A mechanical stress monitoring control method, device and system

Abstract

The present application relates to the field of monitoring and control technology of agricultural and fishery machinery, and provides a mechanical stress monitoring and control method, device and system, the system comprising a controller, at least one biological feature monitoring device and at least one working mechanism parameter interpreter, the method comprising: obtaining working parameters of each working mechanism from each working mechanism; obtaining biological feature information corresponding to each monitoring site where each biological feature monitoring device is located from each biological feature monitoring device; determining an execution instruction of the working mechanism parameter interpreter based on the biological feature information of each monitoring site and a preset accumulated stress degree expectation value, and sending the execution instruction to each working mechanism for performing corresponding working operations according to the execution instruction, so as to control the stress degree of fresh and live organisms under a preset constraint condition. The present application realizes effective monitoring of mechanical stress of fresh and live organism materials in a continuous working process, and can effectively control and reduce the stress.

Description

Technical Field

[0001] This invention relates to the field of agricultural and fishery machinery monitoring and control technology, and in particular to a method and system for monitoring and controlling mechanical stress. Background Technology

[0002] Mechanical stress refers to the response of live organisms to external mechanical stressors during mechanical operations, and its intensity and duration are affected by the stressor's strength and duration. Live organisms such as aquatic products (fish, shrimp, and shellfish) inevitably experience mechanical damage or stress during mechanical operations such as phenotypic sorting, grading, vaccination, and fish collection. Appropriate levels of stress can improve fish's tolerance to their environment; however, when a certain stress threshold is reached, irreversible damage to tissues and organs, and even death, can occur. Therefore, monitoring and controlling the biological characteristics of live organisms such as aquatic products (fish, shrimp, and shellfish) in the face of stressors is crucial.

[0003] With the continuous emergence of machinery for handling live fish, the continuous operation systems they form exhibit multi-stage characteristics. However, due to a relative lack of monitoring of stress levels during these operations, stress levels fluctuate significantly with varying operational parameters. Furthermore, live fish inevitably experience multiple mechanical injuries or accumulated stress during continuous operations such as grading, necessitating measures to prevent excessive stress that could lead to behavioral and physiological abnormalities in the fish. Therefore, to effectively reduce the accumulation of stress caused by mechanical collisions and injuries, it is essential to effectively monitor, control, and mitigate stress levels during the continuous operation of fishery machinery systems.

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

[0005] To address the problems existing in the prior art, this invention provides a mechanical stress monitoring and control method and system, which enables effective monitoring of the degree of mechanical stress experienced by fresh biological materials 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 a 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 the following steps.

[0007] The operating parameters of each of the operating mechanisms are obtained from each of the operating mechanisms; each of the operating mechanisms is an operating mechanism corresponding to the monitoring site and is a stress source that generates stress;

[0008] The biometric information corresponding to each monitoring site where each biometric monitoring device is located is obtained from each of the biometric monitoring devices; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when a live organism interacts with the stress source after receiving the stress source generated by each of the operating structures based on the operating parameters of each operating mechanism.

[0009] Based on the biometric information, predicted stress levels, and preset expected cumulative stress levels of each monitoring site, the execution instructions for each of the aforementioned operating mechanisms are determined.

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

[0011] According to a mechanical stress monitoring and control method provided by the present invention, the controller further includes a comparator, wherein the method determines the execution instructions of each operating mechanism based on the biometric information of each monitoring site, the predicted stress level, and the preset expected cumulative stress level, including:

[0012] Based on the biometric information of each monitoring site, the cumulative stress level of each monitoring site during the operation is determined;

[0013] Based on real-time monitored stress intensity values ​​and expected stress levels, the expected cumulative stress intensity value is determined.

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

[0015] Based on the comparison results, the execution instructions for each of the operating mechanisms are determined.

[0016] According to a mechanical stress monitoring and control method provided by the present invention, the step of sending the execution instructions of each working mechanism to each working mechanism through a working mechanism parameter interpreter includes:

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

[0018] Based on the stress reduction control indicators of each of the aforementioned operating mechanisms, a command matrix is ​​determined for each of the aforementioned operating mechanisms; the command matrix is ​​used to characterize the operating operations of each of the aforementioned operating mechanisms at the corresponding time of each of the aforementioned monitoring sites.

[0019] Send the command matrix of each of the aforementioned work mechanisms to the corresponding work mechanisms.

[0020] According to the present invention, a mechanical stress monitoring and control method is provided, wherein converting the execution instructions of each of the operating mechanisms into control indicators for stress reduction of each of the operating mechanisms includes:

[0021] Determine the action time of the working mechanism at each of the aforementioned points and the amplitude of the force during the operation of each of the aforementioned working mechanisms. Then, solve for a set of control quantities [H(k+1),…,H(k+p)] according to formula (1):

[0022]

[0023] Where, ω i The non-negative weighting coefficient represents the proportion of the future stress margin at each of the stated points in the objective function. The value of the non-negative weighting coefficient depends on the proportion of each component; the closer to the current time, the larger the value of the non-negative weighting coefficient. p This indicates predicting the output for p points backwards, y p (k+i) represents the predicted value at point k+i, y * r (k+i) represents the expected value after the prediction ends at position k+i; variable p represents the length of the prediction window or the control step size.

[0024] The control quantities [H(k+1),…,H(k+p)] are determined as the execution instructions for each of the operating mechanisms;

[0025] The execution instructions of each operating mechanism are determined as the control indicators for stress reduction 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.

[0026] According to a mechanical stress monitoring and control method provided by the present invention, the biometric monitoring device is used to monitor and acquire the stress level value at a certain point. Its feature can be acquired based on a multi-source sensing device such as vision, including at least one of a visual image acquisition device and a flexible biosensor.

[0027] Secondly, the present invention also 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 aforementioned biometric monitoring devices is used to monitor biometric information corresponding to each monitoring site where the biometric monitoring device is located;

[0029] The controller obtains the operating parameters of each of the operating mechanisms from each of the operating mechanisms; each of the operating mechanisms is an operating mechanism corresponding to the monitoring site and is used to generate stress sources;

[0030] The biometric information corresponding to each monitoring site where each biometric monitoring device is located is obtained from each of the biometric monitoring devices; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when a live organism interacts with the stress source after receiving the stress source generated by each of the operating structures based on the operating parameters of each operating mechanism.

[0031] Based on the biometric information of each monitoring site and the preset expected value of cumulative stress, the execution instructions of each operating mechanism are determined;

[0032] Send the execution instructions of each of the aforementioned work mechanisms to each of the aforementioned work mechanisms;

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

[0034] Thirdly, the present invention also provides a mechanical stress monitoring and control device, which 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 device includes: an acquisition module and a control module.

[0035] The acquisition module is used to acquire the operating parameters of each of the operating mechanisms; each of the operating mechanisms is an operating mechanism corresponding to the monitoring site and is a stress source that generates mechanical stress;

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

[0037] The biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located is generated when a live organism interacts with a stressor generated by each of the operating structures based on the operating parameters of each operating mechanism after receiving the stressor.

[0038] The control module is used to determine the execution instructions of 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.

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

[0040] Fourthly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the mechanical stress monitoring and control method as described above.

[0041] Fifthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the mechanical stress monitoring and control method as described above.

[0042] In a sixth aspect, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the mechanical stress monitoring and control method as described above.

[0043] The present invention provides a mechanical stress monitoring and control method and system. The method is applied to the controller in a mechanical stress monitoring and control system, which includes a controller, at least one biometric monitoring device, and at least one operator parameter interpreter. The method includes: first, obtaining the operating parameters of each operator from each operator, wherein each operator corresponds to a monitoring site; second, obtaining 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 is generated when the living organism interacts with the stress source after receiving a stress source generated by each actuator based on the operating parameters of each operator; third, determining the execution instructions of each operator based on the predicted value of the biometric information of each monitoring site and a preset expected value of cumulative stress level; and fourth, sending the execution instructions of each operator to each operator through the operator parameter interpreter. The execution instructions are used by each operator to determine its operating parameters according to the execution instructions and to perform corresponding operations based on the operating parameters, thereby controlling the stress level of the living organism under preset constraints. This invention enables effective monitoring and control of the stress level of fresh biological materials. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

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

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

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

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

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

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

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

[0053] Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

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

[0056] Figure 1This is one of the flowcharts illustrating the mechanical stress monitoring and control method provided by the present invention. This method is applied to the controller in a 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: Obtain the operating parameters of each operating mechanism; each operating mechanism is the operating mechanism corresponding to the monitoring site and is the stress source that generates stress.

[0058] Specifically, the execution subject in this embodiment is the controller in the 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 operator parameter interpreter, for example. Figure 2 This is one of the schematic diagrams illustrating the principle 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 operator parameter interpreter.

[0060] First, the controller can obtain the operating parameters of each operating mechanism in the controlled mechanical system. Specifically, this can be achieved through an operating mechanism parameter interpreter. Each operating mechanism corresponds to a monitoring point and is a significant stress source. Based on the controlled mechanical system (a simplified diagram of a typical mechanical system is shown below),... Figure 3 The control indicators for stress reduction of each operating unit are determined, and the command matrix of each operating unit is established. The command matrix characterizes the operational actions of each operating unit at each monitoring point at the corresponding time. An example command matrix is ​​shown below:

[0061]

[0062] Where s represents the maximum total number of operating mechanism parameters in each stage of the controlled mechanical system, and t represents the time of the stress point, i.e., the number of points or stages. For example: In a controlled mechanical operating system where each node contains a maximum of 5 operating mechanism parameters, the command matrix executed based on the operation of the third operating mechanism parameter at the time corresponding to monitoring point i (i≤n) is as follows:

[0063] Specifically

[0064] Specifically, construct H(i) = [Fi, vi] TLet H(n,i) represent the job parameters, and let F1 represent the job parameter instructions at position i. Furthermore, since the job is continuous, we have 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 range of predicted job parameter instructions.

[0065] Understandably, H(i) = [F i ,v i ] T In this context, F and v represent the basic components of a single working stage. A complex single stage can be composed of multiple Fs and multiple vs, such as [F1, v1]. T The parameter can be updated and replaced with [F] via the operating mechanism parameter interpreter. 11 ,F 12 ,v 11 ,v 12 ] T That is, the complex F and v can be decomposed using vector methods 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 Where F represents the stress source, v represents the velocity between intervals, and is used to control the duration of force application or stress reduction. Other parameters involved in the measures are auxiliary parameters in this invention.

[0066] For example, Figure 3 This is a schematic diagram of the mechanical stress monitoring and control method provided by the present invention, as shown in Figure 2. Figure 3 As shown, the working mechanism is also the corresponding mechanical stress source x i ,and Figure 3 Monitoring points C in China k C k+1 C k+2 C k+3 It corresponds to the working 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 a live organism interacts with a stressor generated by each working structure based on the working parameters of each working mechanism after receiving the stressor.

[0068] The controller can acquire biometric information corresponding to each monitoring site of each biometric monitoring device. Different operating parameters of each mechanism result in varying degrees of mechanical damage or stress to the live organisms. Based on preliminary experimental data, the following empirical formula was obtained:

[0069]

[0070] Among them, F i The external force received is related to its operating parameters; A represents the fish's health status; P represents the location where the external force acts; B represents the size of the fish. The intensity coefficient representing the stress level indicates the distribution pattern of stress caused by the magnitude and form of the force, as well as information such as the location of the force, the state of the fish, and the health of the fish. The influence characteristics of this coefficient can be obtained through a large number of experiments; ui represents the corresponding combination of fish body parameter u and mechanical structure link i.

[0071] It should be noted that the stress expression can ignore the fish's health status (A), the location of the external force (P), and the fish's size (B), i.e., it can be simplified as...

[0072] It is understandable that living organisms such as fish will experience stress when subjected to external forces generated by operating mechanisms or collisions, during which momentum is conserved. That is, the impulse I = Ft, the fish's initial momentum P1 = mv1, and the frictional force F used for correction. f (Almost unchanged). After the action is performed, the fish and conveyor belt remain stationary, i.e., the momentum is P2 = mv2. Meanwhile, considering the situation of the working mechanisms at each point throughout the entire operation, we have mΔv = Δp, which represents the cumulative impulse required in the operation. Since the structure of each link of the working device in the controlled mechanical system is fixed, this indicates that it is a constant value; specifically... It is fixed, because the mechanical structure and the number of mechanical structure points are generally fixed during the operation process, that is, i in ui is fixed, and its corresponding mechanical structure is fixed, and its action or collision process should have similarity. Based on this, under the condition that the mechanical structure and the number of links are fixed, the cumulative stress Y is mainly related to the operation parameters, mainly the influence of operation parameters H, such as the force of the actuator and the speed of the transmission mechanism, etc.

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

[0074] Furthermore, considering the attenuation effect of short-term stress at each location i, we propose that the stress level at each location at T... n The actual stress level that changes over time, i.e.

[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 organism applies an external force F by accumulating the time intervals used at each point. i The time consumed is included; i represents the number of node positions; j = i-1, representing the previous position of the position, i = 1, 2, 3, ..., n; n represents the total number of nodes. ij This represents the relative distance between site i and site j, and is related to the device's structural parameters; v ij The relative velocity between site i and site j represents an important variable affecting the accumulation of stress levels. It can be understood as H(i) = [F...]. i ,v i ] T v in i .

[0079]

[0080] The above equation represents the decay function of the stress over time. In this equation, f(|tt) ui |)=f(u,i,t) represents the stress decay function, where u represents the basic parameters of the fish, related to the size and species of the fish; i represents the position sequence number of the node, corresponding to the generated site, which is 1, 2, 3, ..., n; t represents the duration of stress; α varies depending on the structure of the site. ui and t ui They are all different. α ui The attenuation coefficient, representing the stress level of the corresponding fish body parameter u under the action of mechanical structural link i, was obtained through a large number of experiments.

[0081] The biometric information corresponding to each monitoring site is generated when a live organism interacts with a stressor generated by each working structure based on the working parameters of each working mechanism. The stress level value for a future time period can be derived using the H(i) instruction. Based on the above, we have...

[0082] Y(k)=∑x ui (T k );

[0083] Among them, T k This represents the time at point k, based on T. n Calculations show that x ui This represents the maximum stress intensity generated. Since this value is related to the working mechanism and depends on ui, Y can be used to represent the predicted value at a future location. This further illustrates that the stress at each location can be monitored by monitoring equipment and controlled by controlling the operating parameters. It should be noted that when multiple fish are operated continuously, a time sequence number for each fish can be added to facilitate sequential rolling processing at different stages.

[0084] Step 103: Based on the biometric information, predicted stress levels, and preset expected cumulative stress levels of each monitoring site, determine the execution instructions for each operating unit.

[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 from historical data, and the execution instructions of each operating unit can be determined based on the comparison results.

[0086] Specifically, we can use Y(k) as an equivalent representation of the predicted value Y. p (k), i.e., Y p If (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 of the site.

[0087] Similarly, based on the representation of the expected stress level, we express it as:

[0088]

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

[0090] Furthermore, a real-time monitoring value Z of the stress level is introduced. k By effectively considering the influence of uncontrollable external stress sources z, such as external interference, free collisions, and mechanical vibrations, the controllable part of the stress generated by mechanical operation is clarified, that is, the part caused solely by the operating parameter H. Then:

[0091]

[0092] In the formula, the new Y r (k+i) represents the expected stress value at position k+i in the remaining stages; Y * th(k+p) This represents the expected value at position k+p, which can be expressed as follows: Calculation can also be performed by Calculate, k + p - 1 < n; w i This represents the proportion of stress level in each process, and is a non-negative weighting coefficient. This indicates the weight of each component.

[0093] Furthermore, select the sequence of control variables H within a future time domain p (calculated by the number of points, i.e., predicting p points backward), so that the corresponding predicted output Y p As close as possible to the expected output Y r This enables the objective function J to be... p To minimize, that is, to minimize the acceptable level of stress:

[0094]

[0095] In the formula, ω i Non-negative weighting coefficients It represents the proportion of the future stress margin at each point in the objective function, and the proportion of each link. The closer to the current time, the larger the value of the non-negative weighting coefficient; y p and y r They represent Y respectively p and Y r .

[0096] According to the formula, at each different point k at different times, a set of control variables [H'(k+1), H'(k+2), ..., H'(k+p)] can be solved to make J pThe minimum value is given by k + p - 1 < n. Understandably, k cycles sequentially from 1 to n, and each work point is processed in parallel, with continuous sequential control. Because the multi-stage operations are continuous and cyclical, the equation is continuously monitored and calculated for output. Furthermore, the monitoring and control of each stage are performed in parallel.

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

[0098] Specifically, after receiving the execution instructions from each working mechanism, the controller sends the execution instructions to each working mechanism through the working mechanism parameter interpreter. This allows each working mechanism to determine its working parameters based on the execution instructions, thereby guiding the controlled mechanical system to perform corresponding operations based on the working parameters. This achieves the control of the stress level of live organisms under preset constraints.

[0099] Preset constraints can be defined, for example:

[0100] 0≤Y(k)≤Y * th(k) ≤Y * max

[0101]

[0102] Among them, Y * max X max This represents the maximum acceptable level of stress, exceeding which the mortality rate would exceed 50%; this value was obtained through extensive experimentation. In this example, X... th Y * th The corresponding threshold is defined as 95% of the stress level that results in a 50% mortality rate.

[0103] Where Y(k) represents the cumulative stress level at the k-th monitoring site, Y max The threshold value represents the cumulative stress level of the preset monitoring site.

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

[0105] Where k represents the number of operating units, i represents the time of the monitoring point, and Hi (k) represents the operation performed on the i-th working mechanism at point t.

[0106] The operation of the working mechanism refers to the operation of the specific actuator, such as the control of the motor speed of the working conveyor belt, the control of the sorting force and speed of the sorting mechanism, and the control of other physical contact that can cause stress / damage to fresh biological materials, which is generally manifested as reducing speed, reducing force and pressure, etc.

[0107] Finally, during the operation, steps 101-104 above were repeated to monitor the stress level Z at the remaining sites. k Adjust the operation parameters H sequentially. k Simultaneously, monitoring and control at each stage are processed in parallel. The reduction of operational parameters primarily includes mitigating stressors F. i Size to reduce stress intensity and regulate speed v i Lengthen different stressors x i The time distance between them.

[0108] The method provided in this embodiment is applied to the controller in a 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 operator parameter interpreter. The method includes: first, obtaining the operating parameters of each operator from each operator, wherein each operator corresponds to a monitoring site; second, obtaining 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 is generated when the live organism interacts with the stress source after receiving the stress source generated by each actuator based on the operating parameters of each operator; third, determining the execution instructions for each operator based on the biometric information of each monitoring site and a preset cumulative stress level expectation value; and fourth, sending the execution instructions to each operator, wherein the execution instructions are used for each operator to determine its operating parameters according to the execution instructions and to perform corresponding operations based on the operating parameters, thereby controlling the stress level of the live organism under preset constraints. This invention achieves effective monitoring and control of the stress level of live biological materials.

[0109] The advantage 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 used to achieve quantitative control of the stress level during the operation of the machinery.

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

[0111] Based on the biometric information of each monitoring site, the cumulative stress level of each monitoring site during the operation is determined, i.e., the predicted value.

[0112] Based on real-time monitored stress intensity values ​​and expected stress levels, the expected cumulative stress intensity value is determined.

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

[0114] Based on the comparison results, the execution instructions for each operating unit 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 expected cumulative stress level value. Correspondingly, step 103 can be implemented in the following manner:

[0116] Among them, stress information Z k The method for obtaining the stress level is as follows: First, based on the biometric information of each monitoring site, the cumulative stress level value of each monitoring site is calculated. For example, when the live organism is fish, individual fish may be injured due to underlying diseases, high operating speed, jumping, swinging, or other collisions. The corresponding biometric information can be the effective area of ​​injury to the individual fish. An example of the process for 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 area of ​​injury, A represents the area of ​​injury with surface bleeding, B represents the area of ​​injury with scale loss, and C represents the area of ​​injury with wound tearing.

[0119] D = s / S

[0120] D represents the degree of injury, s represents the effective area of ​​injury, and S represents the total effective area. This estimate of the degree of injury is then used for monitoring and control.

[0121] Among them, Z k =Dt=ΔD, that is, the stress monitoring of the monitoring site is carried out by using the difference between the two sites before and after. ΔD>xi, and the stress level of the monitoring site is represented by the change in the degree of damage over time, because this value includes the stress caused by other non-mechanical operation processes.

[0122] The above is one method for monitoring and calculating stress levels. Other species, such as shrimp and shellfish, can have their cumulative stress levels calculated using relevant biological characteristic information; this embodiment does not limit this method.

[0123] In a multi-site pattern, i.e., when 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 p control instructions of length are output in a rolling calculation. The interpreter then adjusts F at position k+1 in a rolling sequence. k+1 The size of v is adjusted to reduce the force, and simultaneously, by adjusting v... k+1 By appropriately increasing the time interval, the target organism's stress response is ultimately reduced. Simultaneously, the above operations are performed in parallel at each location to complete the work of the controlled mechanical system.

[0124] For example, Figure 4 This is the third schematic diagram of the mechanical stress monitoring and control method provided by the present invention, illustrating the process of calculating the cumulative stress level value at each monitoring site, such as... Figure 4 As shown, the horizontal axis represents the stressor locations, which are the points where the organism is subjected to external forces, and also the corresponding biological characteristic monitoring points. The cumulative stress levels at each stressor location are approximately normally distributed.

[0125] Furthermore, a comparator is used to compare the cumulative stress level, predicted stress level, and preset expected cumulative stress level at each monitoring site, obtaining the comparison result. The expected cumulative stress level can be a reasonable threshold set based on historical data; within this threshold range, damage caused by excessive stress can be mitigated. The comparison result, for example, shows that the cumulative stress level at each monitoring site is less than, equal to, or greater than the preset expected cumulative stress level.

[0126] Furthermore, based on the comparison results, the execution instructions for each operating mechanism are predicted and determined. The output execution instructions are, for example, adjusting the force amount F or the duration of force application within a preset time window, derived through the adjustment of v.

[0127] For example, Figure 5 This is the fourth schematic diagram 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 characteristics of fresh biological materials that generate stress online. The accumulated stress level value during the process is sent to the comparator through the feedback network. The comparator compares the accumulated stress level value with the expected value of the accumulated emergency level, and then outputs an execution command to the controller. After parsing the command, the controller determines the operating parameters of the operating mechanism, and the operating mechanism executes the operating parameters.

[0128] In the method provided in this embodiment, firstly, based on the biometric 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 a preset expected cumulative stress level value to obtain a comparison result; furthermore, based on the comparison result, the execution instructions for each operating mechanism are determined. Subsequently, each operating mechanism can perform corresponding operation based on the execution instructions sent by the controller, thereby controlling the stress level of live organisms under preset constraints, effectively realizing the monitoring and control of mechanical stress during the operation.

[0129] According to a mechanical stress monitoring and control method provided by the present invention, execution instructions for each operating mechanism are sent to each operating mechanism, including:

[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] Based on the stress reduction control indicators of each operating unit, the command matrix of each operating unit is determined; the command matrix is ​​used to characterize the operation of each operating unit at each monitoring point at the corresponding time.

[0132] Send the command matrix of each operating unit to the corresponding operating unit.

[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 working mechanism into a language that each working mechanism can perceive.

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

[0135] First, the execution instructions of each working mechanism are sent to the interpreter. The interpreter then converts the execution instructions of each working mechanism into control indicators for stress reduction. For example, the control indicators for stress reduction of each working mechanism are the force application time and force amplitude of each working mechanism within the corresponding time window.

[0136] Furthermore, based on the command matrix of the operating mechanisms determined by the stress reduction control indicators of each operating mechanism in the controlled mechanical system, the operation of each operating mechanism at the corresponding time at each monitoring point is characterized and implemented. Further, the command matrix of each operating mechanism is sent to the corresponding operating mechanism via an interpreter, enabling each operating mechanism to execute the corresponding operation according to the command matrix, thereby achieving control over the stress level.

[0137] In the method provided in this embodiment, firstly, the execution instructions of each working mechanism are converted into the stress reduction control indicators of each working mechanism using an interpreter. Based on the stress reduction control indicators of each working mechanism, the command matrix of each working mechanism is determined. The command matrix is ​​used to characterize the operation of each working mechanism at the corresponding time of each monitoring point. Then, the command matrix of each working mechanism is sent to the corresponding working mechanism so that each working mechanism can execute the corresponding operation according to the command matrix, thereby realizing the control of the stress level.

[0138] According to the present invention, a mechanical stress monitoring and control method is provided, wherein converting the execution instructions of each of the operating mechanisms into control indicators for stress reduction of each of the operating mechanisms includes:

[0139] Determine the action time of the working mechanism at each of the aforementioned points and the amplitude of the force during the operation of each of the aforementioned working mechanisms. Then, solve for a set of control quantities [H(k+1),…,H(k+p)] according to formula (1):

[0140]

[0141] Where, ω i The non-negative weighting coefficient represents the proportion of the future stress margin at each of the stated points in the objective function. The value of the non-negative weighting coefficient depends on the proportion of each component; the closer to the current time, the larger the value of the non-negative weighting coefficient. p This indicates predicting the output for p points backwards, y p (k+i) represents the predicted value at point k+i, y * r (k+i) represents the expected value after the prediction ends at position k+i; variable p represents the length of the prediction window or the control step size.

[0142] The control quantities [H(k+1),…,H(k+p)] are determined as the execution instructions for each of the operating mechanisms;

[0143] The execution instructions of each operating mechanism are determined as the control indicators for stress reduction 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.

[0144] Specifically, in some embodiments, the execution instructions of each working mechanism are transformed into control indicators for stress reduction of each working mechanism, which can be achieved through the following steps:

[0145] The action time of the working mechanism at each point is determined using the formula in step 103, and the amplitude of the force of each working mechanism during operation is determined by the formula. Solve for a set of control variables [H(k+1),……H(k+p)] such that J p To minimize the stress, the execution instructions of each operating mechanism are determined as the control index for stress reduction 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 action time of the working mechanism at each of the aforementioned points and the amplitude of the force during operation of each of the aforementioned working mechanisms are determined using the following formulas, including according to the formulas... Solve for a set of control variables [H(k+1),……H(k+p)] such that J p To minimize this, continuous control is implemented sequentially based on the calculated values ​​of the operational parameters H(k+1) at the predicted locations. Since the multi-stage operation is continuous and cyclical, the equation is continuously monitored and calculated for output. Furthermore, the monitoring and control of each stage are performed in parallel.

[0147] The execution instructions of each working mechanism are decomposed and adjusted by the interpreter into components of the amplitude and duration of multiple forces corresponding to each link of the working mechanism during operation, and determined as the actual indicators for stress reduction of each working mechanism.

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

[0149] In the method provided in this embodiment, the execution instructions of each working mechanism are converted into the stress reduction control indicators of each working mechanism. Based on the stress reduction control indicators of each working mechanism, the command matrix of each working mechanism can be determined. Then, the command matrix of each working mechanism is sent to the corresponding working mechanism, so that each working mechanism can perform the corresponding operation according to the command matrix, thereby realizing the control of stress level.

[0150] According to the mechanical stress monitoring and control method provided by the present invention, the type of biometric monitoring device includes at least one of the following: visual image acquisition device and flexible biosensor; the species of live organism can be at least one of the following: fish, shrimp and shellfish.

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

[0152] The types of live organisms can include at least one of the following: fish, shrimp, and shellfish. The biological characteristic information varies for different species. For example, the biological characteristic information for fish is the injured area of ​​the fish or the stress level value monitored by the sensor. The biological characteristic information for shrimp is the change in the characteristics of transparent shrimp images, such as color, texture, shape, and movement (breathing frequency, etc.). The biological characteristic information for shellfish is the characteristic change value of the shell-closing force of the shellfish, which is used to reflect the stress pressure generated by the shellfish.

[0153] In the method provided in this embodiment, different types of live organisms correspond to different biological characteristic information, and different monitoring equipment is used, making it more applicable.

[0154] Figure 6 This is the second flowchart of the mechanical stress monitoring and control method provided by the present invention. As shown in the figure, the method includes:

[0155] Step S1: Obtain biometric information of monitoring sites and operational parameters of the monitoring organization;

[0156] Step S2: Calculate the stress level of the corresponding site based on the biometric information of multiple monitoring sites using methods such as the interpolation method;

[0157] Step S3: Compare the predicted value corresponding to the accumulated stress level with the expected value in the comparator to generate a new output;

[0158] Step S4: Perform the corresponding operation according to the working mechanism corresponding to the output control to achieve the corresponding excitation control under the constraint conditions.

[0159] Figure 7 This is the third schematic diagram of the mechanical stress monitoring and control system provided by the present invention, as shown below. 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] The biometric information corresponding to each monitoring site where each biometric monitoring device is located is obtained from each of the biometric monitoring devices; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when a live organism interacts with the stress source after receiving the stress source generated by each of the execution structures based on the operation parameters of each of the operation mechanisms;

[0163] Based on the biometric information, predicted stress levels, and preset expected cumulative stress levels of each monitoring site, the execution instructions of each operating mechanism are determined.

[0164] Send the execution instructions of each of the aforementioned work mechanisms to each of the aforementioned work 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 to perform corresponding operating operations based on each of the operating parameters, so as to control the stress level of live 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 can be referred to in correspondence with the mechanical stress monitoring and control method described above.

[0167] Figure 8 This is a schematic diagram of the mechanical stress monitoring and control device 800 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] The acquisition module 810 is used to acquire the operating parameters of each of the operating mechanisms from each of the operating mechanisms; each of the operating mechanisms is an operating mechanism corresponding to the monitoring site and is a stress source that generates mechanical stress;

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

[0170] The biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located is generated when a live organism interacts with a stressor generated by each of the operating structures based on the operating parameters of each operating mechanism after receiving the stressor.

[0171] The control module 820 is used to control the module and determine the execution instructions of 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.

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

[0173] The device provided in this embodiment is applied to the controller in a 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 operator parameter interpreter. First, the acquisition module 810 acquires the operating parameters of each operator from each operator, wherein each operator is an operator corresponding to a monitoring site. It also acquires 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 live organism interacts with the stress source after receiving the stress source generated by each actuator based on the operating parameters of each operator. Then, the control module 820 calls various model parameters and determines the execution instructions of each operator based on the biometric information of each monitoring site and the preset cumulative stress level expectation value. Furthermore, the control module 820 sends the execution instructions of each operator to each operator. The execution instructions are used for each operator to determine the operating parameters of each operator according to the execution instructions and to perform corresponding operation based on the operating parameters, so as to control the stress level of the live organism under preset constraints. This invention enables effective monitoring and control of the stress level of fresh biological materials.

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

[0175] Based on the biometric information of each monitoring site, the cumulative stress level of each monitoring site during the operation is determined, i.e., the predicted value.

[0176] Based on real-time monitored stress intensity values ​​and expected stress levels, the expected cumulative stress intensity value is determined.

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

[0178] Based on the comparison results, the execution instructions for each of the operating mechanisms are determined.

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

[0180] Using the parameter interpreter of the operating mechanism, the execution instructions of each operating mechanism are converted into control indicators for stress reduction of each operating mechanism;

[0181] Based on the stress reduction control indicators of each of the aforementioned operating mechanisms, a command matrix is ​​determined for each of the aforementioned operating mechanisms; the command matrix is ​​used to characterize the operating operations of each of the aforementioned operating mechanisms at the corresponding time of each of the aforementioned monitoring sites.

[0182] Send the command matrix of each of the aforementioned work mechanisms to the corresponding work mechanisms.

[0183] According to the 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 and force amplitude of the operating mechanism at each of the aforementioned points, and solve for a set of control quantities [H(k+1),…,H(k+p)] using the formula:

[0185]

[0186] Where, ω i The non-negative weighting coefficient represents the proportion of the future stress margin at each of the stated points in the objective function. The value of the non-negative weighting coefficient depends on the proportion of each component; the closer to the current time, the larger the value of the non-negative weighting coefficient. p This indicates predicting the output for p points backwards, y p (k+i) represents the predicted value at point k+i, y / r (k+i) represents the expected value after the prediction ends at position k+i; variable p represents the length of the prediction window or the control step size.

[0187] The control quantities [H(k+1),…,H(k+p)] are determined as the execution instructions for each of the operating mechanisms;

[0188] The execution instructions of each operating mechanism are determined as the control indicators for stress reduction 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.

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

[0190] Figure 9 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 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 via the communication bus 940. The processor 910 can call logical instructions from the memory 930 to execute a mechanical stress monitoring and control method. This method is applied to the controller in the mechanical stress monitoring and control system, which includes the controller, at least one biometric monitoring device, and at least one operating mechanism parameter interpreter. The method includes:

[0191] The operating parameters of each of the operating mechanisms are obtained from each of the operating mechanisms; each of the operating mechanisms is an operating mechanism corresponding to the monitoring site and is a stress source that generates mechanical stress;

[0192] The biometric information corresponding to each monitoring site where each biometric monitoring device is located is obtained from each of the biometric monitoring devices; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when a live organism interacts with the stress source after receiving the stress source generated by each of the operating structures based on the operating parameters of each operating mechanism.

[0193] Based on the biometric information, predicted stress levels, and preset expected cumulative stress levels of each monitoring site, the execution instructions for each of the aforementioned operating mechanisms are determined.

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

[0195] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0196] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able 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:

[0197] The operating parameters of each of the operating mechanisms are obtained from each of the operating mechanisms; each of the operating mechanisms is an operating mechanism corresponding to the monitoring site and is a stress source that generates mechanical stress;

[0198] The biometric information corresponding to each monitoring site where each biometric monitoring device is located is obtained from each of the biometric monitoring devices; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when a live organism interacts with the stress source after receiving the stress source generated by each of the operating structures based on the operating parameters of each operating mechanism.

[0199] Based on the biometric information, predicted stress levels, and preset expected cumulative stress levels of each monitoring site, the execution instructions for each of the aforementioned operating mechanisms are determined.

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

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

[0202] The operating parameters of each of the operating mechanisms are obtained from each of the operating mechanisms; each of the operating mechanisms is an operating mechanism corresponding to the monitoring site and is a stress source that generates mechanical stress;

[0203] The biometric information corresponding to each monitoring site where each biometric monitoring device is located is obtained from each of the biometric monitoring devices; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when a live organism interacts with the stress source after receiving the stress source generated by each of the operating structures based on the operating parameters of each operating mechanism.

[0204] Based on the biometric information, predicted stress levels, and preset expected cumulative stress levels of each monitoring site, the execution instructions for each of the aforementioned operating mechanisms are determined.

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

[0206] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0207] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring and controlling mechanical stress, characterized in that, The method is applied to a controller in the mechanical stress monitoring and control system, which includes the controller, at least one biometric monitoring device, and at least one operating mechanism parameter interpreter. The operating parameters of each operating mechanism are obtained from each operating mechanism; each operating mechanism is an operating mechanism corresponding to each monitoring point and is a stress source that generates mechanical stress. The biometric information corresponding to each monitoring site where each biometric monitoring device is located is obtained from each of the biometric monitoring devices; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when a live organism interacts with the stress source after receiving the stress source generated by each of the operating structures based on the operating parameters of each operating mechanism. Based on the biometric information of each monitoring site, the predicted cumulative stress level of each monitoring site is determined, and the predicted cumulative stress level of each monitoring site and the preset expected cumulative stress level are used to determine the execution instructions of each operating mechanism. The execution instructions of each working mechanism are sent to each working mechanism through the working mechanism parameter interpreter; the execution instructions are used for each working mechanism to determine the working parameters of each working mechanism according to the execution instructions, and to guide the controlled mechanical system to perform corresponding operation based on each working parameter, so as to control the stress level of the live organism under preset constraints. The controlled mechanical system includes at least one working 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 predicted cumulative stress level of each monitoring site based on the biometric information of each monitoring site, and determines the execution instructions of each operating mechanism by comparing the predicted cumulative stress level of each monitoring site with a preset expected cumulative stress level, including: Based on the biometric information of each monitoring site, the stress level value of each monitoring site during the operation is determined; Based on the stress levels of each monitoring site, the cumulative stress level prediction value of each monitoring site is obtained by summing them up. Using the comparator, the predicted cumulative stress level of each monitoring site is compared with the preset expected cumulative stress level to obtain the comparison result; Based on the comparison results, the execution instructions for each of the operating mechanisms are 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 work mechanism to each work mechanism through the work mechanism parameter interpreter includes: Using the parameter interpreter of the operating mechanism, the execution instructions of each operating mechanism are converted into control indicators for stress reduction of each operating mechanism; Based on the stress reduction control indicators of each of the aforementioned operating mechanisms, a command matrix is ​​determined for each of the aforementioned operating mechanisms; the command matrix is ​​used to characterize the operating operations of each of the aforementioned operating mechanisms at the corresponding time of each of the aforementioned monitoring sites. Send the command matrix of each of the aforementioned work mechanisms to the corresponding work mechanisms.

4. The mechanical stress monitoring and control method according to claim 3, characterized in that, The process of converting the execution instructions of each of the aforementioned work mechanisms into control indicators for stress reduction of each of the aforementioned work mechanisms includes: Determine the action time of the working mechanism at each point and the amplitude of the force during the operation of each working mechanism. Then, solve for a set of control quantities [H(k+1), …, H(k+p)] using the formula: ； in, The non-negative weighting coefficient represents the proportion of the stress margin of each of the aforementioned points in the objective function. The value of the non-negative weighting coefficient depends on the proportion of each link, and the closer to the current time, the larger the value of the non-negative weighting coefficient. This indicates predicting the output for p points backwards. express Predicted value of the location, express The expected value before and after the site is determined; the variable p represents the length of the prediction window or the control step size. The control quantities [H(k+1), …, H(k+p)] are determined as the execution instructions for each of the operating mechanisms; The execution instructions of each operating mechanism are determined as the control indicators for stress reduction 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.

5. The mechanical stress monitoring and control method according to any one of claims 1-4, characterized in that, The biometric monitoring device is used to monitor and acquire the stress level value at a certain location. The acquisition is achieved based on a multi-source sensing device such as vision, and includes at least one of a visual image acquisition device and a flexible biosensor.

6. A mechanical stress monitoring and control system, characterized in that, The mechanical stress monitoring and control system includes a controller, at least one biometric monitoring device, and at least one operator parameter interpreter; wherein... Each of the aforementioned biometric monitoring devices is used to monitor 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 each monitoring site and is used to generate stress sources; The biometric information corresponding to each monitoring site where each biometric monitoring device is located is obtained from each of the biometric monitoring devices; the biometric information corresponding to each monitoring site where each biometric monitoring device is located is generated when a live organism interacts with the stress source after receiving the stress source generated by each of the operating structures based on the operating parameters of each operating mechanism. Based on the biometric information of each monitoring site, the predicted cumulative stress level of each monitoring site is determined, and the predicted cumulative stress level of each monitoring site and the preset expected cumulative stress level are used to determine the execution instructions of each operating mechanism. The execution instructions of each of the aforementioned working mechanisms are sent to the parameter interpreter of each of the aforementioned working mechanisms; Each of the aforementioned operating mechanism parameter interpreters is used to determine the operating parameters of each of the aforementioned operating mechanisms according to the execution instructions, and to perform corresponding operating operations based on the aforementioned operating parameters, so as to control the stress level of live organisms under preset constraints.

7. A mechanical stress monitoring and control device, characterized in that, The device is applied to the controller in the mechanical stress monitoring and control system, which includes the controller, at least one biometric monitoring device, and at least one operating mechanism parameter interpreter. The device includes an acquisition module and a control module. The acquisition module is used to acquire the operating parameters of each operating mechanism from each operating mechanism; each operating mechanism is an operating mechanism corresponding to each monitoring point and is a stress source that generates mechanical stress; Obtain biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located from each of the biometric monitoring devices; The biometric information corresponding to each monitoring site where each of the biometric monitoring devices is located is generated when a live organism interacts with a stressor generated by each of the operating structures based on the operating parameters of each operating mechanism after receiving the stressor. The control module is used to determine the predicted cumulative stress level of each monitoring site based on the biometric information of each monitoring site, and to determine the execution instructions of each operating mechanism by combining the predicted cumulative stress level of each monitoring site with the preset expected cumulative stress level. The execution instructions of each working mechanism are sent to each working mechanism through the working mechanism parameter interpreter; the execution instructions are used for each working mechanism to determine the working parameters of each working mechanism according to the execution instructions, and to guide the controlled mechanical system to perform corresponding operation based on each working parameter, so as to control the stress level of the live organism under preset constraints. The controlled mechanical system includes at least one working mechanism.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the mechanical stress monitoring and control method as described in any one of claims 1 to 5.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the mechanical stress monitoring and control method as described in any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the mechanical stress monitoring and control method as described in any one of claims 1 to 5.

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