Robot Path Planning Method, System, and Device Based on Industrial Internet of Things

Abstract

This application discloses a robot path planning method, system, and device based on the Industrial Internet of Things (IIoT), relating to the technical field of the IIoT. The method includes: obtaining the robot's current handling task, and determining the to-be-handled information corresponding to the to-be-handled object based on the current handling task; determining whether the contents are fluid based on the to-be-handled information, and if so, determining a first safety slope based on the container information and the contents information; obtaining placement part information corresponding to the robot's placement part, and determining a second safety slope based on the placement part information, the container information, and the contents information; obtaining a grid map, and determining the grid slope value corresponding to each non-edge grid based on the grid map, and generating a handling path based on the grid slope value, the first safety slope, and the second safety slope. This application has the effect of improving the intelligence level of robot handling.

Description

Technical Field

[0001] The present application relates to the technical field of industrial Internet of Things, and in particular to a robot path planning method, system, and device based on the industrial Internet of Things. Background Art

[0002] In today's industrial landscape, robotic handling technology has been widely adopted in various fields, including manufacturing, logistics, and warehousing. With the accelerated development of automation and informatization, robotic systems are increasingly being used to handle a wide variety of items, including packaging boxes, pallets, parts, and finished products. These robots not only excel in improving efficiency and reducing labor costs, but also enhance production flexibility through precise control and continuous operation. Many modern robotic devices incorporate advanced sensors, machine vision, and artificial intelligence algorithms, enabling them to adaptively adapt to diverse and complex working environments. Through real-time data processing and path planning, robots can effectively identify obstacles, optimize handling routes, and achieve autonomous handling.

[0003] Despite recent achievements in algorithms and technologies, the overall level of intelligence in robotic handling remains relatively low. Existing systems often lack the ability to flexibly handle complex and dynamic environments and different types of objects to be handled. They typically rely on pre-set rules and paths, making intelligent decision-making and effective adaptation difficult. This means that robots still require human intervention and monitoring in diverse object handling scenarios, limiting their potential for efficient automated production and complex logistics systems. Therefore, improving the intelligence level of robotic handling remains a key direction for future development. Summary of the Invention

[0004] In order to improve the intelligence level of robot handling, this application provides a robot path planning method, system, and equipment based on the Industrial Internet of Things.

[0005] In the first aspect, this application provides a robot path planning method based on the Industrial Internet of Things, which adopts the following technical solutions:

[0006] A robot path planning method based on the Industrial Internet of Things is applied to an Industrial Internet of Things system. The Industrial Internet of Things system includes a management platform, a sensor network platform, and an object platform that are sequentially communicatively connected. The method is executed by the management platform and includes:

[0007] Obtaining a current transport task of the robot, and determining to-be-transported information corresponding to an object to be transported according to the current transport task; the object to be transported includes a container and the contents of the container;

[0008] determining whether the contents are fluids based on the information about the object to be transported, and if so, obtaining container information corresponding to the container and content information corresponding to the contents, and determining a first safety slope based on the container information and the content information;

[0009] Acquiring placement part information corresponding to the placement part of the robot, and determining a second safety slope according to the placement part information, the container information, and the content information;

[0010] A grid map is obtained, and grid slope values corresponding to each non-edge grid are determined according to the grid map, and a transport path is generated according to the grid slope values, the first safety slope, and the second safety slope.

[0011] By adopting the above technical solution, the current handling task of the robot is first obtained, and the to-be-handled information corresponding to the to-be-handled object is determined according to the current handling task, the to-be-handled object including the container and the contents in the container. Then, whether the contents are fluid is determined according to the to-be-handled information. If the contents are fluid, the container information corresponding to the container and the contents information corresponding to the contents are obtained, and a first safety slope is determined according to the container information and the contents information. Then, the placement part information corresponding to the placement part of the robot is obtained, and a second safety slope is determined according to the placement part information, the container information and the contents information. Then, a grid map is obtained, and the grid slope value corresponding to each non-edge grid is determined according to the grid map, and a handling path is generated according to the grid slope value, the first safety slope and the second safety slope. By the above method, when the object to be handled is a container and the contents in the container, overflow of the contents can be effectively avoided, and sliding of the container can be avoided, thereby rationally planning the handling path, improving the safety of the handling process, and improving the intelligence level of robot handling.

[0012] Optionally, the step of determining a first safety slope according to the container information and the content information includes:

[0013] Acquire a container type and a container height corresponding to the container according to the container information, and acquire a content volume and a content type corresponding to the content according to the content information;

[0014] Acquiring historical fluid filling data corresponding to the container according to the container type, the historical fluid filling data including historical fluid volume data and historical fluid height data, and generating a fluid height calculation model according to the historical fluid filling data;

[0015] Inputting the volume of the contents into the fluid height calculation model to obtain the height of the contents in the container;

[0016] A first safety slope is determined according to the type of the container, the type of the contents, the height of the container, and the height of the contents.

[0017] By adopting the above technical solution, in order to determine the first safety slope, the container type and container height corresponding to the container are first obtained based on the container information, and the content volume and content type corresponding to the content are obtained based on the content information. Then, the historical fluid filling data corresponding to the container is obtained based on the container type, and the historical fluid filling data includes historical fluid volume data and historical fluid height data. A fluid height calculation model is generated based on the historical fluid filling data, and then the content volume is input into the fluid height calculation model to obtain the content height in the container. Finally, the first safety slope is determined based on the container type, content type, container height and content height.

[0018] Optionally, the step of determining the first safety slope according to the type of the container, the type of the contents, the height of the container, and the height of the contents includes:

[0019] Determining a corresponding height difference according to the height of the container and the height of the contents;

[0020] Matching the container type and the content type in a preset table to obtain a target safety slope calculation model; the preset table includes different container types, different content types, and safety slope calculation models, and the preset table is used to represent the mapping relationship between the different container types, the different content types, and the safety slope calculation model;

[0021] The height difference is input into the target safety slope calculation model to obtain a first safety slope.

[0022] By adopting the above technical solution, in order to determine the first safety slope, the corresponding height difference is first determined based on the container height and the content height, and then the container type and the content type are matched in a preset table to obtain a target safety slope calculation model. The preset table includes different types of containers, different types of contents and safety slope calculation models. The preset table is used to represent the mapping relationship between different types of containers, different types of contents and safety slope calculation models. Then, the height difference is input into the target safety slope calculation model to obtain the first safety slope.

[0023] Optionally, the step of generating a fluid height calculation model based on the historical fluid filling data includes:

[0024] performing data cleaning on the historical fluid filling data according to the historical fluid filling data to obtain corresponding cleaning data;

[0025] Performing feature engineering on the cleaned data according to the cleaned data to obtain corresponding model feature data;

[0026] Randomly dividing the model feature data into K parts of data based on a K-fold cross-validation method, where K is a positive integer, and training a pre-selected neural network model based on the K parts of data to obtain K trained neural network models;

[0027] Obtain model evaluation indicators corresponding to the K trained neural network models, wherein the model evaluation indicators include a model complexity indicator, a model interpretability indicator, a training set performance indicator, and a validation set performance indicator, and select a target model from the K trained neural network models according to the model evaluation indicators, and use the target model as a fluid height calculation model.

[0028] By adopting the above technical solution, in order to generate a fluid height calculation model, the historical fluid filling data is cleaned according to the historical fluid filling data to obtain corresponding cleaned data, and then the cleaned data is feature engineered according to the cleaned data to obtain corresponding model feature data, and then the model feature data is randomly divided into K portions of data based on the K-fold cross-validation method, where K is a positive integer, and a pre-selected neural network model is trained based on the K portions of data to obtain K trained neural network models, and then the model evaluation indicators corresponding to the K trained neural network models are obtained, and the target model is selected from the K trained neural network models according to the model evaluation indicators, and the target model is used as the fluid height calculation model.

[0029] Optionally, the step of determining the second safety slope according to the placement portion information, the container information, and the content information includes:

[0030] Acquire a first material type corresponding to the placement portion according to the placement portion information, acquire a second material type and a container weight corresponding to the container according to the container information, and acquire a content density corresponding to the content according to the content information;

[0031] determining a friction coefficient between an upper surface of the placement portion and a lower surface of the container based on the first material type and the second material type, and determining a weight of the contents corresponding to the contents based on the density of the contents and the volume of the contents;

[0032] A second safety slope is determined according to the friction coefficient and the weight of the contents.

[0033] By adopting the above technical solution, in order to determine the second safety slope, the first material type corresponding to the placement portion is first obtained based on the placement portion information, and the second material type and container weight corresponding to the container are obtained based on the container information, and the content density corresponding to the content is obtained based on the content information. Then, the friction coefficient between the upper surface of the placement portion and the lower surface of the container is determined based on the first material type and the second material type, and the content weight corresponding to the content is determined based on the content density and the content volume. Finally, the second safety slope is determined based on the friction coefficient and the content weight.

[0034] Optionally, the step of determining the grid slope value corresponding to each non-edge grid according to the grid map includes:

[0035] For each non-edge grid in the grid map, coordinate data of a target grid and elevation data corresponding to the target grid are obtained; the target grid includes the non-edge grid and an adjacent grid, and the adjacent grid is a grid adjacent to the non-edge grid;

[0036] The elevation change value of the non-edge grid is determined according to a preset formula, the coordinate data, and the elevation data; the adjacent grid includes an edge adjacent grid and a corner adjacent grid, and the preset formula is:

[0037]

[0038] Where (i, j) is the coordinate of the non-edge grid, Indicates the elevation change value of the non-edge grid, represents the elevation of the grid, represents the first weight corresponding to the corner adjacent grid, Indicates the second weight corresponding to the edge adjacent grid;

[0039] The spatial resolution of the grid is obtained, and the grid slope value corresponding to the non-edge grid is determined according to the spatial resolution and the elevation change value.

[0040] By adopting the above technical solution, in order to determine the grid slope value corresponding to each non-edge grid, for each non-edge grid in the grid map, the coordinate data of the target grid and the elevation data corresponding to the target grid are obtained, the target grid includes the non-edge grid and the adjacent grid, the adjacent grid is the grid adjacent to the non-edge grid, and then the elevation change value of the non-edge grid is determined according to the preset formula, coordinate data and elevation data, the adjacent grid includes the edge adjacent grid and the corner adjacent grid, and then the spatial resolution of the grid is obtained, and the grid slope value corresponding to the non-edge grid is determined according to the spatial resolution and the elevation change value.

[0041] Optionally, the step of generating a transport path according to the grid slope value, the first safety slope, and the second safety slope includes:

[0042] Determine a minimum value between the first safety slope and the second safety slope according to the first safety slope and the second safety slope, and use the minimum value as a final safety slope;

[0043] Determine a grid safety representative value corresponding to each non-edge grid according to the grid slope value and the final safety slope;

[0044] Based on a preset path planning algorithm, a transport path is generated according to the grid safety representative value.

[0045] By adopting the above technical solution, in order to generate a transportation path, the minimum value of the first safety slope and the second safety slope is first determined based on the first safety slope and the second safety slope, and the minimum value is used as the final safety slope. Then, the grid safety representative value corresponding to each non-edge grid is determined based on the grid slope value and the final safety slope. Finally, based on the pre-set path planning algorithm, the transportation path is generated according to the grid safety representative value.

[0046] Secondly, this application also provides a robot path planning system based on the Industrial Internet of Things, which adopts the following technical solutions:

[0047] A robot path planning system based on the industrial Internet of Things includes a management platform, a sensor network platform, and an object platform that are sequentially communicatively connected. The management platform is configured with:

[0048] An information acquisition module for obtaining objects to be transported, configured to obtain the current transport task of the robot and determine information corresponding to the objects to be transported based on the current transport task; the objects to be transported include containers and the contents of the containers;

[0049] a first safety slope determination module, configured to determine whether the contents are fluid based on the to-be-carried information, and if so, obtain container information corresponding to the container and content information corresponding to the contents, and determine a first safety slope based on the container information and the content information;

[0050] a second safety slope determination module, configured to obtain placement portion information corresponding to the placement portion of the robot, and determine a second safety slope based on the placement portion information, the container information, and the content information;

[0051] The transport path generation module is used to obtain a grid map, determine the grid slope value corresponding to each non-edge grid according to the grid map, and generate a transport path according to the grid slope value, the first safety slope and the second safety slope.

[0052] The transport path generation module includes:

[0053] an elevation data acquisition submodule, configured to acquire, for each non-edge grid in the grid map, coordinate data of a target grid and elevation data corresponding to the target grid; the target grid includes the non-edge grid and an adjacent grid, wherein the adjacent grid is a grid adjacent to the non-edge grid;

[0054] The elevation change value generating submodule is used to determine the elevation change value of the non-edge grid according to a preset formula, the coordinate data and the elevation data; the adjacent grid includes an edge adjacent grid and a corner adjacent grid, and the preset formula is:

[0055]

[0056] Where (i, j) is the coordinate of the non-edge grid, Indicates the elevation change value of the non-edge grid, represents the elevation of the grid, represents the first weight corresponding to the corner adjacent grid, Indicates the second weight corresponding to the edge adjacent grid;

[0057] The elevation change value generating submodule is used to obtain the spatial resolution of the grid and determine the grid slope value corresponding to the non-edge grid according to the spatial resolution and the elevation change value.

[0058] In a third aspect, the present application further provides a computer device that adopts the following technical solution:

[0059] A computer device comprises a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the method described in the first aspect when executing the computer program.

[0060] To sum up, the present application includes at least the following beneficial technical effects: first, the current handling task of the robot is obtained, and the information to be handled corresponding to the object to be handled is determined according to the current handling task, the object to be handled includes a container and the contents in the container, and then, according to the information to be handled, it is determined whether the contents are fluids. If the contents are fluids, the container information corresponding to the container and the contents information corresponding to the contents are obtained, and a first safety slope is determined according to the container information and the contents information, and then the placement part information corresponding to the placement part of the robot is obtained, and a second safety slope is determined according to the placement part information, the container information and the contents information, and then a grid map is obtained, and the grid slope value corresponding to each non-edge grid is determined according to the grid map, and a handling path is generated according to the grid slope value, the first safety slope and the second safety slope; through the above method, when the object to be handled is a container and the contents in the container, it can effectively avoid overflow of the contents and avoid sliding of the container, thereby rationally planning the handling path, improving the safety of the handling process, and improving the intelligence level of robot handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a schematic diagram of the overall process of the embodiment of the present application.

[0062] Figure 2 It is a structural diagram of one application scenario of the system of an embodiment of the present application.

[0063] Figure 3 It is a structural diagram of another application scenario of the system of an embodiment of the present application.

[0064] Figure 4 It is a structural block diagram of the computer device of this application. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-4 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0066] The embodiments of the present application disclose a robot path planning method based on the Industrial Internet of Things.

[0067] Reference Figure 1 A robot path planning method based on industrial Internet of Things is applied to an industrial Internet of Things system. The industrial Internet of Things system includes a management platform, a sensor network platform, and an object platform that are sequentially connected in communication. The method is executed by the management platform and includes:

[0068] Step S11 , obtaining the current transport task of the robot, and determining the to-be-transported information corresponding to the to-be-transported object according to the current transport task.

[0069] The objects to be transported include containers and the contents in the containers.

[0070] Step S12: determining whether the contents are fluids based on the information about the object to be transported; if so, obtaining container information corresponding to the container and content information corresponding to the contents, and determining a first safety slope based on the container information and content information.

[0071] Specifically, whether the contents are fluid is determined based on the information to be transported. If the contents are fluid, the container information corresponding to the container and the content information corresponding to the contents are obtained, and the first safety slope is determined based on the container information and the content information. If the contents are not fluid, the first safety slope is set to 90 degrees.

[0072] It is understandable that during the transportation process, the type of transported objects may be solid or fluid (such as liquid). Since the transportation process takes place within the factory and in order to improve the subsequent processing efficiency of the transported objects, the container will not be sealed during the transportation process; in addition, some solid particles with flow properties can also be regarded as fluids.

[0073] Step S13: Acquire placement part information corresponding to the placement part of the robot, and determine a second safety slope according to the placement part information, the container information, and the content information.

[0074] Step S14 , obtaining a grid map, determining the grid slope value corresponding to each non-edge grid according to the grid map, and generating a transport path according to the grid slope value, the first safety slope, and the second safety slope.

[0075] In the above embodiment, the current handling task of the robot is first obtained, and the handling information corresponding to the object to be handled is determined according to the current handling task, the object to be handled includes a container and the contents in the container, and then it is determined whether the contents are fluid according to the handling information. If the contents are fluid, the container information corresponding to the container and the contents information corresponding to the contents are obtained, and a first safety slope is determined according to the container information and the contents information, and then the placement part information corresponding to the placement part of the robot is obtained, and a second safety slope is determined according to the placement part information, the container information and the contents information, and then the grid map is obtained, and the grid slope value corresponding to each non-edge grid is determined according to the grid map, and a handling path is generated according to the grid slope value, the first safety slope and the second safety slope; through the above method, when the object to be handled is a container and the contents in the container, it can effectively avoid the contents from overflowing and the sliding of the container, thereby reasonably planning the handling path, improving the safety of the handling process, and improving the intelligence level of the robot handling.

[0076] As a further embodiment of the path planning system, the step of determining the first safety slope based on the container information and the content information includes:

[0077] Step S21 : acquiring the container type and container height corresponding to the container according to the container information, and acquiring the content volume and content type corresponding to the content according to the content information.

[0078] Step S22 : acquiring historical fluid filling data corresponding to the container according to the container type, the historical fluid filling data including historical fluid volume data and historical fluid height data, and generating a fluid height calculation model according to the historical fluid filling data.

[0079] Step S23: input the content volume into the fluid height calculation model to obtain the content height in the container.

[0080] Step S24: determining a first safety slope according to the type of container, the type of contents, the height of the container, and the height of the contents.

[0081] In the above embodiment, in order to determine the first safety slope, the container type and container height corresponding to the container are first obtained based on the container information, and the content volume and content type corresponding to the content are obtained based on the content information. Then, the historical fluid filling data corresponding to the container is obtained based on the container type, and the historical fluid filling data includes historical fluid volume data and historical fluid height data. A fluid height calculation model is generated based on the historical fluid filling data, and then the content volume is input into the fluid height calculation model to obtain the content height in the container. Finally, the first safety slope is determined based on the container type, content type, container height and content height.

[0082] As a further embodiment of the path planning system, the step of determining the first safety slope according to the type of container, the type of contents, the height of the container, and the height of the contents includes:

[0083] Step S31, determining the corresponding height difference according to the container height and the content height.

[0084] Step S32: Match the container type and the content type in a preset table to obtain a target safety slope calculation model.

[0085] The preset table includes different types of containers, different types of contents and a safety slope calculation model. The preset table is used to represent the mapping relationship between different types of containers, different types of contents and the safety slope calculation model.

[0086] Step S33: input the height difference into a target safety slope calculation model to obtain a first safety slope.

[0087] In the above embodiment, in order to determine the first safety slope, the corresponding height difference is first determined based on the container height and the content height, and then the container type and the content type are matched in a preset table to obtain a target safety slope calculation model. The preset table includes different types of containers, different types of contents and safety slope calculation models. The preset table is used to represent the mapping relationship between different types of containers, different types of contents and safety slope calculation models, and then the height difference is input into the target safety slope calculation model to obtain the first safety slope.

[0088] As a further embodiment of the path planning system, the step of generating a fluid height calculation model based on historical fluid filling data includes:

[0089] Step S41 , performing data cleaning on the historical fluid filling data according to the historical fluid filling data to obtain corresponding cleaned data.

[0090] Step S42 , performing feature engineering processing on the cleaned data according to the cleaned data to obtain corresponding model feature data.

[0091] Step S43: randomly divide the model feature data into K parts of data based on the K-fold cross-validation method, where K is a positive integer, and train the pre-selected neural network model based on the K parts of data to obtain K trained neural network models.

[0092] Step S44, obtain model evaluation indicators corresponding to K trained neural network models, the model evaluation indicators include model complexity indicators, model interpretability indicators, training set performance indicators and validation set performance indicators, and select a target model from the K trained neural network models according to the model evaluation indicators, and use the target model as the fluid height calculation model.

[0093] In the above embodiment, in order to generate a fluid height calculation model, the historical fluid filling data is cleaned according to the historical fluid filling data to obtain corresponding cleaned data, and then the cleaned data is feature engineered according to the cleaned data to obtain corresponding model feature data, and then the model feature data is randomly divided into K portions of data based on the K-fold cross-validation method, where K is a positive integer, and a pre-selected neural network model is trained based on the K portions of data to obtain K trained neural network models, and then the model evaluation indicators corresponding to the K trained neural network models are obtained, and the target model is selected from the K trained neural network models according to the model evaluation indicators, and the target model is used as the fluid height calculation model.

[0094] As a further embodiment of the path planning system, the step of determining the second safety slope based on the placement unit information, the container information, and the content information includes:

[0095] Step S51 , obtaining a first material type corresponding to the placement portion according to the placement portion information, obtaining a second material type and a container weight corresponding to the container according to the container information, and obtaining a content density corresponding to the content according to the content information.

[0096] Step S52 : determining the friction coefficient between the upper surface of the placement portion and the lower surface of the container according to the first material type and the second material type, and determining the content weight corresponding to the content according to the density and volume of the content.

[0097] It should be noted that the chemical composition of the material determines the size of its friction coefficient. Different types of materials have different surface microstructures and compositions, so the friction process and wear will also be different, resulting in differences in the friction coefficient. In this embodiment, the upper surface of the placement portion and the lower surface of the container are both roughened, so the friction coefficient is closely related to the type of material. If the upper surface of the placement portion and the lower surface of the container are roughened, then in step S51, the roughness corresponding to the upper surface of the placement portion and the lower surface of the container also needs to be considered.

[0098] Step S53: determining a second safety slope according to the friction coefficient and the weight of the contents.

[0099] It can be understood that if the friction coefficient is μ, then the second safety slope is arctan(μ).

[0100] In the above embodiment, in order to determine the second safety slope, the first material type corresponding to the placement portion is first obtained based on the placement portion information, and the second material type and container weight corresponding to the container are obtained based on the container information, and the content density corresponding to the content is obtained based on the content information. Then, the friction coefficient between the upper surface of the placement portion and the lower surface of the container is determined based on the first material type and the second material type, and the content weight corresponding to the content is determined based on the content density and the content volume. Finally, the second safety slope is determined based on the friction coefficient and the content weight.

[0101] As a further implementation of the path planning system, the step of determining the grid slope value corresponding to each non-edge grid according to the grid map includes:

[0102] Step S61 : For each non-edge grid in the grid map, obtain the coordinate data of the target grid and the elevation data corresponding to the target grid.

[0103] The target grid includes a non-edge grid and an adjacent grid, and the adjacent grid is a grid adjacent to the non-edge grid.

[0104] Step S62: determining the elevation change value of the non-edge grid according to a preset formula, coordinate data, and elevation data.

[0105] Among them, the adjacent grid includes the edge adjacent grid and the corner adjacent grid, and the preset formula is:

[0106]

[0107] (i,j) is the coordinate of the non-edge grid, Indicates the elevation change value of the non-edge grid. represents the elevation of the grid, represents the first weight corresponding to the corner adjacent grid, Indicates the second weight corresponding to the edge adjacent grid;

[0108] Step S63: Obtain the spatial resolution of the grid, and determine the grid slope value corresponding to the non-edge grid according to the spatial resolution and the elevation change value.

[0109] It should be noted that grid resolution (also called spatial resolution) is a parameter used to describe the actual physical distance represented by each grid cell in the grid dataset in geographic space. If the spatial resolution of the grid is x*y, the calculation formula for the grid slope value can be:

[0110]

[0111] Where S represents the slope.

[0112] In the above embodiment, in order to determine the grid slope value corresponding to each non-edge grid, for each non-edge grid in the grid map, the coordinate data of the target grid and the elevation data corresponding to the target grid are obtained, the target grid includes the non-edge grid and the adjacent grid, the adjacent grid is the grid adjacent to the non-edge grid, and then the elevation change value of the non-edge grid is determined according to the preset formula, coordinate data and elevation data, the adjacent grid includes the edge adjacent grid and the corner adjacent grid, and then the spatial resolution of the grid is obtained, and the grid slope value corresponding to the non-edge grid is determined according to the spatial resolution and the elevation change value.

[0113] As a further embodiment of the path planning system, the step of generating a transport path according to the grid slope value, the first safety slope, and the second safety slope includes:

[0114] Step S71: determining a minimum value of the first safety slope and the second safety slope according to the first safety slope and the second safety slope, and taking the minimum value as the final safety slope.

[0115] Step S72: determining the grid safety representative value corresponding to each non-edge grid according to the grid slope value and the final safety slope.

[0116] Step S73: Generate a transport path based on a preset path planning algorithm and the grid safety representative value.

[0117] As you can understand, path planning algorithms are used to calculate the optimal path from a starting point to a destination. They are commonly used in robots, autonomous vehicles, spacecraft, and other systems that require autonomous navigation. Path planning algorithms can be implemented in a variety of ways, depending on the application scenario and requirements. Common path planning algorithms include Dijkstra's algorithm, A* algorithm, RRT (rapid random tree), genetic algorithm, and others.

[0118] In the above embodiment, in order to generate a transport path, the minimum value of the first safety slope and the second safety slope is first determined based on the first safety slope and the second safety slope, and the minimum value is used as the final safety slope. Then, the grid safety representative value corresponding to each non-edge grid is determined based on the grid slope value and the final safety slope. Finally, based on a pre-set path planning algorithm, a transport path is generated according to the grid safety representative value.

[0119] The embodiments of the present application also disclose a robot path planning system based on the industrial Internet of Things.

[0120] refer to Figure 2 The robot path planning system based on the industrial Internet of Things includes a management platform, a sensor network platform, and an object platform that are sequentially connected in communication. The management platform is configured with:

[0121] The to-be-carried information acquisition module is used to obtain the current transport task of the robot and determine the to-be-carried information corresponding to the to-be-carried object based on the current transport task; the to-be-carried object includes a container and the contents in the container;

[0122] a first safety slope determination module, configured to determine whether the contents are fluid based on the information to be transported, and if so, obtain container information corresponding to the container and content information corresponding to the contents, and determine a first safety slope based on the container information and the content information;

[0123] a second safety slope determination module, configured to obtain placement portion information corresponding to the placement portion of the robot, and determine a second safety slope based on the placement portion information, the container information, and the content information;

[0124] The transport path generation module is used to obtain a grid map, determine the grid slope value corresponding to each non-edge grid according to the grid map, and generate a transport path according to the grid slope value, the first safety slope and the second safety slope.

[0125] The transport path generation module includes:

[0126] The elevation data acquisition submodule is used to obtain the coordinate data of the target grid and the elevation data corresponding to the target grid for each non-edge grid in the grid map; the target grid includes the non-edge grid and the adjacent grid, and the adjacent grid is the grid adjacent to the non-edge grid;

[0127] The elevation change value generation submodule is used to determine the elevation change value of non-edge grids based on a preset formula, coordinate data, and elevation data; adjacent grids include edge adjacent grids and corner adjacent grids, and the preset formula is:

[0128]

[0129] Among them, (i, j) is the coordinate of the non-edge grid, Indicates the elevation change value of the non-edge grid. represents the elevation of the grid, represents the first weight corresponding to the corner adjacent grid, Indicates the second weight corresponding to the edge adjacent grid;

[0130] The elevation change value generation submodule is used to obtain the spatial resolution of the grid and determine the grid slope value corresponding to the non-edge grid based on the spatial resolution and elevation change value.

[0131] The overall framework of another application scenario of the robot path planning system based on industrial Internet of Things of this application is as follows Figure 3 As shown, the system may include a user platform, a service platform, a management platform, a sensor network platform, and an object platform, which interact in sequence, forming a five-platform architecture based on the Industrial Internet of Things. The management platform includes a module for acquiring information about items to be transported, a module for determining a first safe slope, a module for determining a second safe slope, and a module for generating transport paths. The service platform includes a central service database, n service sub-platforms, and n service sub-databases. Each service sub-platform can communicate with its corresponding service sub-database, and each service sub-database can communicate with the central service database. The sensor network platform includes n sensor network sub-platforms, each of which is typically equipped with a sensor sub-database.

[0132] Specifically, in another application scenario mentioned above, the robot path planning system based on the industrial Internet of Things includes a management platform, which is configured to: obtain the current handling task of the robot, and determine the to-be-handled information corresponding to the object to be handled based on the current handling task; the object to be handled includes a container and the contents in the container; determine whether the contents are fluid based on the to-be-handled information, and if so, obtain the container information corresponding to the container and the contents information corresponding to the contents, and determine the first safety slope based on the container information and the contents information; obtain the placement part information corresponding to the placement part of the robot, and determine the second safety slope based on the placement part information, the container information and the contents information; obtain the grid map, and determine the grid slope value corresponding to each non-edge grid based on the grid map, and generate a handling path based on the grid slope value, the first safety slope and the second safety slope.

[0133] Through the interaction between the various functional platforms of the robot path planning system based on the Industrial Internet of Things based on the above three platforms or five platforms, a complete closed-loop information operation logic is established, ensuring the orderly operation of perception information and control information and realizing intelligent equipment management.

[0134] The robot path planning system based on industrial Internet of Things of the present invention can implement any one of the robot path planning methods based on industrial Internet of Things, and the specific working process of the robot path planning system based on industrial Internet of Things of the present invention can refer to the corresponding process in the above-mentioned robot path planning method based on industrial Internet of Things.

[0135] The embodiment of the present application also discloses a computer device.

[0136] refer to Figure 3 A computer device includes a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, any of the above-mentioned robot path planning methods based on the industrial Internet of Things is implemented.

[0137] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise stated, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise stated, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A robot path planning method based on industrial Internet of Things, characterized in that: Applied to an industrial Internet of Things system, the industrial Internet of Things system includes a management platform, a sensor network platform, and an object platform that are communicatively connected in sequence. The method is executed by the management platform and includes: Obtaining a current transport task of the robot, and determining to-be-transported information corresponding to an object to be transported according to the current transport task; the object to be transported includes a container and the contents of the container; determining whether the contents are fluids based on the information about the object to be transported, and if so, obtaining container information corresponding to the container and content information corresponding to the contents, and determining a first safety slope based on the container information and the content information; Acquiring placement part information corresponding to the placement part of the robot, and determining a second safety slope according to the placement part information, the container information, and the content information; A grid map is obtained, and grid slope values corresponding to each non-edge grid are determined according to the grid map, and a transport path is generated according to the grid slope values, the first safety slope, and the second safety slope.

2. The robot path planning method based on industrial Internet of Things according to claim 1 is characterized in that: The step of determining a first safety slope according to the container information and the content information includes: Acquire a container type and a container height corresponding to the container according to the container information, and acquire a content volume and a content type corresponding to the content according to the content information; Acquiring historical fluid filling data corresponding to the container according to the container type, the historical fluid filling data including historical fluid volume data and historical fluid height data, and generating a fluid height calculation model according to the historical fluid filling data; Inputting the volume of the contents into the fluid height calculation model to obtain the height of the contents in the container; A first safety slope is determined according to the type of the container, the type of the contents, the height of the container, and the height of the contents.

3. The robot path planning method based on industrial Internet of Things according to claim 2 is characterized in that: The step of determining the first safety slope according to the type of the container, the type of the contents, the height of the container, and the height of the contents includes: Determining a corresponding height difference according to the height of the container and the height of the contents; Matching the container type and the content type in a preset table to obtain a target safety slope calculation model; the preset table includes different container types, different content types, and safety slope calculation models, and the preset table is used to represent the mapping relationship between the different container types, the different content types, and the safety slope calculation model; The height difference is input into the target safety slope calculation model to obtain a first safety slope.

4. The robot path planning method based on industrial Internet of Things according to claim 2 is characterized in that: The step of generating a fluid height calculation model based on the historical fluid filling data comprises: performing data cleaning on the historical fluid filling data according to the historical fluid filling data to obtain corresponding cleaning data; Performing feature engineering on the cleaned data according to the cleaned data to obtain corresponding model feature data; Randomly dividing the model feature data into K parts of data based on a K-fold cross-validation method, where K is a positive integer, and training a pre-selected neural network model based on the K parts of data to obtain K trained neural network models; Obtain model evaluation indicators corresponding to the K trained neural network models, wherein the model evaluation indicators include a model complexity indicator, a model interpretability indicator, a training set performance indicator, and a validation set performance indicator, and select a target model from the K trained neural network models according to the model evaluation indicators, and use the target model as a fluid height calculation model.

5. The robot path planning method based on industrial Internet of Things according to claim 2 is characterized in that: The step of determining the second safety slope according to the placement portion information, the container information, and the content information includes: Acquire a first material type corresponding to the placement portion according to the placement portion information, acquire a second material type and a container weight corresponding to the container according to the container information, and acquire a content density corresponding to the content according to the content information; determining a friction coefficient between an upper surface of the placement portion and a lower surface of the container based on the first material type and the second material type, and determining a weight of the contents corresponding to the contents based on the density of the contents and the volume of the contents; A second safety slope is determined according to the friction coefficient and the weight of the contents.

6. The robot path planning method based on industrial Internet of Things according to claim 1 is characterized in that: The step of determining the grid slope value corresponding to each non-edge grid according to the grid map includes: For each non-edge grid in the grid map, coordinate data of a target grid and elevation data corresponding to the target grid are obtained; the target grid includes the non-edge grid and an adjacent grid, and the adjacent grid is a grid adjacent to the non-edge grid; The elevation change value of the non-edge grid is determined according to a preset formula, the coordinate data, and the elevation data; the adjacent grid includes an edge adjacent grid and a corner adjacent grid, and the preset formula is: Where (i, j) is the coordinate of the non-edge grid, Indicates the elevation change value of the non-edge grid, represents the elevation of the grid, represents the first weight corresponding to the corner adjacent grid, Indicates the second weight corresponding to the edge adjacent grid; The spatial resolution of the grid is obtained, and the grid slope value corresponding to the non-edge grid is determined according to the spatial resolution and the elevation change value.

7. The robot path planning method based on industrial Internet of Things according to claim 1 is characterized in that: The step of generating a transport path according to the grid slope value, the first safety slope, and the second safety slope comprises: Determine a minimum value between the first safety slope and the second safety slope according to the first safety slope and the second safety slope, and use the minimum value as a final safety slope; Determine a grid safety representative value corresponding to each non-edge grid according to the grid slope value and the final safety slope; Based on a preset path planning algorithm, a transport path is generated according to the grid safety representative value.

8. The robot path planning system based on industrial Internet of Things is characterized by: The system comprises a management platform, a sensor network platform and an object platform which are communicatively connected in sequence, wherein the management platform is configured with: An information acquisition module for obtaining objects to be transported, configured to obtain the current transport task of the robot and determine information corresponding to the objects to be transported based on the current transport task; the objects to be transported include containers and the contents of the containers; a first safety slope determination module, configured to determine whether the contents are fluid based on the to-be-carried information, and if so, obtain container information corresponding to the container and content information corresponding to the contents, and determine a first safety slope based on the container information and the content information; a second safety slope determination module, configured to obtain placement portion information corresponding to the placement portion of the robot, and determine a second safety slope based on the placement portion information, the container information, and the content information; The transport path generation module is used to obtain a grid map, determine the grid slope value corresponding to each non-edge grid according to the grid map, and generate a transport path according to the grid slope value, the first safety slope and the second safety slope.

9. The robot path planning system based on industrial Internet of Things according to claim 8, characterized in that: The transport path generation module includes: an elevation data acquisition submodule, configured to acquire, for each non-edge grid in the grid map, coordinate data of a target grid and elevation data corresponding to the target grid; the target grid includes the non-edge grid and an adjacent grid, wherein the adjacent grid is a grid adjacent to the non-edge grid; The elevation change value generating submodule is used to determine the elevation change value of the non-edge grid according to a preset formula, the coordinate data and the elevation data; the adjacent grid includes an edge adjacent grid and a corner adjacent grid, and the preset formula is: Where (i, j) is the coordinate of the non-edge grid, Indicates the elevation change value of the non-edge grid, represents the elevation of the grid, represents the first weight corresponding to the corner adjacent grid, Indicates the second weight corresponding to the edge adjacent grid; The elevation change value generating submodule is used to obtain the spatial resolution of the grid and determine the grid slope value corresponding to the non-edge grid according to the spatial resolution and the elevation change value.

10. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

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