CN117584157A - Circulation type guiding control system of industrial robot module - Google Patents
Circulation type guiding control system of industrial robot module Download PDFInfo
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- 230000002159 abnormal effect Effects 0.000 claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 50
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- 238000004519 manufacturing process Methods 0.000 claims description 17
- 238000012937 correction Methods 0.000 claims description 13
- 125000004122 cyclic group Chemical group 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 230000008447 perception Effects 0.000 claims description 4
- 238000012417 linear regression Methods 0.000 claims description 3
- 238000010606 normalization Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 description 17
- 238000011156 evaluation Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
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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
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- 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
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Abstract
The invention relates to the technical field of robot guiding control systems, and particularly discloses a circulating guiding control system of an industrial robot module, which comprises a comparison and analysis unit and a data analysis unit, wherein the comparison and analysis unit compares first displacement information with second displacement information and judges whether the first displacement information is credible or not according to a comparison result; the data analysis unit analyzes the first displacement information which is acquired by the first sensing module and is determined to be credible and the third displacement information which is acquired by the monitoring module, and acquires an analysis result, wherein the data analysis unit is in communication connection with the control module, and the analysis result comprises normal change and abnormal change of the industrial robot.
Description
Technical Field
The invention relates to the technical field of robot guiding control systems, in particular to a circulating guiding control system of an industrial robot module.
Background
Industrial robots are divided into a rail type and a trackless type, and the rail type robot can accurately grasp the position of the robot through a contact sensor so that the robot is always positioned at a proper processing position. The trackless robot senses the surrounding environment by means of a high-precision positioning system such as a laser radar, binocular shooting and the like, and performs image processing and object recognition by means of a computer vision or artificial intelligence technology so as to determine the position and the posture of the trackless robot. Among them, the laser radar is widely used because it has wide adaptability and is not affected by illumination.
Trackless robots have the advantage of being able to move in accordance with the field environment and still cannot be replaced in many industrial scenarios. However, the accuracy of the laser sensor is reduced or the performance of the motion control component in the robot is changed along with the increase of the service time of the laser sensor, so that the trackless robot cannot accurately reach the target position, and errors in industrial production are particularly caused on the modularized circularly working robot equipment, and if the errors are not found in time, production accidents are easily caused, so that the production schedule is disturbed, and certain economic loss is caused for enterprises.
At present, the trackless industrial robot is monitored by adopting special equipment to monitor precision, such as a Chinese patent with publication number of CN205449008U, which is fixed on a preset positioning reference device through a detection platform, the motion of a moving part of the robot drives a base frame, a positioning piece and a step detection column to move sequentially, the positioning precision of the robot is obtained by checking which step detection column can be inserted into a positioning hole, and the positioning precision of the whole detection platform of the robot is realized through a plurality of positioning holes.
In view of this, the invention provides a circulating type guiding control system of an industrial robot module, so as to solve the problem that the guiding control system of the existing industrial robot module lacks implementation of on-line monitoring and cannot alarm in time.
Disclosure of Invention
The invention aims to provide a circulating type guiding control system of an industrial robot module, which solves the following technical problems:
how to solve the problem that the existing guiding control system of the industrial robot module lacks implementation of on-line monitoring and can not give an alarm in time.
The aim of the invention can be achieved by the following technical scheme:
a cyclic steering control system for an industrial robot module, comprising:
the sensing module comprises a first sensing unit adopting a laser radar and a second sensing unit adopting binocular sensing, wherein the first sensing unit acquires first displacement information generated by movement of the industrial robot, the second sensing unit acquires second displacement information generated by movement of the industrial robot, and the sensing module is in communication connection with the analysis module;
the monitoring module is used for monitoring the motion state of the cyclic work of the industrial robot, dividing the movement track in one cycle into a plurality of movement routes according to the movement direction, and respectively acquiring the third displacement information of each movement route, and is in communication connection with the analysis module;
the analysis module comprises a comparison analysis unit and a data analysis unit, wherein the comparison analysis unit compares the first displacement information with the second displacement information and judges whether the first displacement information is credible or not according to a comparison result;
the data analysis unit analyzes the first displacement information which is obtained by the first perception module and is determined to be credible and the third displacement information which is obtained by the monitoring module through a plurality of moving routes divided in one cycle to obtain an analysis result, and the data analysis unit is in communication connection with the control module, wherein the analysis result comprises normal change and abnormal change of the industrial robot;
the control module controls the industrial robot to provide correction time for the robot before switching to another moving route in the production process according to the analysis result.
Through the technical scheme: the control detection is provided for the cyclic processing process of the industrial robot module, specifically, the movement of the industrial robot is monitored and mutually verified through three schemes, the abnormality of equipment for monitoring is found in time, whether the industrial robot is normally changed is judged through data analysis after the abnormality is found, if the abnormality is detected and the abnormality is judged to be normally changed, the correction time is provided for the robot before the robot is switched to another movement route, the maintenance can be carried out without stopping production immediately, that is, the production can be continued without winding a production plan, in addition, before the abnormality of the equipment is found, the error can be reported in advance before the abnormality does not occur if the analysis result is not abnormal, thereby carrying out early warning, and avoiding production accidents.
As a further technical scheme of the invention: the data analysis unit analyzes, and the process of obtaining the analysis result comprises the following steps:
comparing the first displacement information corresponding to each moving route with the third displacement information to obtain the operation coefficient of the industrial robot in a complete cycle;
if the operation coefficient is smaller than the preset safety value, the industrial robot is indicated to operate stably;
if the operation coefficient is larger than a preset safety value, indicating that the industrial robot operates abnormally;
and then, carrying out data analysis on the third displacement information of each moving route under the conditions of stable operation and abnormal operation, obtaining the state coefficient of the corresponding moving route, and judging the analysis result of the operation state of the industrial robot through the state coefficient.
As a further technical scheme of the invention: the process of obtaining the operation coefficient of the industrial robot in one complete cycle comprises the following steps:
by the formula:
，
，
obtaining operation coefficient corresponding to one-time circulation of industrial robotWherein->Is the number of moving direction types, wherein the moving direction types comprise straight walking in all directions and arc walking with different turning radiuses, +.>，/>Is the total number of a plurality of moving routes divided during one cycle of the industrial robot, +.>，/>Is based on the influence coefficient preset by different direction types, is constant, < >>Is a weight coefficient preset for the cumulative change of the moving speed of the moving distance change amount, +.>Is the first displacement information of the industrial robot at +.>Distance travelled by each travel route, +.>Is the industrial robot in the third displacement informationFirst->Distance travelled by each travel route, +.>Is the industrial robot in the third displacement information at the +.>Instantaneous movement speed in the individual movement routes with respect to time +.>Functional relation of->Is the first displacement information of the industrial robot at +.>Instantaneous movement speed in the individual movement routes with respect to time +.>Functional relation of->Is an industrial robot to complete->Use of the individual travel routes->Is->Component coefficients of the moving routes.
Through the technical scheme: the process of acquiring the operation coefficient corresponding to the one-time circulation of the industrial robot is provided, the operation coefficient is a digital index of the operation state of the industrial robot, specifically, the operation coefficient of the industrial robot in a complete circulation is acquired by comparing the first displacement information corresponding to each moving route with the third displacement information, namely, the operation coefficient of the complete circulation process is acquired in a sectional evaluation mode, and the sectional evaluation mode is based on the moving direction of the robot, so that the problem of mutual interference among various factors can be discharged as much as possible, and the accuracy of acquiring the digital index is improved.
As a further technical scheme of the invention: the process of obtaining the state coefficient of the corresponding moving route comprises the following steps:
acquiring within a preset detection time periodA complete industrial robot movement cycle process;
for each moving route, acquireThe difference value between the component coefficient generated by the current moving route and the component coefficient generated by the last moving route in the whole cycle process;
after a plurality of differences are obtained, carrying out mathematical statistics, and carrying out linear regression analysis to obtain the slope of a regression line;
fitting all points corresponding to the difference values on the coordinate system where the regression line is located, and obtaining the maximum value number and the minimum value number of the approximate function after fitting;
and then calculating and obtaining state coefficients of the corresponding moving routes based on the slopes of all regression lines and the maximum value quantity and the minimum value quantity of the approximation function.
As a further technical scheme of the invention: the process of calculating the state coefficient of the corresponding moving route includes the following steps:
，
，
acquiring a state coefficient of an ith moving route, wherein,is the difference coefficient, +.>Is about->The function of the normalization is performed such that,maximum number and minimum number of approximation functions, respectively, +.>Is the number of complete cycles, +.>Is the average value of the index interval between each maximum value and each minimum value after being ordered in time sequence,/>Is->Is preferably a look-up table function, < >>Is->Transformation function of>，/>Is->Slope of the regression line, +.>Is a standard slope preset according to the state of the current robot module.
As a further technical scheme of the invention: the process of judging the analysis result of the operation state of the industrial robot by the state coefficient includes:
state coefficient of the ith moving routeAnd a corresponding preset threshold value->Comparing;
if it isThe industrial robot on the current moving route is abnormally changed;
if it isThe industrial robot on the current moving route changes normally;
and then, counting the proportion value of the moving route of the abnormal operation of the robot to the total number of the moving routes, if the proportion value is not lower than the preset proportion, judging the normal change of the current industrial robot, otherwise, judging the abnormal change of the current industrial robot.
Through the technical scheme: the invention provides a process of acquiring the state coefficient of the corresponding moving route, in particular to a method for carrying out data analysis on the difference change of front and rear data in a plurality of circulating processes, thereby providing a data index of the state change of the industrial robot in the circulating process, facilitating the judgment of the change of the industrial robot in the circulating process and providing auxiliary data support for the control of the industrial robot.
As a further technical scheme of the invention: the process of comparing the sensing results of the first sensing unit and the second sensing unit comprises the following steps:
acquiring second displacement information under the condition that the second sensing unit accords with a preset condition, and comparing the second displacement information with the first displacement information;
if the comparison results are the same, judging that the first displacement information is credible;
if the comparison results are different, the first displacement information is judged to be unreliable.
As a further technical scheme of the invention: the correction time provided by the control module is obtained by looking up a table according to the direction type of the current moving route and the direction type of the next moving route, and the correction time is provided only under the condition that the industrial robot operates abnormally and changes normally in a complete cycle.
The invention has the beneficial effects that:
(1) According to the invention, the movement of the industrial robot is monitored and mutually verified through three schemes, the abnormality of the monitoring equipment is found in time, whether the industrial robot is normal or not is judged through data analysis after the abnormality is found, if the abnormality is detected and the abnormality is judged to be normal, the robot is provided with correction time before being switched to another movement route, the production is not required to be stopped immediately for maintenance, that is, the production can be continued without dry winding of a production plan, in addition, before the abnormality of the equipment is found, if the analysis result is not abnormal, the error is reported in advance before the abnormality is not found, so that the early warning is carried out, and the production accident is avoided.
(2) According to the invention, the operation coefficient of the industrial robot in a complete cycle is obtained by comparing the first displacement information and the third displacement information corresponding to each movement route, namely, the operation coefficient of the complete cycle process is obtained in a sectional evaluation mode, and the sectional evaluation mode is based on the movement direction of the robot, so that the problem of mutual interference among various factors can be discharged as much as possible, and the accuracy of digital index obtaining is improved.
(3) According to the invention, the difference change of front and rear data in a plurality of circulation processes is subjected to data analysis, so that the data index of the state change of the industrial robot in the circulation process is given, the change of the industrial robot in the circulation process is conveniently judged, and auxiliary data support is provided for the control of the industrial robot.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the overall module relationship of the present invention;
FIG. 2 is a flow chart of the data analysis unit operation of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, in one embodiment, a circulation type guidance control system of an industrial robot module is provided, including: the sensing module comprises a first sensing unit which adopts a laser radar and a second sensing unit which adopts binocular sensing, wherein the first sensing unit acquires first displacement information generated by movement of the industrial robot, the second sensing unit acquires second displacement information generated by movement of the industrial robot, the sensing module is in communication connection with the analysis module, the laser radar can provide high-precision three-dimensional point cloud data, the data can accurately describe surrounding environment, the surrounding environment comprises a processing table, processing equipment, workers, processed products and the like, the surrounding environment can be sensed by the industrial robot, the second sensing unit adopts a binocular vision system to sense and can be used as a supplementary detection means of the first sensing unit, and the first distance and the second distance are both sensing detection on the movement process of the industrial robot and are respectively obtained by different methods for the same process;
the monitoring module is used for monitoring the motion state of the cyclic work of the industrial robot, dividing the movement track in one cycle into a plurality of movement routes according to the movement direction, respectively obtaining third displacement information of each movement route, and is in communication connection with the analysis module, preferably, the monitoring module can detect the rotation angle of the wheels through an angle sensor, and obtains the length of the movement track by combining the radius of the wheels, wherein the movement information comprises the wheel movement distance, and the wheel movement distance is the length of the movement track of the moving wheel dots of the industrial robot after completing one movement instruction;
the analysis module comprises a comparison analysis unit and a data analysis unit, wherein the comparison analysis unit compares the first displacement information with the second displacement information and judges whether the first displacement information is credible or not according to a comparison result;
the data analysis unit analyzes the first displacement information which is obtained by the first perception module and is determined to be credible and the third displacement information which is obtained by the monitoring module through a plurality of moving routes divided in one cycle to obtain an analysis result, and the data analysis unit is in communication connection with the control module, wherein the analysis result comprises normal change and abnormal change of the industrial robot;
the control module controls the industrial robot to provide correction time for the robot before switching to another moving route in the production process according to the analysis result.
In this embodiment, control detection is provided for the cyclic processing process of the industrial robot module, specifically, the movement of the industrial robot is monitored and mutually verified through three schemes, the abnormality of the monitoring device is found timely, after the abnormality is found, whether the industrial robot is normal or not is judged through data analysis, if the abnormality is detected and judged to be normal, correction time is provided for the robot before the robot is switched to another movement route, maintenance can be carried out without stopping production immediately, that is, production can be continued without dry winding of a production plan, otherwise, before the abnormality of the device is found, if the analysis result is not abnormal, errors can be reported in advance before the abnormality does not occur, thereby carrying out early warning, and avoiding production accidents.
Referring to fig. 2, the data analysis unit performs analysis, and the process of obtaining an analysis result includes:
comparing the first displacement information corresponding to each moving route with the third displacement information to obtain the operation coefficient of the industrial robot in a complete cycle;
if the operation coefficient is smaller than the preset safety value, the industrial robot is indicated to operate stably;
if the operation coefficient is larger than a preset safety value, indicating that the industrial robot operates abnormally;
and then, carrying out data analysis on the third displacement information of each moving route under the conditions of stable operation and abnormal operation, obtaining the state coefficient of the corresponding moving route, and judging the analysis result of the operation state of the industrial robot through the state coefficient.
The process of obtaining the operation coefficient of the industrial robot in one complete cycle comprises the following steps:
by the formula:
，
，
obtaining operation coefficient corresponding to one-time circulation of industrial robotWherein->Is the number of moving direction types, wherein the moving direction types comprise straight walking in all directions and arc walking with different turning radiuses, +.>，/>Is the total number of a plurality of moving routes divided during one cycle of the industrial robot, +.>，/>Is based on the influence coefficient preset by different direction types, is constant, < >>The weight coefficient preset for the accumulated change of the moving speed of the moving distance change is obtained according to the experience of the equipmentData are selected and are added>Is the first displacement information of the industrial robot at +.>Distance travelled by each travel route, +.>Is the industrial robot in the third displacement information at the +.>Distance travelled by each travel route, +.>Is the industrial robot in the third displacement information at the +.>Instantaneous movement speed in the individual movement routes with respect to time +.>Functional relation of->Is the first displacement information of the industrial robot at +.>Instantaneous movement speed in the individual movement routes with respect to time +.>Functional relation of->Is an industrial robot to complete->Use of the individual travel routes->Is->The component coefficients of the moving paths are obviously obtained by extracting the speed and distance parameters from the first displacement information and the third displacement information.
Particularly, in this embodiment, the influence coefficient is monotonically set for each moving path, so that even coefficients corresponding to two processes in which directions are identical in one cycle process are different, and thus, the one cycle process is more finely divided, and the overall evaluation of the whole process is realized.
In this embodiment, a process of obtaining an operation coefficient corresponding to one cycle of the industrial robot is provided, where the operation coefficient is a digital index of an operation state of the industrial robot, specifically, the operation coefficient of the industrial robot in a complete cycle is obtained by comparing the first displacement information corresponding to each moving route with the third displacement information, that is, the operation coefficient of the complete cycle is obtained by means of segment evaluation, and the segment mode of segment evaluation is based on the moving direction of the robot, so that the problem of mutual interference among various factors can be discharged as much as possible, and the accuracy of obtaining the digital index is improved.
The process of obtaining the state coefficient of the corresponding moving route comprises the following steps:
acquiring within a preset detection time periodThe method comprises the steps that a complete industrial robot moves in a circulating process, and the end point of a preset detection duration needs to be as close to a current time point as possible;
for each moving route, acquireThe difference value between the component coefficient generated by the current moving route and the component coefficient generated by the last moving route in the whole cycle process;
taking multiple differences, and performing mathematical statistics to obtainBuilding a seat with values of abscissaStandard system, linear regression analysis is carried out, and the slope of the regression line is obtained;
fitting all points corresponding to the difference values on the coordinate system where the regression line is located, and obtaining the maximum value number and the minimum value number of the approximate function after fitting;
and then calculating and obtaining state coefficients of the corresponding moving routes based on the slopes of all regression lines and the maximum value quantity and the minimum value quantity of the approximation function.
The process of calculating the state coefficient of the corresponding moving route includes the following steps:
，
，
acquiring a state coefficient of an ith moving route, wherein,is the difference coefficient, +.>Is about->The function of the normalization is performed such that,maximum number and minimum number of approximation functions, respectively, +.>Is the number of complete cycles, +.>Is the average value of the index interval between each maximum value and each minimum value after being ordered in time sequence,/>Is->Is preferably a look-up table function, < >>Is->Is obtained by fitting according to empirical data, +.>，/>Is->The slope of the individual regression lines is such that,is a standard slope preset according to the state of the current robot module.
The process of judging the analysis result of the operation state of the industrial robot by the state coefficient includes:
state coefficient of the ith moving routeAnd a corresponding preset threshold value->Comparing;
if it isThe industrial robot on the current moving route is abnormally changed;
if it isThe industrial robot on the current moving route changes normally;
and then, counting the proportion value of the moving route of the abnormal operation of the robot to the total number of the moving routes, if the proportion value is not lower than the preset proportion, judging the normal change of the current industrial robot, otherwise, judging the abnormal change of the current industrial robot.
In the embodiment, a process of acquiring the state coefficient of the corresponding moving route is provided, specifically, the invention performs data analysis on the difference change of front and rear data in a plurality of circulating processes, thereby providing a data index of the state change of the industrial robot in the circulating process, facilitating the judgment of the change of the industrial robot in the circulating process and providing auxiliary data support for the control of the industrial robot.
The process of comparing the sensing results of the first sensing unit and the second sensing unit comprises the following steps:
acquiring second displacement information under the condition that the second sensing unit accords with preset conditions, comparing the second displacement information with the first displacement information, wherein the preset conditions are not the shooting conditions of the binocular-perceived cameras, the preset conditions can be environments with sufficient light and no shielding, and the comparison is the comparison among parameters of the same type, such as the moving distance of an industrial robot or the coordinates of the industrial robot respectively acquired by the first sensing unit and the second sensing unit under the same coordinate system;
if the comparison results are the same, judging that the first displacement information is credible;
if the comparison results are different, judging that the first displacement information is not credible, and correcting the first sensing unit in an unreliable state.
The correction time provided by the control module is obtained by looking up a table according to the direction type of the current moving route and the direction type of the next moving route, and the correction time is provided only under the condition that the industrial robot operates abnormally and changes normally in a complete cycle, and the position of the industrial robot is corrected by positioning through the first sensing module or the second sensing module and sending a new instruction in the correction time.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (8)
1. The utility model provides a circulation formula direction control system of industrial robot module, includes perception module, monitoring module, analysis module and control module, its characterized in that:
the sensing module comprises a first sensing unit adopting a laser radar and a second sensing unit adopting binocular sensing, wherein the first sensing unit acquires first displacement information generated by movement of the industrial robot, the second sensing unit acquires second displacement information generated by movement of the industrial robot, and the sensing module is in communication connection with the analysis module;
the monitoring module is used for monitoring the motion state of the cyclic work of the industrial robot, dividing the movement track in one cycle into a plurality of movement routes according to the movement direction, and respectively acquiring the third displacement information of each movement route, and is in communication connection with the analysis module;
the analysis module comprises a comparison analysis unit and a data analysis unit, wherein the comparison analysis unit compares the first displacement information with the second displacement information and judges whether the first displacement information is credible or not according to a comparison result;
the data analysis unit analyzes the first displacement information which is obtained by the first perception module and is determined to be credible and the third displacement information which is obtained by the monitoring module through a plurality of moving routes divided in one cycle to obtain an analysis result, and the data analysis unit is in communication connection with the control module, wherein the analysis result comprises normal change and abnormal change of the industrial robot;
the control module controls the industrial robot to provide correction time for the robot before switching to another moving route in the production process according to the analysis result.
2. The cyclic steering control system of an industrial robot module according to claim 1, wherein the data analysis unit performs analysis, and the process of obtaining the analysis result includes:
comparing the first displacement information corresponding to each moving route with the third displacement information to obtain the operation coefficient of the industrial robot in a complete cycle;
if the operation coefficient is smaller than the preset safety value, the industrial robot is indicated to operate stably;
if the operation coefficient is larger than a preset safety value, indicating that the industrial robot operates abnormally;
and then, carrying out data analysis on the third displacement information of each moving route under the conditions of stable operation and abnormal operation, obtaining the state coefficient of the corresponding moving route, and judging the analysis result of the operation state of the industrial robot through the state coefficient.
3. The cyclic steering control system of an industrial robot module of claim 2, wherein the process of obtaining the operating coefficients of the industrial robot in a complete cycle comprises:
by the formula:
，
，
obtaining operation coefficient corresponding to one-time circulation of industrial robotWherein->Is the number of movement direction types, +.>，/>Is the total number of a plurality of moving routes divided during one cycle of the industrial robot, +.>，/>Is based on the influence coefficient preset by different direction types, < >>Is a weight coefficient preset for the accumulated change of the moving speed of the moving distance change,is the first displacement information of the industrial robot at +.>Distance travelled by each travel route, +.>Is the industrial robot in the third displacement information at the +.>Distance travelled by each travel route, +.>Is the industrial robot in the third displacement information at the +.>Instantaneous movement speed in the individual movement routes with respect to time +.>Functional relation of->Is the first displacement information of the industrial robot at +.>Instantaneous movement speed in the individual movement routes with respect to time +.>Functional relation of->Is an industrial robot to complete->Use of the individual travel routes->Is->Component coefficients of the moving routes.
4. The cyclic steering control system of an industrial robot module according to claim 2, wherein the process of acquiring the state coefficients of the corresponding moving paths comprises:
acquiring within a preset detection time periodA complete industrial robot movement cycle process;
for each moving route, acquireThe difference value between the component coefficient generated by the current moving route and the component coefficient generated by the last moving route in the whole cycle process;
after a plurality of differences are obtained, carrying out mathematical statistics, and carrying out linear regression analysis to obtain the slope of a regression line;
fitting all points corresponding to the difference values on the coordinate system where the regression line is located, and obtaining the maximum value number and the minimum value number of the approximate function after fitting;
and then calculating and obtaining state coefficients of the corresponding moving routes based on the slopes of all regression lines and the maximum value quantity and the minimum value quantity of the approximation function.
5. The cyclic steering control system of an industrial robot module according to claim 4, wherein the process of calculating the state coefficient of the corresponding moving path comprises the steps of:
，
，
acquiring a state coefficient of an ith moving route, wherein,is the difference coefficient, +.>Is about->The function of the normalization is performed such that,maximum number and minimum number of approximation functions, respectively, +.>Is the number of complete cycles, +.>Is the average value of the index interval between each maximum value and each minimum value after being ordered in time sequence,/>Is->Transformation function of>Is->Transformation function of>，/>Is->Slope of the regression line, +.>Is a standard slope preset according to the state of the current robot module.
6. The cyclic steering control system of an industrial robot module according to claim 2, wherein the process of judging the analysis result of the operation state of the industrial robot by the state coefficient comprises:
state coefficient of the ith moving routeAnd a corresponding preset threshold value->Comparing;
if it isThe industrial robot on the current moving route is abnormally changed;
if it isThe industrial robot on the current moving route changes normally;
and then, counting the proportion value of the moving route of the abnormal operation of the robot to the total number of the moving routes, if the proportion value is not lower than the preset proportion, judging the normal change of the current industrial robot, otherwise, judging the abnormal change of the current industrial robot.
7. The cyclic steering control system of an industrial robot module of claim 1, wherein the process of comparing the sensing results of the first sensing unit and the second sensing unit comprises:
acquiring second displacement information under the condition that the second sensing unit accords with a preset condition, and comparing the second displacement information with the first displacement information;
if the comparison results are the same, judging that the first displacement information is credible;
if the comparison results are different, the first displacement information is judged to be unreliable.
8. The cyclic steering control system of claim 1, wherein the correction time provided by the control module is obtained by looking up a table according to the direction type of the current moving path and the direction type of the next moving path, and the correction time is provided only in the case that the industrial robot is abnormally operated and normally changed in a complete cycle.
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