Production control method and device for raw eggs

Abstract

The present application relates to a production control method and device for raw eggs. The method comprises: constructing a collaborative control network based on the spatial position relationship of the egg body processing mechanical group, and utilizing the force collaborative perception and propagation protocol to enable each egg body processing arm to share force data in real time and obtain force feedback from other egg body processing arms. The system calculates the center of gravity and force distribution of the egg body based on the feedback data, and adjusts the force direction and strength of the egg body processing arm through the electrical control unit to ensure the force balance of the egg body. In combination with the shape, weight distribution and environmental constraints of the egg body, the system plans the motion trajectory and directs the egg body processing arm to move the egg body along the trajectory. When an obstacle is detected, the system adjusts the trajectory and grasping method according to the real-time obstacle information to ensure that the egg body processing arm group crosses the obstacle safely and stably. The use of this method can effectively avoid the introduction of uncontrollable risks in the production control of raw eggs.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a production control method and device for raw eggs. Background Art

[0002] During the production process, raw eggs need to be transported to designated locations for cleaning, drying, disinfection, and microbiological testing. Traditionally, this process is performed manually using machines. However, this process inevitably involves contact with the raw eggs, and improper handling can lead to broken eggs and contamination of the machines, introducing uncontrollable risks into the production process. Summary of the Invention

[0003] Based on this, it is necessary to provide a production control method, device, computer equipment, computer-readable storage medium and computer program product for raw eggs that can effectively avoid uncontrollable risks in the production control of raw eggs in response to the above technical problems.

[0004] In a first aspect, the present application provides a method for controlling the production of raw eggs. The method comprises:

[0005] According to the spatial position relationship between the egg body processing arms in the egg body processing mechanical group, a collaborative control network infrastructure corresponding to the egg body processing mechanical group is constructed;

[0006] According to the force cooperative perception and propagation protocol in the cooperative control network infrastructure, the contact force data of any one of the egg-shaped processing arms is propagated to the other egg-shaped processing arms to obtain the force feedback data corresponding to each of the egg-shaped processing arms;

[0007] Calculating the center of gravity of the egg and the force information of each egg processing arm of the egg processing machinery group according to the force feedback data corresponding to each egg processing arm, and obtaining the center of gravity information of the egg and the force distribution data of the egg;

[0008] According to the egg body weight center information and the egg body force distribution data, an electrical control unit is used to adjust the force direction and force magnitude of each egg body processing arm to obtain the grasping information of each egg body processing arm;

[0009] Constructing a motion trajectory of the egg body according to the shape constraints, weight distribution constraints, and environmental constraints of the egg body;

[0010] Using the electrical control unit to control the egg body processing mechanical group to move the egg body according to the egg body movement trajectory and the egg body processing mechanical group grasping information;

[0011] In the event that an obstacle appears during the movement, the egg's movement trajectory and the grasping information of each egg processing arm are partially adjusted according to the real-time environmental obstacle information of the egg, so as to obtain the egg's obstacle-crossing trajectory and the obstacle-crossing information of each egg processing arm; the egg's obstacle-crossing trajectory and the obstacle-crossing information of each egg processing arm are used to control the egg to enter the cleaning program, drying program, sterilization program and microbial detection program through transportation.

[0012] In a second aspect, the present application also provides a production control device for raw eggs. The device comprises:

[0013] A control network construction module is used to construct a collaborative control network infrastructure corresponding to the egg body processing machinery group based on the spatial position relationship between the egg body processing arms in the egg body processing machinery group;

[0014] A force data synchronization module is used to propagate the contact force data of any egg-shaped processing arm to the remaining egg-shaped processing arms according to the force cooperative perception and propagation protocol in the cooperative control network infrastructure, so as to obtain force feedback data corresponding to each egg-shaped processing arm;

[0015] A force condition calculation module is used to calculate the center of gravity position of the egg body of the egg body processing mechanical group and the force information of each egg body processing arm according to the force feedback data corresponding to each egg body processing arm, so as to obtain the center of gravity information of the egg body and the force distribution data of the egg body;

[0016] The force condition calculation module is further used to adjust the force direction and force magnitude of each egg body processing arm according to the egg body center of gravity information and the egg body force distribution data using an electrical control unit to obtain the grasping information of each egg body processing arm;

[0017] A motion trajectory calculation module is used to construct the motion trajectory of the egg body according to the shape constraints, weight distribution constraints and environmental constraints of the egg body;

[0018] An egg body moving module, used for using the electrical control unit to control the egg body processing mechanical group to move the egg body according to the egg body movement trajectory and the grabbing information of the egg body processing mechanical group;

[0019] The transport trajectory calculation module is also used to partially adjust the egg body movement trajectory and the grasping information of each egg body processing arm according to the real-time environmental obstacle information of the egg body when an obstacle appears during the movement, so as to obtain the egg body obstacle crossing trajectory and the obstacle crossing information of each egg body processing arm; the egg body obstacle crossing trajectory and the obstacle crossing information of each egg body processing arm are used to control the egg body to enter the cleaning program, drying program, sterilization program and microbial detection program through transportation.

[0020] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements any step of a production control method for raw eggs.

[0021] The above-mentioned raw egg production control method, apparatus, computer equipment, storage medium, and computer program product establish a collaborative control network infrastructure based on spatial position relationships, enabling each egg-handling arm to obtain real-time force feedback data from other egg-handling arms in the group, achieving highly coordinated force sensing and control among multiple egg-handling arms. The force collaborative sensing and propagation protocol effectively reduces the risk of uneven force application to individual egg-handling arms during handling, ensuring that each egg-handling arm dynamically adjusts the direction and magnitude of force application based on the egg's center of gravity information and force distribution data, further improving the force distribution accuracy of the entire group. Furthermore, by combining the egg's shape constraints, weight distribution, and environmental restrictions, the electrical control unit flexibly formulates the optimal motion trajectory, ensuring stability and accuracy during obstacle-crossing handling in complex environments. This effectively avoids uncontrollable risks in raw egg production control and further ensures that eggs can safely and quickly reach their target locations during handling, enabling cleaning, drying, sterilization, and microbial testing procedures. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a diagram showing an application environment of a production control method for raw eggs according to an embodiment;

[0023] Figure 2 A schematic flow chart of a method for controlling the production of raw eggs according to an embodiment;

[0024] Figure 3 1. A schematic flow chart of a method for obtaining egg body center of gravity information and egg body force distribution data in one embodiment;

[0025] Figure 4 Schematic diagram of a flow chart of a method for obtaining information captured by an egg body processing arm in one embodiment;

[0026] Figure 5 A schematic diagram of a flow chart of a method for constructing an egg's motion trajectory in one embodiment;

[0027] Figure 6 Schematic diagram of a flow chart of a method for obtaining an egg's obstacle-crossing trajectory and obstacle-crossing information of each egg's processing arm in one embodiment;

[0028] Figure 7 1 is a flow chart of a method for obtaining force feedback data in one embodiment;

[0029] Figure 8 A flowchart of a method for constructing a collaborative control network infrastructure in one embodiment is shown. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0031] The production control method of raw eggs provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the egg body processing arm 102 communicates with the server 104 via a network. The data storage system can store data that the server 104 needs to process. The data storage system can be integrated on the server 104 or placed on the cloud or other network servers. The server 104 can be implemented as a standalone server or a server cluster consisting of multiple servers.

[0032] In one embodiment, Figure 2 As shown, a production control method for raw eggs is provided, which is applied to Figure 1 The following steps are used as an example to illustrate the server in the example:

[0033] Step 202: construct a collaborative control network infrastructure corresponding to the egg body processing machinery group based on the spatial position relationship between the egg body processing arms in the egg body processing machinery group.

[0034] Among them, the egg body processing machinery group can be a system composed of multiple egg body processing arms. These egg body processing arms work together in the same working environment, sharing information and coordinating actions with each other to complete complex tasks, such as transporting, processing or crossing obstacles of egg bodies.

[0035] The collaborative control network infrastructure can be a control system used to coordinate and manage the coordinated operations of multiple egg-handling arms. By transmitting data such as the position and force of each egg-handling arm, the network ensures that all egg-handling arms can synchronize and adjust based on the status of other egg-handling arms, achieving efficient collaborative work.

[0036] Specifically, since eggs are easily broken and the processing of raw eggs requires fully automatic aseptic processing, once the egg is damaged, it will cause contamination of the production line. Therefore, when each egg is transported to the target location for cleaning, drying, sterilization and microbial testing procedures, targeted obstacle avoidance is required to eliminate accidents in order to achieve all-round processing and ensure the safety of the egg. Based on this, the spatial position coordinate information of the nodes corresponding to each egg body processing arm in the egg body processing machinery group is obtained; according to the preset spatial distance threshold, the spatial position relationship between each egg body processing arm in the egg body processing machinery group is judged; according to the spatial position relationship between each egg body processing arm in the egg body processing machinery group, the minimum spanning tree algorithm is used to construct the network topology structure model of the egg body processing machinery group, and the logical connection relationship between each egg body processing arm node in the egg body processing machinery group is obtained; according to the network topology structure model of the egg body processing machinery group, the communication link between adjacent egg body processing arms is determined; through wireless communication, a data transmission channel between each egg body processing arm node in the egg body processing machinery group is established; according to the network topology structure model of the egg body processing machinery group and the communication link between each egg body processing arm node in the egg body processing machinery group, a distributed collaborative control algorithm is used to realize the collaborative motion control of the egg body processing machinery group, and the collaborative control network infrastructure of the egg body processing machinery group is obtained.

[0037] Specifically, in the collaborative control network infrastructure of the egg body processing machinery group, the spatial position coordinate information of each egg body processing arm node is first obtained through a laser radar or visual sensor, and the spatial position relationship between the nodes is judged according to a preset spatial distance threshold (such as 5 meters). Then the Prim algorithm is used to construct a minimum spanning tree model to obtain the logical connection relationship between the nodes. Next, the ZigBee wireless communication module is used to establish a data transmission channel between adjacent nodes. On this basis, a distributed collaborative control algorithm based on virtual force is adopted to realize the collaborative motion control of the egg body processing machinery group through information interaction and feedback between nodes. At the same time, each node exchanges and synchronizes motion status data in real time with a period of 20ms.

[0038] Step 204, according to the force collaborative perception and propagation protocol in the collaborative control network infrastructure, the contact force data of any egg-shaped processing arm is propagated to the remaining egg-shaped processing arms to obtain the force feedback data corresponding to each egg-shaped processing arm.

[0039] The force cooperative sensing and propagation protocol can be used to share force feedback data within a cluster of egg-shaped processing robots. This protocol ensures that the force information of each egg-shaped processing arm is transmitted to other egg-shaped processing arms in real time, helping them adjust their movements based on the overall force distribution, thereby achieving force balance and coordinated operation of the entire system.

[0040] Force feedback data can be collected by sensors to measure the magnitude and direction of the forces acting on the egg-handling arms during operation. This data is used to monitor the force applied to each egg-handling arm and is analyzed and adjusted by the control system to ensure overall operational stability and safety.

[0041] Specifically, in order to achieve collaborative force perception, each egg-handling arm needs to be equipped with a precise force sensor, which is usually installed at the end effector or each joint position of the egg-handling arm to measure the external force acting on the egg-handling arm during the handling process in real time, and obtain the force feedback data corresponding to each egg-handling arm. These force feedback data are transmitted to the central controller or other egg-handling arms through a network protocol (such as UDP, TCP / IP or a dedicated industrial bus protocol). To ensure the real-time and reliability of the data, an efficient data packaging and unpacking algorithm must be used, combined with a synchronous clock or distributed clock mechanism to ensure that each egg-handling arm can synchronously receive the force feedback data of other egg-handling arms. During the process of sensor data transmission, the priority and delay control of the data packet are very critical. The system must complete data exchange within milliseconds to ensure the accuracy and timeliness of collaborative actions.

[0042] Specifically, based on the contact position between the egg-shaped processing arm actuator and the egg body, it can be determined that a six-dimensional force sensor is installed at the contact fingertip of the egg-shaped processing arm. A real-time operating system and a high-speed data acquisition card are used to collect force sensor data in real time at a frequency of 1kHz. The Kalman filter algorithm is used to filter the collected raw force data. The process noise covariance matrix of the Kalman filter is Q=diag(01, 01, 01), and the observation noise covariance matrix is R=diag(1, 1, 1). The filtered six-dimensional force data are mapped to the interval [0, 1] respectively through the maximum and minimum value normalization method. From the normalized force data, 10 characteristic parameters such as mean, variance, and peak are extracted to construct a 60-dimensional force feedback feature vector to obtain force feedback data. The UDP network transmission protocol is used to encapsulate the force feedback data in the network and send it to other egg-shaped processing arm nodes in the local area network through broadcasting. After receiving the broadcasted force feedback data, the other egg-shaped processing arm nodes parse the force feedback feature vectors and classify them using the support vector machine (SVM) algorithm to determine the contact state between the actuator and the egg. The SVM uses the RBF kernel function with a penalty factor of C=10 and a kernel parameter γ=1. Based on the contact state classification results, the egg-shaped processing arm nodes use a fuzzy PID control algorithm to adjust the egg-shaped processing arm's motion. The fuzzy PID domain is [-1, 1], using a triangular membership function. The output language values are NB, NM, NS, ZO, PS, PM, and PB, and the domain is divided into {-3, -2, -1, 0, 1, 2, 3}. The center of gravity method is used for defuzzification, enabling force feedback information interaction and coordinated control between the egg-shaped processing arms.

[0043] Step 206, based on the force feedback data corresponding to each egg body processing arm, calculate the center of gravity position of the egg body of the egg body processing mechanical group and the force information of each egg body processing arm, and obtain the center of gravity information of the egg body and the force distribution data of the egg body.

[0044] The force distribution data of the egg body can be the size and distribution of the force on the egg body when the egg body is tested before being transported and then subjected to slight force from multiple egg handling arms.

[0045] Specifically, after obtaining the force feedback data of all egg-shaped processing arms, the force distribution model of the egg-shaped body is used to analyze the force feedback data to determine the force information of each egg-shaped processing arm, including the magnitude and direction of the force applied to the egg-shaped body, the coordinate position of the force application point, and the current joint angle, arm length and other parameters of each egg-shaped processing arm. Further, the system uses the torque balance and force balance equations in mechanics to establish the static equilibrium equations for the egg-shaped body based on the force applied by the egg-shaped processing arm and the position of the force application point. Specifically, the force balance equation of the static equilibrium equations for the egg-shaped body ensures that the resultant force of all forces acting on the egg-shaped body is zero, which means that the egg-shaped body will not undergo translational motion; while the torque balance equation of the static equilibrium equations for the egg-shaped body ensures that the sum of all torques acting on the egg-shaped body (that is, the rotational effect of the force relative to a certain point on the egg-shaped body) is zero, which ensures that the egg-shaped body will not rotate or tilt.

[0046] Through the above-mentioned balance conditions, the system further deduces the position of the center of gravity of the egg body according to how the various parameters of the force information of each egg body handling arm affect the overall state of the egg body. The center of gravity refers to the balance point of all force distributions, that is, the force and torque of the entire egg body at this point are balanced. When using the static equilibrium equations of the egg body for calculation, the force information of each egg body handling arm will be substituted into the static equilibrium equations of the egg body, and the position of the center of gravity of the egg body will be determined by solving the equations. At the same time, the static equilibrium equations of the egg body can also calculate the force distribution data of the egg body at different positions of the egg body, helping to understand which parts are under greater force and which parts are under less force, thereby providing a reference basis for further operational adjustments. This calculation ensures that the egg body handling arm can adjust its operation according to the force balance to prevent the egg body from losing balance or tilting during transportation.

[0047] If the force balance condition is met, it is determined that the egg body is in a force balance state, and the egg body handling arm is controlled to maintain the current posture to maintain the stability of the egg body; if the force balance condition is not met, it is determined that the egg body has a tendency to tilt or slide, and the force of the egg body handling arm is adjusted to achieve balance; based on the judgment result of the force balance, the motion control instructions of the egg body handling arm are generated, and the joint angle and clamping force of the egg body handling arm are adjusted so that the egg body reaches force balance under the coordinated action of the egg body handling arm, thereby ensuring the stability of the egg body and operational safety.

[0048] Specifically, when acquiring force feedback data from each node of the egg-handling arm, a six-dimensional force sensor can be used to monitor the joints of the egg-handling arm in real time. The sensor sampling frequency is set to 1000Hz, and a sensor is installed at each joint to comprehensively collect force feedback for each degree of freedom of the egg-handling arm. The collected data is preprocessed, and a Kalman filter algorithm is used to remove high-frequency noise and outliers to extract effective force feedback signals. The static equilibrium equations of the egg body are used to estimate the force distribution on the egg body surface, and the three-dimensional coordinates of the egg body's center of gravity are calculated through numerical integration. Assuming the egg body mass is 5kg, the static equilibrium equations of the egg body calculate that the forces on the egg body in the three directions are 10N, 8N, and 6N, respectively. The center of gravity coordinates can be expressed as (2m, 16m, 12m). For the case of multiple egg-handling arms operating in coordination, the force vectors of each egg-handling arm are calculated based on the force sensor data of each egg-handling arm. For example, the two egg body processing arms have applied the forces of (3N, 4N, 2N) and (2N, 1N, 3N) respectively, and these force vectors and the center of gravity coordinates are substituted into the force balance equation and the moment balance equation of the egg body static equilibrium equation group to obtain the egg body center of gravity information and the egg body force distribution data. And it is possible to further judge whether the resultant force and moment are zero according to the egg body center of gravity information and the egg body force distribution data, thereby determining whether the egg body is in a state of equilibrium. If the egg body loses balance, the motion of the egg body processing arm is adjusted according to the calculation result so that the resultant force and moment tend to zero, reaching force balance. The adjustment process can be achieved by an optimization algorithm, such as the gradient descent method, with the residual of the force balance equation as the optimization target, calculating the gradient direction of the egg body processing arm motion parameters, iteratively updating the joint angle and the clamping force of the egg body processing arm, until the equilibrium condition is met. The generated motion control instructions adjust the joint angles of the egg handling arm to (30°, 45°, 60°) and the clamping force to 20N, so that the egg body can regain force balance under the coordinated action of the egg handling arm, ensuring the stability and safety of the operation.

[0049] Step 208: Based on the egg body center of gravity information and the egg body force distribution data, the electrical control unit is used to adjust the force direction and force magnitude of each egg body processing arm to obtain the grasping information of each egg body processing arm.

[0050] The egg handling arm grasping information can include detailed operating parameters such as the grasping point location, force direction, and grasping force of each egg handling arm when grasping an egg. This information is calculated by the system based on the weight, shape, and center of gravity of the egg, ensuring that the egg handling arm can firmly grasp the egg and dynamically adjust its force as needed.

[0051] Specifically, the control unit adjusts the torque of each egg-handling arm's joint motor or the thrust of its servo motor based on the calculated data on the egg's center of gravity and the force distribution on the egg. To this end, the controller uses a dynamic control model (such as the inverse kinematics equation) to determine how each egg-handling arm should adjust its force direction and magnitude, ensuring that the operating force and grasping position of the egg-handling arm can keep pace with changes in the center of gravity. This process also involves dynamically adjusting the joint position, angular velocity, and torque feedback of the egg-handling arm, typically using PID control algorithms or advanced adaptive control algorithms to ensure accuracy and response speed, thereby obtaining grasping information for each egg-handling arm. Each egg-handling arm's grasping information includes the precise coordinates of the grasping point, the direction of force applied, and the appropriate amount of force applied to ensure a secure and even grasp of the egg.

[0052] Specifically, based on the force distribution of the egg and the information about the egg's center of gravity, an adaptive weight distribution algorithm can be used to calculate the force weight coefficient of each egg-handling arm, where the weight coefficient is inversely proportional to the distance between the egg-handling arm's force application point and the egg's center of gravity, i.e., the greater the distance, the smaller the weight coefficient. Based on the force weight coefficient of each egg-handling arm, the force direction of each egg-handling arm is dynamically adjusted to ensure that the force direction of each egg-handling arm is consistent with the direction from the egg's center of gravity to the force application point of the egg-handling arm. Based on the force weight coefficient of each egg-handling arm, the force applied by each egg-handling arm is dynamically adjusted to ensure that the force applied by each egg-handling arm is proportional to its weight coefficient, i.e., the greater the weight coefficient, the greater the force applied, to ensure that the combined force applied by each egg-handling arm is always balanced with the egg's weight. When grasping the egg, the posture changes of the egg are detected in real time to determine whether the egg is tilted or deformed. If tilt or deformation is detected, the force weight coefficient of each egg-handling arm is fine-tuned until the egg returns to a balanced state. Using a motion control algorithm, the egg-handling arms achieve synchronized movement, maintaining their relative positions. After the egg is moved to the target location, the force applied by each egg-handling arm is slowly reduced until it completely releases the egg, preventing the egg from shaking or falling due to sudden force changes.

[0053] Specifically, based on the coordinates of the egg's center of gravity (x0, y0, z0) and the coordinates of the force-applying points of the three egg-handling arms (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), the offset vectors (Δx1, Δy1, Δz1), (Δx2, Δy2, Δz2), and (Δx3, Δy3, Δz3) from the center of gravity to the force-applying points are calculated. The force weights w1, w2, and w3 of the three egg-handling arms are calculated using an adaptive weight allocation algorithm: wi = k / (Δxi2 + Δyi2 + Δzi2), where i = 1, 2, or 3, where k is the proportionality factor. The force applied by egg-handling arm i is in the direction (Δxi, Δyi, Δzi), and the applied force magnitude Fi is proportional to wi, satisfying F1 + F2 + F3 = mg, where m is the egg's mass. When grasping an egg, a force sensor monitors the force and posture of the egg in real time. If the egg tilts, a PID control algorithm fine-tunes the force applied by each egg-handling arm to restore the egg's balance. The three egg-handling arms coordinate their movements to maintain their relative positions and smoothly move the egg.

[0054] Step 210, constructing the egg's motion trajectory based on the egg's shape constraints, weight distribution constraints, and environmental constraints.

[0055] The shape constraint can be the restriction imposed by the egg's external features on the grasping and movement of the egg handling arm, including information such as the egg's size, surface shape, and symmetry.

[0056] The weight distribution constraint can be the distribution of the egg's mass across its different parts. This weight distribution affects the egg's center of gravity, which in turn affects how the egg-handling arm balances its force.

[0057] Among them, environmental constraints can be physical limitations or rules in the operation scenario, such as the size of the workspace, channel width, height limit, location of obstacles, etc.

[0058] Among them, the egg body movement trajectory can be the designed moving path of the egg body during the transportation process.

[0059] Specifically, the initial and target positions and postures of the multi-egg-handling arms, as well as the positions of obstacles in the environment, are acquired to construct a kinematic model of the egg-handling arms and an environmental model. These models include the egg's shape constraints, weight distribution constraints, and environmental constraints. Furthermore, based on these constraints, the optimal grasping position and posture of the egg-handling arms are determined based on the egg's shape characteristics and weight distribution, and a grasping plan is generated. A distributed path planning algorithm is employed to decompose the multi-egg-handling arm motion path planning problem into multiple subproblems, with each arm performing independent path planning. During each arm's path planning, a sampling-based path planning approach is used to explore the feasible solution space, combining the arm's own kinematic constraints with the obstacle avoidance constraints in the environment. Collision detection and cost evaluation are performed on each feasible path explored by the egg-handling arms. A time series of the multi-egg-handling arms' coordinated motion is generated and converted into a sequence of motion commands in the joint space to obtain the egg-handling trajectory. The motion state and environmental changes of the egg body handling arm are tracked in real time. If the actual situation changes, the motion trajectory is adjusted and adjusted online to ensure the movement safety and efficiency of the multi-egg body handling arm.

[0060] Specifically, the initial and target positions and postures of the multi-egg-handling arm, as well as the positions of obstacles in the environment, are first acquired using lidar and vision sensors. A kinematic model of the egg-handling arm is constructed using the DH parameter method, and the environment model is represented using data structures such as octrees. Based on the egg's shape characteristics, such as length, width, and height, and weight distribution information, such as the center of gravity, fuzzy reasoning and optimization algorithms are used to determine the optimal grasping position and posture of the egg-handling arm, including the tilt angle of the grasping frame and the coordinates of the grasping point, to generate a grasp plan. A distributed path planning algorithm, such as the distributed RRT algorithm, is used to decompose the multi-egg-handling arm's path planning problem into multiple subproblems, with each egg-handling arm performing independent path planning. During each egg-handling arm's path planning, the inverse kinematics model is used to calculate the kinematic constraints in the joint space, and methods such as the artificial potential field method are used to model the obstacle avoidance constraints in the environment. Sampling-based path planning methods, such as PRM and RRT, are used to randomly sample within the configuration space of the egg-handling arm to explore feasible solutions. Each feasible path explored by the egg-shaped handling arm is collided with a fast collision detection method, such as the GJK algorithm. The cost function values of each path, such as path length and energy consumption, are evaluated, and the collision-free path with the lowest cost is selected as the optimal motion trajectory for the egg-shaped handling arm. The optimal motion trajectories planned by each egg-shaped handling arm are coordinated and synchronized. Time-scale transformation and other methods are used to generate a time series of coordinated motion for the multiple egg-shaped handling arms, such as curves showing the joint angles, velocities, and accelerations of each egg-shaped handling arm over time. These curves are then converted into motion command sequences in joint space based on the kinematic model of the egg-shaped handling arm. During actual execution, encoders and force sensors at the egg-shaped handling arm joints are used to track the motion state and environmental changes in real time. Kalman filtering and particle filtering algorithms are integrated to filter and estimate environmental information. The motion trajectory is then adjusted and adjusted online based on actual conditions to ensure the safety and efficiency of the multiple egg-shaped handling arms.

[0061] Step 212: Use the electrical control unit to control the egg body processing mechanical group to move the egg body according to the egg body movement trajectory and the egg body processing mechanical group grasping information.

[0062] Specifically, the electrical control unit issues specific control instructions based on the egg body motion trajectory and the grasping information of the egg body processing mechanical group calculated above, and drives each egg body processing arm to perform the moving operation. The electrical control unit controls the servo motor or hydraulic actuator of each egg body processing arm in real time, so that the end effector of each egg body processing arm moves smoothly along the preset trajectory while maintaining the grasping force and the stability of the egg body. A feedback control mechanism is used to monitor the status of the egg body processing arm in real time, including data such as position, speed and acceleration, to adjust the action of the actuator and ensure that the egg body processing arm moves smoothly along the desired trajectory. In addition, during the execution process, it is necessary to deal with the coordination of multiple egg body processing arms to ensure that their actions are coordinated and consistent to avoid mutual interference. Parallel control algorithms are often used to manage the synchronization of the actions of different egg body processing arms.

[0063] Step 214, when an obstacle appears during the movement, the egg body's movement trajectory and the grasping information of each egg body processing arm are partially adjusted according to the real-time environmental obstacle information of the egg body to obtain the egg body's obstacle crossing trajectory and the obstacle crossing information of each egg body processing arm.

[0064] The real-time environmental obstacle information may be dynamic data about obstacles in the current environment collected by sensors during the transportation process. These data help the system perceive the location, size, and movement of the obstacles.

[0065] Among them, the egg's obstacle-crossing trajectory can be a path where, when the egg encounters an obstacle during movement, the system adjusts part of the egg's movement trajectory so that the egg can bypass or cross the obstacle.

[0066] The egg-handling arm obstacle-crossing information can be operational adjustment data used by the system to adjust the gripping information of each egg-handling arm when the egg encounters an obstacle during movement. This information includes the posture, gripping angle, force direction, and force adjustment of the egg-handling arm to enable the egg to bypass or cross the obstacle.

[0067] Specifically, a visual sensor is installed at the end of each egg body processing arm. The visual sensor is used to collect environmental image information in real time during the movement of the egg body processing arm and transmit the environmental image information to the control system. After receiving the environmental image information, the control system uses a deep learning algorithm to perform target detection on the environmental image information, identify obstacles in the image, and obtain the position information and size information of the obstacle. Based on the obtained obstacle position information and size information, the control system determines whether the obstacle is located on the preset egg body movement trajectory of the egg body processing arm; if the obstacle is located on the preset egg body movement trajectory, the control system triggers the path adjustment mechanism. The path adjustment mechanism obtains the current position information, target position information and obstacle position information of the egg body processing arm, and through the reinforcement learning algorithm, while avoiding obstacles, plans the egg body obstacle crossing trajectory and the obstacle crossing information of each egg body processing arm based on the original egg body movement trajectory and the grasping information of each egg body processing arm. Based on the obstacle-crossing trajectory mapped out by the path adjustment mechanism and the obstacle-crossing information of each egg-handling arm, the control system controls the joint motion of the egg-handling arm, adjusting its motion path and posture, guiding it along its trajectory to bypass or cross obstacles. During the movement of the egg-handling arm, the visual sensor continuously collects environmental image information. If a new obstacle is detected, the control system triggers the path adjustment mechanism again, adjusting the trajectory of the egg-handling arm until the egg successfully completes the cleaning, drying, sterilization, and microbial testing procedures.

[0068] Specifically, the high-resolution industrial camera installed at the end of the egg-shaped processing arm collects environmental images in real time at a speed of 30 frames per second and transmits the image data to the control system via Gigabit Ethernet. The control system uses the YOLOv5 target detection algorithm based on convolutional neural networks to process the received images, identify obstacles in the image, and obtain attribute information such as the pixel coordinates, width, and height of the obstacles. The control system maps the pixel coordinates of the obstacle to the workspace coordinate system of the egg-shaped processing arm to determine whether the obstacle is on the movement path of the egg-shaped processing arm. If the obstacle interferes with the movement path of the egg-shaped processing arm, the path adjustment algorithm based on deep reinforcement learning is triggered. The algorithm uses the current joint angle, target position, and obstacle position of the egg-shaped processing arm as state inputs, and outputs the angle change of each joint of the egg-shaped processing arm through the Actor-Critic network structure. After 500 iterative training, the optimal egg-shaped obstacle crossing trajectory and obstacle crossing information of each egg-shaped processing arm are obtained. The control system converts the adjusted motion trajectory into the angles of each joint of the egg-handling arm through the inverse kinematics algorithm, and controls the six-degree-of-freedom joint servos of the egg-handling arm in real time through the PID control algorithm, adjusts the motion posture of the egg-handling arm, and guides the egg-handling arm to smoothly bypass or cross obstacles at a maximum speed of 5m / s. During the movement, the industrial camera continuously captures environmental images at a frequency of 10Hz. If a new obstacle is found, the path adjustment algorithm is triggered again to dynamically adjust the motion trajectory until the egg reaches the target position. Through the precise motion control and smooth trajectory planning of the egg-handling arm, the position and posture deviation of the egg in the process of bypassing and crossing obstacles is controlled within ±1cm and ±1°, and the egg is finally safely transported to the designated target position in sequence to successfully complete the cleaning process, drying process, sterilization process, and microbial detection process.

[0069] In the above-mentioned production control method for raw eggs, by establishing a collaborative control network infrastructure based on spatial position relationships, each egg-handling arm can obtain real-time force feedback data from other egg-handling arms in the group, achieving highly coordinated force sensing and control between multiple egg-handling arms. The force collaborative sensing and propagation protocol effectively reduces the risk of uneven force on a single egg-handling arm during handling, ensuring that each egg-handling arm dynamically adjusts the direction and magnitude of force application based on the egg's center of gravity information and force distribution data, further improving the force distribution accuracy of the entire group. At the same time, combined with the egg's shape constraints, weight distribution, and environmental restrictions, the electrical control unit flexibly formulates the optimal motion trajectory, ensuring stability and accuracy during obstacle-crossing handling in complex environments. It can effectively avoid the introduction of uncontrollable risks in the production control of raw eggs, and further ensure that the eggs can safely and quickly reach the target position in the egg-handling scenario to implement cleaning procedures, drying procedures, sterilization procedures, and microbial detection procedures.

[0070] In one embodiment, Figure 3 As shown, according to the force feedback data corresponding to each egg body processing arm, the center of gravity position of the egg body of the egg body processing mechanical group and the force information of each egg body processing arm are calculated to obtain the center of gravity information of the egg body and the force distribution data of the egg body, including:

[0071] Step 302: Solve the egg body force distribution model based on the force feedback data corresponding to each egg body processing arm to obtain the egg body center of gravity information and the force vector of each egg body.

[0072] The egg force distribution model is a mathematical model used to describe the overall force applied to an egg by multiple egg-handling arms. This model integrates the forces exerted by each egg-handling arm on the egg and their points of application to calculate the force distribution across the egg's surface. This model clearly identifies which areas of the egg experience greater and lesser forces.

[0073] Among them, the force vector of the egg body can be a vector that describes the magnitude and direction of the force applied by the egg body processing arm on the egg body. This vector not only includes the intensity of the force applied by the egg body processing arm (the magnitude of the force), but also the direction of the force, and is usually expressed in three-dimensional space.

[0074] Specifically, the force feedback data corresponding to each egg-shaped processing arm is combined with the geometric position of the egg-shaped processing arm (including the coordinates, posture, joint angles, etc. of the egg-shaped processing arm in space) and substituted into the egg-shaped force distribution model, and the egg-shaped force distribution model with parameters is solved; the egg-shaped force distribution model uses the principle of multi-vector superposition to describe the total force exerted by each egg-shaped processing arm on the egg, determines the size and direction of each force vector, and finally calculates the current center of gravity position of the egg.

[0075] Step 304: input the egg body center of gravity information and the force vectors of each egg body into the egg body static equilibrium equation group to obtain the test egg body resultant force and the test egg body moment.

[0076] Among them, the static equilibrium equations of the egg body can be information for calculating the equilibrium state of the egg body under the action of forces and moments. The equations mainly include the force balance equation (to ensure that the resultant force of the egg body is zero to prevent translation) and the moment balance equation (to ensure that the total moment of the egg body is zero to prevent rotation).

[0077] The test egg's net force can be the sum of all egg-handling arm forces acting on the egg, calculated through static equilibrium. This represents the net force on the egg under the current force application configuration. Ideally, this net force should be zero, indicating no translational movement of the egg. However, a non-zero net force indicates an imbalance in the egg's forces, potentially causing displacement during handling and requiring adjustment of the egg-handling arm's force application.

[0078] The test egg torque is the sum of the rotational effects of the forces applied by the egg-handling arms relative to a reference point (typically the egg's center of gravity). It indicates whether the egg has a tendency to rotate under the action of these forces. Ideally, the test torque should be zero, indicating that the egg will not rotate. If the torque is non-zero, it indicates that a rotational tendency exists under the current gripping configuration, and this rotational effect needs to be eliminated by adjusting the force application direction and gripping point of the egg-handling arms.

[0079] Specifically, after obtaining the center of gravity information of the egg body and the force vector of each egg body processing arm, the system inputs this data into the static equilibrium equation group. The static equilibrium equation group consists of two main parts: the static force equilibrium equation and the static moment equilibrium equation. The static force equilibrium equation is used to ensure that the egg body does not translate in all force directions. The core idea is that the resultant force is zero. The static moment equilibrium equation is used to prevent the egg body from rotating, and the sum of the torques must also be zero. Through the static equilibrium equation group, the system can calculate the current resultant force and torque of the egg body, which are called the test egg body resultant force and the test egg body torque. If both values are close to zero, it means that the egg body is currently in a state of static equilibrium; if there is a large deviation in the test resultant force or torque, it means that the egg body may undergo unstable movement.

[0080] Among them, the static equilibrium equations of the egg body have multiple expressions, namely:

[0081]

[0082] The above formula is the force balance equation of the static equilibrium equations of the egg body, where F i is the force vector applied by the i-th egg handling arm to the egg; W is the gravity vector of the egg, acting on the center of gravity; F ext,j is the jth external environmental force; N is the number of egg handling arms; M is the number of external forces; m is the mass of the egg; is the acceleration of the egg;

[0083]

[0084] The above formula is the moment balance equation of the static equilibrium equations of the egg body, where r i is the position vector of the force application point of the i-th egg processing arm relative to the reference point; is the displacement correction caused by the flexibility of the egg handling arm; r cg is the position vector of the egg's center of gravity relative to the reference point; r ext,j is the position vector of the external force action point j relative to the reference point;

[0085]

[0086] The above formula is the contact force constraint of the static equilibrium equations of the egg body, where is the friction coefficient of the i-th contact point; F i,切向 F is the normal force component applied by the handling arm of the i-th egg; i,法向 is the tangential force component applied by the handling arm on the i-th egg;

[0087]

[0088] The above formula is the arm force-displacement relationship of the static equilibrium equations of the egg body, where K i is the stiffness matrix of the i-th egg body processing arm; x i,实际 is the actual position of the end of the processing arm of the i-th egg; x i,期望 The expected position of the end of the processing arm for the i-th egg;

[0089]

[0090] The above formula is the egg body stress constraint of the static equilibrium equation group of the egg body, where A i is the force area of the i-th contact point; is the allowable stress of the material corresponding to the egg body; is the actual stress received by the material corresponding to egg body i.

[0091] Step 306: When the egg body is not in a force balance state, the grasping points of each egg body processing arm are recalculated according to the test deformation scale of the egg body until the egg body is in a force balance state, and the grasping points corresponding to each egg body processing arm are output as the force distribution data of the egg body.

[0092] It is worth noting that in actual operation, eggs can be considered as quasi-rigid bodies. In order to avoid damaging the eggs during transportation, a soft intermediary is added to the packaging surface after multiple eggs are packaged. Since the egg body handling arm is a movable component, in order to simplify the subsequent model calculation as a whole, the soft intermediary and each egg are analyzed as a whole. In this application, the whole of the soft intermediary and multiple egg bodies is referred to as the egg body. Therefore, the soft intermediary on the packaging surface may undergo deformation during transportation. Among them, the test deformation scale can be an indicator to quantify the difference in the degree of slight deformation of each soft intermediary under the action of force imbalance.

[0093] Specifically, the test egg's combined force and the test egg's torque are compared with preset thresholds. If the absolute values of the test egg's combined force and the test egg's torque are close to zero and within the set tolerance range, it means that the force applied by the egg handling arm to the egg has reached a force balance state, and the egg will not tilt, slide, or rotate. Conversely, if the test egg's combined force and the test egg's torque exceed the threshold range, it means that the force on the egg is uneven, which may cause the egg to become unstable during operation. In this case, the system will need to adjust the egg handling arm's gripping configuration to ensure that the egg can achieve force balance.

[0094] If the egg is not in a state of force balance, that is, the system detects that the egg is not in a state of force balance, it will use sensors to monitor the difference in deformation of the soft intermediary under uneven force conditions. The deformation may appear as local compression of the egg, overall tilting, etc., which will cause the shape of the soft intermediary to change. The system inputs the deformation information into the deformation model and determines the source of the deformation and the force error of each egg-handling arm by analyzing the mechanical relationship. According to the direction and degree of deformation, the system recalculates the grasping point of the egg-handling arm, including adjusting the precise position of the grasping point and the force angle. In order to optimize the grasping configuration, the system may use an iterative solution algorithm, such as the Newton iteration method or the steepest descent method, to continuously adjust the grasping point position until the deformation disappears and force balance is achieved. In each iteration, the system recalculates the force vector of each egg-handling arm and verifies the force balance state through a set of static equilibrium equations. Finally, the system outputs the adjusted grasping point and force vector as the force distribution data of the egg.

[0095] In this embodiment, by using the force feedback data of the egg body processing arm to solve the force distribution model of the egg body, the center of gravity of the egg body and the force vector of each egg body processing arm can be accurately calculated, so that the system has a comprehensive grasp of the force distribution of the egg body. The static equilibrium equation group is used to determine whether the egg body is in a force balance state, and in the case of imbalance, the force distribution is optimized by continuously adjusting the gripping point of the egg body processing arm until the egg body reaches a balanced state. This real-time adjustment and feedback mechanism can ensure that the egg body always remains balanced during the handling process, avoids tilting or falling, improves the stability and accuracy of the coordinated operation of the egg body processing arm, and at the same time reduces stress concentration during operation, prolongs the service life of the egg body processing arm and ensures the safety of the handling process.

[0096] In one embodiment, Figure 4 As shown, according to the egg body weight center information and the egg body force distribution data, the electrical control unit is used to adjust the force direction and force magnitude of each egg body processing arm to obtain the grasping information of each egg body processing arm, including:

[0097] Step 402: Based on the force distribution data of the egg, an electrical control unit is used to drive each egg handling arm to grab the egg, and obtain the actual deformation scale of the egg and the initial egg posture information.

[0098] It is worth noting that in actual operation, eggs can be considered as quasi-rigid bodies, and in order to avoid damaging the eggs during the transportation process, a soft intermediary will be added to the packaging surface after multiple eggs are packaged; since the egg body handling arm is a movable component, in order to simplify the subsequent model calculation as a whole, the soft intermediary and each egg are analyzed as a whole. In this application, the soft intermediary and multiple egg bodies are referred to as the egg body as a whole. Therefore, the soft intermediary on the packaging surface may undergo deformation during the transportation process. Among them, the actual deformation scale can be the actual degree of change in the shape or structure of the soft intermediary after the egg body handling arm applies external force to the egg body when the egg body is actually moved. This includes physical deformations such as bending, compression, stretching or twisting of the egg body. These deformations are measured by sensors (such as strain gauges or displacement sensors).

[0099] Among them, the initial egg body posture information can be the initial position and angle state of the egg body in space when the egg body handling arm grasps the egg body for the first time. It includes the translation position of the egg body (i.e., the position relative to the reference point), the rotation angle (i.e., the rotation of the egg body on different axes), and the tilt degree of the egg body.

[0100] Specifically, the system makes a preliminary calculation of the force magnitude and direction of each egg handling arm based on the force distribution data of the egg body. After receiving these parameters, the electrical control unit drives the egg body handling arm to perform the grasping operation. During the grasping process, sensors installed at the end of the egg body handling arm and on the egg body (such as force sensors and position sensors) will monitor the grasping force and the deformation state of the soft intermediary in real time. The deformation scale measures the shape change of the soft intermediary after the egg body handling arm applies force, such as the degree of bending, twisting or compression. The measurement of this actual deformation scale is usually completed by strain gauges or fiber optic sensors. At the same time, position and attitude sensors (such as inertial measurement units or cameras) record the initial attitude information of the egg body, including the tilt angle, translational displacement and rotation state of the egg body during grasping.

[0101] In step 404, the egg body center of gravity information, actual deformation scale and initial egg body posture information are input into the egg body dynamics balance equation group to obtain the real-time egg body resultant force and real-time egg body torque.

[0102] The egg's dynamic equilibrium equations can be used to calculate the dynamic equilibrium state of the egg under load. These equations comprehensively consider dynamic factors such as forces, torques, acceleration, and inertia acting on the egg in different directions, ensuring that the egg does not become unstable during grasping or movement by the egg-handling arm. The equations consist of two core components: a force balance equation (which ensures the net force is zero, preventing the egg from translating) and a torque balance equation (which ensures the net torque is zero, preventing the egg from rotating).

[0103] Among them, the real-time egg body resultant force can be the vector sum of the forces applied to the egg body by all egg body handling arms during the transportation process. It reflects whether the egg body has a tendency to translate under the current force configuration. If the resultant force is not zero, it means that the egg body is being subjected to an unbalanced external force and may move in a certain direction.

[0104] The real-time egg torque refers to the sum of the rotational effects of the forces applied by all egg-handling arms relative to the egg's center of gravity or reference point. This torque reflects whether the egg has a tendency to rotate or tilt. Ideally, the real-time torque should be close to zero to ensure that the egg does not rotate or tilt during handling. If the torque is unbalanced, the egg will become unstable, and the system will need to reduce the torque by adjusting the direction and magnitude of the force applied by the egg-handling arms until the egg is in equilibrium.

[0105] Specifically, the system inputs the center of gravity information of the egg, the measured actual deformation scale, and the initial posture information into the dynamic balance equation group. The dynamic balance equation group is based on Newtonian mechanics and dynamics theory, taking into account factors such as gravity, friction, the external force applied by the egg handling arm, and the inertia force of the egg body. It mainly includes the dynamic balance equation and the dynamic torque balance equation. That is, the dynamic balance equation calculates the resultant force of the force on the egg body to determine whether there is a displacement trend in the horizontal or vertical direction, while the dynamic torque balance equation calculates whether all the torques acting on the egg body are balanced to determine whether the egg body has a tendency to rotate. By solving the dynamic balance equation group, the system obtains the real-time egg body resultant force and real-time egg body torque of the current egg body. The real-time egg body resultant force and real-time egg body torque dynamically reflect whether the egg body is in a stable state. If the resultant force or torque is not zero, it means that the egg body may be displaced or rotated under the current grasping configuration and is in an unstable state.

[0106] Among them, the egg body dynamics balance equations have multiple expressions, namely:

[0107]

[0108] The above formula is the translational dynamics equation of the egg body dynamics equilibrium equation group, where F i (t) is the force exerted by the i-th egg handling arm on the egg at time t; W(t)=m(t)g is the gravity of the egg; F ext,j (t) is the jth external environmental force at time t; m(t) is the mass of the egg at time t; is the acceleration of the egg's center of mass at time t; F damping (t) is the damping force at time t;

[0109]

[0110] The above formula is the rotational dynamics equation of the egg body dynamics equilibrium equation group, where r i (t) is the force point of the i-th egg handling arm relative to the egg's center of mass r cg (t) position vector; r ext,j (t) is the force point of the j-th egg handling arm relative to the egg mass center r at time t cg (t) position vector; is the displacement correction due to the elastic deformation of the egg body and the egg body handling arm at time t, C i is the flexibility matrix; I(t) is the moment of inertia tensor of the egg at time t, which changes with deformation and mass distribution; is the angular velocity of the egg at time t; M damping (t) is the damping torque at time t;

[0111]

[0112] The above formula is the egg body dynamics equation of the egg body dynamics balance equation group, where q i M is the joint angle of the processing arm of the i-th egg body; i is the inertia matrix; C i is the Coriolis and centrifugal term; G i is the gravity term; is the joint torque; is the Jacobian matrix; for is the dynamic friction equation,

[0113]

[0114] in is the stick-slip state of the contact surface between the egg and the egg handling arm at time t, is the relative velocity of the contact point between the egg and the egg handling arm at time t; 、 as well as is the friction coefficient of the contact between the egg body and the egg body handling arm; and the following conditions must be met,

[0115]

[0116]

[0117] The above formula is the contact constraint condition, where is the maximum normal force allowed by the egg processing arm at time t; is the friction coefficient of the i-th contact point; is the normal force component applied by the handling arm of the i-th egg at time t;

[0118]

[0119] The above formula is the deformation constraint condition, where is the maximum allowable stress of the egg body; is the strain-related elastic modulus of the processing arm of the i-th egg at time t; is the strain of the processing arm of the i-th egg at time t; is the stress of the processing arm of the i-th egg at time t.

[0120] Step 406: Based on the real-time egg body resultant force and the real-time egg body torque, the electrical control unit is used to adjust the force direction and force magnitude of each egg body processing arm to obtain updated egg body posture information and updated deformation scale.

[0121] Specifically, when the system detects that the real-time egg body resultant force or the real-time egg body torque of the egg body is not zero, the electrical control unit will recalculate the force direction and magnitude of the egg body processing arm based on the real-time egg body resultant force and the real-time egg body torque. By fine-tuning the grasping point of each egg body processing arm, adjusting the direction of the force and the applied force, the force feedback control system gradually optimizes the distribution of force to reduce the resultant force and torque deviation. At this time, the electrical control unit drives the egg body processing arm to perform a new grasping action, and measures the posture of the egg body and the deformation of the soft intermediary again through the sensor, and updates the egg body posture information including the new tilt angle, rotation state and position change of the egg body, while the updated deformation scale reflects the shape change of the soft intermediary of the egg body under the new force condition.

[0122] Step 408: When the updated egg body posture information indicates that the egg body is still in an unbalanced posture, the updated deformation scale is used as the actual deformation scale, and the updated egg body posture information is used as the initial egg body posture information.

[0123] Specifically, if the updated egg posture information indicates that the egg is still unbalanced, for example, if it is still tilted or rotated, the system will adjust again. At this point, the system will use the updated deformation scale as the actual deformation scale and the updated egg posture information as the initial egg posture information. This is equivalent to restarting the balance adjustment in the new state, repeatedly adjusting the force applied by the egg handling arm to gradually reduce the imbalance.

[0124] Step 410, returns to the step of inputting the egg body's center of gravity information, actual deformation scale, and initial egg body posture information into the egg body dynamics equilibrium equation group to obtain the real-time egg body resultant force and real-time egg body torque, until the egg body posture information is updated to indicate that the egg body is still in a balanced posture, and the grasping information of each egg body processing arm is obtained.

[0125] Specifically, after each adjustment, the system will repeat the above process, that is, re-input the egg's center of gravity information, the latest actual deformation scale and the updated initial posture information into the dynamic equilibrium equations, and recalculate the real-time resultant force and torque. If the resultant force and torque are still not zero, the system will continue to adjust the force direction and magnitude of the egg body handling arm, and continuously optimize the grasping configuration until the torque and resultant force are close to zero, indicating that the egg body has reached a state of equilibrium. When the posture information of the egg body indicates that it is no longer tilted or rotated, the system confirms that the egg body is in a stable force balance state, and finally outputs the grasping information of each egg body handling arm. This information includes the final force magnitude, direction and grasping point position of each egg body handling arm to ensure that the egg body remains balanced during transportation and can move safely and stably.

[0126] In this embodiment, by dynamically adjusting the direction and size of the force applied by the egg body handling arm, the center of gravity position, deformation scale and posture change of the egg body are monitored in real time, thereby ensuring that the egg body handling arm can be accurately controlled according to the state of the egg body. By inputting the real-time torque and resultant force feedback information of the egg body into the dynamic equilibrium equations, the system can quickly determine whether the egg body is in a force balance state, and automatically adjust the gripping force and posture of the egg body handling arm in the case of imbalance. The continuous iterative adjustment mechanism ensures that the egg body handling arm can maintain the stability of the egg body during the transportation process, avoiding the egg body from tilting, excessive deformation or instability. The advantage of this solution is that through fine force feedback and posture adjustment, the egg body can maintain balance in a complex environment, thereby improving the safety, accuracy and stability of the transportation process, and is particularly suitable for high-precision collaborative transportation tasks.

[0127] In one embodiment, Figure 5 As shown in the figure, based on the egg shape constraints, weight distribution constraints, and environmental constraints, the egg motion trajectory is constructed, including:

[0128] Step 502: Plan the initial motion trajectory of the egg body according to the shape constraints, weight distribution constraints, and environmental constraints of the egg body.

[0129] The initial motion trajectory may be a trajectory of the egg body obtained by preliminary calculation when the egg body processing arm moves along a predetermined trajectory.

[0130] Specifically, the system analyzes the geometric shape constraints, weight distribution constraints, and physical constraints in the working environment of the egg; the shape constraints include the outer dimensions, surface morphology, and edge shape of the egg, which determine the grasping point and grasping posture of the egg-handling arm; the weight distribution constraints refer to the weight distribution of each part of the egg, especially the position of the center of gravity, which affects the force distribution of each egg-handling arm; environmental constraints include the size of the workspace, the position of obstacles, the width and height of the channel, and other factors. The system obtains this information through sensors or pre-known data. Based on these constraints, the system uses a path planning algorithm (such as the A* algorithm, the Dijkstra algorithm, or the RRT algorithm) to calculate the initial motion trajectory of the egg from the starting position to the target position. This trajectory not only needs to ensure that the egg can avoid obstacles, but also minimize unnecessary deformation or tilting during transportation to maintain the stability of the egg.

[0131] Step 504: Based on the grasping information of each egg processing arm, simulate the movement of the egg along the initial motion trajectory to obtain the egg movement information.

[0132] Among them, the egg body motion information can be the dynamic performance data of the egg body when the egg body handling arm moves along the initial motion trajectory during the simulated handling process. This information includes the egg body's speed, acceleration, posture (such as rotation angle, tilt degree), position change and force conditions, etc.

[0133] Specifically, after determining the initial motion trajectory, the system simulates the process of the egg moving along the trajectory based on the grasping information of each egg-handling arm (such as the position of the grasping point, the direction of the force applied, and the magnitude of the force applied). The simulation process uses physical simulation tools or dynamic models to consider how the force applied by each egg-handling arm affects the motion state of the egg. The simulation system can predict the behavior of the egg as it moves along the trajectory, such as the translational speed of the egg, changes in posture (such as rotation or tilt), whether it is unstable due to uneven forces, etc., and obtain the egg's motion information, where the egg's motion information includes dynamic data such as speed, acceleration, position change, and rotation angle.

[0134] Step 506: Modify the updated deformation scale according to the egg body motion information to obtain a modified deformation scale.

[0135] The modified deformation scale may be a parameter obtained by adjusting the originally calculated deformation scale when the soft medium is deformed after being subjected to force during the simulated transportation process.

[0136] Specifically, during the simulation process, the system monitors the movement state of the egg in real time. Therefore, based on the simulated movement information of the egg, the system calculates the deformation scale of the soft intermediary after the movement state changes, that is, the shape changes that may occur in the soft intermediary under different force conditions (such as the degree of bending, compression or twisting). The system then updates the previous deformation scale according to the shape change of the soft intermediary to obtain a modified deformation scale.

[0137] Step 508: When the modified deformation scale exceeds the deformation safety threshold, the egg body center of gravity information, the modified deformation scale and the initial egg body posture information are input into the egg body dynamics equilibrium equation group to obtain the modified egg body resultant force and the modified egg body torque.

[0138] Among them, the deformation safety threshold can be the maximum value of the allowable range of deformation of the soft intermediary during transportation, which is used to ensure that the egg body will not suffer unacceptable deformation or damage during the force process.

[0139] Specifically, if the modified deformation scale exceeds the set deformation safety threshold, this indicates that the soft intermediary may have excessive deformation under the current motion trajectory and force conditions. At this time, the modified deformation scale, the center of gravity information of the egg body, and the initial posture information will be used to input the egg body dynamics balance equations for recalculation. By resolving the egg body dynamics balance equations, the adjusted resultant force and torque distribution of the egg body can be obtained, that is, the modified egg body resultant force and the modified egg body torque. And further, based on the modified egg body resultant force and the modified egg body torque, it is judged whether it can remain stable under the current force and motion conditions. If the resultant force and torque deviate from expectations, it indicates that the egg body may tilt, slide or rotate, and needs to be adjusted.

[0140] Step 510, modifying the initial motion trajectory according to the modified egg body resultant force and the modified egg body torque to obtain the egg body motion trajectory.

[0141] Specifically, after obtaining the modified egg-shaped resultant force and modified egg-shaped torque, the system adjusts the initial motion trajectory based on these modified resultant force and torque. The goal of these modifications is to optimize the egg's motion path and reduce unbalanced forces and excessive torque generated during movement. Specific adjustments may include slowing down the speed at certain stages, increasing pauses in certain areas, adjusting the path curvature, or avoiding high-stress areas in certain directions. This generates a new motion trajectory and verifies its stability through simulation.

[0142] In this embodiment, the initial motion trajectory is planned by fully considering the shape, weight distribution and environmental constraints of the egg body, and the actual motion state of the egg body is simulated in combination with the grasping information of each egg body processing arm. During the simulation process, the deformation of the egg body can be monitored in real time, and when the deformation exceeds the safety threshold, the dynamic equilibrium equation group is used to perform accurate calculations to adjust the center of gravity information and force distribution of the egg body. By dynamically adjusting the motion trajectory and grasping method, the deformation risk of the egg body during transportation can be effectively reduced, ensuring that the egg body remains stable and safe. Ultimately, by continuously optimizing the trajectory and force distribution, the handling accuracy is improved, the risk of damage is reduced, and the collaborative handling capability of the egg body processing machinery group in a complex environment is ensured.

[0143] In one embodiment, Figure 6 As shown, according to the real-time environmental obstacle information of the egg, the egg's motion trajectory and the grasping information of each egg's processing arm are partially adjusted to obtain the egg's obstacle crossing trajectory and the obstacle crossing information of each egg's processing arm, including:

[0144] Step 602, based on the egg body motion trajectory, updated egg body posture information and updated deformation scale, calculate the egg body envelope of the egg body moving along the egg body motion trajectory.

[0145] Specifically, based on the current egg's trajectory, updated posture information (such as its tilt angle and rotation), and deformation scale (reflecting the actual shape change of the egg), the system simulates handling to calculate the possible spatial range of the egg during its motion. This range, known as the egg envelope, is a dynamic 3D geometric model that describes the maximum spatial occupancy of the egg under different positions, postures, and deformations. This envelope calculation also takes into account the changes in the egg's posture when the egg-handling arm applies force to the grasping point, such as tilt and deformation expansion caused by changes in the center of gravity.

[0146] Step 604: Identify the overlapping portion of the egg envelope and the real-time environmental obstacle information to obtain the egg obstacle information.

[0147] Among them, the egg body obstacle information can be that the system calculates the envelope of the egg body and compares it with the obstacle information in the real-time environment to identify the obstacles encountered by the egg body on its motion trajectory. This information includes the specific position, size, shape of the obstacle and the part that overlaps with the egg body's motion path.

[0148] Specifically, the egg's envelope is compared with real-time obstacle information provided by environmental sensors (such as lidar and 3D cameras). This information includes detailed data such as the size, shape, and location of obstacles. The system analyzes the overlapping areas between the egg's envelope and the real-time obstacle information, identifying specific points in the egg's trajectory where obstructions may occur. The system then calculates the spatial parameters of these overlapping areas, known as egg obstruction information. These overlapping areas indicate the possibility of a physical collision between the egg and an obstacle.

[0149] Step 606: Based on the egg's obstacle information, partially adjust the egg's motion trajectory and the grasping information of each egg's processing arm to obtain the egg's initial obstacle-crossing trajectory and the egg's initial obstacle-crossing information.

[0150] Among them, the initial obstacle-crossing trajectory of the egg body can be a motion path obtained by adjusting the part of the egg body's motion trajectory that needs to cross the obstacle based on the egg body's obstacle information, which is used to enable the egg body to bypass or cross the obstacle.

[0151] Among them, the initial obstacle crossing information of the egg body processing arm can be the operating parameters required by each egg body processing arm to maintain stable grasping of the egg body under the initial obstacle crossing trajectory of the egg body. It is the grasping information obtained after adjusting the part of the grasping information of each egg body processing arm that needs to cross the obstacle according to the egg body obstacle information. This information includes the grasping point position, force direction, force size, etc. of each egg body processing arm.

[0152] Specifically, based on the identified egg-shaped obstacle information, the egg's motion trajectory and the egg-handling arm's grasping method are adjusted to ensure that the egg can successfully avoid or cross obstacles. The system adjusts the egg's motion trajectory and the grasping information of each egg-handling arm in the area where the egg's envelope and real-time environmental obstacle information overlap, ensuring that the egg does not collide with the obstacle when crossing. This adjustment involves changing the egg's movement path in the overlapping area, adjusting the force applied by the egg-handling arm, or adjusting the grasping point of the egg-handling arm to balance the force applied to the egg. Simultaneously, the grasping information of the egg-handling arm (grasping point location, force direction, and strength) in the overlapping area is also adjusted accordingly to ensure that the egg-handling arm can maintain a stable grasp of the egg within the new trajectory. The adjusted motion trajectory is called the egg's initial obstacle-crossing trajectory, and the adjusted grasping information is the initial obstacle-crossing information of each egg-handling arm.

[0153] Step 608: Based on the initial obstacle crossing information of each egg-shaped processing arm, simulate the obstacle crossing equilibrium state corresponding to the egg-shaped body using the initial obstacle crossing trajectory of the egg-shaped body to cross the obstacle.

[0154] The obstacle-crossing equilibrium state can be the dynamic equilibrium state of the egg when crossing an obstacle, reflecting whether the egg remains stable during force and movement. If the egg does not tilt, rotate, or otherwise become unstable during the obstacle-crossing process, and the forces and torques remain balanced, it is called a dynamic equilibrium state. Otherwise, if the egg becomes unbalanced during movement (such as tilting or sliding), the system needs to readjust the obstacle-crossing trajectory and the egg handling arm's grasping method until the egg can safely and smoothly pass the obstacle.

[0155] Specifically, after obtaining the egg's initial obstacle-crossing trajectory and the initial obstacle-crossing information of each egg-handling arm, the system simulates the egg's obstacle-crossing process through simulation. At this point, the system simulates the egg-handling arm to determine the new force direction and magnitude of the electrical control unit based on the egg's initial obstacle-crossing trajectory and the initial obstacle-crossing information of each egg-handling arm to grab the egg, and move along the egg's initial obstacle-crossing trajectory to cross the obstacle, evaluate the egg's state when crossing the obstacle, and obtain the obstacle-crossing equilibrium state when the egg crosses the obstacle. That is, through dynamic analysis, whether the egg can maintain balance, and whether the egg will tilt, become unstable, or encounter other unexpected situations when crossing the obstacle, if the egg becomes unstable or dangerous during movement, the system will record these phenomena.

[0156] Step 610, when the obstacle-crossing balance state characterizes the egg body as dynamically unbalanced, returns to execute the steps of calculating the egg body envelope of the egg body moving along the egg body motion trajectory, updating the egg body posture information, and updating the deformation scale, until the obstacle-crossing balance state characterizes the egg body as dynamically balanced.

[0157] Specifically, if the obstacle-crossing equilibrium state obtained by simulation indicates that the egg is in a state of dynamic imbalance during the obstacle-crossing process (for example, it is tilted, out of control, or unevenly stressed), the system will return to the initial step and recalculate the egg envelope and the egg obstacle information. That is, based on the egg obstacle information without repeating the same partial adjustments, the egg's motion trajectory and the grasping information of each egg processing arm are partially adjusted to obtain the egg's initial obstacle-crossing trajectory and the initial obstacle-crossing information of each egg processing arm, and a new simulation is performed. This process is an iterative cycle. Through multiple simulations and adjustments, the system continuously optimizes the egg's motion path and grasping configuration until the egg's obstacle-crossing equilibrium state when crossing the obstacle indicates that the egg has reached dynamic balance, that is, the egg can stably complete the obstacle-crossing process without tilting or losing control.

[0158] Step 612: The initial obstacle crossing trajectory of the egg body is used as the obstacle crossing trajectory of the egg body, and the initial obstacle crossing information of each egg body processing arm is used as the obstacle crossing information of each egg body processing arm.

[0159] Specifically, once the simulation indicates that the egg has reached a state of dynamic equilibrium while crossing an obstacle, the system verifies the validity of the egg's initial obstacle-crossing trajectory and the initial obstacle-crossing information for each egg-handling arm. At this point, the initial obstacle-crossing trajectory is determined as the final egg-crossing trajectory, and the system instructs the egg-handling arm to perform the handling task along this trajectory. Furthermore, the initial obstacle-crossing information for each egg-handling arm (including force direction, gripping point, etc.) is also determined as the obstacle-crossing information for each egg-handling arm, ensuring that the egg-handling arms can synchronously complete the obstacle-crossing action in actual operation.

[0160] In this embodiment, by calculating the envelope of the egg in real time and combining it with the obstacle information in the environment, potential obstacles in the egg's motion trajectory are identified, and based on this, the motion trajectory and the grasping method of the egg handling arm are dynamically adjusted. By planning the initial obstacle-crossing trajectory and simulating the dynamic equilibrium state of the egg when crossing the obstacle, the system can ensure that the egg will not be collided or destabilized in a complex environment. When it is detected that the egg is in a dynamically unbalanced state, the system will continuously optimize the trajectory and grasping configuration in a loop until the egg reaches balance. It can flexibly respond to a variety of obstacle scenarios and ensure that the egg remains balanced and stable when crossing obstacles, greatly improving the accuracy and safety of the collaborative handling tasks of the egg handling arm, and reducing the risk of handling failure or damage due to obstacles.

[0161] In one embodiment, Figure 7 As shown, according to the force cooperative perception and propagation protocol in the cooperative control network infrastructure, the contact force data of any egg-shaped processing arm is propagated to the other egg-shaped processing arms, and the force feedback data corresponding to each egg-shaped processing arm is obtained, including:

[0162] Step 702: filter the contact force data of each egg body processing arm to obtain each filtered force feedback data.

[0163] Among them, the contact force data can be the real-time external force information collected by the egg body processing arm through the force sensor installed at the end effector or joint during the operation. These data usually include the magnitude, direction, and specific location of the point of action of the force, reflecting the force exerted on the egg body processing arm when it contacts the egg body or the environment.

[0164] The filtered force feedback data is a smoother, more accurate form of force feedback obtained by filtering the raw contact force data. This filtering removes noise and interference from the signal, retaining key information reflecting the actual force state of the egg-handling arm.

[0165] Specifically, the system obtains real-time contact force data from sensors installed at the end or joint of the egg body processing arm. These data reflect the external force applied to the egg body processing arm during operation. However, since the sensors may be interfered with by electrical noise, vibration, etc. in the actual environment, the raw data may contain high-frequency noise or instantaneous fluctuations. In order to solve this problem, the system filters these force data. The filtering methods include low-pass filtering (for removing high-frequency noise), Kalman filtering (for smoothing and predicting data), and moving average filtering. The purpose of the filtering process is to maintain the key force information in the signal while removing interference data to ensure the accuracy of subsequent processing. After filtering, the various force feedback data are smoother and more accurate, and can truly reflect the force conditions of each egg body processing arm.

[0166] Step 704: extract the force feedback feature vector of each filtered force feedback data.

[0167] Specifically, after filtering is completed, the system further processes the filtered force feedback data of each egg-shaped processing arm. By using mathematical or statistical methods, the system extracts this core information from the continuous force data and represents it as a multidimensional vector to extract force feedback eigenvectors. Eigenvectors are simplified representations of force feedback data, typically including important physical quantities such as the magnitude of the force, the direction of the force, the coordinates of the point of application, the torque, and possibly other dynamic mechanical properties (such as acceleration and strain). These eigenvectors compress the complex information in the original force feedback data while retaining the key parameters that affect the force state of the egg-shaped processing arm, providing an efficient and concise force feedback expression for the next step of data dissemination.

[0168] Step 706: According to the force collaborative perception and propagation protocol, the force feedback feature vector of any egg-shaped processing arm is propagated to the remaining egg-shaped processing arms to obtain the transmission feature vector corresponding to each egg-shaped processing arm.

[0169] Among them, the transmission feature vector can be a simplified representation of the key mechanical parameters extracted from the filtered force feedback data, usually including core features such as force magnitude, direction, and torque. It is a multidimensional vector used to efficiently transmit and share the force information of each egg body processing arm.

[0170] Specifically, the system transmits the force feedback feature vectors of each egg-shaped processing arm to other egg-shaped processing arms in the group through the constructed collaborative control network in accordance with the force collaborative perception and propagation protocol. The force collaborative perception and propagation protocol specifies how to effectively package, transmit and synchronize these force feedback data to ensure that the egg-shaped processing arms can share force information in real time. This protocol usually needs to consider issues such as data transmission frequency, latency, and synchronization mechanism to ensure that data transmission is real-time and conflict-free when multiple egg-shaped processing arms collaborate. After receiving the force feedback feature vectors from other egg-shaped processing arms, each egg-shaped processing arm will record these transmission feature vectors as transmission feature vectors for subsequent force fusion and decision-making, ensuring that the system can respond in real time in complex collaborative scenarios.

[0171] Step 708: Fuse the transmission feature vector of any egg-body processing arm with the force feedback feature vector to obtain the force feedback data corresponding to each egg-body processing arm.

[0172] Specifically, after receiving the transmission feature vectors from other egg-shaped processing arms, the system will fuse these transmission feature vectors with the force feedback feature vectors of each egg-shaped processing arm itself. The fusion process usually involves the merging and optimization of data. For example, the system may use algorithms such as weighted averaging, optimal estimation or neural networks to combine the force information of different egg-shaped processing arms. The purpose of this fusion process is to integrate the local force information of a single egg-shaped processing arm with the global force information of other egg-shaped processing arms to ensure that each egg-shaped processing arm not only understands its own force situation, but can also perceive the force distribution of the entire system. Finally, after the fusion process, the generated force feedback data can be used to guide each egg-shaped processing arm to adjust its force direction and strength to form global force feedback data.

[0173] In this embodiment, the contact force data of each egg-body processing arm is filtered to remove noise and interference, thereby obtaining more accurate force feedback data. Next, the filtered force feedback feature vectors are extracted, and according to the force collaborative perception and propagation protocol, these feature vectors are propagated and shared between the egg-body processing arms. By fusing the received transmission feature vectors with its own force feedback feature vectors, each egg-body processing arm can obtain more comprehensive force feedback data. The beneficial effect of this solution is that it can realize real-time force perception and collaborative operation between multiple egg-body processing arms, ensure that each egg-body processing arm can accurately adjust the force when performing complex tasks, maintain the balance and stability of the egg body, and improve the efficiency and safety of collaborative work.

[0174] In one embodiment, Figure 8As shown in FIG, based on the spatial position relationship between the egg body processing arms in the egg body processing mechanical group, a collaborative control network infrastructure corresponding to the egg body processing mechanical group is constructed, including:

[0175] Step 802: construct a network topology model of the egg body processing arms of the egg body processing machinery group based on the spatial position relationship between the egg body processing arms in the egg body processing machinery group.

[0176] The spatial position relationship can be the relative position, distance, and direction of the egg-handling arms in the working environment. It describes the specific position of each egg-handling arm in three-dimensional space and its geometric relationship with other egg-handling arms.

[0177] The egg-shaped processing arm network topology model can be a network model that describes the collaborative operation relationship between multiple egg-shaped processing arms. The model regards each egg-shaped processing arm as a node in the network, and the connections between the nodes represent the interaction or communication relationship between them.

[0178] Specifically, the system collects the position information of each egg-shaped processing arm, including their base position, arm span range, joint angle, and the working area of the end effector. Based on this information, the system analyzes the spatial position relationship of the egg-shaped processing arms in the operating area, and identifies the operating overlapping areas, collaborative distances, and possible interference areas between the egg-shaped processing arms. The system uses each egg-shaped processing arm as a network node to establish an egg-shaped processing arm network topology model of an egg-shaped processing machinery group. This egg-shaped processing arm network topology model represents the relationship between nodes in the form of a graph structure. The edges between the nodes represent the cooperation or communication requirements between the two egg-shaped processing arms. According to the spatial relative positions and task relevance of the egg-shaped processing arms, the system determines which egg-shaped processing arms need to directly share data or collaborate.

[0179] Step 804: Determine the communication links and data transmission methods between the egg-shaped processing arm nodes based on the egg-shaped processing arm network topology model.

[0180] The egg-shaped processing arm node can be the node corresponding to each egg-shaped processing arm as an independent functional unit in the collaborative control network. In the network topology, the egg-shaped processing arm node represents the physical location and operational capabilities of an egg-shaped processing arm and is responsible for exchanging information with other egg-shaped processing arm nodes, such as force feedback and position data.

[0181] Specifically, after the egg-shaped processing arm network topology model is constructed, the system evaluates the distance, data transmission volume, and real-time requirements between the nodes of each egg-shaped processing arm, and selects the most suitable communication technology. For example, for egg-shaped processing arms that are farther away, wireless communication (such as Wi-Fi or a dedicated industrial wireless network) can be selected; while for egg-shaped processing arms that are closer or sensitive to delays, wired communication (such as Ethernet or fiber optic connection) can be selected. The communication link must not only consider the transmission distance, but also ensure the reliability and low latency of the communication. Therefore, the system needs to optimize the bandwidth, transmission rate, and redundancy of each link. The system will further configure the data transmission protocol between each node, determine how to package, compress, decode, and synchronize data during the communication process, and ensure that critical data can be transmitted quickly and securely between the egg-shaped processing arms, especially real-time force feedback information and position adjustment data.

[0182] Step 806: Build a collaborative control network infrastructure based on the communication links and data transmission methods between the egg-shaped processing arm nodes.

[0183] The collaborative control network infrastructure can be a communication and control network designed for multiple egg-shaped processing robots, supporting their collaborative operation. Through inter-node communication links and data transmission protocols, it ensures that the egg-shaped processing arms can share key data such as force and position in real time, enabling efficient collaborative control. The collaborative control network infrastructure includes a force collaborative perception and propagation protocol.

[0184] Specifically, based on the communication links and data transmission methods between the egg-shaped processing arm nodes, the system selects the most appropriate communication link (e.g., wired or wireless) according to each egg-shaped processing arm's location, task requirements, and distance. The system also optimizes the transmission rate, bandwidth, and latency of each link based on real-time and reliability requirements. The system configures a data transmission protocol for each link, including data packaging, synchronization, and compression mechanisms, to ensure that key data (such as force feedback, position, and control commands) can be effectively shared between the egg-shaped processing arms. These communication links and transmission methods ultimately form a complete collaborative control network infrastructure. This collaborative control network infrastructure manages communication and data exchange across the entire egg-shaped processing robot cluster and ensures that all egg-shaped processing arm nodes can share position information, force data, and control commands in real time. The collaborative control network, through a master control node or a decentralized architecture, coordinates the collaborative operations of all egg-shaped processing arms, ensuring their spatial and temporal consistency. The core component is the force collaborative perception and propagation protocol, which specifies how force feedback data from each egg-shaped processing arm is shared with other egg-shaped processing arms across the network. A force collaborative perception and propagation protocol is set up in the collaborative control network infrastructure, so that the collaborative control network infrastructure can support efficient and low-latency force data transmission and processing, ensuring that when an egg-shaped processing arm senses a change in force, other egg-shaped processing arms can respond quickly, thereby coordinating the direction and magnitude of force and avoiding local overload or imbalance.

[0185] In this embodiment, a network topology model is constructed based on the spatial position relationship of the egg-shaped body processing mechanical group to ensure that each egg-shaped body processing arm can establish an effective communication and collaboration path with other egg-shaped body processing arms according to its physical position. By determining the communication link and data transmission method between nodes, the real-time information exchange and force feedback data transmission between each egg-shaped body processing arm are optimized. With the help of the collaborative control network infrastructure, especially the force collaborative perception and propagation protocol, the system can ensure that all egg-shaped body processing arms synchronously share and process force feedback information to achieve more coordinated and precise collaborative operations. It enhances the efficiency and stability of the collaborative tasks of multiple egg-shaped body processing arms, ensures the force balance when handling the egg, reduces errors, and improves the safety and accuracy of the overall operation.

[0186] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A production control method for raw eggs, characterized in that: The method comprises: According to the spatial position relationship between the egg body processing arms in the egg body processing machine group, a collaborative control network infrastructure corresponding to the egg body processing machine group is constructed; According to the force cooperative perception and propagation protocol in the cooperative control network infrastructure, the contact force data of any one of the egg-shaped processing arms is propagated to the other egg-shaped processing arms to obtain the force feedback data corresponding to each of the egg-shaped processing arms; Calculating the center of gravity of the egg and the force information of each egg processing arm of the egg processing machinery group according to the force feedback data corresponding to each egg processing arm, and obtaining the center of gravity information of the egg and the force distribution data of the egg; According to the egg body weight center information and the egg body force distribution data, an electrical control unit is used to adjust the force direction and force magnitude of each egg body processing arm to obtain the grasping information of each egg body processing arm; Constructing a motion trajectory of the egg body according to the shape constraints, weight distribution constraints, and environmental constraints of the egg body; Using the electrical control unit to control the egg body processing mechanical group to move the egg body according to the egg body movement trajectory and the egg body processing mechanical group grasping information; In the event that an obstacle appears during the movement, the egg's movement trajectory and the grasping information of each egg processing arm are partially adjusted according to the real-time environmental obstacle information of the egg, so as to obtain the egg's obstacle-crossing trajectory and the obstacle-crossing information of each egg processing arm; the egg's obstacle-crossing trajectory and the obstacle-crossing information of each egg processing arm are used to control the egg to enter the cleaning program, drying program, sterilization program and microbial detection program through transportation.

2. The method according to claim 1, characterized in that The method comprises calculating the center of gravity position of the egg body of the egg body processing mechanical group and the force information of each egg body processing arm according to the force feedback data corresponding to each egg body processing arm, and obtaining the center of gravity information of the egg body and the force distribution data of the egg body, including: Solve the egg body force distribution model according to the force feedback data corresponding to each egg body processing arm to obtain the egg body center of gravity information and the force vector of each egg body; Inputting the egg body center of gravity information and the force vectors of each egg body into the egg body static equilibrium equation group to obtain the test egg body resultant force and the test egg body moment; the test egg body resultant force and the test egg body moment are used to determine whether the egg body is in a force balance state; When the egg body is not in a force balance state, the grasping points of each egg body processing arm are recalculated according to the test deformation scale of the egg body until the egg body is in a force balance state, and the grasping points corresponding to each egg body processing arm are output as the force distribution data of the egg body.

3. The method according to claim 2, characterized in that The static equilibrium equations of the egg body are: The above formula is the force balance equation of the egg body static equilibrium equation group, where F i is the force vector applied by the i-th egg handling arm to the egg; W is the gravity vector of the egg, acting on the center of gravity; F ext,j is the jth external environmental force; N is the number of egg handling arms; M is the number of external forces; m is the mass of the egg; is the acceleration of the egg; The above formula is the moment balance equation of the static equilibrium equations of the egg body, where r i is the position vector of the force application point of the i-th egg processing arm relative to the reference point; is the displacement correction caused by the flexibility of the egg handling arm; r cg is the position vector of the egg's center of gravity relative to the reference point; r ext,j is the position vector of the external force action point j relative to the reference point; The above formula is the contact force constraint of the static equilibrium equations of the egg body, where is the friction coefficient of the i-th contact point; F i,切向 is the tangential force component applied by the handling arm on the i-th egg; F i,法向 is the normal force component applied by the handling arm of the i-th egg; The above formula is the arm force-displacement relationship of the static equilibrium equations of the egg body, where K i is the stiffness matrix of the i-th egg body processing arm; x i,实际 The actual position of the end of the processing arm for the i-th egg; x i,期望 The expected position of the end of the processing arm for the i-th egg; The above formula is the egg body stress constraint of the egg body static equilibrium equation group, where A i is the force area of the i-th contact point; is the allowable stress of the material corresponding to the egg body; is the actual stress received by the material corresponding to egg body i.

4. The method according to claim 1, wherein The method of adjusting the force direction and force magnitude of each egg body processing arm using an electrical control unit according to the egg body center of gravity information and the egg body force distribution data to obtain the grasping information of each egg body processing arm includes: According to the egg force distribution data, the electrical control unit is used to drive each egg handling arm to grasp the egg, and obtain the actual deformation scale and initial egg posture information corresponding to the egg; Inputting the egg body center of gravity information, the actual deformation scale and the initial egg body posture information into the egg body dynamics balance equation group to obtain the real-time egg body resultant force and the real-time egg body torque; According to the real-time egg body resultant force and the real-time egg body torque, the electrical control unit is used to adjust the force direction and force magnitude of each egg body processing arm to obtain updated egg body posture information and updated deformation scale; In a case where the updated egg body posture information indicates that the egg body is still in an unbalanced posture, the updated deformation scale is used as the actual deformation scale, and the updated egg body posture information is used as the initial egg body posture information; Return to the step of inputting the egg body center of gravity information, the actual deformation scale and the initial egg body posture information into the egg body dynamics equilibrium equation group to obtain the real-time egg body resultant force and the real-time egg body torque, until the updated egg body posture information indicates that the egg body is still in a balanced posture, and obtain the grasping information of each egg body processing arm.

5. The method according to claim 4, characterized in that The step of constructing the egg body motion trajectory according to the egg body shape constraint conditions, weight distribution constraint conditions, and environmental constraint conditions includes: Planning the initial motion trajectory of the egg body according to the shape constraints, weight distribution constraints, and environmental constraints of the egg body; According to the grasping information of each egg processing arm, the egg is simulated to move along the initial motion trajectory to obtain the egg movement information; Modifying the updated deformation scale according to the egg body motion information to obtain a modified deformation scale; In the case where the modified deformation scale exceeds the deformation safety threshold, the center of gravity information of the egg, the modified deformation scale and the initial egg body posture information are input into the egg body dynamics equilibrium equation group to obtain the modified egg body resultant force and the modified egg body moment; The initial motion trajectory is modified according to the modified egg body resultant force and the modified egg body torque to obtain the egg body motion trajectory.

6. The method according to claim 4, characterized in that The egg body dynamics balance equations are: The above formula is the translational dynamics equation of the egg body dynamics balance equation group, where F i (t) is the force exerted by the i-th egg handling arm on the egg at time t; W(t)=m(t)g is the gravity of the egg; F ext,j (t) is the jth external environmental force at time t; m(t) is the mass of the egg at time t; is the acceleration of the egg's center of mass at time t; F damping (t) is the damping force at time t; The above formula is the rotational dynamics equation of the egg body dynamics balance equation group, where r i (t) is the force point of the i-th egg handling arm relative to the egg's center of mass r cg (t) position vector; r ext,j (t) is the force point of the j-th egg handling arm relative to the egg mass center r at time t cg (t) position vector; is the displacement correction due to the elastic deformation of the egg body and the egg body handling arm at time t, C i is the flexibility matrix; I(t) is the moment of inertia tensor of the egg at time t, which changes with deformation and mass distribution; is the angular velocity of the egg at time t; M damping (t) is the damping torque at time t; The above formula is the egg body processing arm dynamic equation of the egg body dynamic balance equation group, where q i M is the joint angle of the processing arm of the i-th egg body; i is the inertia matrix; C i is the Coriolis and centrifugal term; G i is the gravity term; is the joint torque; is the Jacobian matrix; for is the dynamic friction equation, in is the stick-slip state of the contact surface between the egg and the egg handling arm at time t, is the derivative of the stick-slip state of the contact surface between the egg and the egg handling arm at time t, is the relative velocity of the contact point between the egg and the egg handling arm at time t; 、 as well as is the friction coefficient of the contact between the egg body and the egg body handling arm; and the following conditions must be met, The above formula is the contact constraint condition, where is the maximum normal force allowed by the egg processing arm at time t; is the friction coefficient of the i-th contact point; is the tangential force component applied by the handling arm of the i-th egg at time t; The above formula is the deformation constraint condition, where is the maximum allowable stress of the egg body; is the strain-related elastic modulus of the processing arm of the i-th egg at time t; is the strain of the processing arm of the i-th egg at time t; is the stress of the processing arm of the i-th egg at time t.

7. The method according to claim 4, characterized in that The egg body movement trajectory and the grasping information of each egg body processing arm are partially adjusted according to the real-time environmental obstacle information of the egg body to obtain the egg body obstacle crossing trajectory and the obstacle crossing information of each egg body processing arm, including: Calculating the egg envelope of the egg moving along the egg motion trajectory according to the egg motion trajectory, the updated egg posture information, and the updated deformation scale; Identify the egg envelope and the overlapping portion of the real-time environmental obstacle information to obtain egg obstacle information; According to the egg obstacle information, the egg movement trajectory and the grasping information of each egg processing arm are partially adjusted to obtain the egg's initial obstacle crossing trajectory and the initial obstacle crossing information of each egg processing arm; According to the initial obstacle crossing information of each egg body processing arm, simulating the obstacle crossing equilibrium state corresponding to the egg body using the initial obstacle crossing trajectory of the egg body to cross the obstacle; In the case where the obstacle-crossing equilibrium state indicates that the egg is in dynamic imbalance, returning to the step of calculating the egg envelope of the egg moving along the egg motion trajectory according to the egg motion trajectory, the updated egg posture information, and the updated deformation scale, until the obstacle-crossing equilibrium state indicates that the egg is in dynamic balance; The initial obstacle crossing trajectory of the egg body is used as the obstacle crossing trajectory of the egg body, and the initial obstacle crossing information of each egg body processing arm is used as the obstacle crossing information of each egg body processing arm.

8. The method according to claim 1, characterized in that The method of transmitting the contact force data of any egg-shaped processing arm to the remaining egg-shaped processing arms according to the force cooperative perception and propagation protocol in the cooperative control network infrastructure to obtain force feedback data corresponding to each egg-shaped processing arm includes: Filtering the contact force data of each egg body processing arm to obtain filtered force feedback data; extracting a force feedback feature vector of each of the filtered force feedback data; According to the force collaborative perception and propagation protocol, the force feedback feature vector of any one of the egg body processing arms is propagated to the other egg body processing arms to obtain the transmission feature vectors corresponding to the egg body processing arms; The transmission feature vector of any egg body processing arm is fused with the force feedback feature vector to obtain the force feedback data corresponding to each egg body processing arm.

9. The method according to claim 1, characterized in that The method of constructing a collaborative control network infrastructure corresponding to the egg body processing machinery group based on the spatial position relationship between the egg body processing arms in the egg body processing machinery group includes: Constructing a network topology model of the egg body processing arms of the egg body processing machinery group according to the spatial position relationship between the egg body processing arms in the egg body processing machinery group; Determine the communication link and data transmission mode between each egg body processing arm node according to the egg body processing arm network topology model; each egg body processing arm node represents a corresponding egg body processing arm; The collaborative control network infrastructure is constructed based on the communication links and data transmission methods between the egg-shaped processing arm nodes; the collaborative control network infrastructure includes a force collaborative perception and propagation protocol.

10. A production control device for raw eggs, characterized in that: The device comprises: A control network construction module is used to construct a collaborative control network infrastructure corresponding to the egg body processing machinery group based on the spatial position relationship between the egg body processing arms in the egg body processing machinery group; A force data synchronization module is used to propagate the contact force data of any egg-shaped processing arm to the remaining egg-shaped processing arms according to the force cooperative perception and propagation protocol in the cooperative control network infrastructure, so as to obtain force feedback data corresponding to each egg-shaped processing arm; A force condition calculation module is used to calculate the center of gravity position of the egg body of the egg body processing mechanical group and the force information of each egg body processing arm according to the force feedback data corresponding to each egg body processing arm, so as to obtain the center of gravity information of the egg body and the force distribution data of the egg body; The force condition calculation module is further used to adjust the force direction and force magnitude of each egg body processing arm according to the egg body center of gravity information and the egg body force distribution data using an electrical control unit to obtain the grasping information of each egg body processing arm; A motion trajectory calculation module is used to construct the motion trajectory of the egg body according to the shape constraints, weight distribution constraints and environmental constraints of the egg body; An egg body moving module, used for using the electrical control unit to control the egg body processing mechanical group to move the egg body according to the egg body movement trajectory and the grabbing information of the egg body processing mechanical group; The transport trajectory calculation module is also used to partially adjust the egg body movement trajectory and the grasping information of each egg body processing arm according to the real-time environmental obstacle information of the egg body when an obstacle appears during the movement, so as to obtain the egg body obstacle crossing trajectory and the obstacle crossing information of each egg body processing arm; the egg body obstacle crossing trajectory and the obstacle crossing information of each egg body processing arm are used to control the egg body to enter the cleaning program, drying program, sterilization program and microbial detection program through transportation.

Images