Mechanical stress monitoring control method, device and system

Abstract

The invention relates to the technical field of agricultural fishery machinery monitoring and control, and provides a mechanical stress monitoring and control method, device and system, the system comprises a controller, at least one biological characteristic monitoring device and at least one operation mechanism parameter interpreter, the method comprises the following steps: obtaining operation parameters of each operation mechanism from each operation mechanism; acquiring biological characteristic information corresponding to each monitoring site where each biological characteristic monitoring device is located from each biological characteristic monitoring device; and determining an execution instruction of an operation mechanism parameter interpreter based on the biological characteristic information of each monitoring site and a preset cumulative stress degree expected value, and sending the execution instruction to each operation mechanism for each operation mechanism to execute corresponding operation according to the execution instruction. Therefore, the stress degree of the fresh living organisms can be controlled under the preset constraint condition. According to the invention, the mechanical stress in the continuous operation process of the fresh biological material is effectively monitored, and can be effectively controlled and reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring and controlling agricultural and fishery machinery, and in particular to a method and system for monitoring and controlling machinery stress. Background Art

[0002] Mechanical stress refers to the response of live animals to external mechanical stressors during mechanical operations, and is affected by the intensity and duration of the stressor. Live biological objects such as live aquatic products (fish, shrimp, and shellfish) are inevitably subject to mechanical damage or stress during mechanical operations such as phenotypic sorting, grading, vaccination, and fish gathering. Appropriate intensity of stress can improve the fish's acceptance of the environment. When it reaches a certain threshold of stress intensity, it will cause irreversible damage such as tissue and organ damage, and even death. Therefore, it is particularly important to monitor and control the biological characteristics of live biological objects such as live aquatic products (fish, shrimp, and shellfish) when facing stressors.

[0003] With the continuous emergence of fresh fish handling machinery, the continuous operation system it constitutes shows the characteristics of multiple links, but due to the relative lack of monitoring of the stress state during its operation, the stress fluctuates greatly with the operation parameters. At the same time, there are inevitable multiple mechanical injuries or accumulation of stress in the continuous operation of fresh fish such as grading, and it is necessary to avoid excessive stress that causes fish behavior and physiological disorders. Therefore, in order to effectively reduce the stress accumulation caused by mechanical collision and damage, it is necessary to effectively monitor, control and reduce the stress in the continuous operation of the fishery machinery system.

[0004] Therefore, how to monitor and effectively control the degree of mechanical stress during the continuous operation of fresh biological materials has become a technical problem that needs to be urgently solved in the industry. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a mechanical stress monitoring and control method and system, which can effectively monitor the degree of mechanical stress to which fresh biological materials are subjected during continuous operation, and can effectively control the degree of mechanical stress.

[0006] In a first aspect, the present invention provides a mechanical stress monitoring and control method, which is applied to a controller in the mechanical stress monitoring and control system. The mechanical stress monitoring and control system includes the controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, and the method includes the following steps.

[0007] Acquiring operating parameters of each operating mechanism from each operating mechanism; each operating mechanism is an operating mechanism corresponding to the monitoring site and is a stressor that generates stress;

[0008] Acquire the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each operating structure based on the operating parameters of each operating mechanism and interacts with the stressor;

[0009] Determining execution instructions for each of the operating mechanisms based on the biometric information of each monitoring site, the predicted stress level and the preset expected cumulative stress level;

[0010] The execution instructions of each operating mechanism are sent to each operating mechanism through an operating mechanism parameter interpreter; the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and to guide the controlled mechanical system to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints, and the controlled mechanical system includes at least one operating mechanism.

[0011] According to a mechanical stress monitoring and control method provided by the present invention, the controller further includes a comparator, and the execution instructions of each operating mechanism are determined based on the biological feature information of each monitoring site, the stress level prediction value and the preset cumulative stress level expected value, including:

[0012] Determining the cumulative stress level value of each monitoring point during the operation based on the biometric information of each monitoring point;

[0013] Determine the expected value of cumulative stress intensity based on the real-time monitored stress intensity value and the expected value of stress degree;

[0014] Using the comparator, the predicted value corresponding to the cumulative stress level value of each monitoring site is compared with the preset cumulative stress level expected value to obtain a comparison result;

[0015] According to the comparison result, the execution instruction of each operating mechanism is determined.

[0016] According to a mechanical stress monitoring and control method provided by the present invention, the execution instructions of each operating mechanism are sent to each operating mechanism through an operating mechanism parameter interpreter, comprising:

[0017] Using the operation parameter interpreter, the execution instructions of each of the operation mechanisms are converted into control indicators for stress reduction of each of the operation mechanisms;

[0018] Determine the command matrix of each operating mechanism according to the control index of stress reduction of each operating mechanism; the command matrix is ​​used to characterize the operation of each operating mechanism at the corresponding time of each monitoring site;

[0019] The command matrix of each operating mechanism is sent to the corresponding operating mechanism.

[0020] According to a mechanical stress monitoring and control method provided by the present invention, the converting of the execution instructions of each operating mechanism into a control index for stress reduction of each operating mechanism comprises:

[0021] Determine the action time of the operating mechanism at each point and the amplitude of the force when each operating mechanism is operating, and solve a set of control quantities [H(k+1),…,H(k+p)] according to formula (1):

[0022]

[0023] Among them, ω i is a non-negative weighting coefficient, which represents the proportion of the stress margin of each point in the future in the objective function. The value of the non-negative weighting coefficient depends on the proportion of each link. The closer to the current moment, the larger the value of the non-negative weighting coefficient; J p Indicates the backward prediction of p points, y p (k+i) represents the predicted value of point k+i, y * r (k+i) represents the expected value after the k+i site ends; the variable p represents the length of the prediction window or the control step size,

[0024] Determine the control amount [H(k+1),…,H(k+p)] as the execution instruction of each of the operating mechanisms;

[0025] The execution instructions of each of the operating mechanisms are determined as control indicators for stress reduction of each of the operating mechanisms by adjusting the action time of the operating parameters of each of the operating mechanisms and the amplitude of the force during operation of each of the operating mechanisms.

[0026] According to a mechanical stress monitoring and control method provided by the present invention, the biometric monitoring device is used to monitor and obtain the stress level value at a certain point, and its characteristic can be that the acquisition is achieved based on multi-source perception devices such as vision, and at least includes one of a visual image acquisition device and a biological flexible sensor.

[0027] In a second aspect, the present invention further provides a mechanical stress monitoring and control system, the mechanical stress monitoring and control system comprising the controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter; wherein,

[0028] Each of the biometric monitoring devices is used to monitor the biometric information corresponding to each monitoring site where the biometric monitoring device is located;

[0029] The controller obtains the operating parameters of each operating mechanism from each operating mechanism; each operating mechanism is an operating mechanism corresponding to the monitoring site, and is used to generate a stressor;

[0030] Acquire the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each operating structure based on the operating parameters of each operating mechanism and interacts with the stressor;

[0031] Determining execution instructions for each of the operating mechanisms based on the biometric information of each of the monitoring sites and a preset expected value of the cumulative stress level;

[0032] Sending execution instructions of each of the operating mechanisms to each of the operating mechanisms;

[0033] Each of the operating mechanism parameter interpreters is used to determine the operating parameters of each of the operating mechanisms according to the execution instructions, and perform corresponding operating operations based on each of the operating parameters to control the stress level of the living organisms under preset constraints.

[0034] In a third aspect, the present invention further provides a mechanical stress monitoring and control device, which is applied to a controller in the mechanical stress monitoring and control system, wherein the mechanical stress monitoring and control system comprises the controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, and the device comprises: an acquisition module and a control module;

[0035] An acquisition module, used for acquiring the operation parameters of each of the operation mechanisms from each of the operation mechanisms; each of the operation mechanisms is an operation mechanism corresponding to the monitoring site and is a stressor that generates mechanical stress;

[0036] Acquire, from each of the biometric monitoring devices, biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located;

[0037] The biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located is generated when the living organism receives the stressor generated by each of the operating structures based on the operating parameters of each of the operating mechanisms and interacts with the stressor;

[0038] A control module, for determining execution instructions of each of the operating mechanisms based on the biometric information of each monitoring site, the stress level prediction value and the preset cumulative stress level expected value;

[0039] The execution instructions of each operating mechanism are sent to each operating mechanism through an operating mechanism parameter interpreter; the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and to guide the controlled mechanical system to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints, and the controlled mechanical system includes at least one operating mechanism.

[0040] In a fourth aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the mechanical stress monitoring and control method as described above is implemented.

[0041] In a fifth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the mechanical stress monitoring and control methods described above.

[0042] In a sixth aspect, the present invention further provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the mechanical stress monitoring and control method as described above is implemented.

[0043] The present invention provides a mechanical stress monitoring and control method and system, which is applied to a controller in a mechanical stress monitoring and control system, wherein the mechanical stress monitoring and control system includes a controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, and the method includes: first, obtaining the operating parameters of each operating mechanism from each operating mechanism, wherein each operating mechanism is an operating mechanism corresponding to a monitoring site; obtaining the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device, wherein the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each execution structure based on the operating parameters of each operating mechanism and interacts with the stressor; then, determining the execution instructions of each operating mechanism based on the predicted value of the biometric information of each monitoring site and the preset expected value of the cumulative stress level; and then, sending the execution instructions of each operating mechanism to each operating mechanism through the operating mechanism parameter interpreter, wherein the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and perform corresponding operating operations based on the working parameters, so as to achieve the control of the stress level of the living organism under preset constraints. The present invention realizes effective monitoring of the stress degree of fresh biological materials and can effectively control the stress degree. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 It is one of the flow charts of the mechanical stress monitoring and control method provided by the present invention.

[0046] Figure 2 This is one of the principle schematic diagrams of the mechanical stress monitoring and control method provided by the present invention.

[0047] Figure 3 This is the second principle schematic diagram of the mechanical stress monitoring and control method provided by the present invention.

[0048] Figure 4 This is the third principle schematic diagram of the mechanical stress monitoring and control method provided by the present invention.

[0049] Figure 5 This is the fourth principle schematic diagram of the mechanical stress monitoring and control method provided by the present invention.

[0050] Figure 6 This is the second flow chart of the mechanical stress monitoring and control method provided by the present invention.

[0051] Figure 7 This is the third structural schematic diagram of the mechanical stress monitoring and control system provided by the present invention.

[0052] Figure 8 It is a structural schematic diagram of the mechanical stress monitoring and control device provided by the present invention.

[0053] Fig. 9 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0055] Combine the following Figure 1-Figure 9 The mechanical stress monitoring control method and system of the present invention are described.

[0056] Figure 1is one of the flow charts of the mechanical stress monitoring and control method provided by the present invention, the method is applied to the controller in the mechanical stress monitoring and control system, the mechanical stress monitoring and control system includes a controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, such as Figure 1 As shown, the method includes the following steps.

[0057] Step 101: acquiring operating parameters of each operating mechanism from each operating mechanism; each operating mechanism is an operating mechanism corresponding to a monitoring site and is a stressor that generates stress;

[0058] Specifically, the execution subject of this embodiment is a controller in a mechanical stress monitoring and control system, which is used to effectively monitor the stress level of fresh biological materials and effectively control the stress level.

[0059] The mechanical stress monitoring and control system includes a controller, at least one biometric monitoring device and at least one working mechanism parameter interpreter, for example, Figure 2 FIG. 1 is one of the principle schematic diagrams of the mechanical stress monitoring and control method provided by the present invention, such as Figure 2 As shown, the mechanical stress monitoring and control system includes a controller, a biometric monitoring device and an operating mechanism parameter interpreter.

[0060] First, the controller can obtain the operating parameters of each operating mechanism from each operating mechanism in the controlled mechanical system. Specifically, the operating parameters of each operating mechanism can be obtained from each operating mechanism through the operating mechanism parameter interpreter; wherein each operating mechanism is an operating mechanism corresponding to the monitoring site and is an important stressor for generating stress. According to the controlled mechanical system (the general mechanical system diagram is as follows Figure 3 ) The control index of stress reduction of each operating mechanism is used to determine the command matrix of each operating mechanism, and the command matrix is ​​used to characterize the operation of each operating mechanism at the corresponding time of each monitoring point. For example, the command matrix is ​​as follows:

[0061]

[0062] Among them, s represents the maximum value of the total number of operating mechanism parameters in each link of the controlled mechanical system, and t represents the stress point time, that is, the number of points or links. For example: in a controlled mechanical operation system where each node contains at most 5 operating mechanism parameters, according to the operation of the third operating mechanism parameter at the corresponding time of the monitoring point i (i≤n), the execution command matrix is:

[0063] Specifically

[0064] Specifically, construct H(i) = [Fi, vi] Trepresents the operation parameters, and represents the operation parameter instructions of each parameter at the position i; in addition, since it is a continuous operation, H(n,i)=[F1,v1] T ,[F2,v2] T ,[F3,v3] T ,[F4,v4] T ; Where n represents the dimension, and i=p represents the predicted job parameter instruction range.

[0065] It can be understood that H(i) = [F i ,v i ] T The F and v in the figure represent the composition of the basic working parts of a single link. A complex single link can be composed of multiple Fs and multiple vs, such as [F1,v1] T Can be updated and replaced by [F 11 ,F 12 ,v 11 ,v 12 ] T ; That is, the complex F and v can be decomposed by vector method to obtain multiple F components and multiple v components, such as [F1,v1] T =[f 11 ,f 12 ,f 13 ,v 11 ,v 12 ] T Wherein, F is the stress source, and v is the speed between intervals, which is used to control the duration of force action or the duration of stress reduction. Parameters involved in other measures are auxiliary parameters in the present invention.

[0066] For example, Figure 3 The second schematic diagram of the principle of the mechanical stress monitoring and control method provided by the present invention is as follows Figure 3 As shown, the operating mechanism is also the corresponding mechanical stressor x i ,and Figure 3 Each monitoring point C k , C k+1 , C k+2 , C k+3 Corresponding to operating mechanisms k, k+1, k+2, and k+3.

[0067] Step 102: Obtain biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each operating structure based on the operating parameters of each operating mechanism and interacts with the stressor;

[0068] The controller can obtain the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device. The operating parameters of each operating mechanism are different, and the degree of mechanical damage or stress to the living organism is also different. The following empirical formula was obtained through preliminary experimental data:

[0069]

[0070] Among them, F i Indicates the external force received, which is related to the operating parameters; A indicates the health of the fish; P indicates the part where the external force acts; B indicates the size of the fish; It represents the intensity coefficient generated by the degree of stress, that is, the size and form of force as well as the distribution law of stress generated by information such as the site of action, the state of the fish body, and the health of the fish body. The influence characteristics of this coefficient can be obtained through a large number of experiments; ui represents the corresponding relationship combination of the fish body parameter u and the mechanical structure link i.

[0071] It should be noted that the health of the fish A, the location of the external force P and the size of the fish B can be ignored in the expression of stress, which can be abbreviated as

[0072] It is understandable that living organisms such as fish will be stressed by external forces generated by operating mechanisms or collisions, and momentum conservation is maintained during this process. That is, impulse I = Ft, the original momentum of the fish P1 = mv1, and the friction force F used for correction f (Almost unchanged). After the action is performed, the fish body and the conveyor belt remain stationary, that is, the momentum is P2 = mv2. At the same time, from the entire operation process, considering the situation of the operating mechanism at each point, we have, mΔv = Δp represents the cumulative impulse required in the operation composition, and the structure of the operating device of each link of the operating mechanism of the controlled mechanical system is fixed, which means that it is a fixed value; specifically, is fixed, because the mechanical structure and the number of mechanical structure points during the operation are generally fixed, that is, i in ui is fixed, and the corresponding mechanical structure is fixed, and the process of its action or collision should be similar. Based on this, under the condition that the mechanical structure and the number of links are fixed, the degree of cumulative stress Y is mainly related to the operation parameters, mainly the influence of the operation parameters H, such as the strength of the actuator and the speed of the transmission mechanism.

[0073] Specifically, Z i =Z i -Z0 represents the stress level value monitored at site i, which is used as feedback input to adjust subsequent operation parameters. For example, the stress level monitoring value at point k is Z k.This value is used to ensure that the final stress safety threshold is the largest, and it is also used to estimate the theoretical stress level generated at a certain point i. The estimated value of .

[0074] Furthermore, considering the attenuation effect of the short-term stress level generated at each point i, we propose that the stress level generated at each point i is n The actual stress level value that changes with time, that is,

[0075]

[0076] When i=1, it means that the operation system has only one operation point; when there are multiple operation points, n>i>1;

[0077]

[0078] In the formula, the cumulative sum of the time intervals taken by the organism to pass through each point and the external force F i The time consumed is included; i represents the node position variable; j = i-1, represents the previous position of the position number, i = 1, 2, 3, ..., n; n represents the total number of nodes. ij represents the relative distance between site i and site j, which is related to the device structure parameters; v ij represents the relative speed between site i and site j, which is an important variable affecting the accumulation of stress. It can be understood that H(i) = [F i ,v i ] T v i .

[0079]

[0080] The above formula represents the stress decay function over time. In this formula, f(|tt ui |)=f(u,i,t) represents the stress attenuation function, where u represents the basic parameters of the fish body, which is related to the size and species of the fish body; i represents the position sequence number of the node, corresponding to the generated site, which is 1, 2, 3, ..., n; t represents the length of time the stress is generated; due to different structures of the sites, α ui and t ui are different. ui It represents the attenuation coefficient of the stress degree of the corresponding fish body parameter u under the action of the mechanical structure link i, which is measured through a large number of experiments.

[0081] The biological characteristic information corresponding to each monitoring site is generated when the living organism receives the stressor generated by each operating structure based on the operating parameters of each operating mechanism and interacts with the stressor. The H(i) instruction can be used to deduce the stress level value of a certain period in the future. Based on the above content, we have

[0082] Y(k)=∑x ui (T k );

[0083] Among them, T k Indicates the time at point k, based on T n Calculation shows that x ui Indicates the maximum stress intensity generated. Because this value is related to the corresponding relationship of the operating mechanism to ui, Y can be used to represent the predicted value at a certain point in the future. This again shows that the stress at each point can be monitored by the monitoring equipment and controlled by controlling the operating parameters. It should be noted that when multiple fish are working continuously, the time sequence number of the fish body can be increased to facilitate the rolling processing of different links in sequence.

[0084] Step 103: determining the execution instructions of each operating mechanism based on the biological characteristic information of each monitoring site, the stress level prediction value and the preset cumulative stress level expected value;

[0085] Specifically, after obtaining the biometric information of each monitoring site, the biometric information of the monitoring site, the predicted stress level and the preset expected cumulative stress level can be compared. The preset expected cumulative stress level can be obtained based on historical data, so that the execution instructions of each operating mechanism can be determined based on the comparison results.

[0086] Specifically, we can use Y(k) to represent the predicted value Y p (k), that is, Y p (k)=Y(k), then Y p (k+1),Y p (k+2),Y p (k+3),Y p (k+4),…,Y p (k+p), where the variable p represents the length of the prediction window or the control step size, and its value is the number of sites; k represents the current value point value.

[0087] Similarly, we express the expected stress level as:

[0088]

[0089] Among them, Y * represents the expected value of total stress intensity, Y *(i) represents the expected value before and after a certain point, that is, the cumulative expected value of each time period;

[0090] Furthermore, the real-time monitoring value Z of stress level is introduced k , effectively consider the influence of uncontrollable external stress sources z such as external interference, free collision, and mechanical vibration, so as to clarify the controllable part of stress generated by mechanical operation, that is, the part caused solely by the operation parameter H. Then:

[0091]

[0092] In the formula, the new Y r (k+i) represents the expected stress value at k+i in the remaining links; Y * th(k+p) It represents the expected value at k+p, which can be expressed as Calculate, or press Calculation, k+p-1<n; w i Indicates the proportion of stress level in each process, which is a non-negative weighted coefficient Indicates the weight of each part.

[0093] Furthermore, we select a sequence of control quantities H in a future time domain p (calculated by the number of points, i.e., predicting p points backward) so that the corresponding prediction output Y p As close as possible to the desired output Y r , which can make the objective function J p The minimum stress level is the lowest that can be tolerated:

[0094]

[0095] In the formula, ω i is a non-negative weight coefficient It represents the proportion of the stress margin of each point in the future in the objective function. The closer the proportion of each link is to the current moment, the greater the value of the non-negative weighted coefficient; y p and r Respectively represent Y p and Y r .

[0096] According to the formula, at each different point k at different times, a set of control quantities [H'(k+1), H'(k+2), ..., H'(k+p)] can be solved to make J pMinimum, where k+p-1<n. It can be understood that k is cycled from 1 to n in sequence, and each operation point is processed in parallel, and continuous control is performed in sequence. Among them, because the multi-link operation is continuous and cyclic, the equation is continuously monitored and calculated and output, and the monitoring and control of each link are performed in parallel.

[0097] Step 104: Send the execution instructions of each operating mechanism to each operating mechanism through the operating mechanism parameter interpreter; the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and guide the controlled mechanical system operating mechanism to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints.

[0098] Specifically, after obtaining the execution instructions of each operating mechanism, the controller sends the execution instructions of each operating mechanism to each operating mechanism through the operating mechanism parameter interpreter, so that each operating mechanism can determine the working parameters of each operating mechanism according to the execution instructions, thereby guiding the controlled mechanical system to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints.

[0099] The preset constraints can be preset, for example:

[0100] 0≤Y(k)≤Y * th(k) ≤Y * max

[0101]

[0102] Among them, Y * max , X max Indicates the maximum acceptable stress level, that is, if the value is exceeded, the mortality rate will exceed 50%; this value is obtained through a large number of experiments. th , Y * th represents the corresponding threshold value, defined as 95% of the stress level that results in 50% lethality.

[0103] Among them, Y(k) represents the cumulative stress level value of the kth monitoring site, Y max Indicates the threshold of the cumulative stress level value of the preset monitoring site.

[0104] H i,min ≤H i (k)≤H i,max ,i=1,2,3,…

[0105] Among them, k represents the number of operating units, i represents the time of monitoring points, and Hi (k) represents the operation of the i-th operating mechanism at point t.

[0106] Among them, the operating operation of the operating mechanism refers to the operating operation of the specific executing mechanism, such as the motor speed control of the operating conveyor belt, the control of the distribution force and speed of the executing distribution mechanism, and the control of other corresponding physical contacts that can cause stress / damage to fresh biological materials, which is generally manifested as reducing speed, reducing force and pressure, etc.

[0107] Finally, the above steps 101-104 are repeated during the operation to monitor the stress level Z of the remaining sites. k , adjust the operation parameters H in sequence k At the same time, the monitoring and control of each link are processed in parallel. The reduction of operating parameters mainly includes reducing the stress source F i The size of the pressure is used to reduce the stress intensity and adjust the speed v i Lengthen different stressors x i The time distance between them.

[0108] The method provided in this embodiment is applied to a controller in a mechanical stress monitoring and control system, and the mechanical stress monitoring and control system includes a controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, and the method includes: first, obtaining the operating parameters of each operating mechanism from each operating mechanism, wherein each operating mechanism is an operating mechanism corresponding to a monitoring site; obtaining the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device, wherein the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the fresh living organism receives the stressor generated by each execution structure based on the operating parameters of each operating mechanism and interacts with the stressor; then, based on the biometric information of each monitoring site and the preset cumulative stress level expected value, determining the execution instructions of each operating mechanism; and then, sending the execution instructions of each operating mechanism to each operating mechanism, the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and perform corresponding operation operations based on each working parameter, so as to achieve the control of the stress level of the fresh living organism under the preset constraint conditions. The present invention realizes the effective monitoring of the stress level of fresh living biological materials and can effectively control the stress level.

[0109] The benefit lies in that the stress level of each link of the controlled machinery is quantitatively predicted and represented, and the rolling horizon control (RHC) method is adopted to achieve quantitative control of the stress level during the mechanical operation process.

[0110] According to a mechanical stress monitoring and control method provided by the present invention, the mechanical stress monitoring and control system also includes a comparator, which determines the execution instructions of each operating mechanism based on the biological feature information of each monitoring site, the stress level prediction value and the preset cumulative stress level expected value, including:

[0111] Based on the biological characteristic information of each monitoring site, determine the cumulative stress level value of each monitoring site during the operation, that is, the predicted value;

[0112] Determine the expected value of cumulative stress intensity based on the real-time monitored stress intensity value and the expected value of stress degree;

[0113] Using the comparator, the predicted value of the cumulative stress level of each monitoring site is compared with the preset expected value of the cumulative stress level to obtain a comparison result;

[0114] Based on the comparison results, the execution instructions of each operating mechanism are determined.

[0115] Specifically, in some embodiments, the mechanical stress monitoring and control system further includes a comparator, which is used to compare the cumulative stress level value of each monitoring site with a preset cumulative stress level expected value. Correspondingly, step 103 can be implemented in the following manner:

[0116] Among them, stress information Z k The acquisition method is as follows: first, based on the biological characteristic information of each monitoring site, the cumulative stress level value of each monitoring site is calculated. For example, when the living organisms are fish, when the individual fish are stressed, they are injured due to underlying diseases or collisions such as fast operation speed, bouncing, swinging, etc., and the corresponding biological characteristic information can be the effective area of ​​injury of the individual fish. The process of calculating the stress level value of each monitoring site is as follows:

[0117] s=a1*A+a2*B+a3*C+a4

[0118] s represents the effective injury area, A represents the injury area with surface bleeding, B represents the injury area with scale shedding, and C represents the injury area with wound tearing;

[0119] D=s / S

[0120] D represents the damage degree, s represents the injured effective area, and S represents the total effective area. The estimated value of the damage degree is further used for monitoring and control.

[0121] Among them, Z k =Dt=ΔD, that is, the difference between the two previous and next sites is used to monitor the stress of the monitoring site, ΔD>xi, and the change in the degree of damage over time is used to represent the stress level value of the monitoring site, because this value includes the stress caused by other non-mechanical operation processes.

[0122] The above is one of the methods for monitoring and calculating the stress level value. For other species such as shrimps and shellfish, the cumulative stress level value of the monitoring site can be calculated through the corresponding biological characteristic information, which is not limited in this embodiment.

[0123] When the multi-site mode, that is, n>1; based on the monitoring value Z at k k and Y * r Based on step 103, H(k+1),…,H(k+p) are calculated and output as control instructions of length p. The interpreter adjusts F at k+1 in a rolling manner according to the sequence. k+1 The size of v k+1 , so that the time interval is appropriately increased, which ultimately manifests as a reduction in the stress of the target organism. At the same time, the above operations are performed in parallel at each point to complete the operation of the controlled mechanical system.

[0124] For example, Figure 4 FIG. 3 is a schematic diagram of the principle of the mechanical stress monitoring and control method provided by the present invention, which shows the process of calculating the cumulative stress level value of each monitoring site, such as Figure 4 As shown, the horizontal axis represents the stress source point, that is, the point where the organism is subjected to external force, which is also the corresponding biological characteristic monitoring point. The cumulative value of the stress degree corresponding to each stress source point is approximately normally distributed.

[0125] Furthermore, a comparator is used to compare the cumulative stress level value and the predicted stress level value of each monitoring site with the preset cumulative stress level expected value to obtain a comparison result. The cumulative stress level expected value may be a reasonable threshold value set according to historical data, within which the damage caused by excessive stress level can be attenuated. The comparison result is, for example, that the cumulative stress level value of each monitoring site is less than, equal to, or greater than the preset cumulative stress level expected value.

[0126] Furthermore, according to the comparison result, the execution instructions of each operating mechanism are predicted and determined. The output execution instructions are, for example: adjusting the amount of force F or the action time of the force within a preset time window, which is obtained by adjusting v.

[0127] For example, Figure 5 FIG. 4 is a schematic diagram of the principle of the mechanical stress monitoring and control method provided by the present invention. Figure 5As shown, the above parameters form a control closed loop, which monitors the biological characteristic information of stress generated by fresh biological materials online, and sends the accumulated stress level value in the process to the comparator through the feedback network. The comparator compares the accumulated stress level value in the process with the expected value of the accumulated emergency level, and outputs an execution instruction to the controller. The controller determines the operating parameters of the operating mechanism after analyzing the instruction, and the operating mechanism executes the operating parameters.

[0128] In the method provided in this embodiment, first, based on the biological characteristic information of each monitoring site, the cumulative stress level value of each monitoring site during the operation is determined; then, using a comparator, the cumulative stress level value of each monitoring site is compared with the preset cumulative stress level expected value to obtain a comparison result; and then, according to the comparison result, the execution instruction of each operating mechanism is determined. Then, each operating mechanism can perform corresponding operation based on the execution instruction sent by the controller to control the stress level of fresh living organisms under the preset constraint conditions, effectively realizing the monitoring and control of mechanical stress level during the operation.

[0129] According to a mechanical stress monitoring and control method provided by the present invention, an execution instruction of each operating mechanism is sent to each operating mechanism, comprising:

[0130] Using the operating mechanism parameter interpreter, the execution instructions of each operating mechanism are converted into control indicators for stress reduction of each operating mechanism;

[0131] According to the control index of stress reduction of each operating mechanism, the command matrix of each operating mechanism is determined; the command matrix is ​​used to characterize the operation of each operating mechanism at the corresponding time of each monitoring point;

[0132] The command matrix of each operating mechanism is sent to the corresponding operating mechanism.

[0133] Specifically, in some embodiments, the mechanical stress monitoring and control system further includes an interpreter, which is used to interpret the execution instructions issued by the controller, that is, to convert the execution instructions of each operating mechanism into a language that can be perceived by each operating mechanism.

[0134] Correspondingly, step 104 can be implemented in the following manner:

[0135] First, the execution instructions of each operating mechanism are sent to the interpreter, and the interpreter is used to convert the execution instructions of each operating mechanism into the control indicators of stress reduction of each operating mechanism. The control indicators of stress reduction of each operating mechanism are, for example, the force action time and force amplitude of each operating mechanism within the corresponding time window.

[0136] Furthermore, the command matrix of the operating mechanism is determined according to the control index of stress reduction of each operating mechanism in the operating mechanism of the controlled mechanical system, and the operating operation of each operating mechanism at the corresponding time of each monitoring position is characterized and realized. Furthermore, the command matrix of each operating mechanism is sent to the corresponding operating mechanism through the interpreter, so that each operating mechanism performs the corresponding operating operation according to the command matrix, thereby realizing the control of the stress degree.

[0137] In the method provided in this embodiment, first, an interpreter is used to convert the execution instructions of each operating mechanism into a control index for stress reduction of each operating mechanism, and a command matrix of each operating mechanism is determined according to the control index for stress reduction of each operating mechanism, wherein the command matrix is ​​used to characterize the operating operations of each operating mechanism at corresponding moments at each monitoring site, and then, the command matrix of each operating mechanism is sent to the corresponding operating mechanisms, so that each operating mechanism performs corresponding operating operations according to the command matrix, thereby achieving control over the degree of stress.

[0138] According to a mechanical stress monitoring and control method provided by the present invention, the converting of the execution instructions of each operating mechanism into a control index for stress reduction of each operating mechanism comprises:

[0139] Determine the action time of the operating mechanism at each point and the amplitude of the force when each operating mechanism is operating, and solve a set of control quantities [H(k+1),…,H(k+p)] according to formula (1):

[0140]

[0141] Among them, ω i is a non-negative weighting coefficient, which represents the proportion of the stress margin of each point in the future in the objective function. The value of the non-negative weighting coefficient depends on the proportion of each link. The closer to the current moment, the larger the value of the non-negative weighting coefficient; J p Indicates the backward prediction of p points, y p (k+i) represents the predicted value of point k+i, y * r (k+i) represents the expected value after the k+i site ends; the variable p represents the length of the prediction window or the control step size,

[0142] Determine the control amount [H(k+1),…,H(k+p)] as the execution instruction of each of the operating mechanisms;

[0143] The execution instructions of each of the operating mechanisms are determined as control indicators for stress reduction of each of the operating mechanisms by adjusting the action time of the operating parameters of each of the operating mechanisms and the amplitude of the force during operation of each of the operating mechanisms.

[0144] Specifically, in some embodiments, converting the execution instructions of each operating mechanism into a control index for stress reduction of each operating mechanism can be achieved through the following steps:

[0145] The formula in step 103 is used to determine the action time of the operating mechanism at each point and the amplitude of the force when each operating mechanism is operating. Solve a set of control variables [H(k+1), ... H(k+p)] so that J p is minimized, and the execution instructions of each operating mechanism are determined as the control indicators for stress reduction of each operating mechanism by adjusting the action time of the operating parameters of each operating mechanism and the amplitude of the force during operation of each operating mechanism.

[0146] The following formula is used to determine the action time of the operating mechanism at each point and the amplitude of the force when each operating mechanism is operating, including the formula Solve a set of control variables [H(k+1), ... H(k+p)] so that J p The minimum value is obtained based on the calculated operating parameters H(k+1) and other values ​​at the predicted point, and continuous control is performed in sequence. Since the multi-link operation is continuous and cyclic, the equation is continuously monitored and calculated and outputted. In addition, the monitoring and control of each link are carried out in parallel.

[0147] The execution instructions of each of the operating mechanisms are decomposed and adjusted by an interpreter into components of multiple force amplitudes and action times during corresponding operations of each link of the operating mechanism, and determined as actual indicators for stress reduction of each of the operating mechanisms.

[0148] Furthermore, based on the control index of stress reduction of each operating mechanism, the command matrix of each operating mechanism can be determined, and the command matrix is ​​used to characterize the operating operation of each operating mechanism at the corresponding time of each monitoring location.

[0149] In the method provided in this embodiment, the execution instructions of each operating mechanism are converted into control indicators for stress reduction of each operating mechanism. The command matrix of each operating mechanism can be determined based on the control indicators for stress reduction of each operating mechanism. Then, the command matrix of each operating mechanism is sent to the corresponding operating mechanisms, so that each operating mechanism can perform corresponding operating operations according to the command matrix, thereby achieving control over the degree of stress.

[0150] According to a mechanical stress monitoring and control method provided by the present invention, the type of biometric monitoring equipment includes at least one of the following: a visual image acquisition device and a biological flexible sensor; the type of living organisms can be at least one of the following: fish, shrimp and shellfish.

[0151] Specifically, in some embodiments, the type of the biometric monitoring device includes at least one of the following: a visual image acquisition device and a biological flexible sensor, wherein the visual image acquisition device is used to collect image information of living organisms at each monitoring site, and the biological flexible sensor is used to collect biometric information that can be directly monitored by the living organisms at each monitoring site.

[0152] The types of living organisms may include at least one of the following: fish, shrimps and shellfish. The biological characteristic information corresponding to different types is different. For example, the biological characteristic information of fish is the injured area of ​​the fish or the stress level value monitored by the sensor. The biological characteristic information of shrimps is the change of transparent shrimp image features, and the image features may be, for example, color, texture, shape, movement (respiratory frequency, etc.). The biological characteristic information of shellfish is the characteristic change value of the shell closing force of the shell, and the characteristic change value of the shell closing force of the shell is used to reflect the stress pressure generated by it.

[0153] In the method provided in this embodiment, different types of living organisms correspond to different biological characteristic information and use different monitoring equipment, which is more applicable.

[0154] Figure 6 FIG. 2 is a flow chart of the mechanical stress monitoring and control method provided by the present invention. As shown in the figure, the method includes:

[0155] Step S1, obtaining the biometric information of the monitoring site and the operating parameters of the operating mechanism;

[0156] Step S2, calculating the stress degree of the corresponding site by using a difference method or other methods based on the biometric information of multiple monitoring sites;

[0157] Step S3, generating a new output by comparing the predicted value corresponding to the cumulative stress level with the expected value in the comparator;

[0158] Step S4: the operating mechanism corresponding to the output control performs corresponding operations to achieve control of the stress under constraint conditions.

[0159] Figure 7 This is the third structural diagram of the mechanical stress monitoring and control system provided by the present invention, such as Figure 7 As shown, the mechanical stress monitoring and control system includes at least one biometric monitoring device 710, the controller 720, and at least one operating mechanism parameter interpreter 730; wherein,

[0160] Each of the biometric monitoring devices 710 is used to monitor the biometric information corresponding to each monitoring site where the biometric monitoring device is located;

[0161] The controller 720 is used to obtain the operating parameters of each of the operating mechanisms from the operating mechanisms; each of the operating mechanisms is an operating mechanism corresponding to the monitoring site;

[0162] Acquire the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each execution structure based on the operating parameters of each operating mechanism and interacts with the stressor;

[0163] Determining execution instructions for each of the operating mechanisms based on the biometric information of each of the monitoring sites, the predicted stress level value, and the preset expected cumulative stress level value;

[0164] Sending execution instructions of each of the operating mechanisms to each of the operating mechanisms;

[0165] Each of the operating mechanism parameter interpreters 730 is used to determine the operating parameters of each of the operating mechanisms according to the execution instructions, and perform corresponding operating operations based on each of the operating parameters to control the stress level of the living organisms under preset constraints.

[0166] The mechanical stress monitoring and control device provided by the present invention is described below. The mechanical stress monitoring and control device described below and the mechanical stress monitoring and control method described above can be referred to each other.

[0167] Figure 8 It is a structural schematic diagram of the mechanical stress monitoring and control device provided by the present invention. The mechanical stress monitoring and control device 800 is applied to the controller in the mechanical stress monitoring and control system. The mechanical stress monitoring and control system includes the controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter. The mechanical stress monitoring and control device 800 includes: an acquisition module and a control module;

[0168] An acquisition module 810 is used to acquire the operation parameters of each of the operation mechanisms from each of the operation mechanisms; each of the operation mechanisms is an operation mechanism corresponding to the monitoring site and is a stressor that generates mechanical stress;

[0169] Acquire, from each of the biometric monitoring devices, biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located;

[0170] The biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located is generated when the living organism receives the stressor generated by each of the operating structures based on the operating parameters of each of the operating mechanisms and interacts with the stressor;

[0171] A control module 820, for controlling the module, for determining the execution instructions of each of the operating mechanisms based on the biological characteristic information of each monitoring site, the stress level prediction value and the preset cumulative stress level expected value;

[0172] The execution instructions of each operating mechanism are sent to each operating mechanism through an operating mechanism parameter interpreter; the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and to guide the controlled mechanical system to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints, and the controlled mechanical system includes at least one operating mechanism.

[0173] The device provided in this embodiment is applied to a controller in a mechanical stress monitoring and control system, which includes a controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter. First, the acquisition module 810 acquires the operating parameters of each operating mechanism from each operating mechanism, wherein each operating mechanism is an operating mechanism corresponding to a monitoring site; and acquires the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device, wherein the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each execution structure based on the operating parameters of each operating mechanism and interacts with the stressor; then, the control module 820 calls various model parameters, and determines the execution instructions of each operating mechanism based on the biometric information of each monitoring site and a preset expected value of the cumulative stress level; further, the control module 820 sends the execution instructions of each operating mechanism to each operating mechanism, and the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and perform corresponding operating operations based on the working parameters, so as to control the stress level of the living organism under preset constraints. The present invention realizes effective monitoring of the stress degree of fresh biological materials and can effectively control the stress degree.

[0174] According to a mechanical stress monitoring and control device 800 provided by the present invention, the controller further includes a comparator, and the control module 830 is specifically used for:

[0175] Based on the biological characteristic information of each monitoring site, determine the cumulative stress level value of each monitoring site during the operation, that is, the predicted value;

[0176] Determine the expected value of cumulative stress intensity based on the real-time monitored stress intensity value and the expected value of stress degree;

[0177] Using the comparator, the predicted value of the cumulative stress level of each monitoring site is compared with the preset expected value of the cumulative stress level to obtain a comparison result;

[0178] According to the comparison result, the execution instruction of each operating mechanism is determined.

[0179] According to a mechanical stress monitoring and control device 800 provided by the present invention, the control module 830 is further used for:

[0180] Utilizing the operating mechanism parameter interpreter, converting the execution instructions of each operating mechanism into a control index for stress reduction of each operating mechanism;

[0181] Determine the command matrix of each operating mechanism according to the control index of stress reduction of each operating mechanism; the command matrix is ​​used to characterize the operation of each operating mechanism at the corresponding time of each monitoring site;

[0182] The command matrix of each operating mechanism is sent to the corresponding operating mechanism.

[0183] According to a mechanical stress monitoring and control device 800 provided by the present invention, the control module 830 is further used for:

[0184] Determine the action time of the operating mechanism at each point and the amplitude of the force when each operating mechanism is operating, and solve a set of control quantities [H(k+1),…,H(k+p)] according to the formula:

[0185]

[0186] Among them, ω i is a non-negative weighting coefficient, which represents the proportion of the stress margin of each point in the future in the objective function. The value of the non-negative weighting coefficient depends on the proportion of each link. The closer to the current moment, the larger the value of the non-negative weighting coefficient; J p Indicates the backward prediction of p points, y p (k+i) represents the predicted value of point k+i, y / r (k+i) represents the expected value after the k+i site ends; the variable p represents the length of the prediction window or the control step size,

[0187] Determine the control amount [H(k+1),…,H(k+p)] as the execution instruction of each of the operating mechanisms;

[0188] The execution instructions of each of the operating mechanisms are determined as control indicators for stress reduction of each of the operating mechanisms by adjusting the action time of the operating parameters of each of the operating mechanisms and the amplitude of the force during operation of each of the operating mechanisms.

[0189] According to a mechanical stress monitoring and control device 800 provided by the present invention, the biometric monitoring device is used to monitor and obtain the stress level value at a certain point, and the acquisition is achieved based on multi-source perception devices such as vision. The type of the biometric monitoring device includes at least one of the following: a visual image acquisition device and a biological flexible sensor.

[0190] Fig. 9 An example of a physical structure diagram of an electronic device is shown in FIG. Fig. 9 As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930 and a communication bus 940, wherein the processor 910, the communication interface 920 and the memory 930 communicate with each other through the communication bus 940. The processor 910 may call the logic instructions in the memory 930 to execute the mechanical stress monitoring and control method, which is applied to the controller in the mechanical stress monitoring and control system, and the mechanical stress monitoring and control system includes the controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, and the method includes:

[0191] Acquiring operating parameters of each operating mechanism from each operating mechanism; each operating mechanism is an operating mechanism corresponding to the monitoring site and is a stressor that generates mechanical stress;

[0192] Acquire the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each operating structure based on the operating parameters of each operating mechanism and interacts with the stressor;

[0193] Determining execution instructions for each of the operating mechanisms based on the biometric information of each monitoring site, the predicted stress level and the preset expected cumulative stress level;

[0194] The execution instructions of each operating mechanism are sent to each operating mechanism through an operating mechanism parameter interpreter; the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and to guide the operating mechanism to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints. The controlled mechanical system includes at least one operating mechanism.

[0195] In addition, the logic instructions in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0196] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the mechanical stress monitoring and control method provided by the above methods, the method is applied to the controller in the mechanical stress monitoring and control system, the mechanical stress monitoring and control system includes the controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, the method includes:

[0197] Acquiring operating parameters of each operating mechanism from each operating mechanism; each operating mechanism is an operating mechanism corresponding to the monitoring site and is a stressor that generates mechanical stress;

[0198] Acquire the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each operating structure based on the operating parameters of each operating mechanism and interacts with the stressor;

[0199] Determining execution instructions for each of the operating mechanisms based on the biometric information of each monitoring site, the predicted stress level and the preset expected cumulative stress level;

[0200] The execution instructions of each operating mechanism are sent to each operating mechanism through an operating mechanism parameter interpreter; the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and to guide the operating mechanism to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints. The controlled mechanical system includes at least one operating mechanism.

[0201] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the mechanical stress monitoring and control method provided by the above methods, the method being applied to a controller in the mechanical stress monitoring and control system, the mechanical stress monitoring and control system comprising the controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, the method comprising:

[0202] Acquiring operating parameters of each operating mechanism from each operating mechanism; each operating mechanism is an operating mechanism corresponding to the monitoring site and is a stressor that generates mechanical stress;

[0203] Acquire the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each operating structure based on the operating parameters of each operating mechanism and interacts with the stressor;

[0204] Determining execution instructions for each of the operating mechanisms based on the biometric information of each monitoring site, the predicted stress level and the preset expected cumulative stress level;

[0205] The execution instructions of each operating mechanism are sent to each operating mechanism through an operating mechanism parameter interpreter; the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and to guide the operating mechanism to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints. The controlled mechanical system includes at least one operating mechanism.

[0206] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0207] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0208] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanical stress monitoring and control method, characterized in that: Applied to a controller in the mechanical stress monitoring and control system, the mechanical stress monitoring and control system includes the controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, the method includes: Acquiring operating parameters of each operating mechanism from each operating mechanism; each operating mechanism is an operating mechanism corresponding to the monitoring site and is a stressor that generates mechanical stress; Acquire the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each operating structure based on the operating parameters of each operating mechanism and interacts with the stressor; Determining execution instructions for each of the operating mechanisms based on the biometric information of each monitoring site, the predicted stress level value, and the preset cumulative stress level expected value; The execution instructions of each operating mechanism are sent to each operating mechanism through an operating mechanism parameter interpreter; the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and to guide the controlled mechanical system to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints, and the controlled mechanical system includes at least one operating mechanism.

2. The mechanical stress monitoring and control method according to claim 1, characterized in that: The controller further includes a comparator, which determines the execution instructions of each of the operating mechanisms based on the biological feature information of each monitoring site, the stress level prediction value and the preset cumulative stress level expected value, including: Based on the biometric information of each monitoring site, determining the cumulative stress level value of each monitoring site during the operation; Determine the expected value of cumulative stress intensity based on the real-time monitored stress intensity value and the expected value of stress degree; Using the comparator, the predicted value of the cumulative stress level of each monitoring site is compared with the preset expected value of the cumulative stress level to obtain a comparison result; According to the comparison result, the execution instruction of each operating mechanism is determined.

3. The mechanical stress monitoring and control method according to claim 1, characterized in that: The step of sending the execution instructions of each operating mechanism to each operating mechanism through an operating mechanism parameter interpreter includes: Utilizing the operating mechanism parameter interpreter, converting the execution instructions of each operating mechanism into a control index for stress reduction of each operating mechanism; Determine the command matrix of each operating mechanism according to the control index of stress reduction of each operating mechanism; the command matrix is ​​used to characterize the operation of each operating mechanism at the corresponding time of each monitoring site; The command matrix of each operating mechanism is sent to the corresponding operating mechanism.

4. The mechanical stress monitoring and control method according to claim 3, characterized in that: The step of converting the execution instructions of each operating mechanism into a control index for stress reduction of each operating mechanism includes: Determine the action time of the operating mechanism at each point and the amplitude of the force when each operating mechanism is operating, and solve a set of control quantities [H(k+1), …, H(k+p)] according to the formula: in, is a non-negative weighting coefficient, which represents the proportion of the stress margin of each point in the future in the objective function. The value of the non-negative weighting coefficient depends on the proportion of each link. The closer to the current moment, the larger the value of the non-negative weighting coefficient; It indicates the backward prediction of p points. express The predicted value of the point, express The expected value after the site ends; the variable p represents the length of the prediction window or the step size of the control, Determine the control amount [H(k+1), …, H(k+p)] as the execution instruction of each of the operating mechanisms; The execution instructions of each of the operating mechanisms are determined as control indicators for stress reduction of each of the operating mechanisms by adjusting the action time of the operating parameters of each of the operating mechanisms and the amplitude of the force during operation of each of the operating mechanisms.

5. The mechanical stress monitoring and control method according to any one of claims 1 to 4, characterized in that: The biometric monitoring device is used to monitor and obtain the stress level value at a certain point, and is obtained based on multi-source perception devices such as vision, and includes at least one of a visual image acquisition device and a biological flexible sensor.

6. A mechanical stress monitoring and control system, characterized in that: The mechanical stress monitoring and control system comprises a controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter; wherein, Each of the biometric monitoring devices is used to monitor the biometric information corresponding to each monitoring site where the biometric monitoring device is located; The controller obtains the operating parameters of each operating mechanism from each operating mechanism; each operating mechanism is an operating mechanism corresponding to the monitoring site, and is used to generate a stressor; Acquire the biometric information corresponding to each monitoring site where each biometric monitoring device is located from each biometric monitoring device; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when the living organism receives the stressor generated by each operating structure based on the operating parameters of each operating mechanism and interacts with the stressor; Determining execution instructions for each of the operating mechanisms based on the biometric information of each of the monitoring sites and a preset expected value of the cumulative stress level; Sending the execution instructions of each of the operating mechanisms to the parameter interpreters of each of the operating mechanisms; Each of the operating mechanism parameter interpreters is used to determine the operating parameters of each of the operating mechanisms according to the execution instructions, and perform corresponding operating operations based on each of the operating parameters to control the stress level of the living organisms under preset constraints.

7. A mechanical stress monitoring and control device, characterized in that: Applied on a controller in the mechanical stress monitoring and control system, the mechanical stress monitoring and control system comprises the controller, at least one biometric monitoring device and at least one operating mechanism parameter interpreter, the device comprises: an acquisition module and a control module; An acquisition module, used for acquiring the operation parameters of each of the operation mechanisms from each of the operation mechanisms; each of the operation mechanisms is an operation mechanism corresponding to the monitoring site and is a stressor that generates mechanical stress; Acquire, from each of the biometric monitoring devices, biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located; The biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located is generated when the living organism receives the stressor generated by each of the operating structures based on the operating parameters of each of the operating mechanisms and interacts with the stressor; A control module, for determining execution instructions of each of the operating mechanisms based on the biometric information of each monitoring site, the stress level prediction value and the preset cumulative stress level expected value; The execution instructions of each operating mechanism are sent to each operating mechanism through an operating mechanism parameter interpreter; the execution instructions are used for each operating mechanism to determine the working parameters of each operating mechanism according to the execution instructions, and to guide the controlled mechanical system to perform corresponding operating operations based on the working parameters, so as to control the stress level of living organisms under preset constraints, and the controlled mechanical system includes at least one operating mechanism.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the mechanical stress monitoring and control method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mechanical stress monitoring and control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the mechanical stress monitoring and control method according to any one of claims 1 to 6 is implemented.

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