Rubber nozzle automatic grabbing process control method and system

Abstract

The invention relates to the technical field of grabbing process control, in particular to an automatic grabbing process control method and system for rubber nozzles, and the method comprises the following steps: extracting the spatial position, shape and number information of the rubber nozzles based on the initial distribution state of the rubber nozzles, and calculating the regional density through the distribution characteristics of the rubber nozzles; and the multiple areas are divided according to the relative positions and the intensity of the rubber nozzles. According to the method, by extracting the spatial position, shape and quantity information of the rubber nozzles and combining area density calculation, efficient division and priority ranking of multiple areas are achieved, target distribution in path planning is optimized, a dynamic node real-time monitoring and path updating mechanism is introduced, the adaptability to newly-added grabbing objects is improved, omission and conflicts are avoided, and the grabbing efficiency is improved. And in combination with the grabbing path and execution efficiency analysis, the batch path is dynamically adjusted, the timeliness of material carrying is improved, the resource utilization rate is increased, path redundancy and operation errors are remarkably reduced, and the precision and stability in a complex scene are enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of grabbing process control, and in particular to a method and system for automatically grabbing a rubber nozzle. Background Art

[0002] The field of gripping process control technology includes control technologies related to material handling, processing and assembly in industrial automation. The core content of this technology field is to achieve the positioning, identification, gripping, movement and placement of objects through automated equipment and program control, and is often used in industrial manufacturing, logistics and transportation and other scenarios. The gripping process control technology systematically covers the design and control of mechanical gripping devices, object identification and positioning technology, path planning algorithms, and real-time monitoring and adjustment during execution to achieve efficient and stable automated operations.

[0003] Among them, the automatic grasping process control method of the rubber mouth refers to a technical solution that uses the rubber mouth as the grasping end tool in the industrial production process to complete the grasping, moving and releasing of the object through the control device. The subject of this patent is about how to accurately control the grasping action and path planning of the rubber mouth, covering the identification and positioning of the grasping target, the pressure adjustment method of the rubber mouth, the logical process of path motion control, and the error compensation mechanism in a dynamic environment. Based on the real-time analysis of sensor data acquisition, the grasping and moving process is completed through the preset program control logic.

[0004] The existing technology does not adequately evaluate the priority of multiple target areas in path planning, and lacks comprehensive consideration of regional density and location changes, resulting in unreasonable path design and affecting grasping efficiency. Path nodes in a dynamic environment are difficult to update quickly, and the real-time adaptability to newly added grasped objects is poor, which can easily lead to grasping omissions or path conflicts. There is a lack of real-time analysis methods for batch optimization of grasping efficiency, and it is impossible to dynamically adjust path partitioning and execution order, resulting in uneven allocation of time and resources, affecting the continuity and stability of operations. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art and to propose a rubber nozzle automatic grasping process control method and system.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: a method for controlling the automatic grasping process of a rubber nozzle, comprising the following steps: S1: Based on the initial distribution state of the rubber nozzles, the spatial position, shape and quantity information of the rubber nozzles are extracted, the regional density is calculated according to the distribution characteristics of the rubber nozzles, multiple regions are divided according to the relative position and density of the rubber nozzles, and the regional division density value is generated; S2: Based on the regional division density value, calculate the priority factor of the rubber nozzle, extract the number and movement speed of the rubber nozzles in multiple regions, combine the position concentration and direction change, calculate the priority of each region, and generate the priority ranking value of the rubber nozzle; S3: Based on the priority ranking value of the rubber mouth, analyze the connection order of the grasping path between the rubber mouths, refer to the position difference and priority between the rubber mouths, optimize the total path length and grasping efficiency, eliminate low-priority nodes, integrate the grasping path segments, and generate the coordinate value of the rubber mouth grasping path; S4: Based on the coordinate value of the rubber nozzle grabbing path, monitor the position and state change of the newly added rubber nozzle, update the priority and path order of the rubber nozzle, recalculate the dynamically changed path nodes, match the addition of the newly added rubber nozzle, and generate a dynamically updated rubber nozzle path update value; S5: Based on the rubber nozzle path update value, analyze the execution efficiency of each batch of grasping, refer to the number and regional distribution of the remaining rubber nozzles, adjust the grasping order, calculate the path execution efficiency of each batch, update the path partition status, and obtain the batch rubber nozzle grasping execution rate.

[0007] As a further solution of the present invention, the area division density value specifically refers to spatial position, shape, and quantity information; the rubber nozzle priority sorting value includes quantity, movement speed, position concentration, and direction change; the rubber nozzle grasping path coordinate value specifically refers to the total path length and grasping efficiency; the dynamically updated rubber nozzle path update value includes priority, path order, and newly added rubber nozzles; the rubber nozzle grasping execution rate specifically refers to the execution efficiency of each batch, the remaining quantity, and the regional distribution.

[0008] As a further solution of the present invention, the step of obtaining the area division density value is specifically as follows: S101: by initially scanning and recording the spatial positions of the rubber nozzles, the shape features, boundary contours and quantity parameters of all the rubber nozzles are extracted to establish the initial distribution state of the rubber nozzles; S102: calculating the spatial relative position of each rubber nozzle according to the initial distribution state of the rubber nozzles, analyzing the distribution density parameters of the surrounding rubber nozzles, and generating a matrix of the spatial relative position and density relationship of the rubber nozzles according to the spatial relative position and density relationship of the corresponding rubber nozzles; S103: Calculate the distribution density values ​​of multiple regions using the matrix of the spatial relative position and density relationship of the rubber nozzle, using the formula: ; Generate the division density values ​​of multiple regions, analyze the division density values ​​of multiple regions, use the density values ​​as the basis for regional division, and generate the regional division density value of the rubber mouth; in, Representative The density value of the area, Representative The weight ratio of the rubber nozzle in the density calculation, Indicates The rubber nozzle in the area is at the coordinate point The distribution density correlation function value at Represents the accumulation operation of all rubber mouth components in the area, and Respectively represent In the region The spatial position coordinates of the rubber mouth, Indicates The Euclidean distance between the rubber nozzles in a region is used to indicate the relative sparseness or density of spatial distribution. Indicates the total number of rubber nozzles in the area.

[0009] As a further solution of the present invention, the step of obtaining the priority ranking value of the rubber nozzle is specifically as follows: S201: extracting the number and movement speed of rubber nozzles in multiple regions based on the regional division density value of the rubber nozzles, calling the regional boundary information to constrain the spatial distribution of the movement speed, and generating data on the number and movement speed of rubber nozzles; S202: Analyze the number and movement speed data of the rubber nozzles in multiple regions, extract distribution features through dynamic behavior analysis based on the position concentration and direction change information of each rubber nozzle, and generate dynamic feature data of the rubber nozzles in the region; S203: Calculate the priority factor of each area through the dynamic characteristic data of the rubber nozzle in the area, using the formula: ; Prioritize all areas according to the calculation results and generate a rubber nozzle priority ranking value; in, Representative The priority factor of each region, Representative The number of rubber nozzles in each area, Representative The movement speed of the rubber nozzle, Indicates The location concentration of the rubber nozzle in each area, For the The change value of the direction of the rubber nozzle in the area, is the weight parameter of quantity, which adjusts the influence of the number of rubber nozzles in the area on the priority. is a dynamic characteristic weight parameter that adjusts the weighted impact of movement speed, position concentration, and direction change on priority. For the The accumulation operation of the rubber mouth features in each region, Represents the total number of rubber nozzles in the area.

[0010] As a further solution of the present invention, the steps for obtaining the coordinate values ​​of the rubber mouth grabbing path are specifically as follows: S301: extracting the position difference and priority information between the rubber nozzles based on the priority ranking values ​​of the rubber nozzles, analyzing the spatial distribution and sequence characteristics of the multi-region rubber nozzles, and establishing an initial connection sequence of the rubber nozzle paths; S302: calling the initial connection sequence of the rubber nozzle path, screening and removing nodes with priorities lower than a set threshold according to the position differences and priority differences between the rubber nozzles, optimizing the path connection relationship by adjusting the connection order of the remaining path segments, and generating an optimized path connection sequence; S303: Calculate the total path length and the grasping efficiency through the optimized path connection sequence, using the formula: ; According to the optimized total path length and grasping efficiency, the path segments are integrated and the coordinate values ​​of the rubber mouth grasping path are generated; in, Represents the total length of the path, Indicates The physical distance of the segment path, Indicates The priority weight of the segment path, Indicates The crawling speed of the segment path, Represents the weight parameter affecting the adjustment priority. Represents the weight parameter that adjusts the impact of crawling speed, is the total operations of the accumulated path segments, is the total number of path segments.

[0011] As a further solution of the present invention, the step of obtaining the rubber nozzle path update value is specifically as follows: S401: Based on the coordinate value of the gripping path of the rubber nozzle, the position and state change of the newly added rubber nozzle are monitored in real time, the state characteristics of the newly added rubber nozzle are analyzed by calling the position sensing parameters and the speed dynamic characteristic data, and the position and state data of the newly added rubber nozzle are generated; S402: calling the newly added rubber nozzle position and state data, combining the existing rubber nozzle priority and path sequence, screening the priority and position change significance of the newly added rubber nozzle, analyzing the impact of the newly added node on the path structure and updating the path node sequence, and generating updated priority and path sequence data; S403: Calculate the dynamic path update value using the updated priority and path sequence data, using the formula: ; Integrate the newly added nodes and paths according to the path update value to generate a dynamically updated rubber nozzle path update value; in, Indicates the total change value of the path update, The priority adjustment factor represents the contribution of the new rubber nozzle to the path update. and Indicates the coordinate position change value of the newly added rubber nozzle. The standard deviation of the position change indicates the impact of the change on the path update. is an exponential function used to represent the decreasing pattern of position change effects. To add the cumulative operation of the rubber nozzle priority update, To add the number of rubber nozzles.

[0012] As a further solution of the present invention, the step of obtaining the batch rubber nozzle grabbing execution rate is specifically as follows: S501: Based on the dynamically updated rubber nozzle path update value, monitor the grabbing operation of each batch of rubber nozzles, analyze the batch efficiency difference in combination with the path execution time data and the grabbing success rate parameter, and generate grabbing efficiency data for each batch; S502: calling the grab efficiency data of each batch, analyzing the number and regional distribution of the remaining rubber nozzles, evaluating the path optimization direction in combination with the current operation time, the grab success rate and the regional load, adjusting the grab sequence and optimizing the batch path, and generating optimized grab sequence data; S503: Calculate the execution efficiency of each batch of paths through the optimized crawling sequence data, using the formula: ; Update the path partition status according to the execution efficiency calculation results and generate the batch rubber mouth grasping execution rate; in, Represents the crawl execution rate of each batch, Indicates The number of rubber nozzles picked up in a batch, For the The time required for batch completion, is the total number of remaining rubber nozzles at the beginning of the grasping operation, For the The average grasping distance of the batch, The function represents the effect of the remaining number of rubber nozzles and the grasping distance on the efficiency. represents the sum of all batch efficiencies, The batch quantity.

[0013] A rubber nozzle automatic grabbing process control system, the rubber nozzle automatic grabbing process control system is used to execute the above-mentioned rubber nozzle automatic grabbing process control method, the system comprises: The region division module extracts the spatial position, shape and quantity information of the rubber nozzles based on their initial distribution state, calculates the density in multiple regions, determines the distribution characteristics and density values ​​of the rubber nozzles, divides the multiple regions into several sub-regions, and generates the region division density values; The priority sorting module extracts the number and movement speed of the rubber nozzles in the sub-region based on the regional division density value, calculates the position concentration and direction change value of the rubber nozzles in each sub-region, compares the regional distribution characteristics, and generates the priority sorting value of the rubber nozzles in each sub-region; The path optimization module extracts the position difference of the rubber nozzles in the sub-area based on the priority ranking value of the rubber nozzles, analyzes the path connection sequence of the rubber nozzles, optimizes the total path length and the grasping sequence, removes the nodes where the low-priority rubber nozzles are located, integrates the paths of the high-priority rubber nozzles, and generates the coordinate values ​​of the rubber nozzle grasping path; The dynamic update module monitors the spatial position and state changes of the newly added rubber nozzle based on the coordinate value of the gripping path of the rubber nozzle, extracts the dynamically changing path nodes, determines the matching relationship between the newly added rubber nozzle and the existing path nodes, recalculates the path connection sequence and the gripping sequence, and generates the rubber nozzle path update value; The efficiency analysis module extracts the execution time of each batch of path grasping and the remaining number of rubber nozzles based on the rubber nozzle path update value, calculates the path execution efficiency, compares the remaining distribution states of the rubber nozzles in multiple regions, adjusts the grasping order, and generates the batch-by-batch rubber nozzle grasping execution rate.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are: In the present invention, by extracting the spatial position, shape and quantity information of the rubber nozzle and combining it with the regional density calculation, efficient division and priority sorting of multiple regions are achieved, and the target distribution in path planning is optimized. The dynamic node real-time monitoring and path update mechanism is introduced to improve the adaptability to newly added grasping objects and avoid omissions and conflicts. Combined with the grasping path and execution efficiency analysis, the batch path is dynamically adjusted to improve the timeliness and resource utilization of material handling, significantly reduce path redundancy and operation errors, and enhance the accuracy and stability in complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the workflow of the present invention; Figure 2 A flow chart of the steps for obtaining the regional division density value of the present invention; Figure 3A flow chart of the steps for obtaining the priority ranking value of the rubber nozzle of the present invention; Figure 4 A flowchart of the steps for obtaining the coordinate values ​​of the gripping path of the rubber nozzle of the present invention; Figure 5 A flow chart of the steps for obtaining the rubber nozzle path update value of the present invention; Figure 6 The present invention is a flowchart of the steps for obtaining the batch rubber nozzle grasping execution rate. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0018] Embodiment 1 See also Figure 1 The present invention provides a technical solution: a method for controlling a rubber nozzle automatic grasping process, comprising the following steps: S1: Based on the initial distribution state of the rubber nozzles, the spatial position, shape and quantity information of the rubber nozzles are extracted, the regional density is calculated according to the distribution characteristics of the rubber nozzles, multiple regions are divided according to the relative position and density of the rubber nozzles, and the regional division density value is generated; S2: Based on the regional division density value, calculate the priority factor of the rubber nozzle, extract the number and movement speed of the rubber nozzles in multiple regions, combine the position concentration and direction change, calculate the priority of each region, and generate the priority ranking value of the rubber nozzle; S3: Based on the priority ranking value of the rubber mouth, analyze the connection order of the grasping path between the rubber mouths, refer to the position difference and priority between the rubber mouths, optimize the total path length and grasping efficiency, eliminate low-priority nodes, integrate the grasping path segments, and generate the coordinate value of the rubber mouth grasping path; S4: Based on the coordinate value of the rubber nozzle grabbing path, monitor the position and state changes of the newly added rubber nozzle, update the priority and path order of the rubber nozzle, recalculate the dynamically changed path nodes, match the addition of the newly added rubber nozzle, and generate a dynamically updated rubber nozzle path update value; S5: Based on the updated value of the rubber nozzle path, analyze the execution efficiency of each batch of grasping, refer to the number and regional distribution of the remaining rubber nozzles, adjust the grasping order, calculate the path execution efficiency of each batch, update the path partition status, and obtain the batch rubber nozzle grasping execution rate.

[0019] The area division density value specifically refers to the spatial position, shape, and quantity information. The rubber mouth priority sorting value includes quantity, movement speed, position concentration, and direction change. The rubber mouth grasping path coordinate value specifically refers to the total path length and grasping efficiency. The dynamically updated rubber mouth path update value includes priority, path order, and newly added rubber mouths. The rubber mouth grasping execution rate specifically refers to the execution efficiency of each batch, the remaining quantity, and the regional distribution.

[0020] See also Figure 2 , the specific steps for obtaining the regional division density value are: S101: by initially scanning and recording the spatial positions of the rubber nozzles, the shape features, boundary contours and quantity parameters of all the rubber nozzles are extracted to establish the initial distribution state of the rubber nozzles; By initially scanning and recording the spatial position of the rubber nozzle, when analyzing the spatial position distribution of the rubber nozzle, it is necessary to first organize the original monitoring data, map the three-dimensional coordinate information of the rubber nozzle collected by the monitoring equipment to the two-dimensional plane coordinate system, and use the coordinate projection formula to complete the data dimensionality reduction processing. The specific processing method is: divide the vertical direction value in the three-dimensional coordinate into elevation mark intervals, accumulate the number of rubber nozzles in each interval and mark the corresponding coordinates, and use the accumulated results to draw the two-dimensional projection density map of the rubber nozzle. Subsequently, the edge detection method is used to extract the shape features, and the detected outer contour coordinates and position mark data are merged to generate a complete rubber nozzle position shape file. The file contains the number of boundary points of the rubber nozzle, the curvature change and the distribution trend of the boundary points. Finally, the overall number of rubber nozzles is counted, archived and stored by regional classification, and finally the initial distribution state of the rubber nozzle is established.

[0021] S102: calculating the spatial relative position of each rubber nozzle according to the initial distribution state of the rubber nozzles, analyzing the distribution density parameters of the surrounding rubber nozzles, and generating a matrix of the spatial relative position and density relationship of the rubber nozzles according to the spatial relative position and density relationship of the corresponding rubber nozzles; According to the initial distribution state of the rubber nozzles, when calculating the spatial relative position of the rubber nozzles, the coordinates of the center point of each rubber nozzle are first extracted, and all the center point information is stored as a two-dimensional coordinate matrix. Then, the center point of each rubber nozzle is used as a reference, and its relative distance to the adjacent rubber nozzle is calculated by the Euclidean distance formula. Combined with the relative position between adjacent rubber nozzles, the spatial relationship matrix between the rubber nozzles is established, and then the density parameter is introduced. The calculation basis of the density is the consistency index of the number and relative position distribution of rubber nozzles in the unit area. The specific calculation method is: after the center point coordinates of all rubber nozzles in the area are normalized, the normalized coordinate points are divided into regions for statistics, and the statistical results are stored as a density distribution map, and finally a matrix of the spatial relative position and density relationship of the rubber nozzles is generated.

[0022] S103: Calculate the distribution density values ​​of multiple regions using the matrix of the spatial relative position and density relationship of the rubber nozzle, using the formula: ; Generate the division density values ​​of multiple regions, analyze the division density values ​​of multiple regions, use the density values ​​as the basis for regional division, and generate the regional division density value of the rubber mouth; in, Representative The density value of the area, Representative The weight ratio of the rubber nozzle in the density calculation, Indicates The rubber nozzle in the area is at the coordinate point The distribution density correlation function value at Represents the accumulation operation of all rubber mouth components in the area, and Respectively represent In the region The spatial position coordinates of the rubber mouth, Indicates The Euclidean distance between the rubber nozzles in a region is used to indicate the relative sparseness or density of spatial distribution. Indicates the total number of rubber nozzles in the area.

[0023] formula: ; The benefit of the formula is that, by combining the weight parameter with the correlation function of the spatial distribution density, the relationship between the spatial position and density of the rubber mouth can be comprehensively considered, and the distribution state in the area can be accurately quantified.

[0024] Detailed explanation of the formula and the process of formula calculation and derivation: Indicates The density value of each area is calculated in the following way: first calculate the weight parameter of each rubber mouth , the weight parameter is calculated by the inverse of the distance between the center point coordinate and the center point of the region. The specific formula is: ,in and Respectively represent The rubber nozzle and The center coordinates of the region, and then the density correlation function value of the rubber mouth in the region The correlation function calculation formula is: , after the calculation is completed, the accumulation is performed, and finally the density value is normalized by the formula. The specific derivation process is as follows: Calculate the weight parameters: , calculate the correlation function: , calculate the Euclidean distance and: , put the result into the formula: ; The result shows that the density value of the first area is 0.353, which reflects the compactness of the distribution of rubber nozzles in the area and can be used in subsequent area division and density analysis.

[0025] See also Figure 3 , the specific steps for obtaining the priority ranking value of the rubber nozzle are: S201: extracting the number and movement speed of rubber nozzles in multiple regions based on the regional division density value of the rubber nozzles, calling the regional boundary information to constrain the spatial distribution of the movement speed, and generating data on the number and movement speed of rubber nozzles; Based on the regional division density value of the rubber nozzle, the number of rubber nozzles in each area is first extracted from the monitoring data, and the movement speed of the rubber nozzle is calculated by recording the displacement change of the rubber nozzle within a fixed time interval. The movement speed can be calculated by the formula Calculated, where is in the time interval The displacement difference within the area is used to associate the extracted movement speed with the quantity data, and statistics are grouped by region; on this basis, spatial distribution constraints are performed through the geometric feature information of the regional boundary to determine the accuracy of the number of rubber nozzles and movement speed in each area. For example, when a speed value exceeds the mean value in the area plus three times the standard deviation, the outliers can be eliminated, and the grouped data can be summarized into a statistical table to finally generate the number of rubber nozzles and movement speed data.

[0026] S202: Analyze the number and movement speed data of the rubber nozzles in multiple regions, combine the position concentration and direction change information of each rubber nozzle, extract distribution characteristics through dynamic behavior analysis, and generate dynamic feature data of the rubber nozzles in the region; The dynamic behavior characteristics of the number and movement speed data of the rubber nozzles are analyzed. First, the current position of each rubber nozzle is combined with the distribution density of the rubber nozzles around it to calculate the position concentration. The calculation formula is used to calculate the position concentration of each rubber nozzle. ,in is the distance between the rubber nozzle and its nearest neighbor rubber nozzle, The weight coefficient of distance is used to extract the data of rubber mouths with higher position concentration in the area. Then, the direction change is analyzed by recording the movement trajectory of each rubber mouth in three consecutive time intervals, calculating the change angle of the movement direction, and screening out the data with larger change angle as the characteristic data of direction change. The above two characteristic data are integrated to form a dynamic behavior characteristic matrix, and finally the dynamic characteristic data of the rubber mouths in the area are generated.

[0027] S203: Calculate the priority factor of each area through the dynamic characteristic data of the rubber nozzle in the area, using the formula: ; Prioritize all areas according to the calculation results and generate a rubber nozzle priority ranking value; in, Representative The priority factor of each region, Representative The number of rubber nozzles in each area, Representative The movement speed of the rubber nozzle, Indicates The location concentration of the rubber nozzle in each area, For the The change value of the direction of the rubber nozzle in the area, is the weight parameter of quantity, which adjusts the influence of the number of rubber nozzles in the area on the priority. is a dynamic characteristic weight parameter that adjusts the weighted impact of movement speed, position concentration, and direction change on priority. For the The accumulation operation of the rubber mouth features in each region, Represents the total number of rubber nozzles in the area.

[0028] formula: ; The benefit of the formula is that, by combining parameters such as the number of rubber nozzles, movement speed, position concentration, and direction change, a comprehensive evaluation of the dynamic distribution state of rubber nozzles in the region is achieved, providing a more accurate quantitative basis for priority sorting; Detailed explanation of the formula and the process of formula calculation and derivation: Make a certain area Contains 5 rubber nozzles, parameter value: Number of rubber nozzles , movement speed , location concentration , direction change , weight coefficient , calculate the priority factor of each area as: ; Specific calculation: ; ; This result shows that the priority factor It is a quantitative value of the comprehensive dynamic behavior of the region, which can be further used to sort the regions and finally generate the priority sorting value of the rubber mouth.

[0029] See also Figure 4 ,The specific steps for obtaining the coordinate values ​​of the rubber mouth grasping path are: S301: based on the priority ranking values ​​of the rubber nozzles, extracting the position differences and priority information between the rubber nozzles, analyzing the spatial distribution and sequence characteristics of the multi-region rubber nozzles, and establishing an initial connection sequence of the rubber nozzle paths; Based on the priority ranking value of the rubber nozzles, combined with the position difference and priority information between the rubber nozzles, the spatial distribution and order characteristics of the rubber nozzles in each area are analyzed, and the position difference is quantified into a value based on the Euclidean distance formula. The formula for calculating the distance between two points is: The distance values ​​of all paths are quantified by calculating the distance between each rubber nozzle point one by one, where and are the coordinates of the two points respectively; the priority information is normalized to the range of 0-1, and the normalization formula is: in, is the normalized priority value, is the original priority value, and are the minimum and maximum priority values ​​of all rubber nozzles, respectively. By combining and analyzing the position difference value and the normalized priority value of each pair of points, the initial connection priority matrix constructed based on the two parameters is obtained. The path connection order is preliminarily sorted according to this matrix, and finally the initial connection sequence for path optimization is established to generate the initial connection sequence of the rubber nozzle path.

[0030] S302: calling the initial connection sequence of the rubber nozzle path, screening and removing nodes with priorities lower than a set threshold according to the position differences and priority differences between the rubber nozzles, optimizing the path connection relationship by adjusting the connection order of the remaining path segments, and generating an optimized path connection sequence; Call the initial connection sequence of the rubber nozzle path, and calculate the total priority and total path length between the rubber nozzles for each path segment in the sequence. The total path length is calculated using the aforementioned Euclidean distance formula. The priority is calculated as the average priority value of the two end points of the path segment. The formula is: in, and The priority of the rubber nozzles at both ends of the path segment is determined. All path segments below a certain threshold are eliminated. The threshold is calculated by the percentile after the priority is normalized. For example, if the path segments with a priority lower than the 25th percentile are set to be eliminated, the low-priority path segments are screened out and removed by statistically analyzing the distribution of the normalized priority values. For the eliminated path segments, combined with the connection order of the remaining path segments, the path connection logic is adjusted to optimize the remaining path connection relationship, obtain a combination of a shorter path length and a higher priority path, and generate an optimized path connection sequence.

[0031] S303: Calculate the total path length and grasping efficiency by optimizing the path connection sequence, using the formula: ; According to the optimized total path length and grasping efficiency, the path segments are integrated and the coordinate values ​​of the rubber mouth grasping path are generated; in, Represents the total length of the path, Indicates The physical distance of the segment path, Indicates The priority weight of the segment path, Indicates The crawling speed of the segment path, Represents the weight parameter affecting the adjustment priority. Represents the weight parameter that adjusts the impact of crawling speed, is the total operations of the accumulated path segments, is the total number of path segments.

[0032] formula: ; The benefit of the formula is that by introducing dynamic weight factors of priority and grasping speed to adjust the total path length calculation, a dynamic balance between path optimization and grasping efficiency can be achieved, making path planning more in line with actual grasping needs.

[0033] Detailed explanation of the formula and the process of formula calculation and derivation: Assume that the total number of path segments is 5 and the distance between each segment is is [12,8,15,10,5] (unit: meter), priority weight is [0.8, 0.6, 0.9, 0.7, 0.5], the crawling speed is [3,4,5,3,4] (unit: m / s), weight parameter , . Calculate the total length of each path segment: ; ; 7; ; ; Calculation of total path length: ; The results show that by combining the path optimization scheme of priority and speed, a total path length of 51.43 meters can be obtained, which is more efficient than the unoptimized path scheme. The optimization of the total path length is directly related to the improvement of grasping efficiency. The overall path can be further optimized by adjusting the order and connection method of the path segments.

[0034] See also Figure 5 , the specific steps for obtaining the rubber nozzle path update value are: S401: Based on the coordinate value of the gripping path of the rubber nozzle, the position and state change of the newly added rubber nozzle are monitored in real time, the position sensor parameters and speed dynamic characteristic data are called to analyze the state characteristics of the newly added rubber nozzle, and the position and state data of the newly added rubber nozzle are generated; Based on the coordinate value of the rubber nozzle grabbing path, the position and state changes of the newly added rubber nozzles are monitored in real time. The spatial position and speed characteristics of each newly added rubber nozzle are recorded through sensors, and the real-time position information collected by the sensors is converted into coordinate values. The position change is calculated based on the movement trend of the rubber nozzle. and , and dynamically update the speed parameters in combination with the position data, extract the state data of the newly added rubber nozzle, such as the speed change rate, direction angle change, etc., map the state data to priority characteristics through the fitting method of the dynamic change trend, and generate the position and state data of the newly added rubber nozzle; S402: calling the position and state data of the newly added rubber nozzle, combining the priority and path order of the existing rubber nozzle, screening the priority and position change significance of the newly added rubber nozzle, analyzing the impact of the newly added node on the path structure and updating the path node order, and generating updated priority and path order data; Call the location and status data of the newly added rubber nozzle, combine the priority and path order of the existing rubber nozzle, first determine whether the priority of the newly added rubber nozzle is higher than the average priority of the path node, mark the rubber nozzle with a priority higher than the average as a key node, and calculate the spatial distance between the newly added rubber nozzle and the path node and the path order influence weight, screen the newly added nodes with significant priority changes and significant path structure influence, adjust the path order to optimize the grasping path, and generate updated priority and path order data; S403: Calculate the dynamic path update value using the updated priority and path sequence data, using the formula: ; Integrate the newly added nodes and paths according to the path update value to generate a dynamically updated rubber nozzle path update value; in, Indicates the total change value of the path update, The priority adjustment factor represents the contribution of the new rubber nozzle to the path update. and Indicates the coordinate position change value of the newly added rubber nozzle. The standard deviation of the position change indicates the impact of the change on the path update. is an exponential function used to represent the decreasing pattern of position change effects. To add the cumulative operation of the rubber nozzle priority update, To add the number of rubber nozzles.

[0035] formula: ; The formula is useful in that by introducing a priority adjustment factor for the newly added rubber nozzle and position change parameters , which can dynamically reflect the comprehensive impact of the newly added rubber nozzle on the path priority and update value.

[0036] Detailed explanation of the formula and the process of formula calculation and derivation: Collect the position change value of the newly added rubber nozzle , , setting position change affects standard deviation , priority adjustment factor . Substitute into the formula for calculation: ; Calculation of the mean: ; ; ; ; Calculation results: For a newly added rubber nozzle, If the number of new rubber nozzles is , calculated by accumulation: ; The results show that the total change value of the path update is 0.468, which reflects the contribution of the newly added rubber nozzle to the path optimization through position change and priority adjustment, and can be further used for path node integration to generate a dynamically updated rubber nozzle path update value.

[0037] See also Figure 6 ,The specific steps for obtaining the batch rubber mouth grasping execution rate are: S501: Based on the dynamically updated rubber nozzle path update value, monitor the grasping operation of each batch of rubber nozzles, analyze the batch efficiency difference in combination with the path execution time data and the grasping success rate parameter, and generate grasping efficiency data for each batch; Based on the dynamically updated rubber nozzle path update value, by collecting the grasping operation data of each batch of rubber nozzles in real time, calling the sensor equipment to measure the grasping success rate and operation time, the operation time is decomposed into positioning time, grasping action time and path adjustment time, the grasping success rate is calculated by counting the ratio of the number of grasped rubber nozzles to the actual number of attempts, and the path update value is used as the basis for dynamic adjustment for correction. By comparing the changes in the grasping success rate and operation time of each batch of rubber nozzles, a specific data table containing the execution status of each batch is generated; according to the generated data table, the average grasping time is calculated and the frequency of different grasping time intervals is counted. By screening the batch paths with lower time frequency, the path update value is called to calculate whether the time is extended due to the path change, and the path adjustment time is associated with the remaining number of rubber nozzles. The specific execution efficiency of each batch in the dynamic update is further refined, and the grasping efficiency data of each batch is generated by rearranging the path adjustment order of the batches with longer time.

[0038] S502: calling the grab efficiency data of each batch, analyzing the number and regional distribution of the remaining rubber nozzles, evaluating the path optimization direction in combination with the current operation time, the grab success rate and the regional load, adjusting the grab sequence and optimizing the batch path, and generating the optimized grab sequence data; Call the grabbing efficiency data of each batch, analyze the number of remaining rubber nozzles and regional distribution, use regional grid division to divide the remaining rubber nozzles into partitions and statistics, call the success rate parameter to filter the rubber nozzle path with the longest grabbing time in the area, and compare the regional load data. Combined with the rubber nozzle distribution density in the current regional grid, calculate the dynamic adjustment priority of the grabbing order, use the dynamic adjustment priority to rearrange the current grabbing order, and predict the number of adjustment times of the operation batch through the number of remaining rubber nozzles. Adjust the number of rubber nozzles grabbed in each batch by calculating the number of operations, so as to optimize the grabbing order and batch allocation, and generate optimized grabbing order data.

[0039] S503: Calculate the execution efficiency of each batch of paths through the optimized crawling sequence data, using the formula: ; Update the path partition status according to the execution efficiency calculation results and generate the batch rubber mouth grasping execution rate; in, Represents the crawl execution rate of each batch, Indicates The number of rubber nozzles picked up in a batch, For the The time required for batch completion, is the total number of remaining rubber nozzles at the beginning of the grasping operation, For the The average grasping distance of the batch, The function represents the effect of the remaining number of rubber nozzles and the grasping distance on the efficiency. represents the sum of all batch efficiencies, The batch quantity.

[0040] formula: ; The benefit of the formula is that by combining the dynamic interaction of four dimensional parameters, namely, the number of grasping, operation time, the number of remaining rubber mouths and the path grasping distance, it is possible to accurately quantify the execution efficiency of each batch, reflecting the combined impact of remaining resources and path optimization on efficiency.

[0041] Detailed explanation of the formula and the process of formula calculation and derivation: Known: Number of items captured in the first batch , operation time , the remaining number of rubber nozzles , average grasping distance ; The number of the second batch of grabs , operation time , the remaining number of rubber nozzles , average grasping distance .

[0042] Substituting the above parameters into the formula: ; Calculate the execution efficiency of the first batch: ; The efficiency of the first batch is: ; Calculate the execution efficiency of the second batch: ; The efficiency of the second batch is: ; Overall batch execution efficiency: ; The result shows that the total batch execution efficiency is 19.37, which reflects the operation efficiency under the comprehensive conditions of the current grasping quantity, time, remaining rubber mouths and path distance. It is directly related to the balance of grasping allocation and can provide a basis for further optimization of the path partitioning status.

[0043] A rubber nozzle automatic grabbing process control system, the rubber nozzle automatic grabbing process control system is used to execute the above-mentioned rubber nozzle automatic grabbing process control method, the system comprises: The region division module extracts the spatial position, shape and quantity information of the rubber nozzles based on their initial distribution state, calculates the density in multiple regions, determines the distribution characteristics and density values ​​of the rubber nozzles, divides the multiple regions into several sub-regions, and generates the region division density values; The priority sorting module extracts the number and movement speed of the rubber nozzles in the sub-region based on the regional division density value, calculates the position concentration and direction change value of the rubber nozzles in each sub-region, compares the regional distribution characteristics, and generates the priority sorting value of the rubber nozzles in each sub-region; The path optimization module extracts the position differences of the rubber mouths in the sub-areas based on the priority ranking values ​​of the rubber mouths, analyzes the path connection sequence of the rubber mouths, optimizes the total path length and grasping sequence, removes the nodes where the low-priority rubber mouths are located, integrates the paths of the high-priority rubber mouths, and generates the coordinate values ​​of the rubber mouth grasping path; The dynamic update module monitors the spatial position and state changes of the newly added rubber nozzle based on the coordinate value of the rubber nozzle grasping path, extracts the dynamically changing path nodes, determines the matching relationship between the newly added rubber nozzle and the existing path nodes, recalculates the path connection sequence and grasping sequence, and generates the rubber nozzle path update value; The efficiency analysis module extracts the execution time of each batch of path grasping and the remaining number of rubber nozzles based on the rubber nozzle path update value, calculates the path execution efficiency, compares the remaining distribution status of rubber nozzles in multiple areas, adjusts the grasping order, and generates the rubber nozzle grasping execution rate in batches.

[0044] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A method for controlling the automatic grabbing process of a rubber nozzle, characterized in that: The following steps are involved: S1: Based on the initial distribution state of the rubber nozzles, the spatial position, shape and quantity information of the rubber nozzles are extracted, the regional density is calculated according to the distribution characteristics of the rubber nozzles, multiple regions are divided according to the relative position and density of the rubber nozzles, and the regional division density value is generated; S2: Based on the regional division density value, calculate the priority factor of the rubber nozzle, extract the number and movement speed of the rubber nozzles in multiple regions, combine the position concentration and direction change, calculate the priority of each region, and generate the priority ranking value of the rubber nozzle; S3: Based on the priority ranking value of the rubber mouth, analyze the connection order of the grasping path between the rubber mouths, refer to the position difference and priority between the rubber mouths, optimize the total path length and grasping efficiency, eliminate low-priority nodes, integrate the grasping path segments, and generate the coordinate value of the rubber mouth grasping path; S4: Based on the coordinate value of the rubber nozzle grabbing path, monitor the position and state change of the newly added rubber nozzle, update the priority and path order of the rubber nozzle, recalculate the dynamically changed path nodes, match the addition of the newly added rubber nozzle, and generate a dynamically updated rubber nozzle path update value; S5: Based on the rubber nozzle path update value, analyze the execution efficiency of each batch of grasping, refer to the number and regional distribution of the remaining rubber nozzles, adjust the grasping order, calculate the path execution efficiency of each batch, update the path partition status, and obtain the batch rubber nozzle grasping execution rate.

2. The method for controlling the automatic grabbing process of the rubber nozzle according to claim 1, characterized in that: The area division density value specifically refers to spatial position, shape, and quantity information; the rubber nozzle priority sorting value includes quantity, movement speed, position concentration, and direction change; the rubber nozzle grasping path coordinate value specifically refers to the total path length and grasping efficiency; the dynamically updated rubber nozzle path update value includes priority, path order, and newly added rubber nozzles; the rubber nozzle grasping execution rate specifically refers to the execution efficiency of each batch, the remaining quantity, and the regional distribution.

3. The method for controlling the automatic grabbing process of the rubber nozzle according to claim 2, characterized in that: The steps for obtaining the area division density value are specifically as follows: S101: by initially scanning and recording the spatial positions of the rubber nozzles, the shape features, boundary contours and quantity parameters of all the rubber nozzles are extracted to establish the initial distribution state of the rubber nozzles; S102: calculating the spatial relative position of each rubber nozzle according to the initial distribution state of the rubber nozzles, analyzing the distribution density parameters of the surrounding rubber nozzles, and generating a matrix of the spatial relative position and density relationship of the rubber nozzles according to the spatial relative position and density relationship of the corresponding rubber nozzles; S103: Calculate the distribution density values ​​of multiple regions using the matrix of the spatial relative position and density relationship of the rubber nozzle, using the formula: ； Generate the division density values ​​of multiple regions, analyze the division density values ​​of multiple regions, use the density values ​​as the basis for regional division, and generate the regional division density value of the rubber mouth; in, Representative The density value of the area, Representative The weight ratio of the rubber nozzle in the density calculation, Indicates The rubber nozzle in the area is at the coordinate point The distribution density correlation function value at Represents the accumulation operation of all rubber mouth components in the area, and Respectively represent In the region The spatial position coordinates of the rubber mouth, Indicates The Euclidean distance between the rubber nozzles in a region is used to indicate the relative sparseness or density of spatial distribution. Indicates the total number of rubber nozzles in the area.

4. The method for controlling the automatic grabbing process of the rubber nozzle according to claim 3, characterized in that: The steps for obtaining the priority ranking value of the rubber nozzle are specifically as follows: S201: extracting the number and movement speed of rubber nozzles in multiple regions based on the regional division density value of the rubber nozzles, calling the regional boundary information to constrain the spatial distribution of the movement speed, and generating data on the number and movement speed of rubber nozzles; S202: Analyze the number and movement speed data of the rubber nozzles in multiple regions, extract distribution features through dynamic behavior analysis based on the position concentration and direction change information of each rubber nozzle, and generate dynamic feature data of the rubber nozzles in the region; S203: Calculate the priority factor of each area through the dynamic characteristic data of the rubber nozzle in the area, using the formula: ； Prioritize all areas according to the calculation results and generate a rubber nozzle priority ranking value; in, Representative The priority factor of each region, Representative The number of rubber nozzles in each area, Representative The movement speed of the rubber nozzle, Indicates The location concentration of the rubber nozzle in each area, For the The change value of the direction of the rubber nozzle in the area, is the weight parameter of quantity, which adjusts the influence of the number of rubber nozzles in the area on the priority. is a dynamic characteristic weight parameter that adjusts the weighted impact of movement speed, position concentration, and direction change on priority. For the The accumulation operation of the rubber mouth features in each region, Represents the total number of rubber nozzles in the area.

5. The method for controlling the automatic grabbing process of the rubber nozzle according to claim 4, characterized in that: The steps for obtaining the coordinate values ​​of the rubber mouth grabbing path are specifically as follows: S301: extracting the position difference and priority information between the rubber nozzles based on the priority ranking values ​​of the rubber nozzles, analyzing the spatial distribution and sequence characteristics of the multi-region rubber nozzles, and establishing an initial connection sequence of the rubber nozzle paths; S302: calling the initial connection sequence of the rubber nozzle path, screening and removing nodes with priorities lower than a set threshold according to the position differences and priority differences between the rubber nozzles, optimizing the path connection relationship by adjusting the connection order of the remaining path segments, and generating an optimized path connection sequence; S303: Calculate the total path length and the grasping efficiency through the optimized path connection sequence, using the formula: ； According to the optimized total path length and grasping efficiency, the path segments are integrated and the coordinate values ​​of the rubber mouth grasping path are generated; in, Represents the total length of the path, Indicates The physical distance of the segment path, Indicates The priority weight of the segment path, Indicates The crawling speed of the segment path, Represents the weight parameter affecting the adjustment priority. Represents the weight parameter that adjusts the impact of crawling speed, is the total operations of the accumulated path segments, is the total number of path segments.

6. The method for controlling the automatic grabbing process of the rubber nozzle according to claim 5, characterized in that: The steps for obtaining the rubber nozzle path update value are specifically as follows: S401: Based on the coordinate value of the gripping path of the rubber nozzle, the position and state change of the newly added rubber nozzle are monitored in real time, the state characteristics of the newly added rubber nozzle are analyzed by calling the position sensing parameters and the speed dynamic characteristic data, and the position and state data of the newly added rubber nozzle are generated; S402: calling the newly added rubber nozzle position and state data, combining the existing rubber nozzle priority and path sequence, screening the priority and position change significance of the newly added rubber nozzle, analyzing the impact of the newly added node on the path structure and updating the path node sequence, and generating updated priority and path sequence data; S403: Calculate the dynamic path update value using the updated priority and path sequence data, using the formula: ； Integrate the newly added nodes and paths according to the path update value to generate a dynamically updated rubber nozzle path update value; in, Indicates the total change value of the path update, The priority adjustment factor represents the contribution of the new rubber nozzle to the path update. and Indicates the coordinate position change value of the newly added rubber nozzle. The standard deviation of the position change indicates the impact of the change on the path update. is an exponential function used to represent the decreasing pattern of position change effects. To add the cumulative operation of the rubber nozzle priority update, To add the number of rubber nozzles.

7. The method for controlling the automatic grabbing process of the rubber nozzle according to claim 6, characterized in that: The specific steps for obtaining the batch rubber mouth grabbing execution rate are as follows: S501: Based on the dynamically updated rubber nozzle path update value, monitor the grabbing operation of each batch of rubber nozzles, analyze the batch efficiency difference in combination with the path execution time data and the grabbing success rate parameter, and generate grabbing efficiency data for each batch; S502: calling the grab efficiency data of each batch, analyzing the number and regional distribution of the remaining rubber nozzles, evaluating the path optimization direction in combination with the current operation time, the grab success rate and the regional load, adjusting the grab sequence and optimizing the batch path, and generating optimized grab sequence data; S503: Calculate the execution efficiency of each batch of paths through the optimized crawling sequence data, using the formula: ； Update the path partition status according to the execution efficiency calculation results and generate the batch rubber mouth grasping execution rate; in, Represents the crawl execution rate of each batch, Indicates The number of rubber nozzles picked up in a batch, For the The time required for batch completion, is the total number of remaining rubber nozzles at the beginning of the grasping operation, For the The average grasping distance of the batch, The function represents the effect of the remaining number of rubber nozzles and the grasping distance on the efficiency. represents the sum of all batch efficiencies, The batch quantity.

8. A rubber nozzle automatic grabbing process control system, characterized in that: According to the method for controlling the automatic gripping process of a rubber nozzle according to any one of claims 1 to 7, the system comprises: The region division module extracts the spatial position, shape and quantity information of the rubber nozzles based on their initial distribution state, calculates the density in multiple regions, determines the distribution characteristics and density values ​​of the rubber nozzles, divides the multiple regions into several sub-regions, and generates the region division density values; The priority sorting module extracts the number and movement speed of the rubber nozzles in the sub-region based on the regional division density value, calculates the position concentration and direction change value of the rubber nozzles in each sub-region, compares the regional distribution characteristics, and generates the priority sorting value of the rubber nozzles in each sub-region; The path optimization module extracts the position difference of the rubber nozzles in the sub-area based on the priority ranking value of the rubber nozzles, analyzes the path connection sequence of the rubber nozzles, optimizes the total path length and the grasping sequence, removes the nodes where the low-priority rubber nozzles are located, integrates the paths of the high-priority rubber nozzles, and generates the coordinate values ​​of the rubber nozzle grasping path; The dynamic update module monitors the spatial position and state changes of the newly added rubber nozzle based on the coordinate value of the gripping path of the rubber nozzle, extracts the dynamically changing path nodes, determines the matching relationship between the newly added rubber nozzle and the existing path nodes, recalculates the path connection sequence and the gripping sequence, and generates the rubber nozzle path update value; The efficiency analysis module extracts the execution time of each batch of path grasping and the remaining number of rubber nozzles based on the rubber nozzle path update value, calculates the path execution efficiency, compares the remaining distribution states of the rubber nozzles in multiple regions, adjusts the grasping order, and generates the batch-by-batch rubber nozzle grasping execution rate.

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