Real-time task planning adjustment method, system and device based on dynamic environment perception

Abstract

The invention relates to a real-time task planning adjustment method, system and device based on dynamic environment perception, in particular to the field of automation control, which comprises the following steps: controlling a clamping device to clamp a clamping position on a to-be-clamped object according to a clamping force value on the basis of the condition that an induction pressure value is greater than a reference pressure value, and controlling the clamping device to clamp the clamping position on the to-be-clamped object according to the clamping force value after clamping; obtaining transportation image information; determining a fall position and a fall amplitude according to the transportation image information, the track characteristics and a reference object; matching an adjustment position, an adjustment parameter and an adjustment cancelling position from a fall adjustment library according to the fall position and the fall amplitude; acquiring a clamping device position of the clamping device; and based on the condition that the position of the clamping device is consistent with the adjustment position, the clamping device is controlled to increase the clamping force according to the adjustment parameters, and when the position of the clamping device is consistent with the adjustment cancelling position, the clamping device is controlled to reset the clamping force. The clamping device has the effects that the falling risk is reduced, and the clamping stability is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control, and particularly to a real-time task planning and adjustment method, system and device based on dynamic environment perception. Background Art

[0002] Real-time task planning and adjustment refers to dynamically modifying and optimizing the task plan according to the changing situations and newly acquired information during the task execution process. The object clamping method refers to specific technologies and operation modes for grasping, fixing and transporting objects.

[0003] Currently, when clamping and transporting an object, the object is usually clamped by a mechanical jib and then transported through a set transportation track. The transportation track is usually composed of multiple tracks connected together, and there is usually a certain height fluctuation at the connection of two tracks.

[0004] During the process of the robotic arm clamping and transporting the object, when the robotic arm moves to the connection, there will be a certain shaking, which may cause the risk of the object falling off and needs to be improved. Summary of the Invention

[0005] In order to reduce the risk of falling off and improve the clamping stability, the present invention provides a real-time task planning and adjustment method, system and device based on dynamic environment perception.

[0006] In a first aspect, the present invention provides a real-time task planning and adjustment method based on dynamic environment perception, adopting the following technical solutions:

[0007] A real-time task planning and adjustment method based on dynamic environment perception includes:

[0008] Obtaining the induced pressure value of a preset clamping area;

[0009] Based on the situation that the induced pressure value is greater than a preset reference pressure value, controlling a preset clamping device to clamp a preset clamping position on a preset object to be clamped with a preset clamping force value, and after clamping, obtaining transportation image information;

[0010] Determining the drop position and drop amplitude according to the transportation image information, preset track features and preset reference objects;

[0011] Matching an adjustment position, adjustment parameters and a cancellation adjustment position from a preset drop adjustment library according to the drop position and drop amplitude;

[0012] Obtaining the position of the clamping device of the clamping device;

[0013] Based on the situation where the position of the clamping device is consistent with the adjustment position, control the clamping device to increase the clamping force with the adjustment parameter, and when the position of the clamping device is consistent with the cancellation adjustment position, control the clamping device to reset the clamping force.

[0014] By adopting the above technical solution, the placement situation of the object is known by understanding the magnitude relationship between the sensed pressure value and the reference pressure value. When the object is placed in the clamping area, the clamping device is controlled to clamp and transport the object, and when transporting, the drop position and the drop amplitude are known by understanding the transport image information, and then the adjustment position, the adjustment parameter, and the cancellation adjustment position are known, so as to adjust the force of the clamping device, thereby reducing the risk of the object falling off during transportation and improving the clamping stability.

[0015] Optionally, it further includes an inclination detection method for detecting the inclination of the object, and the inclination detection method includes:

[0016] After clamping the object, obtain the clamping angle value of the clamping device;

[0017] Based on the situation where the clamping angle value exceeds the preset reference angle range, determine the elevation height value and the elevation position according to the transport image information, the clamping angle value, and the preset object characteristics;

[0018] Match the elevation prompt position and the descent position from the preset elevation database according to the elevation position;

[0019] Match the elevation device number from the elevation database according to the elevation prompt position;

[0020] Based on the situation where the position of the clamping device is consistent with the elevation prompt position, control the elevation device corresponding to the elevation device number to rise by the elevation height value to elevate the object;

[0021] When the position of the clamping device is consistent with the descent position, control the elevation device corresponding to the elevation device number to descend and reset, and use the descent position as the new elevation prompt position and update the elevation device number.

[0022] By adopting the above technical solution, the inclination situation of the object during transportation is known by understanding the exceeding situation between the clamping angle value and the reference angle range. When the object is inclined, the elevation prompt position and the descent position are known by understanding the elevation position, and then the corresponding elevation device number is matched, so as to elevate the inclination angle of the object, thereby improving the safety during object transportation.

[0023] Optionally, it further includes a prevention method for preventing rain, and the prevention method includes:

[0024] After clamping the object, obtain the air humidity information;

[0025] Obtain surrounding image information based on the situation that the air humidity information exceeds the preset reference humidity information;

[0026] Obtain the top-down size of the object based on the situation that the surrounding image information does not contain the preset high-humidity feature;

[0027] Based on the situation that the top-down size of the object does not exceed the preset maximum covering range, match the covering number from the preset covering database according to the top-down size of the object, and control the covering object corresponding to the covering number preset in the covering device to cover the object;

[0028] Output a non-coverable prompt based on the situation that the top-down size of the object exceeds the maximum covering range.

[0029] By adopting the above technical solution, the humidity situation around the object is known by understanding the exceeding situation between the air humidity information and the reference humidity information. And when the humidity around the object is too high, the specific reason for the high humidity is known by understanding the inclusion situation of the surrounding image information and the high-humidity feature. When the reason for the high humidity is that it is about to rain, the corresponding covering device is matched by understanding the top-down size of the object, thereby ensuring the dryness of the object.

[0030] Optionally, it further includes a rain processing method during rain, and the rain processing method includes:

[0031] Obtain the current weather information based on the situation that the top-down size of the object exceeds the maximum covering range;

[0032] Obtain the clamping image information based on the situation that the current weather information is consistent with the preset rainy weather;

[0033] Determine the device marking position according to the clamping image information, the preset reference object, and the preset clamping device marking;

[0034] Based on the situation that the device marking position is inconsistent with the preset clamping marking position, determine the sliding distance value according to the clamping image information, the device marking position, the clamping marking position, and the reference object, and control the clamping device to correct the clamping force of the clamping device on the object with the preset corrected clamping force value;

[0035] After increasing the clamping force, update the device marking position;

[0036] Determine the post-increase sliding value according to the updated device marking position and the clamping marking position;

[0037] Output a non-anti-slip prompt based on the situation that the post-increase sliding value exceeds the sliding distance value.

[0038] By adopting the above technical solution, when it is impossible to cover the object, the rain situation can be known by understanding the consistency between the current weather information and the rainy weather. When the weather is rainy, the sliding distance value can be known by understanding the clamping image information, the clamping position mark, and the reference object. Then, by understanding the exceeding situation between the post-addition sliding value and the sliding distance value, the sliding situation can be known. When the object is still sliding, a non-slip prevention prompt needs to be output to improve the safety during the transportation of the object.

[0039] Optionally, it further includes a non-slip method after outputting the non-slip prevention prompt. The non-slip method includes:

[0040] Based on the situation that the post-addition sliding value exceeds the sliding distance value, obtain the current moving distance of the object;

[0041] According to the current moving distance and the preset transportation path to determine the remaining transportation distance;

[0042] According to the post-addition sliding value, the corrected clamping force value, and the preset safe clamping position, match the complete sliding time from the preset sliding database;

[0043] According to the complete sliding time and the preset moving speed, match the reference transportation distance from the preset transportation database;

[0044] Based on the situation that the remaining transportation distance exceeds the reference transportation distance, match the anti-slip friction coefficient from the clamping database according to the sliding distance and the clamping force value;

[0045] Match the anti-slip jaw from the friction database according to the anti-slip friction coefficient, and control the clamping device to lower the object;

[0046] After lowering, control the anti-slip jaw to clamp the clamping position of the object, and continue to transport along the transportation path after clamping.

[0047] By adopting the above technical solution, the remaining transportation distance can be known by understanding the current moving distance and the transportation path. Then, the reference transportation distance can be known by understanding the complete sliding time and the moving speed. Furthermore, by comparing the exceeding relationship between the remaining transportation distance and the reference transportation distance, the transportation situation can be known. When the transportation cannot be completed, by understanding the anti-slip friction coefficient, the corresponding anti-slip jaw can be matched, and thus the anti-slip treatment can be carried out on the object, thereby reducing the probability of the object sliding and improving the safety of the object transportation.

[0048] Optionally, it further includes a snow handling method when it snows. The snow handling method includes:

[0049] Based on the situation that the current weather information is consistent with the preset snowy weather, obtain the clamping weight distribution situation;

[0050] Based on the situation that the clamping weight distribution is inconsistent with the preset reference weight distribution, match the correction position from the clamping database according to the clamping weight distribution;

[0051] Control the clamping device to clamp the object at the correction position, so that the clamping weight distribution is consistent with the reference weight distribution;

[0052] After the clamping weight distribution is consistent with the reference weight distribution, obtain the clamping weight value;

[0053] Based on the situation that the clamping weight value exceeds the preset reference weight value, calculate the difference between the clamping weight value and the reference weight value as the weight deviation value;

[0054] Match the clamping force adjustment value from the clamping database according to the weight deviation value, and control the clamping device to clamp the object with the clamping force adjustment value.

[0055] By adopting the above technical solution, when it is snowing, the clamping scheme can be known by understanding the consistency between the clamping weight distribution and the reference weight distribution. When they are inconsistent, the correction position can be known by understanding the clamping weight distribution, so as to correct the clamping position. When they are consistent, the clamping force adjustment value can be known by understanding the weight deviation value, and then the clamping force can be adjusted to avoid the risk of the object falling off due to insufficient clamping force of the clamping device.

[0056] Optionally, it further includes an overweight processing method when overweight, and the overweight processing method includes:

[0057] Based on the situation that the weight deviation value exceeds the preset reference deviation value, match the blowing force value from the preset blowing database according to the weight deviation value;

[0058] Match the blowing pressure value from the clamping database according to the blowing force value and the preset blowing angle;

[0059] Match the removal efficiency from the blowing database according to the blowing force value and the blowing angle;

[0060] Match the snow accumulation thickness value from the preset snow accumulation database according to the weight deviation value;

[0061] Match the clamping weight change value from the blowing database according to the removal efficiency, the snow accumulation thickness value, the clamping weight value and the blowing pressure value;

[0062] Match the clamping force change value from the clamping database according to the clamping weight change value;

[0063] Control the preset blowing device to blow the snow with the blowing force value and the blowing angle, and control the clamping device to clamp the object with the clamping force change value.

[0064] By adopting the above technical solution, the blowing force value can be known by understanding the weight deviation value, and then the blowing pressure value and the removal efficiency can be known. By further understanding the snow thickness value, the change value of the clamping weight can be known, and then the change value of the clamping force can be known. In this way, while controlling the snow removal by the blowing device, it can ensure that the clamping device can stably clamp the object, reduce the energy consumption of the clamping device and improve the clamping stability.

[0065] Optionally, the change value of the clamping weight needs to be calculated according to a preset algorithm configuration, and the algorithm configuration is:

[0066] ΔF(t) = k×(-r m ×t + W p ), where ΔF(t) is the change value of the clamping weight, k is the clamping coefficient, r m is the snow melting rate, t is the time for the blowing device to blow the snow, and W p is the blowing pressure value.

[0067] By adopting the above technical solution and using the above algorithm formula, the change value of the clamping weight can be calculated more accurately, and the accuracy of the change value of the clamping weight is improved.

[0068] In a second aspect, the present application provides an object clamping system for real-time task planning and adjustment, adopting the following technical solution:

[0069] An object clamping system for real-time task planning and adjustment includes:

[0070] An acquisition module, configured to acquire the sensed pressure value, transportation image information, clamping device position, clamping angle value, air humidity information, surrounding image information, object top view size, current weather information, clamping image information, current moving distance, clamping weight distribution, and clamping weight value;

[0071] A memory, configured to store the program of any one of the above real-time task planning and adjustment methods based on dynamic environment perception;

[0072] A processor, the program in the memory can be loaded and executed by the processor and implement any one of the above real-time task planning and adjustment methods based on dynamic environment perception.

[0073] In a third aspect, the present application provides an object clamping device for real-time task planning and adjustment, adopting the following technical solution:

[0074] An object clamping device for real-time task planning and adjustment includes a memory and a processor, and a computer program capable of being loaded and executed by the processor and implementing any one of the above real-time task planning and adjustment methods based on dynamic environment perception is stored on the memory.

[0075] In summary, the present application includes at least one of the following beneficial technical effects:

[0076] 1. By understanding the magnitude relationship between the sensed pressure value and the reference pressure value, the placement situation of the object can be known. When the object is placed in the clamping area, the clamping device is controlled to clamp and transport the object. And when transporting, by understanding the transportation image information, the drop position and the drop amplitude can be known, and then the adjustment position, the adjustment parameters and the cancellation of the adjustment position can be known, so as to adjust the force of the clamping device, thereby reducing the risk of the object falling off during transportation and improving the clamping stability;

[0077] 2. By understanding the exceeding situation between the air humidity information and the reference humidity information, the humidity situation around the object can be known. And when the humidity around the object is too high, by understanding the surrounding image information and the inclusion of high-humidity characteristics, the specific reasons for the too-high humidity can be known. When the reason for the too-high humidity is that it is about to rain, by understanding the top view size of the object, the corresponding covering device can be matched, thus ensuring the dryness of the object;

[0078] 3. By understanding the weight deviation value, the blowing force value can be known, and then the blowing pressure value and the removal efficiency can be known. By further understanding the snow thickness value, the change value of the clamping weight can be known, and then the change value of the clamping force can be known, so that while controlling the blowing device to remove snow, it can be ensured that the clamping device can stably clamp the object, reducing the energy consumption of the clamping device and improving the clamping stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 is a method flow chart of a real-time task planning and adjustment method based on dynamic environment perception in an embodiment of the present invention;

[0080] Figure 2 is a method flow chart of an inclination detection method in an embodiment of the present invention;

[0081] Figure 3 is a method flow chart of a prevention method in an embodiment of the present invention;

[0082] Figure 4 is a method flow chart of a rain processing method in an embodiment of the present invention;

[0083] Figure 5 is a method flow chart of an anti-slip method in an embodiment of the present invention;

[0084] Figure 6 is a method flow chart of a snow processing method in an embodiment of the present invention;

[0085] Figure 7 is a method flow chart of an overweight processing method in an embodiment of the present invention. Specific Embodiments

[0086] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0087] An embodiment of the present application discloses a real-time task planning and adjustment method based on dynamic environment perception. By observing the transportation track of the object in advance, and when the object is tilted, controlling the lifting device to lift. Then, by understanding the weather conditions, corresponding processing is carried out.

[0088] Referring to Figure 1 , a real-time task planning and adjustment method based on dynamic environment perception includes the following steps:

[0089] Step 100: Obtain the sensed pressure value of the preset clamping area.

[0090] The clamping area refers to the area used to clamp the object. The clamping area is set in advance by those skilled in the art and will not be elaborated here. The sensed pressure value refers to the pressure value received on the clamping area, and the sensed pressure value is obtained by the pressure sensor on the clamping area.

[0091] Step 101: Based on the situation that the sensed pressure value is greater than the preset reference pressure value, control the preset clamping device to clamp the preset clamping position on the preset object to be clamped with the preset clamping force value, and after clamping, obtain the transportation image information.

[0092] The reference pressure value refers to the pressure value when there is no object placed in the clamping area. The clamping device refers to the jaw used to clamp and transport the object. The clamping force value refers to the force when the clamping device clamps the object. The object to be clamped refers to the object that needs to be transported. The clamping position refers to the position on the object where the clamping device clamps when clamping the object. The transportation image information refers to the image when the clamping device clamps the object and transports it. The reference pressure value, the clamping force value, and the clamping position are all set in advance by those skilled in the art and will not be elaborated here. The transportation image information is obtained by taking pictures with a camera.

[0093] When the sensed pressure value is greater than the reference pressure value, it indicates that there is an object to be clamped placed on the clamping area. It is necessary to control the clamping device to clamp the clamping position on the object to be clamped with the clamping force value, and after clamping, obtain the transportation image information for subsequent steps.

[0094] Step 102: Determine the drop position and drop amplitude according to the transportation image information, the preset track characteristics, and the preset reference object.

[0095] The track feature refers to the feature of the transportation track for transporting objects. The reference object refers to an item used to assist in analyzing the drop position and the drop amplitude. The drop position refers to the position on the transportation track where there is an obvious change in height. The drop amplitude refers to the vertical height difference when the height changes on the transportation track. The sizes of the track feature and the reference object are both set in advance by those skilled in the art and will not be elaborated here, and the transportation image information includes the reference object. Through the transportation image information, the drop position and the drop amplitude in the image can be known, and by comparing with the reference object, the actual drop position and the drop amplitude can be known.

[0096] Step 103: Match the adjustment position, adjustment parameters, and cancellation adjustment position from the preset drop adjustment library according to the drop position and the drop amplitude.

[0097] The adjustment position refers to the position where the clamping device needs to be clamped and adjusted. The adjustment parameter refers to the parameter for adjusting the clamping force of the clamping device on the object. The cancellation adjustment position refers to restoring the adjusted clamping device to the position before adjustment. Through the drop adjustment library, the adjustment position, adjustment parameters, and cancellation adjustment position corresponding to the drop position and the drop amplitude can be matched. It includes the corresponding relationship between the drop position, the drop amplitude, the adjustment position, the adjustment parameters, and the cancellation adjustment position. The drop database is a manually set database and will not be elaborated here.

[0098] Step 104: Obtain the clamping device position of the clamping device.

[0099] The clamping device position refers to the position of the clamping device. The clamping device position is obtained through the GPS positioning chip set on the clamping device.

[0100] Step 105: Based on the situation where the clamping device position is consistent with the adjustment position, control the clamping device to increase the clamping force with the adjustment parameters, and when the clamping device position is consistent with the cancellation adjustment position, control the clamping device to reset the clamping force.

[0101] When the clamping device position is consistent with the adjustment position, it means that the clamping force of the clamping device can be adjusted. Control the clamping device to increase the clamping force with the adjustment parameters. And when, after adjustment, the clamping device position is consistent with the cancellation adjustment position, it means that the clamping device has passed the drop position. Control the clamping device to cancel the clamping adjustment corresponding to the adjustment parameters to clamp the object with the clamping force value before adjustment.

[0102] Refer to Figure 2 , the tilt detection method includes the following steps:

[0103] Step 200: After clamping the object, obtain the clamping angle value of the clamping device.

[0104] After clamping an object, it is necessary to obtain the clamping angle value of the clamping device for subsequent steps. The clamping angle value refers to the angle value of the clamping device when clamping the object. The clamping angle value is measured and obtained by an angle sensor on the clamping device.

[0105] Step 201: Based on the situation that the clamping angle value exceeds the preset reference angle range, determine the elevation height value and elevation position according to the transportation image information, the clamping angle value, and the preset object characteristics.

[0106] The reference angle range refers to the normal change range of the angle of the clamping device itself when clamping and transporting an object. The object characteristics refer to the characteristics of the object clamped and transported on the clamping device. Both the reference angle range and the object characteristics are set in advance by those skilled in the art and will not be elaborated here. The elevation height value refers to the height value for elevating the inclined position of the object. The elevation position refers to the position when elevating the object.

[0107] Through a preset elevation database, the elevation height value and elevation position corresponding to the transportation image information, the clamping angle value, and the object characteristics can be matched. It contains the corresponding relationship between the transportation image information, the clamping angle value, the object characteristics, the elevation height value, and the elevation position. The elevation database is a manually set database and will not be elaborated here.

[0108] Step 202: Match the elevation prompt position and the lowering position from the preset elevation database according to the elevation position.

[0109] The elevation prompt position refers to the position used to prompt the elevation device to rise to elevate the object. The lowering position refers to the position used to prompt the elevation device to lower and reset. The elevation device refers to the device used to elevate the inclination angle of the inclined object. Through the elevation database, the elevation prompt position and the lowering position corresponding to the elevation position can be matched. It contains the corresponding relationship between the elevation position, the elevation prompt position, and the lowering position.

[0110] Step 203: Match the elevation device number from the elevation database according to the elevation prompt position.

[0111] The elevation device number refers to the number of the elevation device. In this embodiment, there are multiple elevation devices, and each elevation device has a corresponding number. Through the elevation database, the elevation device number corresponding to the elevation prompt position can be matched.

[0112] Step 204: Based on the situation that the position of the clamping device is consistent with the elevation prompt position, control the elevation device corresponding to the elevation device number to rise by the elevation height value to elevate the object.

[0113] When the position of the clamping device is consistent with the elevation prompt position, the object is about to reach directly above the elevation device corresponding to the elevation device number. It is necessary to control the elevation device corresponding to the elevation device number to rise by the elevation height value to elevate the object.

[0114] Step 205: When the position of the clamping device is consistent with the lowering position, control the elevation device corresponding to the elevation device number to lower and reset, and use the lowering position as the new elevation prompt position and update the elevation device number.

[0115] When the position of the clamping device is consistent with the lowering position, it means that the object has moved away from the elevation device corresponding to the elevation device number. It is possible to control the elevation device corresponding to the elevation device number to lower and reset, and use the lowering position as the new elevation prompt position and update the elevation device number, so as to be able to update the elevation device for elevating the object.

[0116] By sequentially raising and lowering and resetting the elevation device corresponding to the elevation device number, the object is kept horizontal during transportation.

[0117] Refer to Figure 3 , the prevention method includes the following steps:

[0118] Step 300: After clamping the object, obtain the air humidity information.

[0119] After clamping the object, it is necessary to obtain the air humidity information for subsequent steps. The air humidity information is obtained by measuring with a humidity sensor.

[0120] Step 301: Based on the situation that the air humidity information exceeds the preset reference humidity information, obtain the surrounding image information.

[0121] The reference humidity information refers to the humidity when the humidity in the air meets the requirements. The reference humidity information is set in advance by those skilled in the art and will not be elaborated here. The surrounding image information refers to the images around the object when the object is being transported. The surrounding image information is obtained by taking pictures with a camera. When the air humidity information exceeds the reference humidity information, it means that the humidity around the object is too high, and it is necessary to obtain the surrounding image information for subsequent steps.

[0122] Step 302: Based on the situation that the surrounding image information does not contain the preset high humidity feature, obtain the top view size of the object.

[0123] The high humidity feature refers to features such as a pond of accumulated water that can cause the air humidity around the object to be too high. The high humidity feature is set in advance by those skilled in the art and will not be elaborated here. The top view size of the object refers to the size of the top view of the object being clamped and transported. The top view of the object can be photographed by a camera, and then the object in the top view is measured to obtain the top view size of the object. When the surrounding image information does not contain the high humidity feature, it indicates that it may rain in the current area, and the top view size of the object needs to be obtained for subsequent steps.

[0124] Step 303: Based on the situation that the top view size of the object does not exceed the preset maximum covering range, match the covering number from the preset covering database according to the top view size of the object, and control the covering corresponding to the covering number preset in the covering device to cover the object.

[0125] The maximum covering range refers to the maximum range that the covering device can cover the object. The maximum covering range is set in advance by those skilled in the art and will not be elaborated here. The covering number refers to the number of the covering in the covering device. The covering is an item used to cover the object to prevent the object from being wet by rain. In this embodiment, the coverings in the covering device have different numbers, and each number corresponds to a covering range. The covering number corresponding to the top view size of the object can be matched through the covering database, which contains the corresponding relationship between the top view size of the object and the covering number. The covering database is a manually set database and will not be elaborated here. When the top view size of the object does not exceed the maximum covering range, it means that the covering device can completely cover the object, and it is only necessary to control the covering corresponding to the matched covering number to cover the object. And when the covering device is not needed, the covering is in a storage state.

[0126] Step 304: Based on the situation that the top view size of the object exceeds the maximum covering range, output a cannot-cover prompt.

[0127] The cannot-cover prompt refers to a prompt when none of the coverings corresponding to all the numbers in the covering device can completely cover the object. When the top view size of the object exceeds the maximum covering range, it means that none of the coverings corresponding to all the numbers in the covering device can completely cover the object, and a cannot-cover prompt needs to be output.

[0128] Refer to Figure 4 , the rain processing method includes the following steps:

[0129] Step 400: Based on the situation that the top view size of the object exceeds the maximum covering range, obtain the current weather information.

[0130] The current weather information refers to the weather conditions in the area where the object is clamped and transported. The current weather information is obtained through a weather terminal connected to the meteorological data platform of the local meteorological department. When the top-down size of the object exceeds the maximum coverage range, the current weather information needs to be obtained for subsequent steps.

[0131] Step 401: Based on the situation that the current weather information is consistent with the preset rainy weather, obtain the clamping image information.

[0132] Rainy weather refers to the weather with rain in the area. When the current weather information is consistent with the rainy weather, it indicates that rain appears in the area. And since the covering device cannot completely cover the object, the clamping image information needs to be obtained for subsequent steps.

[0133] Step 402: Determine the device marking position according to the clamping image information, the preset reference object, and the preset clamping device marking.

[0134] The clamping device marking refers to the marking on the clamping device. The clamping device marking is set in advance by those skilled in the art and will not be elaborated here. The reference object refers to an item used to assist in analyzing the device marking position. And the reference object is the same as the reference object described in step 102. The clamping image information contains the reference object. The device marking position refers to the position of the clamping device marking relative to the object. The clamping device marking can be identified and compared through the clamping image information and the reference object, and then the device marking position can be known.

[0135] Step 403: Based on the situation that the device marking position is inconsistent with the preset clamping marking position, determine the sliding distance value according to the clamping image information, the device marking position, the clamping marking position, and the reference object, and control the clamping device to correct the clamping force of the clamping device on the object with the preset corrected clamping force value.

[0136] The clamping marking position refers to the marking on the clamping position of the object. The sliding distance value refers to the distance that the object slides relative to the clamping device after the object is clamped well. The corrected clamping force value refers to the maximum clamping force that the clamping device can exert on the object. Both the clamping marking position and the corrected clamping force value are set in advance by those skilled in the art and will not be elaborated here. When the device marking position is inconsistent with the clamping marking position, it indicates that the object has slid relative to the clamping device. The distance between the device marking position and the clamping marking position on the image can be known through the clamping image information, and then the sliding distance value can be known by comparing the size of the reference object. Finally, control the clamping device to correct the clamping force of the clamping device on the object with the corrected clamping force value to increase the friction between the clamping device and the object.

[0137] Step 404: After increasing the clamping force, update the device marking position.

[0138] After increasing the clamping force on the object, it is necessary to re-match the device marking position through the clamping image information, the reference object, and the clamping device marking, so as to update the device marking position for subsequent steps.

[0139] Step 405: Determine the post-increase sliding value based on the updated device marking position and the clamping marking position.

[0140] The post-increase sliding value refers to the distance that the object slides after the clamping device increases the clamping force on the object. By calculating the distance between the updated device marking position and the clamping marking position, the post-increase sliding value can be obtained.

[0141] Step 406: Output a non-slip prevention prompt based on the situation that the post-increase sliding value exceeds the sliding distance value.

[0142] The non-slip prevention prompt refers to the prompt that even if the clamping force on the object is increased, the object cannot be completely prevented from sliding. When the post-increase sliding value exceeds the sliding distance value, it means that even if the clamping force on the object is increased, the object is still in a sliding state, and a non-slip prevention prompt needs to be output.

[0143] Refer to Figure 5 , the anti-slip method includes the following steps:

[0144] Step 500: Obtain the current moving distance of the object based on the situation that the post-increase sliding value exceeds the sliding distance value.

[0145] The current moving distance refers to the distance that the object moves during transportation. It is obtained by measuring with a rangefinder set on the clamping device. When the post-increase sliding value exceeds the sliding distance value, it is necessary to obtain the current position information of the object for subsequent steps.

[0146] Step 501: Determine the remaining transportation distance based on the current moving distance and the preset transportation path.

[0147] The transportation path refers to the route for transporting the object. The remaining transportation distance refers to the remaining distance from the current position of the object to the end position. The transportation path is set in advance by those skilled in the art and will not be elaborated here. The remaining transportation distance can be obtained by calculating the difference between the transportation path and the current moving distance.

[0148] Step 502: Match the complete sliding time from the preset sliding database according to the post-increase sliding value, the corrected clamping force value, and the preset safe clamping position.

[0149] The safe clamping position refers to the position on the object that can be clamped by the clamping device and will not fall. The safe clamping position is preset by those skilled in the art and will not be elaborated here. The complete sliding time refers to the time when the object slides below the safe clamping position. Through the sliding database, the added sliding value, the corrected clamping force value, and the complete sliding time corresponding to the safe clamping position can be matched. It contains the corresponding relationship between the added sliding value, the corrected clamping force value, the safe clamping position, and the complete sliding time. The sliding database is a manually set database and will not be elaborated here.

[0150] Step 503: Match the reference transportation distance from the preset transportation database according to the complete sliding time and the preset moving speed.

[0151] The moving speed refers to the speed at which the clamping device holds the object and moves on the transportation path. The moving speed is preset by those skilled in the art and will not be elaborated here. The reference transportation distance refers to the distance that the object can be transported before it slides to a position below the safe clamping position. Through the transportation database, the reference transportation distance corresponding to the complete sliding time and the moving speed can be matched. It contains the corresponding relationship between the complete sliding time, the moving speed, and the reference transportation distance. The transportation database is a manually set database and will not be elaborated here.

[0152] Step 504: Based on the situation that the remaining transportation distance exceeds the reference transportation distance, match the anti-slip friction coefficient from the clamping database according to the sliding distance and the clamping force value.

[0153] The anti-slip friction coefficient is the ratio of the frictional force generated between the surface of the object and the clamping device during sliding to the vertical pressure. Through the clamping database, the anti-slip friction coefficient corresponding to the sliding distance and the clamping force value can be matched. It contains the corresponding relationship between the sliding distance, the clamping force value, and the anti-slip friction coefficient. When the remaining transportation distance exceeds the reference transportation distance, it means that the current clamping device cannot safely transport the object, and a replacement anti-slip jaw needs to be replaced. The anti-slip jaw refers to the jaw used to increase the frictional force between the object and the clamping device. It is necessary to first match the anti-slip friction coefficient corresponding to the sliding distance and the clamping force value from the clamping database for subsequent steps.

[0154] Step 505: Match the anti-slip jaw from the friction database according to the anti-slip friction coefficient, and control the clamping device to lower the object.

[0155] Through the friction database, the anti-slip jaw corresponding to the anti-slip friction coefficient can be matched. It contains the corresponding relationship between the anti-slip friction coefficient and the anti-slip jaw. It is necessary to control the clamping device to lower the object slowly for subsequent clamping.

[0156] Step 506: After lowering, control the anti-slip gripper to grip the clamping position of the object, and continue to transport along the transport path after gripping.

[0157] After lowering the object, control the anti-slip gripper to grip the clamping position of the object, and continue to transport along the transport path after gripping.

[0158] Refer to Figure 6 , the snow handling method includes the following steps:

[0159] Step 600: Based on the situation that the current weather information is consistent with the preset snow weather, obtain the clamping weight distribution.

[0160] Snow weather refers to the weather when it is snowing in the area where the object is being transported. The snow weather is set in advance by those skilled in the art and will not be elaborated here. The clamping weight distribution refers to the weight distribution of the object between different parts when the object is being gripped. By using the pressure sensors set on the clamping device, the bias of the object can be known, and thus the clamping weight distribution can be known. It is common knowledge for those skilled in the art to obtain the clamping weight distribution by knowing the bias of the object, and it will not be elaborated here.

[0161] Step 601: Based on the situation that the clamping weight distribution is inconsistent with the preset reference weight distribution, match the correction position from the clamping database according to the clamping weight distribution.

[0162] The reference weight distribution refers to the situation where there is no bias when the object is being gripped. The reference weight distribution is set in advance by those skilled in the art and will not be elaborated here. The correction position refers to the position where the clamping of the object needs to be changed due to the abnormal weight distribution of the object. When the clamping weight distribution is inconsistent with the reference weight distribution, the correction position corresponding to the clamping weight distribution can be matched through the clamping database, which contains the corresponding relationship between the clamping weight distribution and the correction position.

[0163] Step 602: Control the clamping device to grip the object at the correction position so that the clamping weight distribution is consistent with the reference weight distribution.

[0164] Control the clamping device to grip the object at the correction position, so that the clamping weight distribution is consistent with the reference weight distribution for subsequent steps.

[0165] Step 603: After the clamping weight distribution is consistent with the reference weight distribution, obtain the clamping weight value.

[0166] The clamping weight value refers to the weight value received when the clamping device clamps an object. The clamping weight value is measured and obtained by a weight sensor on the clamping device. After the clamping weight distribution is consistent with the reference weight distribution, it indicates that the object is not skewed, and the clamping weight value needs to be obtained for subsequent steps.

[0167] Step 604: Based on the situation that the clamping weight value exceeds the preset reference weight value, calculate the difference between the clamping weight value and the reference weight value as the weight deviation value.

[0168] The reference weight value refers to the original weight of the object itself. The reference weight value is measured in advance by those skilled in the art and will not be elaborated here. The weight deviation value refers to the value by which the current weight of the object differs from the reference weight value. When the clamping weight value exceeds the reference weight value, it indicates that snow has accumulated above the object, resulting in an increase in weight. The weight deviation value can be obtained by calculating the difference between the clamping weight value and the reference weight value.

[0169] Step 605: Match the clamping force adjustment value from the clamping database according to the weight deviation value, and control the clamping device to clamp the object with the clamping force adjustment value.

[0170] The clamping force adjustment value refers to the adjustment value for increasing the clamping force on the object due to the increased weight received, and thus adjusting the clamping force. The clamping force adjustment value corresponding to the weight deviation value can be matched through the clamping database, which contains the corresponding relationship between the weight deviation value and the clamping force adjustment value. After the clamping force adjustment value is matched, control the clamping device to clamp the object with the clamping force adjustment value.

[0171] Refer to Figure 7 , the overweight processing method includes the following steps:

[0172] Step 700: Based on the situation that the weight deviation value exceeds the preset reference deviation value, match the blowing force value from the preset blowing database according to the weight deviation value.

[0173] The reference deviation value refers to the maximum value that the weight of the object can exceed. The reference deviation value is set in advance by those skilled in the art and will not be elaborated here. The blowing force value refers to the blowing force used to blow the snow above the object. When the weight deviation value exceeds the reference deviation value, the object is already overweight, and the snow above the object needs to be removed to reduce the weight of the object. The blowing force value corresponding to the weight deviation value can be matched through the blowing database, which contains the corresponding relationship between the weight deviation value and the blowing force value. The blowing database is a manually set database and will not be elaborated here.

[0174] Step 701: Match the blowing pressure value from the clamping database according to the blowing force value and the preset blowing angle.

[0175] The blowing angle refers to the angle at which the blowing device blows snow. The blowing device refers to a device used to blow and remove snow. The blowing pressure value refers to the pressure value exerted on an object when the blowing device blows snow. The blowing angle is set in advance by those skilled in the art and will not be elaborated here. Through the clamping database, the blowing pressure value corresponding to the blowing force value and the blowing angle can be matched, which includes the corresponding relationship between the blowing force value, the blowing angle, and the blowing pressure value.

[0176] Step 702: Match the removal efficiency from the blowing database according to the blowing force value and the blowing angle.

[0177] The removal efficiency refers to the efficiency of removing snow when the blowing device blows and removes snow. Through the blowing database, the removal efficiency corresponding to the blowing force value and the blowing angle can be matched, which includes the corresponding relationship between the blowing force value, the blowing angle, and the removal efficiency.

[0178] Step 703: Match the snow thickness value from the preset snow database according to the weight deviation value.

[0179] The snow thickness value refers to the thickness of the snow existing above the object. Through the snow database, the snow thickness value corresponding to the weight deviation value can be matched, which includes the corresponding relationship between the weight deviation value and the snow thickness value. The snow database is a manually set database and will not be elaborated here.

[0180] Step 704: Match the clamping weight change value from the blowing database according to the removal efficiency, the snow thickness value, the clamping weight value, and the blowing pressure value.

[0181] The clamping weight change value refers to the value of the weight change of the object clamped by the clamping device due to the reduction of snow and the wind pressure generated when the blowing device blows. Through the algorithm formula ΔF(t) = k×(-r m ×t + W p ) in the blowing database, the clamping weight change value can be calculated. Here, ΔF(t) is the clamping weight change value, k is the clamping coefficient, r m is the snow melting rate, t is the time for the blowing device to blow snow, and W p is the blowing pressure value. k and r m are obtained by prior testing by those skilled in the art and will not be elaborated here. t is obtained by timing with a timer set on the blowing device. When the blowing device starts to blow, the timer starts timing.

[0182] Step 705: Match the clamping force change value from the clamping database according to the clamping weight change value.

[0183] The clamping force change value refers to the change value of the clamping force on an object due to the change in the clamping weight. Through the clamping database, the clamping force change value corresponding to the clamping weight change value can be matched, which contains the corresponding relationship between the clamping weight change value and the clamping force change value.

[0184] Step 706: Control the preset blowing device to blow the snow with a blowing force value and a blowing angle, and control the clamping device to clamp the object with a clamping force change value.

[0185] Control the blowing device to blow the snow with the matched blowing force value and blowing angle, and when the snow is removed by blowing, control the clamping device to clamp the object with a clamping force change value.

[0186] Based on the same inventive concept, an object clamping system for real-time task planning and adjustment provided by an embodiment of the present invention includes:

[0187] An acquisition module, configured to acquire an induced pressure value, transportation image information, the position of the clamping device, a clamping angle value, air humidity information, surrounding image information, the top view size of the object, current weather information, clamping image information, current position information, the clamping weight distribution, and the clamping weight value;

[0188] A memory, configured to store a program of a method for real-time task planning and adjustment based on dynamic environment perception;

[0189] A processor, the program in the memory can be loaded and executed by the processor and implement a method for real-time task planning and adjustment based on dynamic environment perception.

[0190] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0191] Based on the same inventive concept, an object clamping device for real-time task planning and adjustment provided by an embodiment of the present invention includes a memory and a processor, and a computer program capable of being loaded and executed by the processor and implementing a method for real-time task planning and adjustment based on dynamic environment perception is stored on the memory.

[0192] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. For the specific working processes of the system, device, and unit described above, reference can be made to the corresponding processes in the foregoing method embodiments, which will not be elaborated herein.

[0193] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A real-time task planning and adjustment method based on dynamic environment perception, characterized in that Including: Obtain the sensed pressure value of a preset clamping area; Based on the situation that the sensed pressure value is greater than a preset reference pressure value, control a preset clamping device to clamp a preset clamping position on a preset object to be clamped with a preset clamping force value, and after clamping, obtain transportation image information; Determine the drop position and drop amplitude according to the transportation image information, preset track features, and a preset reference object; Match an adjustment position, adjustment parameters, and a cancellation adjustment position from a preset drop adjustment library according to the drop position and drop amplitude; Obtain the position of the clamping device; Based on the situation that the position of the clamping device is consistent with the adjustment position, control the clamping device to increase the clamping force with the adjustment parameters, and when the position of the clamping device is consistent with the cancellation adjustment position, control the clamping device to reset the clamping force.

2. The real-time task planning and adjustment method based on dynamic environment perception according to claim 1, wherein It further includes an inclination detection method for detecting the inclination of an object. The inclination detection method includes: Based on after clamping the object, obtain the clamping angle value of the clamping device; Based on the situation that the clamping angle value exceeds a preset reference angle range, determine a lifting height value and a lifting position according to the transportation image information, the clamping angle value, and preset object features; Match a lifting prompt position and a lowering position from a preset lifting database according to the lifting position; Match a lifting device number from the lifting database according to the lifting prompt position; Based on the situation that the position of the clamping device is consistent with the lifting prompt position, control the lifting device corresponding to the lifting device number to rise by the lifting height value to lift the object; When the position of the clamping device is consistent with the lowering position, control the lifting device corresponding to the lifting device number to lower and reset, and use the lowering position as a new lifting prompt position and update the lifting device number.

3. The real-time task planning and adjustment method based on dynamic environment perception according to claim 1, wherein It further includes a prevention method for preventing rain. The prevention method includes: Based on after clamping the object, obtain air humidity information; Based on the situation that the air humidity information exceeds preset reference humidity information, obtain surrounding image information; Based on the situation that the surrounding image information does not contain a preset high humidity feature, obtain the top view size of the object; Based on the situation that the top view size of the object does not exceed a preset maximum covering range, match a covering number from a preset covering database according to the top view size of the object, and control a covering object corresponding to the covering number preset in a covering device to cover the object; Based on the situation that the top view size of the object exceeds the maximum covering range, output a cannot cover prompt.

4. The real-time task planning and adjustment method based on dynamic environment perception according to claim 3, characterized in that It further includes a rain handling method during rain. The rain handling method includes: Based on the situation that the top view size of the object exceeds the maximum covering range, obtain current weather information; Based on the situation that the current weather information is consistent with a preset rainy weather, obtain clamping image information; Determine a device marking position according to the clamping image information, a preset reference object, and a preset clamping device marking; Based on the situation that the device marking position is inconsistent with a preset clamping marking position, determine a sliding distance value according to the clamping image information, the device marking position, the clamping marking position, and the reference object, and control the clamping device to correct the clamping force of the clamping device on the object with a preset corrected clamping force value; After increasing the clamping force, update the device marking position; Determine the post - addition sliding value based on the updated device marking position and the clamping marking position; Based on the situation that the post - addition sliding value exceeds the sliding distance value, output a non - anti - slip prompt.

5. The real-time task planning and adjustment method based on dynamic environment perception according to claim 4, characterized in that It also includes an anti - slip method after outputting the non - anti - slip prompt. The anti - slip method includes: Based on the situation that the post - addition sliding value exceeds the sliding distance value, obtain the current moving distance of the object; Determine the remaining transportation distance according to the current moving distance and the preset transportation path; Match the complete sliding time from the preset sliding database according to the post - addition sliding value, the corrected clamping force value, and the preset safe clamping position; Match the reference transportation distance from the preset transportation database according to the complete sliding time and the preset moving speed; Based on the situation that the remaining transportation distance exceeds the reference transportation distance, match the anti - slip friction coefficient from the clamping database according to the sliding distance and the clamping force value; Match the anti - slip jaw from the friction database according to the anti - slip friction coefficient, and control the clamping device to lower the object; After lowering, control the anti - slip jaw to clamp the clamping position of the object, and continue to transport along the transportation path after clamping.

6. The real-time task planning and adjustment method based on dynamic environment perception according to claim 4, characterized in that It also includes a snow - handling method when it snows. The snow - handling method includes: Based on the situation that the current weather information is consistent with the preset snowing weather, obtain the clamping weight distribution situation; Based on the situation that the clamping weight distribution situation is inconsistent with the preset reference weight distribution situation, match the correction position from the clamping database according to the clamping weight distribution situation; Control the clamping device to clamp the object at the correction position so that the clamping weight distribution situation is consistent with the reference weight distribution situation; After the clamping weight distribution situation is consistent with the reference weight distribution situation, obtain the clamping weight value; Based on the situation that the clamping weight value exceeds the preset reference weight value, calculate the difference between the clamping weight value and the reference weight value as the weight deviation value; Match the clamping force adjustment value from the clamping database according to the weight deviation value, and control the clamping device to clamp the object with the clamping force adjustment value.

7. The real-time task planning and adjustment method based on dynamic environment perception according to claim 6, characterized in that It also includes an overweight - handling method when overweight. The overweight - handling method includes: Based on the situation that the weight deviation value exceeds the preset reference deviation value, match the blowing force value from the preset blowing database according to the weight deviation value; Match the blowing pressure value from the clamping database according to the blowing force value and the preset blowing angle; Match the removal efficiency from the blowing database according to the blowing force value and the blowing angle; Match the snow accumulation thickness value from the preset snow accumulation database according to the weight deviation value; Match the clamping weight change value from the blowing database according to the removal efficiency, the snow accumulation thickness value, the clamping weight value, and the blowing pressure value; Match the clamping force change value from the clamping database according to the clamping weight change value; Control the preset blowing device to blow the snow with the blowing force value and the blowing angle, and control the clamping device to clamp the object with the clamping force change value.

8. The real-time task planning and adjustment method based on dynamic environment perception according to claim 7, wherein The clamping weight change value needs to be calculated according to the preset algorithm configuration. The algorithm configuration is: ΔF(t) = k × (-r m × t + W p ), where ΔF(t) is the change value of the clamping weight, k is the clamping coefficient, r m is the snow melting rate, t is the time for the blowing device to blow the snow, and W p is the blowing pressure value.

9. A real-time task planning and adjustment system based on dynamic environment perception, characterized in that, Includes: An acquisition module, configured to acquire an induced pressure value, transportation image information, the position of a clamping device, a clamping angle value, air humidity information, surrounding image information, the top-down size of an object, current weather information, clamping image information, the current moving distance, the clamping weight distribution, and the clamping weight value; A memory, configured to store a program of the real-time task planning and adjustment method based on dynamic environment perception according to any one of claims 1 to 8; A processor, the program in the memory can be loaded and executed by the processor and implement the real-time task planning and adjustment method based on dynamic environment perception according to any one of claims 1 to 8.

10. A real-time task planning and adjustment device based on dynamic environment perception, characterized in that It includes a memory and a processor, and a computer program capable of being loaded and executed by the processor to implement the real-time task planning and adjustment method based on dynamic environment perception according to any one of claims 1 to 8 is stored on the memory.

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