset contrast threshold by the operation unit includes,
the operation unit increases the offset value to a preset offset adjustment parameter p compared with a threshold value.
Specifically, in this embodiment, P is calculated based on P0, and 0.1P0 < P < 0.3P0 is set.
Specifically, the operation unit judges whether the mechanical arm has offset based on the comparison result of the offset amount and the adjusted offset amount comparison threshold value comprises,
under a second deviation comparison condition, the operation unit judges that the mechanical arm has deviation;
the second deviation comparison condition is that the deviation is greater than or equal to an adjusted deviation comparison threshold.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
Claims (10)
1. An enterprise equipment monitoring management system based on thing networking, characterized by comprising:
the acquisition module comprises a speed acquisition unit, a gravity acquisition unit and an image acquisition unit, wherein the speed acquisition unit is arranged on the mechanical arm and used for acquiring the moving speed of the end node of the mechanical arm, the gravity acquisition unit is used for acquiring the grabbing object gravity value of the mechanical arm, and the image acquisition unit is arranged on one side of the mechanical arm and used for acquiring the actual running track of the end node of the mechanical arm;
the data processing module is connected with the acquisition module and the sample storage module and comprises an analysis unit and an operation unit which are connected with each other;
the analysis unit is used for calculating inertia characterization parameters based on the gravity value of the grabber and the moving speed of the end node, and correspondingly determining whether the mechanical arm meets a preset running state or not;
the operation unit is used for calculating the deviation amount of the actual running track and the pre-stored standard running track and comparing the deviation amount with a deviation amount comparison threshold value when the mechanical arm meets a preset running state so as to judge whether the mechanical arm has deviation or not;
the operation unit is used for determining a characteristic track section in the actual running track based on basic parameters of the actual running track when the mechanical arm does not meet the preset running state, and comparing the characteristic track section with a pre-constructed offset area to judge whether the mechanical arm is offset or not;
the non-characteristic track section is compared with the standard running track to obtain deviation, and the deviation is compared with an adjusted deviation comparison threshold to judge whether the mechanical arm is deviated or not;
the basic parameters comprise the form of the moving track section and the moving speed of the tail end node of the mechanical arm in the corresponding moving track section, and the range of the offset area is determined based on the inertia characterization parameters.
2. The enterprise equipment monitoring and management system based on the Internet of things as claimed in claim 1, wherein the process for calculating the inertia characterization parameters by the analysis unit based on the grab gravity value and the end node movement speed comprises,
the analysis unit calculates an inertia characterization parameter In according to equation (1),
(1)
in the formula (1), G represents a grabber gravity value, G0 represents a preset gravity comparison parameter, V represents a moving speed of the end node of the mechanical arm, and V0 represents a preset speed comparison parameter.
3. The enterprise equipment monitoring and management system based on the Internet of things as claimed in claim 1, wherein the process for determining whether the mechanical arm meets a preset operation state based on the inertia characterization parameters by the analysis unit comprises,
the analysis unit compares the inertia characterization parameter with a preset first inertia comparison threshold value,
under a first inertia comparison result, the analysis unit determines that the mechanical arm meets a preset running state;
under a second inertia comparison result, the analysis unit determines that the mechanical arm does not meet a preset running state;
the first inertia comparison result is that the inertia characterization parameter is smaller than the first inertia comparison threshold value, and the second inertia comparison result is that the inertia characterization parameter is larger than or equal to the first inertia comparison threshold value.
4. The enterprise equipment monitoring and management system based on the Internet of things as claimed in claim 1, wherein the process of calculating the deviation amount of the actual running track and the pre-stored standard running track by the operation unit comprises,
the operation unit determines an actual three-dimensional coordinate of the actual running track, and determines a standard three-dimensional coordinate of the standard running track, compares the actual three-dimensional coordinate with the standard three-dimensional coordinate one by one, calculates a deviation amount P according to a formula (2),
(2)
in the formula (2), X i X-axis coordinate value representing the ith actual three-dimensional coordinate, X i ' X-axis coordinate value representing the ith standard three-dimensional coordinate, Y i Y-axis coordinate value representing the ith actual three-dimensional coordinate, Y i ' Y-axis coordinate value, Z representing the ith standard three-dimensional coordinate i X-axis coordinate value, Z representing the ith actual three-dimensional coordinate i ' represents an X-axis coordinate value of an ith standard three-dimensional coordinate, i represents an integer greater than 0, and n represents the number of coordinates in the actual three-dimensional coordinate or standard three-dimensional coordinate.
5. The system for monitoring and managing enterprise equipment based on the internet of things as set forth in claim 1, wherein the operation unit determines whether the robot arm is shifted based on the comparison result of the deviation amount and the deviation amount comparison threshold value comprises,
under a first deviation comparison condition, the operation unit judges that the mechanical arm has deviation;
the first deviation comparison condition is that the deviation value is larger than or equal to the deviation value comparison threshold value.
6. The enterprise equipment monitoring and management system based on the Internet of things as claimed in claim 1, wherein the operation unit determines the characteristic track segments in the actual running track based on the basic parameters of the actual running track,
the operation unit divides the moving track into a plurality of moving track sections, determines the form of the moving track sections, determines the moving speed of the tail end node of the mechanical arm in the moving track sections,
under the preset track judging condition, the operation unit determines the running track section as a characteristic track section;
the preset track judging condition comprises that the shape of the moving track section is a right angle, the moving speed of the tail end node of the mechanical arm in the moving track section is larger than a preset speed comparison threshold value,
or the form of the moving track section is arc-shaped, the maximum curvature of the arc-shaped section is larger than a preset curvature threshold value, and the moving speed of the tail end node of the mechanical arm in the moving track section is larger than a preset speed comparison threshold value.
7. The enterprise equipment monitoring and management system based on the Internet of things as claimed in claim 1, wherein the operation unit adjusts the radius of the offset region based on the inertia characterization parameters and constructs an offset region, wherein,
a plurality of radius adjustment modes for adjusting the radius of the offset region based on the inertia characterization parameters are arranged in the operation unit, and the radius obtained by adjusting the radius adjustment modes is different;
and the offset area is a spherical area constructed according to the determined radius by taking the midpoint of the standard running track segment corresponding to the characteristic track segment as a reference.
8. The system according to claim 1, wherein the operation unit determines whether the mechanical arm is offset based on a result of comparing the characteristic track segment with a pre-constructed offset region,
under a preset comparison condition, the operation unit judges that the mechanical arm has offset;
the preset comparison condition is that the characteristic track segment intersects with the offset region.
9. The enterprise equipment monitoring and management system based on the Internet of things as claimed in claim 1, wherein the process for adjusting the offset versus threshold by the computing unit comprises,
the operation unit increases the offset value to a preset offset adjustment parameter compared with a threshold value.
10. The system of claim 1, wherein the determining whether the mechanical arm is biased based on the comparison of the deviation amount and the adjusted deviation amount comparison threshold comprises,
under a second deviation comparison condition, the operation unit judges that the mechanical arm has deviation;
the second deviation comparison condition is that the deviation is greater than or equal to an adjusted deviation comparison threshold.
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