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@@21小跑堂再次审核 @@21小跑堂 [color=rgba(0, 0, 0, 0.9)]近年来，国家在人形机器人领域投入了大量资源，推动了宇树、智元和小米等企业的快速发展。当前研究重点主要集中在强化学习、人工智能算法和电驱电控技术等核心领域。强化学习通过模拟和优化，使人形机器人能够自主适应复杂环境；人工智能算法则提升了机器人的感知、决策和执行能力；电驱电控技术则通过高精度电机和先进控制策略，实现了机器人动作的流畅性和稳定性。这些技术的突破，支撑人形机器人完成跑步、爬楼梯、跳舞等复杂动作，显著提高了其泛化能力和应用范围。未来，随着技术的不断成熟，人形机器人将在工业生产、医疗护理、家庭服务等领域逐步替代人力，推动社会生产力的提升和智能化转型。
随着人形机器人出货量逐渐提升，使得智能运维的重要性越来越高。因此，团队花费时间进行技术探索，采用振动传感器监测人形机器人关节的运行状态，通过智能算法建立关节轴承的性能退化过程，最终结合云-边-端技术实现人形机器人的智能运维，避免突发性故障引起的安全问题。
实施方案
[color=rgba(0, 0, 0, 0.9)]该项目通过高精度振动传感器实时采集机器人工作过程中的振动信号，结合先进的智能算法，实现了对机器人关节故障的精准预警和感知。传感器采用 MEMS 技术，具备高灵敏度、宽频率响应范围和优异的抗干扰能力，能够捕捉细微的振动变化。采集到的振动数据通过边缘计算或云端平台进行实时分析，利用机器学习、深度学习等算法，识别异常振动模式，预测潜在故障。这种智能化的监测系统不仅提高了机器人运行的可靠性和安全性，还降低了维护成本，减少了意外停机时间，为工业自动化和智能制造提供了强有力的技术支持，详细内容有：
振动传感器
振动传感器作为一种关键的监测设备，广泛应用于煤矿、化工、冶金、发电等高危和复杂工业环境中。在煤矿行业中，振动传感器被用于监测井下电机和减速机的运行状态，预防设备故障引发安全事故。在化工领域，它实时监测离心机、空压机等设备的振动数据，确保生产线的稳定运行。冶金行业中，振动传感器用于跟踪风机、水泵等旋转设备的健康状况，减少停机时间，提高生产效率。发电厂则依赖振动传感器对发电机、涡轮机等关键设备进行温度和振动的在线测量，保障电力系统的安全可靠运行。通过实时监测和分析振动数据，振动传感器帮助实现设备预测性维护，降低运维成本，延长设备寿命，为工业生产的稳定性和安全性提供了重要保障，具体如图3所示：
[color=rgba(0, 0, 0, 0.9)]振动传感器的性能和工艺参数直接影响其测量精度和可靠性，主要包括灵敏度、频率响应范围、线性度和分辨率等。其中，高灵敏度能够捕捉微小振动，宽频率响应范围则适应不同设备的需求。工艺参数涉及传感器材料、封装技术和抗干扰能力，优质材料如压电陶瓷或 MEMS 技术可提升耐用性和稳定性，而良好的封装设计能抵御高温、潮湿和腐蚀等恶劣环境。此外，抗电磁干扰能力和信号输出方式（如模拟信号或数字信号）也是重要考量因素，确保传感器在复杂工业环境中稳定运行。这些参数共同决定了振动传感器的适用范围和长期可靠性。项目中选用的振动传感器参数为：
项目采用边缘网关，通过modbus协议获取振动传感器的数据，其中，Modbus 是一种广泛应用于工业自动化领域的通信协议，采用主从架构，支持串行（RTU/ASCII）和以太网（TCP/IP）通信模式，广泛应用于 PLC、传感器、执行器等设备之间的数据交换。功能码包含读取或写入线圈、输入寄存器和保持寄存器等数据，具体寄存器地址与内容的关系为：
采用边缘网关获取振动传感器信号，并通过transform_sensor_data进行数据预处理，后续配置MQTT服务器的三元组信息，将实时温度，速度和加速度数据上传到云服务器，具体代码如下所示：
- # MQTT 服务器信息
- broker = "ip" # MQTT 服务器地址
- port = 1883 # 默认 MQTT 端口
- clientid = "ClientId" # 替换为你的 clientid
- username = "UserName" # 替换为你的 username
- password = "05b61b97bb8fb1bb9d5433e223fea16223f9b78b;hmacsha1" # 替换为你的 password
- # 上行请求 Topic
- up_topic = "$thing/up/property/00x/vibration" # 替换为你的上行请求 Topic
- # 下行响应 Topic
- down_topic = "$thing/down/property/00x/vibration" # 替换为你的下行响应 Topic
- # 构造 payload
- def generate_payload():
- return {
- "method": "report",
- "msgToken": "123",
- "timestamp": int(time.time() * 1000), # 当前时间戳（毫秒）
- "params": {
- "tem": transform_sensor_data(sensor_vibration.read_register(registeraddress=0, functioncode=3)),
- "accx": transform_sensor_data(sensor_vibration.read_register(registeraddress=10, functioncode=3)),
- "accy": transform_sensor_data(sensor_vibration.read_register(registeraddress=11, functioncode=3)),
- "accz": transform_sensor_data(sensor_vibration.read_register(registeraddress=12, functioncode=3)),
- "vx": transform_sensor_data(sensor_vibration.read_register(registeraddress=1, functioncode=3)),
- "vy": transform_sensor_data(sensor_vibration.read_register(registeraddress=2, functioncode=3)),
- "vz": transform_sensor_data(sensor_vibration.read_register(registeraddress=3, functioncode=3))
- }
- }
- "{\n "properties": [\n {\n "identifier": "tem",\n "tag": 1,\n "name": "温度",\n "desc": "",\n "required": false,\n "extendConfig": "",\n "isCanSceneLinkage": 2,\n "isShareAuthPerm": 0,\n "funcGroup": 1,\n "controlMode": 1,\n "userPerm": 0,\n "isHistory": 1,\n "isPassword": 2,\n "order": 0,\n "mode": "rw",\n "define": {\n "type": "float",\n "min": "0.000",\n "max": "800.000",\n "start": "0.000",\n "step": "0.010",\n "unit": "℃"\n },\n "isUseShadow": false,\n "isNoRecord": false\n },\n {\n "identifier": "accx",\n "tag": 1,\n "name": "x加速度",\n "desc": "",\n "required": false,\n "extendConfig": "",\n "isCanSceneLinkage": 1,\n "isShareAuthPerm": 0,\n "funcGroup": 1,\n "controlMode": 1,\n "userPerm": 3,\n "isHistory": 1,\n "isPassword": 2,\n "order": 0,\n "mode": "rw",\n "define": {\n "type": "int",\n "min": "0",\n "max": "500",\n "start": "0",\n "step": "1"\n },\n "isUseShadow": false,\n "isNoRecord": false\n },\n {\n "identifier": "accy",\n "tag": 1,\n "name": "y加速度",\n "desc": "",\n "required": false,\n "extendConfig": "",\n "isCanSceneLinkage": 1,\n "isShareAuthPerm": 0,\n "funcGroup": 1,\n "controlMode": 1,\n "userPerm": 3,\n "isHistory": 1,\n "isPassword": 2,\n "order": 0,\n "mode": "rw",\n "define": {\n "type": "int",\n "min": "0",\n "max": "500",\n "start": "0",\n "step": "1"\n },\n "isUseShadow": false,\n "isNoRecord": false\n },\n {\n "identifier": "accz",\n "tag": 1,\n "name": "z加速度",\n "desc": "",\n "required": false,\n "extendConfig": "",\n "isCanSceneLinkage": 1,\n "isShareAuthPerm": 0,\n "funcGroup": 1,\n "controlMode": 1,\n "userPerm": 3,\n "isHistory": 1,\n "isPassword": 2,\n "order": 0,\n "mode": "rw",\n "define": {\n "type": "int",\n "min": "0",\n "max": "500",\n "start": "0",\n "step": "1"\n },\n "isUseShadow": false,\n "isNoRecord": false\n },\n {\n "identifier": "vx",\n "tag": 1,\n "name": "x速度",\n "desc": "",\n "required": false,\n "extendConfig": "",\n "isCanSceneLinkage": 1,\n "isShareAuthPerm": 0,\n "funcGroup": 1,\n "controlMode": 1,\n "userPerm": 3,\n "isHistory": 1,\n "isPassword": 2,\n "order": 0,\n "mode": "rw",\n "define": {\n "type": "int",\n "min": "0",\n "max": "500",\n "start": "0",\n "step": "1"\n },\n "isUseShadow": false,\n "isNoRecord": false\n },\n {\n "identifier": "vy",\n "tag": 1,\n "name": "y速度",\n "desc": "",\n "required": false,\n "extendConfig": "",\n "isCanSceneLinkage": 1,\n "isShareAuthPerm": 0,\n "funcGroup": 1,\n "controlMode": 1,\n "userPerm": 3,\n "isHistory": 1,\n "isPassword": 2,\n "order": 0,\n "mode": "rw",\n "define": {\n "type": "int",\n "min": "0",\n "max": "500",\n "start": "0",\n "step": "1"\n },\n "isUseShadow": false,\n "isNoRecord": false\n },\n {\n "identifier": "vz",\n "tag": 1,\n "name": "z速度",\n "desc": "",\n "required": false,\n "extendConfig": "",\n "isCanSceneLinkage": 1,\n "isShareAuthPerm": 0,\n "funcGroup": 1,\n "controlMode": 1,\n "userPerm": 3,\n "isHistory": 1,\n "isPassword": 2,\n "order": 0,\n "mode": "rw",\n "define": {\n "type": "int",\n "min": "0",\n "max": "500",\n "start": "0",\n "step": "1"\n },\n "isUseShadow": false,\n "isNoRecord": false\n }\n ],\n "profile": {\n "productID": "00x"\n }\n}"
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