Control method and device for assembling and disassembling clamp based on pneumatic and electromagnetic composite self-locking

Abstract

The invention discloses a control method and device for a loading and unloading clamp based on pneumatic and electromagnetic composite self-locking, and relates to the technical field of logistics automation equipment. The method comprises the steps that size information and material information of goods to be loaded and unloaded are acquired; acquiring initial position information and target position information of goods to be loaded and unloaded; based on the size information, the material information, the initial position information and the target position information, clamping parameters of the loading and unloading clamp are determined, and the clamping parameters are clamping jaw control parameters of the loading and unloading clamp; and controlling the loading and unloading clamp to clamp the to-be-loaded and unloaded goods based on the clamping parameters of the loading and unloading clamp. The technical problem that in the prior art, automatic loading and unloading equipment is poor in adaptability is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics automation equipment, and in particular, to a control method and device for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking. Background Art

[0002] Currently, the loading and unloading of vehicle logistics goods mainly rely on manual labor or the use of fixed or mobile automation equipment. When using fixed automation equipment, due to its large volume and difficulty in movement, it is only applicable to specific places. When using mobile automation equipment, although it can be applied to multiple occasions, its structure is complex, the cost is high, and the operation flexibility is poor. In addition, most existing automation equipment (loading and unloading fixtures for vehicle logistics) uses a single driving method (such as hydraulic, pure electromagnetic or pneumatic), and has the following defects:

[0003] ① Insufficient adaptability: A single driving method is difficult to balance the clamping force and response speed (for example, pneumatic fixtures have a fast response but large fluctuations in clamping force, and electromagnetic fixtures have high energy consumption and are prone to heat generation);

[0004] ② Poor compatibility: Existing fixtures are difficult to adapt to goods of different sizes (such as steel pipes or special-shaped parts with a large diameter span), and the fixture structure needs to be adjusted frequently;

[0005] ③ Insufficient stability: Clamping is prone to looseness in a bumpy environment, resulting in the risk of cargo displacement.

[0006] In response to the above problems, no effective solution has been proposed yet. Summary of the Invention

[0007] Embodiments of the present invention provide a control method and device for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking, so as to at least solve the technical problem of poor adaptability of automatic loading and unloading equipment in the prior art.

[0008] According to one aspect of the embodiments of the present invention, a control method for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking includes: obtaining the size information and material information of the goods to be loaded and unloaded; obtaining the initial position information and target position information of the goods to be loaded and unloaded; determining the clamping parameters of the loading and unloading fixture based on the size information, material information, initial position information, and target position information, where the clamping parameters are the jaw control parameters of the loading and unloading fixture; and controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture.

[0009] Optionally, controlling the loading and unloading fixture to grip the goods to be loaded and unloaded includes: obtaining the working positions of the jaws, where the working positions include a clamping position and a release position; in response to the jaws being in the release position, controlling the pneumatic module of the loading and unloading fixture to output a driving force to drive the jaws to move to the clamping position; in response to the jaws being in the clamping position, controlling the pneumatic module to stop outputting the driving force, and energizing the electromagnetic module of the loading and unloading fixture to keep the jaws in the clamping position.

[0010] Optionally, determining the clamping parameters of the loading and unloading fixture based on the dimension information, material information, initial position information, and target position information includes: determining the first clamping parameter of the loading and unloading fixture based on the dimension information, where the first clamping parameter is the opening parameter of the jaws; determining the second clamping parameter of the loading and unloading fixture based on the material information, where the second clamping parameter is the clamping force parameter of the jaws; determining the third clamping parameter of the loading and unloading fixture based on the initial position information and the target position information, where the third clamping parameter is the loading and unloading route parameter of the jaws; and determining the clamping parameters of the loading and unloading fixture based on the first clamping parameter, the second clamping parameter, and the third clamping parameter.

[0011] Optionally, controlling the loading and unloading fixture to grip the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture includes: obtaining the environmental information of the goods to be loaded and unloaded, where the environmental information includes at least one of the following: humidity information, temperature information, and light information; adjusting the second clamping parameter based on the temperature information; adjusting the third clamping parameter based on the temperature information and the light information; determining the adjusted clamping parameters based on the first clamping parameter, the adjusted second clamping parameter, and the third clamping parameter; and controlling the loading and unloading fixture to grip the goods to be loaded and unloaded based on the adjusted clamping parameters.

[0012] Optionally, controlling the loading and unloading fixture to grip the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture includes: obtaining the accelerometer parameters and gyroscope parameters of the loading and unloading fixture; determining the offset angle of the loading and unloading fixture based on the accelerometer parameters and the gyroscope parameters; in response to the offset angle meeting the first preset condition, adjusting the clamping parameters; and controlling the loading and unloading fixture to grip the goods to be loaded and unloaded based on the adjusted clamping parameters.

[0013] Optionally, after determining the offset angle of the loading and unloading fixture, it includes: in response to the offset angle meeting the second preset condition, generating a prompt message for presenting the current offset angle of the loading and unloading fixture to the operator.

[0014] Optionally, after controlling the loading and unloading fixture to grip the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture, it includes: obtaining the current position information of the goods to be loaded and unloaded; in response to the current position information being consistent with the target position information, controlling the electromagnetic module to be powered off, and the pneumatic module to output a driving force to drive the jaws to switch to the release position.

[0015] According to another aspect of the embodiments of the present invention, there is also provided a control device for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking, including: a first acquisition module, configured to acquire the size information and material information of the goods to be loaded and unloaded; a second acquisition module, configured to acquire the initial position information and target position information of the goods to be loaded and unloaded; a determination module, configured to determine the clamping parameters of the loading and unloading fixture based on the size information, material information, initial position information, and target position information, where the clamping parameters are the jaw control parameters of the loading and unloading fixture; and a control module, configured to control the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture.

[0016] Optionally, the control module includes: a pneumatic module, which is configured to drive the jaws of the loading and unloading fixture to switch between the clamping position and the release position; an electromagnetic module, which is configured to maintain the jaws in the clamping position; and an adjustment module, which is configured to adjust the clamping parameters based on the environmental information of the goods to be loaded and unloaded.

[0017] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored executable program, where, when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0018] In the embodiments of the present invention, the size, material, and position information of the goods are comprehensively analyzed, the clamping parameters are optimized through intelligent algorithms to achieve personalized clamping strategies, and based on the initial and target positions of the goods, intelligent path planning is performed to avoid collisions and unnecessary movements, thereby improving the loading and unloading efficiency, and further solving the technical problem of poor adaptability of automatic loading and unloading equipment in the prior art. Description of the Drawings

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 is a flowchart of an optional control method for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking according to an embodiment of the present invention;

[0021] Figure 2 is a structural block diagram of an optional control device for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking according to an embodiment of the present invention. Detailed Embodiments

[0022] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to an embodiment of the present invention, an embodiment of a control method for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0025] Embodiments of the method can be executed in an electronic device including a memory and a processor or a similar computing device. Taking running on an electronic device as an example, the electronic device may include one or more processors (the processor may include, but is not limited to, a processing device such as a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processing (DSP) chip, a MicroController Unit (MCU), a Field Programmable Gate Array (FPGA), a Neural-network Processor Unit (NPU), a Tensor Processing Unit (TPU), an Artificial Intelligence (AI) type processor, etc.) and a memory for storing data. Optionally, the above-mentioned electronic device may further include a transmission device, an input / output device, and a display device for communication functions. Those of ordinary skill in the art can understand that the above structural description is only illustrative and does not limit the structure of the above-mentioned electronic device. For example, the electronic device may further include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0026] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the control method of the loading and unloading fixture based on pneumatic and electromagnetic composite self-locking in the embodiments of the present invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, implements the above-mentioned control method of the loading and unloading fixture based on pneumatic and electromagnetic composite self-locking. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, a flash memory, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely disposed relative to the processor, and these remote memories may be connected to the mobile terminal through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and their combinations.

[0027] The transmission device is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of a mobile terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device may be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0028] The display device can be, for example, a touch-screen liquid crystal display (Liquid Crustal Display, LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display enables a user to interact with the user interface of the mobile terminal. In some embodiments, the above-mentioned mobile terminal has a graphical user interface (Graphical User Interface, GUI), and the user can perform human-computer interaction with the GUI through finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction function here optionally includes the following interactions: creating web pages, drawing, word processing, creating electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. The executable instructions for performing the above human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0029] Figure 1 is a method according to an embodiment of the present invention, as Figure 1 shown, the method includes the following steps:

[0030] Step S102, obtaining the size information and material information of the goods to be loaded and unloaded;

[0031] Step S104, obtaining the initial position information and target position information of the goods to be loaded and unloaded;

[0032] Step S106, determining the clamping parameters of the loading and unloading fixture based on the size information, material information, initial position information, and target position information, where the clamping parameters are the jaw control parameters of the loading and unloading fixture;

[0033] Step S108, controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture.

[0034] In step S102, a lidar or vision recognition system is used to obtain the length, width, height, and shape characteristics of the goods, which are used to calculate the optimal opening size of the fixture. The material of the goods is identified through spectral analysis or contact sensors, including hardness, elastic modulus, and coefficient of friction, which are used to set the appropriate clamping force.

[0035] In step S104, GPS (Global Positioning System), RFID (Radio Frequency Identification), or UWB (Ultra Wide Band) technology is used to determine the initial position of the goods in the warehouse. By docking with the warehouse management system, the target position information of the goods is obtained, and the optimal loading and unloading path is planned.

[0036] In step S106, according to the size information of the goods, the opening size parameter of the jaw is calculated to ensure the stability of the clamping process. Combining the material information, the clamping force parameter is set to avoid excessive pressure on the goods or insecure grasping. According to the initial position and target position information, the loading and unloading path is planned to determine the movement route parameter of the jaw.

[0037] In step S108, the pneumatic module quickly drives the jaw to the optimal clamping position according to the opening size requirement of the clamping parameter. After the jaw touches the goods, the electromagnetic module generates an additional adsorption force according to the clamping force set by the material information to enhance the stability of the clamping. During the entire loading and unloading process, the control system monitors the working state of the fixture to ensure the accurate execution of the clamping parameters until the goods are safely moved to the target position.

[0038] Based on steps S102 - S108, the size, material, and position information of the goods are comprehensively analyzed, and the clamping parameters are optimized through intelligent algorithms to achieve personalized clamping strategies; the pneumatic module provides a quick response, and the electromagnetic module enhances the clamping stability to form a composite self-locking, effectively preventing the displacement or damage of the goods during handling; based on the initial and target positions of the goods, intelligent path planning is carried out to avoid collisions and unnecessary movements, improving the loading and unloading efficiency. In summary, this method can improve the efficiency of goods loading and unloading in vehicle logistics, reduce the damage rate of goods. At the same time, the combination of the composite self-locking mechanism and the intelligent control strategy provides a safer and more flexible solution for logistics automation, thus solving the technical problem of poor adaptability of existing automatic loading and unloading equipment.

[0039] As an alternative implementation, controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded includes:

[0040] Step S201, obtaining the working position of the jaw, where the working position includes the clamping position and the release position;

[0041] Step S202: In response to the gripper being in the release position, control the pneumatic module of the loading and unloading fixture to output a driving force to drive the gripper to move to the clamping position;

[0042] Step S203: In response to the gripper being in the clamping position, control the pneumatic module to stop outputting the driving force, and the electromagnetic module of the loading and unloading fixture is powered on to keep the gripper in the clamping position.

[0043] In step S201, the current position state of the gripper is monitored in real time through a position sensor installed on the gripper to distinguish whether it is in the release position or the clamping position.

[0044] In step S202, when the gripper is in the release position, that is, when the goods are not clamped, the pneumatic module starts to work and quickly outputs sufficient driving force to drive the gripper to move from the release position to the clamping position. In this stage, the fast response characteristic of the pneumatic module is fully utilized, shortening the loading and unloading preparation time.

[0045] In step S203, when the gripper successfully moves to the clamping position and contacts the goods to be loaded and unloaded, the pneumatic module stops outputting the driving force to avoid excessive pressure on the goods. At the same time, the electromagnetic module starts to be powered on to generate a stable adsorption force to ensure that the gripper can be firmly maintained in the clamping position, and the goods can be stably clamped even when encountering bumps or external force interference during the handling process.

[0046] In summary, in the initial stage, the gripper is in the release position. At this time, the pneumatic module is responsible for quickly pushing the gripper to the clamping position to achieve the preliminary capture of the goods. In the clamping stage, the electromagnetic module takes over the work to provide a continuous and stable clamping force to ensure the safety of the goods during the handling process. During the entire loading and unloading process, the system intelligently switches the working modes of the pneumatic and electromagnetic modules through real-time position and state monitoring, realizing the effective management of energy and the optimization of the clamping effect.

[0047] Based on steps S201 - S203, the pneumatic module can drive the gripper in place in an extremely short time, greatly reducing the waiting time of the entire loading and unloading operation. The continuous adsorption force provided by the electromagnetic module makes the goods more stable during the handling process, reducing accidental losses caused by insecure clamping. The pneumatic module only works at the moment when the goods are clamped, and then mainly relies on the electromagnetic module to maintain the clamping with low energy consumption, reducing the overall energy consumption and achieving a perfect balance between fast response and stable clamping, providing strong technical support for the efficient and safe loading and unloading of goods in vehicle logistics.

[0048] Optionally, based on the size information, material information, initial position information, and target position information, determine the clamping parameters of the loading and unloading fixture, including:

[0049] Step S211: Based on the dimension information, determine the first clamping parameter of the loading and unloading fixture, where the first clamping parameter is the opening parameter of the jaws.

[0050] Step S212: Based on the material information, determine the second clamping parameter of the loading and unloading fixture, where the second clamping parameter is the clamping force parameter of the jaws.

[0051] Step S213: Based on the initial position information and the target position information, determine the third clamping parameter of the loading and unloading fixture, where the third clamping parameter is the loading and unloading route parameter of the jaws.

[0052] Step S214: Based on the first clamping parameter, the second clamping parameter, and the third clamping parameter, determine the clamping parameter of the loading and unloading fixture.

[0053] In step S211, by analyzing the length, width, height, and shape characteristics of the goods, calculate the required opening size of the jaws to ensure precise and safe clamping of the goods. The first clamping parameter is the key to ensuring that the jaws can adapt to goods of different sizes.

[0054] In step S212, according to the hardness, elastic coefficient, and friction coefficient of the goods' material, set the clamping force of the jaws to avoid damaging the goods or causing the goods to slip due to insufficient clamping force. The second clamping parameter is directly related to the safe clamping and handling efficiency of the goods.

[0055] In step S213, based on the initial position and target position of the goods, plan the optimal loading and unloading path to avoid collisions and unnecessary movements, and reduce the handling time. The third clamping parameter optimizes the loading and unloading process of the goods and improves the logistics efficiency.

[0056] In step S214, comprehensively consider the first clamping parameter (opening parameter), the second clamping parameter (clamping force parameter), and the third clamping parameter (loading and unloading route parameter) determined in the above steps, and adjust the clamping parameter to the optimal state to ensure that the loading and unloading process is both efficient and safe.

[0057] Based on steps S211 - S214, the opening size of the jaws precisely matches the size of the goods, avoiding shaking and damage during the clamping process. It can adjust the clamping force according to goods of different materials to meet the clamping requirements of various goods. The intelligently planned loading and unloading route reduces the handling time and collision risk, improving the efficiency and safety of the overall logistics operation. By analyzing in detail the dimensions, materials, and position information of the goods, dynamically adjusting the clamping parameters of the fixture realizes the intelligent and personalized operation of the fixture in the loading and unloading of goods in vehicle logistics, greatly improving the loading and unloading efficiency and the safety of the goods.

[0058] Optionally, based on the clamping parameter of the loading and unloading fixture, control the loading and unloading fixture to clamp the goods to be loaded and unloaded, including:

[0059] Step S221: Obtain the environmental information of the goods to be loaded and unloaded. The environmental information includes at least one of the following: humidity information, temperature information, and light information.

[0060] Step S222: Adjust the second clamping parameter based on the temperature information.

[0061] Step S223: Adjust the third clamping parameter based on the temperature information and the light information.

[0062] Step S224: Determine the adjusted clamping parameter based on the first clamping parameter, the adjusted second clamping parameter, and the third clamping parameter.

[0063] Step S225: Control the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the adjusted clamping parameter.

[0064] In step S221, use environmental monitoring sensors (such as temperature and humidity sensors, light intensity sensors) to collect specific environmental data at the loading and unloading site. This information helps to evaluate the current state of the goods and the factors that may affect the operation of the fixture.

[0065] In step S222, temperature changes may affect the physical properties of the goods or the performance of the fixture itself (such as the thermal expansion and contraction of metal materials). Adjust the clamping force parameter (i.e., the second clamping parameter) according to the real-time temperature information to ensure the stability of clamping and the safety of the goods.

[0066] In step S223, temperature and light conditions may affect the visibility of the fixture operation, the accuracy of the sensor, and the safety of the working environment. Combine these two pieces of information to optimize the loading and unloading path and the operation sequence (i.e., the third clamping parameter) to adapt to environmental changes and reduce operation errors.

[0067] In step S224, comprehensively consider the size of the goods (the first clamping parameter), the clamping force adjusted to adapt to temperature changes (the second clamping parameter), and the loading and unloading path optimized based on environmental information (the third clamping parameter), and integrate and generate a set of clamping parameters suitable for the current environmental conditions.

[0068] In step S225, according to the adjusted clamping parameter determined in the above steps, precisely control the pneumatic, electromagnetic modules and adjustment mechanisms of the loading and unloading fixture to adaptively clamp and transport the goods to ensure the safety and efficiency of the operation.

[0069] Based on steps S221 - S225, through environmental perception and dynamic parameter adjustment, the fixture can better adapt to various working conditions, reducing clamping instability and operation failures caused by environmental factors. The optimization of clamping force and operation path based on real - time temperature, humidity, and light conditions significantly enhances the safety of cargo handling, reducing damage and accidents. The adjustment of clamping parameters under the guidance of environmental information helps to quickly locate and clamp the cargo, while reducing unnecessary operation steps and improving the overall logistics operation efficiency. By integrating the environmental perception mechanism, the loading and unloading fixture can intelligently adjust the clamping strategy, effectively coping with complex environmental changes and ensuring the safety and efficiency of cargo handling.

[0070] Optionally, based on the clamping parameters of the loading and unloading fixture, controlling the loading and unloading fixture to clamp the cargo to be loaded and unloaded includes:

[0071] Step S231, obtaining the accelerometer parameters and gyroscope parameters of the loading and unloading fixture;

[0072] Step S232, determining the offset angle of the loading and unloading fixture based on the accelerometer parameters and gyroscope parameters;

[0073] Step S233, in response to the offset angle satisfying the first preset condition, adjusting the clamping parameters;

[0074] Step S234, controlling the loading and unloading fixture to clamp the cargo to be loaded and unloaded based on the adjusted clamping parameters.

[0075] In step S231, the linear acceleration change of the fixture is monitored in real - time by the accelerometer, and the angular velocity and rotation state are monitored by the gyroscope. These data can reflect the motion state of the fixture during handling, including possible tilting and vibration.

[0076] In step S232, based on the output data of the accelerometer and gyroscope, the real - time offset angle of the fixture is calculated. This step is crucial for timely identifying unstable states during handling.

[0077] In step S233, when the detected offset angle exceeds the preset threshold (the first preset condition), the system automatically adjusts the clamping parameters, such as increasing the clamping force, adjusting the jaw spacing, or optimizing the handling route, to compensate for the change in the motion state and ensure clamping stability.

[0078] In step S234, according to the adjustment result of the clamping parameters in step S233, the control system reconfigures the pneumatic and electromagnetic modules, as well as the adjustment mechanism, to achieve more stable and safe clamping of the cargo, and keep the cargo firmly fixed even in a complex motion environment.

[0079] Based on steps S231 - S234, real - time monitoring and adaptive adjustment ensure that when an unstable state is encountered during the handling process, the fixture can respond quickly, preventing the goods from falling off due to unstable clamping. Through continuous monitoring of the motion state, the system can adjust parameters in a timely manner, effectively coping with dynamic environments such as bumps and tilts, ensuring the continuity and safety of operations. The dynamically adjusted clamping parameters can reduce the additional operation time caused by unstable handling states, thereby improving the efficiency of the entire loading and unloading process. By introducing a motion state monitoring mechanism and dynamically adjusting the clamping parameters based on the monitoring results, it provides strong guarantees for the stability and safety of the loading and unloading fixture of the whole - vehicle logistics during the handling process, realizing intelligent and automated operation adjustment, and significantly improving the efficiency and reliability of logistics operations.

[0080] Optionally, after determining the offset angle of the loading and unloading fixture, it includes:

[0081] Step S241, in response to the offset angle meeting the second preset condition, generating a prompt message, where the prompt message is used to show the current offset angle of the loading and unloading fixture to the operator.

[0082] In step S241, after determining the offset angle of the fixture, the system checks whether this angle exceeds the preset safety or operation threshold (the second preset condition). When the offset angle exceeds this threshold, the system generates a prompt message containing the specific offset angle value and quickly conveys this information to the operator. The prompt message can be sent to nearby staff through a display screen, a sound alarm, or a wireless communication device.

[0083] Among them, the second preset condition refers to the maximum safe offset angle allowed during the handling process. This angle is set based on the safe clamping boundary of the goods and the angle threshold that may have a negative impact on the fixture stability or the integrity of the goods. The prompt message enables the operator to make a judgment based on real - time data and intervene for manual adjustment when necessary, forming an effective complement to the automated system to jointly ensure the safe progress of the operation.

[0084] Based on step S241, by real - time feedback of the offset angle information to the operator, it strengthens the human - machine interaction, improves the emergency response ability and operation transparency in complex handling environments, and thus optimizes the overall safety and efficiency of logistics loading and unloading.

[0085] Optionally, after controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture, it includes:

[0086] Step S251, obtaining the current position information of the goods to be loaded and unloaded;

[0087] Step S252, in response to the current position information being consistent with the target position information, control the electromagnetic module to power off, and the pneumatic module outputs a driving force to drive the gripper to switch to the release position.

[0088] In step S251, use GPS positioning, lidar, visual recognition, or other position sensors to obtain the accurate position coordinate data of the fixture carrying the goods in real time.

[0089] In step S252, when the current position information matches the pre-set target position information, the system determines that the goods have reached the destination. Subsequently, the system controls the electromagnetic module to power off, reducing the adsorption force of the gripper on the goods and preparing to release the goods. At the same time, the pneumatic module starts to output a driving force, gently pushing the gripper from the clamping state to the release position to ensure the smooth placement of the goods.

[0090] Based on steps S251 - S252, through the feedback of position information, it can ensure that the goods are accurately placed at the target position, avoiding secondary handling caused by position deviation. Gradually weakening the clamping force and smoothly releasing the goods when they reach the target position greatly reduces the risks of goods damage and operator injury. The automated position judgment and release process simplifies the operation steps and improves the efficiency and smoothness of goods loading and unloading.

[0091] Optionally, the method further includes the following steps:

[0092] Step S261, obtain historical dimension information, historical material information, historical initial position information, historical target position information, and historical clamping parameters;

[0093] Step S262, generate a clamping parameter model based on the historical dimension information, historical material information, historical initial position information, historical target position information, and historical clamping parameters.

[0094] Step S263, optimize the clamping parameters based on the clamping parameter model.

[0095] In step S261, extract the data records of previous loading and unloading operations from the logistics operation database, including the dimensions (length, width, height) of the goods, material types, initial loading and unloading positions, target placement positions, and the actual clamping parameters (such as pneumatic pressure, electromagnetic suction, gripper spacing, etc.) used in these operations.

[0096] In step S262, machine learning algorithms (such as support vector machines, decision trees, neural networks, etc.) are used to preprocess the extracted historical data and perform feature engineering to identify the key factors affecting the clamping parameters. Based on these key factors and the data of historical clamping parameters, a model is trained to predict the optimal clamping parameter settings for given dimensions, materials, initial positions, and target positions. After the model training is completed, verification and testing can be carried out to ensure that its prediction accuracy and generalization ability meet the actual application requirements.

[0097] In step S263, before the start of a new loading and unloading task, the size, material, and loading and unloading position information of the current cargo are input into the clamping parameter model generated in step S262. The model will output a set of optimized clamping parameters for the current task, including the configuration of pneumatic and electromagnetic modules, the optimal setting of jaw spacing, etc. The control system automatically adjusts each module of the loading and unloading fixture according to the output of the model to ensure the stability and safety during the cargo loading and unloading process.

[0098] Based on steps S261 - S263, through the machine learning model, the automatic optimization of clamping parameters is achieved, reducing the time and errors of manual configuration, and improving the automation level of logistics loading and unloading operations. The optimized clamping parameters can ensure that the fixture can reach the best working state when facing different cargo types and loading and unloading environments, not only improving the loading and unloading speed, but also ensuring the safety of operations. Learning based on historical data enables the system to adapt to various complex logistics scenarios, enhancing the ability to handle unknown cargo and the overall flexibility of the system. By constructing and utilizing the clamping parameter model, the intelligent parameter adjustment of the vehicle logistics loading and unloading fixture is realized, improving the efficiency and safety of operations.

[0099] In an embodiment of the present invention, a control device for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking is also provided. This device is used to implement the above-mentioned embodiments and preferred embodiments, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0100] Figure 2 is a structural block diagram of a control device for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking according to an embodiment of the present invention. As Figure 2 shown, the device includes:

[0101] A first acquisition module 301, configured to acquire the size information and material information of the cargo to be loaded and unloaded;

[0102] A second acquisition module 302, configured to acquire the initial position information and target position information of the cargo to be loaded and unloaded;

[0103] A determination module 303, configured to determine the clamping parameters of the loading and unloading fixture based on the dimension information, material information, initial position information, and target position information, where the clamping parameters are the jaw control parameters of the loading and unloading fixture.

[0104] A control module 304, configured to control the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture.

[0105] Optionally, the control module 304 includes: a pneumatic module, which is configured to drive the jaws of the loading and unloading fixture to switch between the clamping position and the release position; an electromagnetic module, which is configured to maintain the jaws at the clamping position; and an adjustment module, which is configured to adjust the clamping parameters based on the environmental information of the goods to be loaded and unloaded.

[0106] Specifically, the pneumatic module is configured to drive the jaws of the loading and unloading fixture to quickly switch between the clamping position and the release position. The pneumatic module uses compressed air as the power source and realizes the opening and closing actions of the jaws through a rodless cylinder or other pneumatic actuators, ensuring fast response and the provision of an initial clamping force. The electromagnetic module is configured to, after the jaws reach the clamping position, maintain the jaws at this position through electromagnetic force, providing an additional stable clamping force. An electromagnetic coil is installed inside the jaws, which generates an adsorption force when energized and cooperates with the pneumatic module to ensure stable clamping of the goods during handling, especially maintaining the balance of the clamping force in a bumpy or inclined environment. The adjustment module is configured to adjust the clamping parameters of the pneumatic and electromagnetic modules in real time based on the environmental information of the goods to be loaded and unloaded (such as temperature, humidity, changes in the size of the goods, etc.) to meet the loading and unloading requirements in different environments. The adjustment module is built-in with sensors (such as a laser ranging sensor, a temperature sensor, a humidity sensor, etc.) to monitor environmental changes in real time. According to the monitored environmental information, parameters such as pneumatic pressure, electromagnetic suction force, and jaw spacing are dynamically adjusted through intelligent algorithms (such as PID control, fuzzy control, etc.) to ensure the best clamping effect under any conditions.

[0107] Optionally, the control module 304 is further configured to control the loading and unloading fixture to clamp the goods to be loaded and unloaded, including: obtaining the working position of the jaws, where the working position includes the clamping position and the release position; in response to the jaws being at the release position, controlling the pneumatic module of the loading and unloading fixture to output a driving force to drive the jaws to move to the clamping position; and in response to the jaws being at the clamping position, controlling the pneumatic module to stop outputting the driving force and energizing the electromagnetic module of the loading and unloading fixture so that the jaws are maintained at the clamping position.

[0108] Optionally, the determination module 303 is further configured to determine the clamping parameters of the loading and unloading fixture based on the dimension information, material information, initial position information, and target position information, including: determining the first clamping parameter of the loading and unloading fixture based on the dimension information, where the first clamping parameter is the opening parameter of the jaws; determining the second clamping parameter of the loading and unloading fixture based on the material information, where the second clamping parameter is the clamping force parameter of the jaws; determining the third clamping parameter of the loading and unloading fixture based on the initial position information and the target position information, where the third clamping parameter is the loading and unloading route parameter of the jaws; and determining the clamping parameters of the loading and unloading fixture based on the first clamping parameter, the second clamping parameter, and the third clamping parameter.

[0109] Optionally, the second acquisition module 302 is further configured to acquire the environmental information of the goods to be loaded and unloaded, where the environmental information includes at least one of the following: humidity information, temperature information, and light information; the determination module 303 is further configured to adjust the second clamping parameter based on the temperature information; adjust the third clamping parameter based on the temperature information and the light information; determine the adjusted clamping parameter based on the first clamping parameter, the adjusted second clamping parameter, and the third clamping parameter; and the control module 304 is further configured to control the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the adjusted clamping parameter.

[0110] Optionally, the second acquisition module 302 is further configured to acquire the accelerometer parameter and gyroscope parameter of the loading and unloading fixture; the determination module 303 is further configured to determine the offset angle of the loading and unloading fixture based on the accelerometer parameter and the gyroscope parameter; and in response to the offset angle satisfying the first preset condition, adjust the clamping parameter; and the control module 304 is further configured to control the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the adjusted clamping parameter.

[0111] Optionally, the device further includes a generation module 305, configured to generate a prompt message in response to the offset angle satisfying the second preset condition, where the prompt message is used to display the current offset angle of the loading and unloading fixture to the operator.

[0112] Optionally, the second acquisition module 302 is further configured to acquire the current position information of the goods to be loaded and unloaded; and the control module 304 is further configured to, in response to the current position information being consistent with the target position information, control the electromagnetic module to be powered off, and the pneumatic module outputs a driving force to drive the jaws to switch to the release position.

[0113] It should be noted that the above-mentioned modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules are respectively located in different processors in any combination form.

[0114] According to one embodiment of the present invention, there is also provided an electronic device, including: a memory storing an executable program; a processor for running the program, wherein when the program runs, it executes the above-mentioned control method of the loading and unloading fixture based on pneumatic and electromagnetic compound self-locking.

[0115] Optionally, in this embodiment, the above-mentioned processor may be configured to execute the following steps through a computer program:

[0116] Step S102, obtain the size information and material information of the goods to be loaded and unloaded;

[0117] Step S104, obtain the initial position information and target position information of the goods to be loaded and unloaded;

[0118] Step S106, determine the clamping parameters of the loading and unloading fixture based on the size information, material information, initial position information and target position information, wherein the clamping parameters are the jaw control parameters of the loading and unloading fixture;

[0119] Step S108, control the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture.

[0120] In step S102, a lidar or a vision recognition system is used to obtain the length, width, height and shape characteristics of the goods for calculating the optimal opening size of the fixture. The material of the goods, including hardness, elastic modulus and friction coefficient, is identified through spectral analysis or contact sensors for setting an appropriate clamping force.

[0121] According to one embodiment of the present invention, there is also provided a computer-readable storage medium, which includes a stored executable program, wherein when the executable program runs, it controls the device where the storage medium is located to execute the above-mentioned control method of the loading and unloading fixture based on pneumatic and electromagnetic compound self-locking.

[0122] Step S102, obtain the size information and material information of the goods to be loaded and unloaded;

[0123] Step S104, obtain the initial position information and target position information of the goods to be loaded and unloaded;

[0124] Step S106, determine the clamping parameters of the loading and unloading fixture based on the size information, material information, initial position information and target position information, wherein the clamping parameters are the jaw control parameters of the loading and unloading fixture;

[0125] Step S108, control the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture.

[0126] In step S102, a lidar or a vision recognition system is used to obtain the length, width, height, and shape characteristics of the goods for calculating the optimal opening size of the fixture. The material of the goods, including hardness, elastic coefficient, and friction coefficient, is identified through spectral analysis or a contact sensor for setting an appropriate clamping force magnitude.

[0127] Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media such as a USB flash drive, a read-only memory (ROM for short), a random access memory (RAM for short), a mobile hard disk, a magnetic disk, or an optical disc that can store computer programs.

[0128] According to one embodiment of the present invention, there is also provided a computer program product including a computer program, which when executed by a processor implements the above control method of the loading and unloading fixture based on pneumatic and electromagnetic composite self-locking.

[0129] Optionally, in this embodiment, the above computer program product may be set to a computer program that performs the following steps:

[0130] Step S102, obtaining the dimension information and material information of the goods to be loaded and unloaded;

[0131] Step S104, obtaining the initial position information and target position information of the goods to be loaded and unloaded;

[0132] Step S106, determining the clamping parameters of the loading and unloading fixture based on the dimension information, material information, initial position information, and target position information, where the clamping parameters are the jaw control parameters of the loading and unloading fixture;

[0133] Step S108, controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture.

[0134] In step S102, a lidar or a vision recognition system is used to obtain the length, width, height, and shape characteristics of the goods for calculating the optimal opening size of the fixture. The material of the goods, including hardness, elastic coefficient, and friction coefficient, is identified through spectral analysis or a contact sensor for setting an appropriate clamping force magnitude.

[0135] In the above embodiments of the present invention, the descriptions of the various embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0136] In several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0137] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0139] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), external hard drives, magnetic disks, or optical discs, and other media that can store program codes.

[0140] The above are only the preferred embodiments 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 can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A control method for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking, characterized in that, Including: Obtain the size information and material information of the goods to be loaded and unloaded; Obtain the initial position information and target position information of the goods to be loaded and unloaded; Based on the size information, the material information, the initial position information, and the target position information, determine the clamping parameters of the loading and unloading fixture, where the clamping parameters are the jaw control parameters of the loading and unloading fixture; Based on the clamping parameters of the loading and unloading fixture, control the loading and unloading fixture to clamp the goods to be loaded and unloaded.

2. The method according to claim 1, wherein Controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded includes: Obtain the working positions of the jaws, where the working positions include a clamping position and a release position; In response to the jaws being in the release position, control the pneumatic module of the loading and unloading fixture to output a driving force to drive the jaws to move to the clamping position; In response to the jaws being in the clamping position, control the pneumatic module to stop outputting the driving force, and the electromagnetic module of the loading and unloading fixture is energized to keep the jaws in the clamping position.

3. The method according to claim 2, wherein Based on the size information, the material information, the initial position information, and the target position information, determining the clamping parameters of the loading and unloading fixture includes: Based on the size information, determine the first clamping parameter of the loading and unloading fixture, where the first clamping parameter is the opening parameter of the jaws; Based on the material information, determine the second clamping parameter of the loading and unloading fixture, where the second clamping parameter is the clamping force parameter of the jaws; Based on the initial position information and the target position information, determine the third clamping parameter of the loading and unloading fixture, where the third clamping parameter is the loading and unloading route parameter of the jaws; Based on the first clamping parameter, the second clamping parameter, and the third clamping parameter, determine the clamping parameters of the loading and unloading fixture.

4. The method according to claim 3, characterized in that Based on the clamping parameters of the loading and unloading fixture, controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded includes: Obtain the environmental information of the goods to be loaded and unloaded, where the environmental information includes at least one of the following: humidity information, temperature information, and light information; Based on the temperature information, adjust the second clamping parameter; Based on the temperature information and the light information, adjust the third clamping parameter; Based on the first clamping parameter, the adjusted second clamping parameter, and the third clamping parameter, determine the adjusted clamping parameters; Based on the adjusted clamping parameters, control the loading and unloading fixture to clamp the goods to be loaded and unloaded.

5. The method according to any one of claims 1 to 4, characterized in that, Based on the clamping parameters of the loading and unloading fixture, controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded includes: Obtain the accelerometer parameters and gyroscope parameters of the loading and unloading fixture; Based on the accelerometer parameters and the gyroscope parameters, determine the offset angle of the loading and unloading fixture; In response to the offset angle satisfying a first preset condition, adjust the clamping parameters; Based on the adjusted clamping parameters, control the loading and unloading fixture to clamp the goods to be loaded and unloaded.

6. The method according to claim 5, wherein After determining the offset angle of the loading and unloading fixture, it includes: In response to the offset angle satisfying a second preset condition, generate a prompt message for displaying the current offset angle of the loading and unloading fixture to the operator.

7. The method according to any one of claims 2 to 4, characterized in that, After controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture, it includes: Obtain the current position information of the goods to be loaded and unloaded; In response to the consistency between the current position information and the target position information, control the electromagnetic module to power off, and the pneumatic module outputs a driving force to drive the jaws to switch to the release position.

8. A control device for a loading and unloading fixture based on pneumatic and electromagnetic composite self-locking, characterized in that, It includes: A first acquisition module for acquiring the size information and material information of the goods to be loaded and unloaded; A second acquisition module for acquiring the initial position information and target position information of the goods to be loaded and unloaded; A determination module for determining the clamping parameters of the loading and unloading fixture based on the size information, the material information, the initial position information and the target position information, wherein the clamping parameters are the jaw control parameters of the loading and unloading fixture; A control module for controlling the loading and unloading fixture to clamp the goods to be loaded and unloaded based on the clamping parameters of the loading and unloading fixture.

9. The control device of the loading and unloading fixture based on pneumatic and electromagnetic composite self-locking according to claim 8, characterized in that, The control module includes: A pneumatic module for driving the jaws of the loading and unloading fixture to switch between the clamping position and the release position; An electromagnetic module for maintaining the jaws at the clamping position; An adjustment module for adjusting the clamping parameters based on the environmental information of the goods to be loaded and unloaded.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein when the executable program runs, it controls the device where the storage medium is located to execute the method according to any one of claims 1 to 7.

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