A sorting and handling robot based on artificial intelligence and control method

Abstract

The present invention relates to the technical field of sorting and handling robot control, and discloses an artificial intelligence-based sorting and handling robot and a control method. The present invention collects process parameters of each stage in a handling process through an operating component parameter collection module, and then analyzes the collected parameters through a data analysis module to obtain a clamping unit state, a handling unit state and a clamping unit-handling unit associated state in the handling process, and comprehensively analyzes the state of the operating component. Then, the state of the operating component is evaluated through a state evaluation module to determine whether there is an abnormality in the operating component during the handling process, and the clamping unit state and the handling unit state are evaluated respectively, and the parameters are adjusted according to the evaluation results to ensure smooth handling.

Description

Technical Field

[0001] The present invention relates to the technical field of sorting and handling robot control, and in particular to an artificial intelligence-based sorting and handling robot and a control method thereof. Background Art

[0002] A sorting robot is a robot equipped with sensors, objective lenses and electronic optical systems that can quickly sort goods. Generally, it uses mechanical claws to clamp the goods, identifies the types of goods based on artificial intelligence, and then moves different goods to different conveyor belts.

[0003] At present, during the handling process of the sorting and handling robot, the parameter values ​​corresponding to the handling process are compared with the standard values. If they do not meet the standards, it is judged to be abnormal. This monitoring has a certain hysteresis, but in the actual handling process, it is generally divided into different stages, vertical ascent handling stage, vertical descent handling stage, horizontal left and right handling stage and horizontal front and back handling stage, etc. The standard values ​​corresponding to the parameters in each stage are different. Therefore, the present invention proposes a sorting and handling robot and a control method based on artificial intelligence, which monitor and compare each stage of the handling process, and adjust relevant parameters in time to ensure smooth handling. Summary of the invention

[0004] The purpose of the present invention is to provide a sorting and handling robot and a control method based on artificial intelligence to solve the above technical problems.

[0005] An artificial intelligence-based sorting and handling robot comprises: an operating component, an operating component parameter acquisition module, a data analysis module, a state evaluation module and an operating component control module;

[0006] The operating assembly includes a clamping unit and a transporting unit, wherein the clamping unit is used to clamp goods of different specifications, and the transporting unit is used to transfer the goods to a target location;

[0007] The operating parameter acquisition module is used to monitor the state parameters of the sorting and handling robot during the handling process, and the state parameters include the force of the clamping unit at the clamping point and the moving speed of the handling unit;

[0008] The data analysis module is used to analyze and process the parameters collected by the operation parameter collection module to obtain the state coefficient of the operation component;

[0009] The state evaluation module is used to determine the current operating state of the operating component according to the state coefficient of the operating component;

[0010] The operating component control module includes a clamping point force control unit and a transport unit moving speed control unit, which are used to control and adjust the clamping point force and the transport unit moving speed through the clamping point force control unit and the transport unit moving speed control unit according to the current operating status of the operating component.

[0011] As a further description of the solution of the present invention, the working process of the data analysis module includes:

[0012] According to the different stages of carrying items, the items are divided into stages, and the actual change curve F(t) of the clamping point force over time and the actual change curve V(t) of the moving speed of the carrying unit over time are obtained in each stage;

[0013] The actual change curve of the clamping force at each stage over time F(t) and the actual change curve of the moving speed of the handling unit over time V(t) are compared with the standard change curve of the clamping force at each stage over time F 0 (t) and the standard curve of the moving speed of the transport unit over time V 0 (t) and the state coefficient of the running component is calculated based on the relationship between F(t) and V(t).

[0014] As a further description of the solution of the present invention, the specific calculation process of the state coefficient of the operating component includes:

[0015] According to the actual change curve F(t) of the clamping point force at each stage over time and the standard change curve F(t) of the clamping point force at each stage over time 0 (t) Calculate the clamping unit state coefficient:

[0016]

[0017] According to the actual change curve V(t) of the moving speed of the transport unit at each stage and the standard change curve V(t) of the moving speed of the transport unit at each stage 0 (t) Calculate the transport unit status coefficient:

[0018]

[0019] The state coefficient of the running component is calculated by the following formula (3):

[0020] K=A 1 K V +A 2 K μ +A 3 K FV ; (3)

[0021] Substituting equations (1) and (2) into equation (3) we can calculate the process coefficient K;

[0022] Where n is the number of stages, i∈[1,n], F i (t) is the actual change curve of the force at the clamping point over time in the i-th stage, F i0 (t) is the standard variation curve of the force at the clamping point at stage i over time, V i (t) is the actual change curve of the moving speed of the transport unit in the i-th stage over time, V i0 (t) is the standard curve of the moving speed of the transport unit in the i-th stage versus time, α i is the weight coefficient corresponding to the force of the clamping point in the i-th stage, β i is the weight coefficient corresponding to the moving speed of the transport unit in the i-th stage, t i ~t i +Δt i is the duration corresponding to the i-th stage, A 1 , A 2 and A 3 is the weight coefficient, K F is the clamping unit state coefficient, K V is the transport unit state coefficient, K FV is the state coefficient of the gripping unit-handling unit association, and K is the state coefficient of the operating component.

[0023] As a further description of the solution of the present invention, the gripping unit-handling unit association state coefficient K FV Obtained by the following formula:

[0024]

[0025] As a further description of the solution of the present invention, the working process of the state assessment module includes:

[0026] The state coefficient K F , K V Compare with the corresponding thresholds respectively:

[0027] If there is a state coefficient item that does not meet the threshold condition, the operating component unit corresponding to the state coefficient is adjusted;

[0028] If the corresponding threshold conditions are met, the state coefficient K of the running component is compared with the preset threshold interval of the state coefficient of the running component:

[0029] If K does not belong to the preset threshold interval of the state coefficient of the running component, it is determined that there is an abnormality in the handling process, and the running component is immediately shut down through the running component control module;

[0030] Otherwise, it is judged that the transport process is normal.

[0031] As a further description of the solution of the present invention, the working process of the operating component control module includes:

[0032] When the clamping unit state coefficient K F If the threshold condition is not met, Compared with the target value, if If the value is greater than or equal to the target value, the running component is immediately closed through the running component control module. If it is less than the target value, the force acting on the clamping point is adjusted by operating the component control module;

[0033] When the transport unit state coefficient K V If the threshold condition is not met, Compared with the target value, if If the value is greater than or equal to the target value, the running component is immediately closed through the running component control module. If the value is less than the target value, the moving speed of the handling unit of the control module is adjusted by the operating component;

[0034] In the formula, [K F1 , K F2 ] is the clamping unit state coefficient K F The preset threshold interval, [K V1 , K V2 ]Transport unit status coefficient K V The preset threshold range.

[0035] As a further description of the solution of the present invention, the process of adjusting the force of the clamping point by operating the component control module includes:

[0036] Get the force F of the clamping point at the current moment 0 , calculate the force at the clamping point by the following formula;

[0037] When K F Greater than K F2 When the clamping point force is F 1 :

[0038] F 1 =F 0 -ρ*(K F -K F2 );

[0039] When K F Less than K F1 When the clamping point force is f 2 :

[0040] f 2 =f 0 +ρ*(K F1-K F );

[0041] Where ρ is the conversion coefficient, which is used for the same reference.

[0042] As a further description of the solution of the present invention, the process of adjusting the moving speed of the transport unit of the operating component adjustment control module by the operating component control module includes:

[0043] Get the moving speed V of the block transport unit at the current moment 0 , calculate the moving speed of the transport unit by the following formula;

[0044] When K V Greater than K V2 When the moving speed of the transport unit is V 1 :

[0045] V 1 =V 0 -σ*(K V -K V2 );

[0046] When K V Less than K V1 When the moving speed of the transport unit is f 2 :

[0047] V 2 =V 0 +σ*(K V1 -K F );

[0048] Where σ is the conversion coefficient, which is used for the same reference.

[0049] A control method for an artificial intelligence sorting and handling robot, the method comprising the following steps:

[0050] Step S1, dividing the transported items into stages according to different stages of transporting the items;

[0051] Step S2, obtaining the actual change curve F(t) of the force applied to the clamping point at each stage over time and the actual change curve V(t) of the moving speed of the transport unit over time;

[0052] Step S3, respectively calculating the clamping unit state coefficient, the transport unit state coefficient and the clamping unit-transport unit associated state coefficient;

[0053] Step S4, calculating the state coefficient of the operating component according to the clamping unit state coefficient, the transport unit state coefficient and the clamping unit-transport unit associated state coefficient;

[0054] Step S5: Set the state coefficient K F , KV Compare with the corresponding thresholds respectively, if there is a state coefficient item that does not meet the threshold condition, adjust the operating component unit corresponding to the state coefficient;

[0055] Step S6: If the state coefficient K F , K V If the corresponding threshold conditions are met, the state coefficient K of the running component is compared with the preset threshold interval of the state coefficient of the running component;

[0056] Step S7: If K does not belong to the preset threshold interval of the state coefficient of the running component, it is determined that there is an abnormality in the transport process, and the running component is immediately shut down through the running component control module; otherwise, it is determined that the transport process is normal.

[0057] Beneficial effects of the present invention:

[0058] The present invention collects process parameters of each stage in the transportation process through the running component parameter collection module, and then analyzes the collected parameters through the data analysis module to obtain the clamping unit state, the transportation unit state and the clamping unit-transporting unit association state in the transportation process, and comprehensively analyzes the state of the running component. Then, the state of the running component is evaluated through the state evaluation module to determine whether there is any abnormality in the running component during the transportation process, and the clamping unit state and the transportation unit state are evaluated respectively, and the parameters are adjusted according to the evaluation results to ensure smooth transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The present invention will be further described below in conjunction with the accompanying drawings.

[0060] Figure 1 It is a partial structural schematic diagram of the artificial intelligence-based sorting and handling robot provided by the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] See also Figure 1 As shown, the present invention is a sorting and handling robot based on artificial intelligence, comprising: an operating component, an operating component parameter acquisition module, a data analysis module, a state evaluation module and an operating component control module;

[0063] The operating assembly includes a clamping unit and a transporting unit, wherein the clamping unit is used to clamp goods of different specifications, and the transporting unit is used to transfer the goods to a target location;

[0064] The operating parameter acquisition module is used to monitor the state parameters of the sorting and handling robot during the handling process, and the state parameters include the force of the clamping unit at the clamping point and the moving speed of the handling unit;

[0065] The data analysis module is used to analyze and process the parameters collected by the operation parameter collection module to obtain the state coefficient of the operation component;

[0066] The working process of the data analysis module includes:

[0067] According to the different stages of carrying items, the items are divided into stages, and the actual change curve F(t) of the clamping point force over time and the actual change curve V(t) of the moving speed of the carrying unit over time are obtained in each stage;

[0068] Through the above technical scheme, the different stages of transporting items in this embodiment can be divided into: vertical ascending transport stage, vertical descending transport stage, horizontal left and right transport stage and horizontal front and back transport stage; then obtain the actual change curve F(t) of the force acting on the clamping point at different stages of item transport and the actual change curve V(t) of the moving speed of the transport unit over time.

[0069] The actual change curve of the clamping force at each stage over time F(t) and the actual change curve of the moving speed of the handling unit over time V(t) are compared with the standard change curve of the clamping force at each stage over time F 0 (t) and the standard curve of the moving speed of the transport unit over time V 0 (t) and the state coefficient of the running component is calculated based on the relationship between F(t) and V(t).

[0070] As a further description of the solution of the present invention, the specific calculation process of the state coefficient of the operating component includes:

[0071] According to the actual change curve F(t) of the clamping point force at each stage over time and the standard change curve F(t) of the clamping point force at each stage over time 0 (t) Calculate the clamping unit state coefficient:

[0072]

[0073] According to the actual change curve V(t) of the moving speed of the transport unit at each stage and the standard change curve V(t) of the moving speed of the transport unit at each stage 0(t) Calculate the transport unit status coefficient:

[0074]

[0075] The state coefficient of the running component is calculated by the following formula (3):

[0076] K=A 1 K V +A 2 K μ +A 3 K FV ; (3)

[0077] Substituting equations (1) and (2) into equation (3) we can calculate the process coefficient K;

[0078] Where n is the number of stages, i∈[1,n], F i (t) is the actual change curve of the force at the clamping point over time in the i-th stage, F i0 (t) is the standard variation curve of the force at the clamping point at stage i over time, V i (t) is the actual change curve of the moving speed of the transport unit in the i-th stage over time, V i0 (t) is the standard curve of the moving speed of the transport unit in the i-th stage versus time, α i is the weight coefficient corresponding to the force of the clamping point in the i-th stage, β i is the weight coefficient corresponding to the moving speed of the transport unit in the i-th stage, t i ~t i +Δt i is the duration corresponding to the i-th stage, A 1 , A 2 and A 3 is the weight coefficient, K F is the clamping unit state coefficient, K V is the transport unit state coefficient, K FV is the state coefficient of the gripping unit-handling unit association, and K is the state coefficient of the operating component.

[0079] As a further description of the solution of the present invention, the gripping unit-handling unit association state coefficient K FV Obtained by the following formula:

[0080]

[0081] Through the above technical solution, this embodiment is based on the actual change curve F(t) of the force at each clamping point over time and the standard change curve F(t) of the force at each clamping point over time. 0 (t) Through the formula Calculate the clamping unit state coefficient according to the actual change curve V(t) of the moving speed of the handling unit at each stage and the standard change curve V(t) of the moving speed of the handling unit at each stage. 0 (t) Through the formula Calculate the state coefficient of the handling unit according to the associated state of the clamping unit and the handling unit through the formula Calculate the gripping unit-handling unit correlation coefficient, and then use the formula K = A 1 K V +A 2 K μ +A 3 k FV Calculate the state coefficient of the running component.

[0082] The state evaluation module is used to determine the current operating state of the operating component according to the state coefficient of the operating component;

[0083] The operating component control module includes a clamping point force control unit and a transport unit moving speed control unit, which are used to control and adjust the clamping point force and the transport unit moving speed through the clamping point force control unit and the transport unit moving speed control unit according to the current operating status of the operating component.

[0084] As a further description of the solution of the present invention, the working process of the state assessment module includes:

[0085] The state coefficient k F , k V Compare with the corresponding thresholds respectively:

[0086] If there is a state coefficient item that does not meet the threshold condition, the operating component unit corresponding to the state coefficient is adjusted;

[0087] If the corresponding threshold conditions are met, the state coefficient k of the running component is compared with the preset threshold interval of the state coefficient of the running component:

[0088] If k does not belong to the preset threshold interval of the state coefficient of the running component, it is determined that there is an abnormality in the handling process, and the running component is immediately shut down through the running component control module;

[0089] Otherwise, it is judged that the transport process is normal.

[0090] Through the above technical solution, this embodiment first respectively sets the state coefficient k of each unit F , K VThey are compared with the corresponding thresholds respectively. If there are state coefficient items that do not meet the threshold conditions, the operating component unit corresponding to the state coefficient is adjusted; if the corresponding threshold conditions are met, the state coefficient K of the operating component is compared with the preset threshold interval of the state coefficient of the operating component: if K does not belong to the preset threshold interval of the state coefficient of the operating component, it is judged that there is an abnormality in the transportation process, and the operating component is immediately shut down through the operating component control module; otherwise, the transportation process is judged to be normal.

[0091] As a further description of the solution of the present invention, the working process of the operating component control module includes:

[0092] When the clamping unit state coefficient K F If the threshold condition is not met, Compared with the target value, if If the value is greater than or equal to the target value, the running component is immediately closed through the running component control module. If it is less than the target value, the force acting on the clamping point is adjusted by operating the component control module;

[0093] When the transport unit state coefficient K V If the threshold condition is not met, Compared with the target value, if If the value is greater than or equal to the target value, the running component is immediately closed through the running component control module. If the value is less than the target value, the moving speed of the handling unit of the control module is adjusted by the operating component;

[0094] In the formula, [K F1 , k F2 ] is the clamping unit state coefficient K F The preset threshold interval, [K V1 , K V2 ]Transport unit status coefficient K V The preset threshold range.

[0095] As a further description of the solution of the present invention, the process of adjusting the force of the clamping point by operating the component control module includes:

[0096] Get the force F of the clamping point at the current moment 0 , calculate the force at the clamping point by the following formula;

[0097] When K F Greater than K F2 When the clamping point force is F 1 :

[0098] F 1 =F 0 -ρ*(K F -KF2 );

[0099] When K F Less than K F1 When the clamping point force is F 2 :

[0100] F 2 =F 0 +ρ*(K F1 -K F );

[0101] Where ρ is the conversion coefficient, which is used for the same reference.

[0102] Through the above technical solution, this embodiment will Compared with the target value, if If the value is greater than or equal to the target value, the running component is immediately closed through the running component control module. If it is less than the target value, the force F at the clamping point at the current moment is obtained. 0 , when K F Greater than K F2 When the clamping point force is F 1 : F 1 =F 0 -ρ*(K F -K F2 ); when K F Less than K F1 When the clamping point force is F 2 : F 2 =F 0 +ρ*(K F1 -K F ).

[0103] As a further description of the solution of the present invention, the process of adjusting the moving speed of the transport unit of the operating component adjustment control module by the operating component control module includes:

[0104] Get the moving speed V of the block transport unit at the current moment 0 , calculate the moving speed of the transport unit by the following formula;

[0105] When K V Greater than K V2 When the moving speed of the transport unit is V 1 :

[0106] V 1 =V 0 -σ*(K V -K V2 );

[0107] When K V Less than KV1 When the moving speed of the transport unit is f 2 :

[0108] V 2 =V 0 +σ*(K V1 -K F );

[0109] Where σ is the conversion coefficient, which is used for the same reference.

[0110] Through the above technical solution, this embodiment will Compared with the target value, if If the value is greater than or equal to the target value, the running component is immediately closed through the running component control module. If it is less than the target value, the moving speed V of the block transport unit at the current moment is obtained. 0 , the moving speed of the transport unit is calculated by the following formula; when K V Greater than K V2 When the moving speed of the transport unit is V 1 :V 1 =V 0 -σ*(K V -K V2 ); when K V Less than K V1 When the moving speed of the transport unit is F 2 :V 2 =V 0 +σ*(K V1 -K F ).

[0111] A control method for an artificial intelligence sorting and handling robot, the method comprising the following steps:

[0112] Step S1, dividing the transported items into stages according to different stages of transporting the items;

[0113] Step S2, obtaining the actual change curve F(t) of the force applied to the clamping point at each stage over time and the actual change curve V(t) of the moving speed of the transport unit over time;

[0114] Step S3, respectively calculating the clamping unit state coefficient, the transport unit state coefficient and the clamping unit-transport unit associated state coefficient;

[0115] Step S4, calculating the state coefficient of the operating component according to the clamping unit state coefficient, the transport unit state coefficient and the clamping unit-transport unit associated state coefficient;

[0116] Step S5: Set the state coefficient K F , K VCompare with the corresponding thresholds respectively, if there is a state coefficient item that does not meet the threshold condition, adjust the operating component unit corresponding to the state coefficient;

[0117] Step S6: If the state coefficient K F , K V If the corresponding threshold conditions are met, the state coefficient K of the running component is compared with the preset threshold interval of the state coefficient of the running component;

[0118] Step S7: If K does not belong to the preset threshold interval of the state coefficient of the running component, it is determined that there is an abnormality in the transport process, and the running component is immediately shut down through the running component control module; otherwise, it is determined that the transport process is normal.

[0119] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A sorting and handling robot based on artificial intelligence, characterized in that: It includes: an operation component, an operation component parameter acquisition module, a data analysis module, a state evaluation module and an operation component control module; The operating assembly includes a clamping unit and a transporting unit, wherein the clamping unit is used to clamp goods of different specifications, and the transporting unit is used to transfer the goods to a target location; The operating component parameter acquisition module is used to monitor the state parameters of the sorting and handling robot during the handling process, and the state parameters include the force of the clamping unit at the clamping point and the moving speed of the handling unit; The data analysis module is used to analyze and process the parameters collected by the operation component parameter collection module to obtain the state coefficient of the operation component; The state evaluation module is used to determine the current operating state of the operating component according to the state coefficient of the operating component; The operation component control module includes a clamping point force control unit and a transport unit moving speed control unit, which are used to control and adjust the clamping point force and the transport unit moving speed through the clamping point force control unit and the transport unit moving speed control unit according to the current operation state of the operation component; The working process of the data analysis module includes: According to the different stages of carrying items, the items are divided into stages, and the actual change curve F(t) of the clamping point force over time and the actual change curve V(t) of the moving speed of the carrying unit over time are obtained in each stage; Compare the actual change curve F(t) of the clamping point force over time and the actual change curve V(t) of the moving speed of the handling unit over time with the standard change curve F0(t) of the clamping point force over time and the standard change curve V0(t) of the moving speed of the handling unit over time at each stage, and calculate the state coefficient of the operating component based on the relationship between F(t) and V(t); The specific calculation process of the state coefficient of the running component includes: The clamping unit state coefficient is calculated based on the actual change curve F(t) of the force at the clamping point at each stage over time and the standard change curve F0(t) of the force at the clamping point at each stage over time: The transport unit state coefficient is calculated based on the actual change curve V(t) of the transport unit's moving speed over time at each stage and the standard change curve V0(t) of the transport unit's moving speed over time at each stage: The state coefficient of the running component is calculated by the following formula (3): <h2 style=";text-align:left;direction:ltr">K=A1K<h2 style=";text-align:left;direction:ltr"> V <h2 style=";text-align:left;direction:ltr"> +A2K<h2 style=";text-align:left;direction:ltr"> μ <h2 style=";text-align:left;direction:ltr"> +A3K<h2 style=";text-align:left;direction:ltr"> FV <h2 style=";text-align:left;direction:ltr"> (3) Substituting equations (1) and (2) into equation (3) we can calculate the process coefficient K; Where n is the number of stages, i∈[1,n], F i (t) is the actual change curve of the force at the clamping point over time in the i-th stage, F i0 (t) is the standard variation curve of the force at the clamping point at stage i over time, V i (t) is the actual change curve of the moving speed of the transport unit in the i-th stage over time, V i0 (t) is the standard curve of the moving speed of the transport unit in the i-th stage versus time, α i is the weight coefficient corresponding to the force of the clamping point in the i-th stage, β i is the weight coefficient corresponding to the moving speed of the transport unit in the i-th stage, t i ~t i +Δt i is the duration corresponding to the i-th stage, A1, A2 and A3 are weight coefficients, K F is the clamping unit state coefficient, K V is the transport unit state coefficient, K FV is the state coefficient of the gripping unit-handling unit association, and K is the state coefficient of the operating component.

2. The artificial intelligence-based sorting and handling robot according to claim 1, characterized in that: The gripping unit-handling unit association state coefficient K FV Obtained by the following formula:

3. The artificial intelligence-based sorting and handling robot according to claim 2, characterized in that: The working process of the status assessment module includes: The state coefficient K F , K V Compare with the corresponding thresholds respectively: If there is a state coefficient item that does not meet the threshold condition, the operating component unit corresponding to the state coefficient is adjusted; If the corresponding threshold conditions are met, the state coefficient K of the running component is compared with the preset threshold interval of the state coefficient of the running component: If K does not belong to the preset threshold interval of the state coefficient of the running component, it is determined that there is an abnormality in the handling process, and the running component is immediately shut down through the running component control module; Otherwise, it is judged that the transport process is normal.

4. The artificial intelligence-based sorting and handling robot according to claim 3, characterized in that: The working process of the running component control module includes: When the clamping unit state coefficient K F If the threshold condition is not met, Compared with the target value, if If the value is greater than or equal to the target value, the running component is immediately closed through the running component control module. If it is less than the target value, the force acting on the clamping point is adjusted by operating the component control module; When the transport unit state coefficient K V If the threshold condition is not met, Compared with the target value, if If the value is greater than or equal to the target value, the running component is immediately closed through the running component control module. If the value is less than the target value, the moving speed of the handling unit of the control module is adjusted by the operating component; In the formula, [K F1 , K F2 ] is the clamping unit state coefficient K F The preset threshold interval, [K V1 , K V2 ] is the transport unit state coefficient K V The preset threshold range.

5. The artificial intelligence-based sorting and handling robot according to claim 4, characterized in that: The process of adjusting the force of the clamping point by operating the component control module includes: Get the force F0 of the clamping point at the current moment, and calculate the force of the clamping point by the following formula; When K F Greater than K F2 When , the force acting on the clamping point is F1: F1=F0-ρ*(K F -K F2 ); When K F Less than K F1 When , the force acting on the clamping point is F2: F2=F0+ρ*(K F1 -K F ); Where ρ is the conversion coefficient, which is used for the same reference.

6. The artificial intelligence-based sorting and handling robot according to claim 5, characterized in that: The process of adjusting the moving speed of the transport unit of the operating component adjusting control module by the operating component control module includes: Get the moving speed V0 of the block transport unit at the current moment, and calculate the moving speed of the transport unit by the following formula; When K V Greater than K V2 When the moving speed of the transport unit is V1: V1=V0-σ*(K V -K V2 ); When K V Less than K V1 When the transport unit moves at a speed of F2: V2=V0+σ*(K V1 -K F ); Where σ is the conversion coefficient, which is used for the same reference.

7. A control method for a sorting and handling robot based on the artificial intelligence according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: Step S1, dividing the transported items into stages according to different stages of transporting the items; Step S2, obtaining the actual change curve F(t) of the force applied to the clamping point at each stage over time and the actual change curve V(t) of the moving speed of the transport unit over time; Step S3, respectively calculating the clamping unit state coefficient, the transport unit state coefficient and the clamping unit-transport unit associated state coefficient; Step S4, calculating the state coefficient of the operating component according to the clamping unit state coefficient, the transport unit state coefficient and the clamping unit-transport unit associated state coefficient; Step S5: Set the state coefficient K F , K V Compare with the corresponding thresholds respectively, if there is a state coefficient item that does not meet the threshold condition, adjust the operating component unit corresponding to the state coefficient; Step S6: If the state coefficient K F , K V If the corresponding threshold conditions are met, the state coefficient K of the running component is compared with the preset threshold interval of the state coefficient of the running component; Step S7: If K does not belong to the preset threshold interval of the state coefficient of the running component, it is determined that there is an abnormality in the transport process, and the running component is immediately shut down through the running component control module; otherwise, it is determined that the transport process is normal.

Images