Configuration evaluation method, evaluation device, control device and medium for conveying mechanism

Abstract

The present application relates to the field of mechanism handling, and discloses a configuration evaluation method, evaluation device, control device, and medium for a handling mechanism. The configuration evaluation method for a handling mechanism of the present application obtains target object information and corresponding handling trajectory information in a handling task; based on the topological quotient space theory, the target object information and the handling trajectory information are subjected to feature dimensionality reduction to obtain target feature information and trajectory feature information; based on the target feature information and trajectory feature information, sub-units are reconstructed using a preset reconstruction function to obtain configuration sub-units suitable for the handling mechanism; a preset configuration scheme reconstructing model is used to perform a reconstructing operation on the configuration sub-units to generate a reconstructed configuration set; and the optimal configuration configuration scheme for the handling mechanism to perform the handling task is selected from the reconstructed configuration set. The configuration evaluation method of the present application reduces redundancy, reduces energy consumption, ensures the execution of the handling task, and improves handling efficiency while meeting the requirements of efficient handling.

Description

Technical Field

[0001] The present application relates to the field of mechanism transport, and in particular to a configuration evaluation method, evaluation device, control device, and medium for a transport mechanism. Background Art

[0002] In production scenarios involving repetitive material handling and component assembly, such as automotive manufacturing, six-axis serially articulated robots or high-degree-of-freedom collaborative robotic arms are often used to perform handling tasks. These robotic arms typically have a high degree of freedom, adapting to diverse handling tasks and capable of performing a variety of actions in complex environments. However, despite their considerable flexibility in application, these devices still face certain bottlenecks in improving handling efficiency and optimizing energy consumption.

[0003] In the existing technology, although six-axis serial joint robots or high-degree-of-freedom collaborative manipulators can complete most handling tasks, their configurations often have the problem of redundant degrees of freedom. This redundant degree of freedom leads to invalid joint motion trajectories during task execution, thereby increasing energy consumption and reducing handling efficiency. Traditional kinematic and dynamic design methods reduce energy consumption to a certain extent by reducing the frequency of joint movement, but fail to fundamentally solve the problem of redundant degrees of freedom of the mechanism. In addition, although modular design can provide flexibility to a certain extent, in actual applications, its reconstruction process often requires interrupting the production line, which will have a serious impact on the production rhythm.

[0004] Therefore, how to optimize the configuration of the handling mechanism, especially how to reduce redundant degrees of freedom, improve task adaptability, and achieve configuration reconstruction without interrupting the production line, has become an important issue that needs to be solved urgently. Summary of the Invention

[0005] In view of this, the embodiments of the present application provide a configuration evaluation method, evaluation device, control device and medium for a conveying mechanism, which can effectively solve the problems of configuration redundancy, insufficient task adaptability, high energy consumption and low efficiency in the prior art.

[0006] In a first aspect, an embodiment of the present application provides a method for evaluating the configuration of a transport mechanism, comprising:

[0007] Obtain target object information and corresponding transport trajectory information in the transport task;

[0008] According to the topological quotient space theory, feature dimensionality reduction is performed on the target object information and the transport trajectory information to obtain target feature information and trajectory feature information, wherein the target feature information and the trajectory feature information are respectively described by their corresponding subunit information;

[0009] Reconstructing the subunits using a preset reconstruction function according to the target feature information and the trajectory feature information to obtain a configuration subunit suitable for the transport mechanism;

[0010] Performing a recombination operation on the configuration subunits using a preset configuration scheme recombination model to generate a recombinant configuration set;

[0011] An optimal configuration scheme for the transport mechanism to perform the transport task is selected from the reorganized configuration set.

[0012] In some embodiments, obtaining target object information and corresponding transport trajectory information in a transport task includes:

[0013] Obtaining basic information of the target object in the transport task, and determining a motion path planned for the target object in the transport task based on the basic information and task requirements; the basic information includes type, size, initial position, and target position;

[0014] Based on the motion path, obtaining a transport trajectory of the target object from the initial position to the target position, wherein the transport trajectory includes obstacle avoidance points and posture change points;

[0015] The basic information and the transport trajectory of the target object are structured and sorted to obtain the target object information and the corresponding transport trajectory information of the transport task.

[0016] In some embodiments, the feature dimensionality reduction of the target object information and the transport trajectory information is performed based on the topological quotient space theory to obtain the target feature information and the trajectory feature information, including:

[0017] Based on the target object information, a spatial topological map between the target objects is constructed, and the target object information is equivalently transformed using an equivalent relationship in the topological quotient space theory to generate the target feature information of the corresponding dimension;

[0018] Based on the transport trajectory information, the obstacle avoidance points and the posture change points are extracted, and the transport trajectory information is equivalently transformed using an equivalent relationship in the topological quotient space theory to generate the trajectory feature information of the corresponding dimension;

[0019] The target feature information is described by the target sub-unit corresponding to the quotient space; the trajectory feature information is described by the trajectory sub-unit corresponding to the quotient space.

[0020] In some embodiments, performing equivalent transformation on the transport trajectory information by using the equivalent relationship in the topological quotient space theory to generate the corresponding trajectory feature information includes:

[0021] Using the obstacle avoidance point and the posture change point as first-dimensional trajectory feature information;

[0022] Extracting corresponding motion direction and rotation information at the obstacle avoidance point and the posture change point as second-dimensional trajectory feature information;

[0023] The kinematic pair required to realize the motion direction and rotational motion is used as the third-dimensional trajectory feature information.

[0024] In some embodiments, the subunit reconstruction is performed using a preset reconstruction function based on the target feature information and the trajectory feature information to obtain a configuration subunit suitable for the transport mechanism, including:

[0025] Simplifying the target subunit to generate a simplified target configuration subunit;

[0026] Divide the simplified target configuration subunit and the trajectory subunit into plane motion layer, direction motion layer and rotation motion layer, and generate corresponding motion layer subunits according to the motion characteristics of each layer;

[0027] For each of the motion layer subunits, a preset reconstruction function is called to generate a configuration subunit that satisfies the motion constraint conditions within the motion layer and the corresponding constraint matrix;

[0028] Among them, the motion layer subunit includes a plane motion layer subunit, a directional motion layer subunit, and a rotation motion layer subunit; the configuration subunit includes a plane motion layer configuration subunit, a directional motion layer configuration subunit, and a rotation motion layer configuration subunit.

[0029] In some embodiments, the use of a preset configuration scheme recombination model to perform a recombination operation on the configuration subunit to generate a recombinant configuration set includes:

[0030] Calling a preset reorganization function for each of the planar motion layer configuration subunits, the directional motion layer configuration subunits, and the rotational motion layer configuration subunits, and performing hierarchical combination according to the motion sequence of each configuration subunit in the handling task to generate a planar motion layer configuration scheme, a directional motion layer configuration scheme, and a rotational motion layer configuration scheme;

[0031] The planar motion layer configuration scheme, the directional motion layer configuration scheme, and the rotational motion layer configuration scheme are combined by using Kronecker product operation and vector processing technology to generate the reorganized configuration set.

[0032] In some embodiments, selecting the optimal configuration scheme for the transport mechanism to perform the transport task from the reorganized configuration set includes:

[0033] Inputting each motion layer configuration scheme in the reorganized configuration set and preset transport mechanism design parameters into a preset hierarchical evaluation model to obtain a candidate configuration scheme set;

[0034] Recombining the candidate configuration scheme set through a configuration scheme recombination model to generate an initial candidate configuration scheme set;

[0035] The initial set of candidate configuration schemes is input into a preset comprehensive evaluation model, and the redundancy, energy consumption and efficiency of each candidate configuration scheme are calculated respectively; based on a multi-objective optimization method, each candidate configuration scheme is ranked according to the redundancy, energy consumption and efficiency, and the configuration scheme with the best ranking is determined as the optimal configuration configuration scheme.

[0036] In a second aspect, an embodiment of the present application provides a configuration evaluation device for a transport mechanism, comprising:

[0037] An information acquisition module is used to obtain target object information and corresponding transport trajectory information in a transport task;

[0038] an information processing module, configured to perform feature dimensionality reduction on the target object information and the transport trajectory information based on the topological quotient space theory to obtain target feature information and trajectory feature information, wherein the target feature information and trajectory feature information are respectively described by their corresponding subunit information;

[0039] a reconstruction processing module, configured to reconstruct subunits according to the target feature information and the trajectory feature information by using a reconstruction function to obtain configuration subunits suitable for the transport mechanism;

[0040] A recombination processing module, configured to perform a recombination operation on the configuration subunits using a configuration scheme recombination model to generate a recombined configuration set;

[0041] A configuration scheme acquisition module is used to select the best configuration scheme for the transport mechanism to perform the transport task from the reorganized configuration set.

[0042] In a third aspect, an embodiment of the present application provides a conveying mechanism control device, the control device comprising a processor and a memory, the memory storing a computer program, the processor being configured to execute the computer program to implement the conveying mechanism configuration evaluation method of the first aspect described above.

[0043] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, and when the computer program is executed on a processor, the configuration evaluation method of the transport mechanism according to the first aspect is implemented.

[0044] The embodiments of the present application have the following beneficial effects:

[0045] The configuration evaluation method, evaluation device, control device and medium of the handling mechanism of the present application first obtain the target object information and the corresponding handling trajectory information in the handling task, and then perform feature dimensionality reduction processing on these data based on the theory of topological quotient space. This process can accurately extract the key feature information of the target object and the trajectory, avoiding the redundancy and complexity of the information, thereby providing concise and accurate input for subsequent steps. Next, based on the dimensionality reduction results, the target feature information and the trajectory feature information are reconstructed into subunits using a preset reconstruction function to generate configuration subunits suitable for the handling mechanism. By inputting these configuration subunits into the configuration scheme reorganization model for reorganization, a reconstructed configuration set containing multiple configuration schemes is generated. The optimal configuration scheme is then screened from the reconstructed configuration set to ensure that the handling task can be completed under the conditions of highest efficiency and lowest energy consumption. Through the configuration evaluation method of the handling mechanism of the present application, the problems of redundant degrees of freedom, excessive energy consumption and insufficient efficiency in the prior art are successfully solved, the accurate and efficient execution of the handling task is achieved, the overall handling efficiency is improved, the energy consumption is reduced, and the configuration design during the handling process is significantly optimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 A flow chart showing a configuration evaluation method of a transport mechanism according to an embodiment of the present application is shown;

[0048] Figure 2 A schematic diagram of target feature dimensionality reduction changes in a method for evaluating a configuration of a transport mechanism according to an embodiment of the present application is shown;

[0049] Figure 3 A schematic diagram of trajectory feature dimensionality reduction changes in a configuration evaluation method for a transport mechanism according to an embodiment of the present application is shown;

[0050] Figure 4 Schematic diagram showing coefficient representation of direction coefficient and rotation coefficient related to second-dimensional trajectory characteristics in a configuration evaluation method for a transport mechanism according to an embodiment of the present application;

[0051] Figure 5 A schematic diagram showing the motion relationship between target sub-units in a configuration evaluation method for a transport mechanism according to an embodiment of the present application is shown;

[0052] Figure 6A schematic diagram showing the motion relationship of subunits in directional or rotational motion in a configuration evaluation method for a transport mechanism according to an embodiment of the present application is shown;

[0053] Figure 7 A schematic diagram of a motion constraint matrix for planar motion in a configuration evaluation method for a transport mechanism according to an embodiment of the present application is shown;

[0054] Figure 8 A schematic diagram of a motion constraint matrix for directional motion or rotational motion in a configuration evaluation method for a transport mechanism according to an embodiment of the present application is shown;

[0055] Figure 9 Another flow chart of a method for evaluating a configuration of a transport mechanism according to an embodiment of the present application is shown;

[0056] Figure 10 A schematic diagram of the movement process of a transport mechanism in a configuration evaluation method of a transport mechanism according to an embodiment of the present application is shown;

[0057] Figure 11 A structural schematic diagram of a configuration evaluation device for a transport mechanism according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0059] The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but rather merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0060] Hereinafter, the terms "including", "having" and their cognates used in various embodiments of the present application are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the aforementioned items, and should not be understood as excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the aforementioned items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the aforementioned items. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions and should not be understood as indicating or implying relative importance.

[0061] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as in the context of the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning unless clearly defined in the various embodiments of the present application.

[0062] Considering the existing problems of configuration redundancy, insufficient task adaptability, high energy consumption, and low efficiency, a method for configuration evaluation of a transport mechanism is proposed. This method performs feature dimensionality reduction on the target object and trajectory information in a transport task, and utilizes a preset reconstruction function and configuration reorganization model to generate an optimal configuration solution. The proposed method for configuration evaluation of a transport mechanism effectively improves transport efficiency, reduces energy consumption, and ensures efficient task completion.

[0063] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0064] Figure 1 A flow chart of a method for evaluating the configuration of a transport mechanism according to an embodiment of the present application is shown. Exemplarily, the method includes the following steps:

[0065] Step S100: obtaining target object information and corresponding transport trajectory information in a transport task.

[0066] The target object refers to the object being transported, such as materials. Information about all target objects involved in the transport task, including but not limited to basic information such as the type, size, initial position, and target position, is collected to ensure that the position and status of each target object can be accurately identified and tracked during the transport process. Furthermore, it is necessary to obtain trajectory information for the target objects in the transport task, including the transport path, obstacle avoidance points along the path, and posture change points.

[0067] In step S200 , based on the topological quotient space theory, feature dimensionality reduction is performed on the target object information and the transport trajectory information to obtain target feature information and trajectory feature information.

[0068] Among them, the topological quotient space theory is used to represent high-dimensional data in a lower-dimensional space, which can reduce the complexity of the data and retain its core features. In this embodiment, according to the topological quotient space theory, the target object and the transport trajectory are first reduced in dimension through an equivalence relationship to obtain target feature information and trajectory feature information, respectively. Among them, the target feature information refers to simplified data describing the characteristics of the target object, while the trajectory feature information is simplified data describing the transport path and motion process. These reduced-dimensional information can be described by sub-unit information, that is, the target object and the trajectory are respectively decomposed into a group of relatively independent sub-units, and each complex task requirement is expressed and processed through these sub-units.

[0069] Step S300 : Reconstructing the subunits using a preset reconstruction function according to the target feature information and the trajectory feature information to obtain a configuration subunit suitable for the transport mechanism.

[0070] Using a preset reconstruction function, each subunit is reconstructed based on the target and trajectory feature information. The reconstruction function is a mathematical model used to reconstruct and optimize the subunits of the target object and the subunits of the trajectory using the input feature information. Each subunit is reconstructed to meet the requirements of the subsequent configuration design. This step transforms complex target object and trajectory information into subunits suitable for the transport mechanism configuration design. These subunits can then be used to generate the final transport mechanism configuration solution, ensuring the precise execution of the target task.

[0071] Step S400: Using a preset configuration scheme recombination model, a recombination operation is performed on the configuration subunits to generate a recombined configuration set.

[0072] The configuration subunits are reorganized using the configuration scheme reorganization model. The configuration scheme reorganization model uses a series of preset algorithms and rules to combine, arrange, and optimize the configuration subunits according to the target mission requirements. This reorganization process generates a reorganized configuration set containing multiple different configuration schemes. These schemes are potential solutions optimized according to the mission requirements. Each configuration scheme takes into account factors such as the motion requirements, energy efficiency, and redundancy of different tasks, ensuring that the efficiency and accuracy of the handling task are maximized without increasing complexity.

[0073] Step S500: selecting the best configuration scheme for the transport mechanism to perform the transport task from the reorganized configuration set.

[0074] From the generated set of recombinant configurations, the optimal configuration scheme most suitable for performing the handling task is selected. This process evaluates each configuration scheme's multi-objective optimization indicators, such as redundancy, energy consumption, and efficiency, to select the configuration scheme that best meets the task requirements. Redundancy refers to unnecessary degrees of freedom or kinematic pairs in a configuration scheme; energy consumption assessment involves calculating the energy consumption required for each scheme in the handling task; and efficiency is a quantitative assessment of the work efficiency during the handling process. Through the comprehensive evaluation and optimization of these indicators, a handling mechanism configuration scheme with optimal performance that meets the task requirements is ultimately determined, ensuring that the handling task can be completed with the lowest energy consumption and highest efficiency.

[0075] In an optional embodiment, step S100 includes:

[0076] Obtain the basic information of the target object in the handling task, and determine the motion path planned for the target object in the handling task based on the basic information and task requirements.

[0077] Exemplarily, basic information about the target objects involved in the handling task is obtained, including the type, size, initial position, and target position of the target object. Type refers to the type of target object, for example, it may be a box, part, or other type of material; size refers to the physical dimensions of the target object, such as length, width, and height; the initial position and target position are the spatial coordinates of the target object at the beginning and completion of the handling task, respectively. Next, based on the basic information and task requirements, the motion path of the target object is determined, that is, the movement trajectory of the target object from the initial position to the target position. This path planning takes into account the obstacles that may be encountered during the handling process, spatial constraints, and the timing requirements of the task to ensure that the path planning is reasonable and feasible.

[0078] Based on the motion path, the transport trajectory of the target object from the initial position to the target position is obtained, the basic information of the target object and the transport trajectory are structured and organized, and the target object information and corresponding transport trajectory information of the transport task are obtained.

[0079] Based on the planned motion path, the target object's trajectory from its initial position to its target position is recorded. A trajectory refers to each point along the planned path that the target object passes through, reflecting the object's movement. When recording the trajectory, two key elements require particular attention: obstacle avoidance points and posture change points. Obstacle avoidance points are points where the object must change its direction or path when encountering obstacles or other elements that must be avoided. Pose change points are points where the object's posture (i.e., position and attitude) changes, typically involving rotation or orientation. The acquired basic information about the target object and the trajectory are structured. Structuring this information involves organizing and categorizing it according to a standard format so that each data item can be clearly and effectively linked. For example, basic information about the target object (such as type, size, initial position, and target position) is organized as a single unit of information, while the trajectory can include multiple points, each of which records the position, direction, and associated constraints of the target object during its motion. This organization process helps with subsequent analysis and calculations, ensuring that all necessary information is stored in an orderly manner and can be accurately called, thereby providing the necessary data support for subsequent dimensionality reduction, optimization and execution.

[0080] In an optional embodiment, step S200 includes:

[0081] Based on the target object information, a spatial topological map between each target object is constructed, and the target object information is equivalently transformed through the equivalence relationship in the topological quotient space theory to generate the target feature information of the corresponding dimension, such as Figure 2 shown.

[0082] Specifically, based on the acquired target object information (such as type, size, initial position, and target position), a spatial topological map is constructed between each target object. This spatial topological map abstractly represents the spatial relationships between target objects, forming a graph structure. Each node represents a target object, and the edges between nodes represent the spatial relationships between objects (e.g., proximity, collision risk, etc.). Next, the target object information is transformed using equivalence relations in topological quotient space theory. Topological quotient space theory constructs a new space that maps the high-dimensional information of target objects into a lower-dimensional space, preserving the key features of the original data while eliminating redundancy. Using equivalence relations, the spatial information of target objects is converted into target feature information, a simplified and dimensionalized representation of the data. This information facilitates subsequent operations and analysis, ensuring that the spatial relationships between objects are effectively processed and described.

[0083] Based on the transport trajectory information, the obstacle avoidance points and posture change points are extracted, and the transport trajectory information is equivalently transformed through the equivalence relationship in the topological quotient space theory to generate the trajectory feature information of the corresponding dimension, such as Figure 3 shown.

[0084] Based on the transport trajectory information, key obstacle avoidance points and posture change points are extracted. Obstacle avoidance points refer to moments during the transport process when the target object collides with obstacles or other objects and the object needs to change its direction of movement to avoid collision; posture change points refer to moments when the object's posture changes significantly during the transport process, such as direction adjustment or position transfer. These points are crucial for planning and optimizing the transport path. Subsequently, through the equivalence relation in the theory of topological quotient spaces, the transport trajectory information is transformed equivalently, that is, the high-dimensional trajectory data is mapped to a low-dimensional space, while retaining the core features of the trajectory information while simplifying the complexity of the data. After the equivalent transformation, the corresponding trajectory feature information is generated, which can effectively describe the main features of the trajectory during the transport process. Through these features, the complexity of the transport path is reduced, while providing simplified data that is easy to calculate and optimize.

[0085] In this step, the resulting target feature information is described using target subunits in the corresponding quotient space. Target subunits further subdivide the characteristics of the target object into smaller, independent elements for more precise analysis and processing. For example, the target object can be represented by multiple subunits (such as different motion surfaces, connection points, etc.), each subunit responsible for a portion of the target object's characteristics. Similarly, trajectory feature information is described using trajectory subunits in the corresponding quotient space. Trajectory subunits subdivide different parts of the transport trajectory into independent motion units, facilitating independent analysis and optimization of the motion mode and path of each part. This subdivision and description allows for a more precise understanding of the target object's motion characteristics and the details of the transport trajectory, providing more accurate data support for subsequent reconstruction and evaluation.

[0086] Furthermore, the dimensionality reduction process of target features and trajectory features is described by the following mathematical formula:

[0087] Target feature dimensionality reduction function: The target object, initial position, and target position in the transport scene are treated as high-dimensional data and transformed using the equivalence relation R in the topological quotient space. When an equivalence relation exists, the high-dimensional data is reduced and output as low-dimensional features. The target feature dimensionality reduction function is as follows:

[0088]

[0089] in, represents the target domain dimension reduction subunit set of the jth layer; A represents the characteristics of the target object; j and i are the serial numbers representing the target subunits;

[0090] represents the motion constraint set of the jth layer, represents the topology of the jth layer;

[0091] , , indicating that the subunits move independently;

[0092] when , represents the combined motion of subunits;

[0093] This indicates that there are independent and combined motions in the subunits;

[0094] Represents the set of all target subunits in the jth layer of the target object.

[0095] Trajectory feature dimensionality reduction function: The high-dimensional trajectory data is mapped to low-dimensional features through the equivalence relation R. After dimensionality reduction, the trajectory feature information can effectively describe the key characteristics of the transport path, such as movement direction, posture change points, etc. The trajectory feature dimensionality reduction function is as follows:

[0096]

[0097] in: Indicates the The trajectory domain of the layer is reduced in dimension by the subunit set; represents the constraint set for dimensionality reduction of trajectory features at the jth layer; represents the topological structure set within the trajectory domain of the jth layer; Represents multiple subunits of the jth layer; The coefficient indicating the existence of the kinematic pair actually required for the transport trajectory; Indicates the direction or rotation in the second-level dimensionality reduction result of the transport trajectory; P represents the translation pair; R represents the rotation pair;

[0098] , is the indicator function, when , ;when , , , Represents the total number of kinematic pairs required for the mechanical system.

[0099] In an optional embodiment, the obstacle avoidance points and posture change points are used as the first-dimensional trajectory feature information; the corresponding motion direction and rotation information are extracted at the positions of the obstacle avoidance points and posture change points as the second-dimensional trajectory feature information; and the motion pairs required to realize the motion direction and rotation movement are used as the third-dimensional trajectory feature information.

[0100] The obstacle avoidance points and posture change points are used as the first dimension trajectory feature information in the transport trajectory, for example, the special point set Obstacle avoidance points are key locations where the path of an object needs to change when it needs to circumvent obstacles during transport. Posture change points are points where the position and posture (including direction and angle) of an object change significantly during its motion. By using these points as first-dimensional features, key nodes in the object's path can be extracted, simplifying the trajectory analysis and optimization process. This dimension of feature information can help subsequent steps more accurately describe the object's motion changes and obstacle avoidance requirements.

[0101] For each obstacle avoidance point and posture change point, the object's motion direction and rotation information are extracted as the second dimension trajectory feature information, such as The direction of motion refers to the direction of change in an object's orientation during motion; the rotational direction refers to the direction in which the object rotates around its axis (for example, clockwise or counterclockwise). By analyzing this information, we can further describe the specific motion characteristics of the object during obstacle avoidance or posture changes. The second dimension of features provides detailed data on how the object circumvents obstacles or adjusts its posture, helping to optimize trajectory design.

[0102] like Figure 4 As shown in , a coefficient table of direction coefficients and rotation coefficients related to the second dimension trajectory features is shown. Specifically, the table lists each trajectory point (such as ) in all directions The coefficient of motion on the These coefficients can be used to quantify the change in the direction and rotation of the object at different positions. During trajectory planning, to reduce the redundancy of kinematic pairs, when multiple coefficients in the same column are 1, only one 1 is retained. This simplifies the representation of the kinematic pair, thereby reducing computational complexity and redundancy.

[0103] According to the motion direction and rotation information, the required kinematic pairs are extracted as the third-dimensional trajectory feature information of the trajectory. Here, [P] and [R] represent translational and rotational motion, respectively. A kinematic pair refers to the driving elements (such as joints, motors, and transmission mechanisms) required in a mechanical system to achieve the direction or rotation of an object's motion. For example, translational motion may require a translational pair, while rotational motion requires a rotational pair. By extracting information about these kinematic pairs, the required drive and operating parameters for the trajectory can be accurately described. This third-dimensional feature information helps further optimize the coordination and efficiency of the various moving parts during the handling process, ensuring the accuracy and stability of trajectory execution.

[0104] In an optional embodiment, step S300 includes:

[0105] The target subunit is simplified to generate a simplified target configuration subunit.

[0106] Exemplarily, simplification processing is the deletion and merging operation performed on the original target subunits in the configuration design stage in order to reduce the system's degree of freedom and improve computational efficiency. In detail, redundant functional modules can be removed, or structures with similar functions can be integrated to generate simplified target configuration subunits that are more refined and suitable for configuration generation. Furthermore, for situations where the output results of the initial position and target position subunits contain multiple separate motion subunits, if there are redundant position units, the transport mechanism structure will be complicated and path resources will be wasted. Therefore, the "material pallet transfer" method is introduced to avoid the redundant position occupation that may exist in the actual transport path. For example, see Figure 2 As shown, when a target subunit Contains initial position subunit Target position subunit When the task is completed, you can choose whether to move independently or combined exercise , and finally reconstructed into: ;in, It is a combined motion relationship, that is, two target subunits can be driven by one motion pair.

[0107] The simplified target configuration subunits and trajectory subunits are hierarchically divided into plane motion layer, directional motion layer and rotational motion layer, and the corresponding motion layer subunits are generated according to the motion characteristics of each layer.

[0108] On this basis, according to the motion characteristics of the target object during the transportation process, the sub-units are divided into plane motion layer (PML), directional motion layer (TML) and rotational motion layer (RML). Among them, the plane motion layer is responsible for describing the linear motion of the object on the plane, the directional motion layer describes the change in direction of the object, and the rotational motion layer specifically handles the rotational motion of the object. According to the motion characteristics of each layer, the corresponding motion layer sub-units are generated. Furthermore, in order to realize the division of the motion layer, combined with the output results of the trajectory feature dimensionality reduction, the following judgment logic is also set: when the trajectory dimensionality reduction result output , there are two or more directions of movement, and the directions are perpendicular to each other, then it is divided into a plane motion layer, and a set of perpendicular directions are selected to form a plane motion; when the trajectory dimensionality reduction result output , , , when any direction motion variable is satisfied, the existing motion direction is selected as at most one direction motion layer; when the trajectory dimension reduction result output , , , when there is any rotation direction that satisfies the inequality, the rotation direction is selected as the rotation motion layer. The order of motion layer division is: plane motion layer > direction motion layer > rotation motion layer.

[0109] In order to further refine the motion combination pattern of the sub-units within the motion layer, it is necessary to combine the multi-dimensional directional coefficients obtained after the dimension reduction of the trajectory features and the synergistic relationship between the target sub-units to clarify whether different sub-units are in a linkage state in various motion layers. For example, in the plane motion layer: the motion relationship between the target sub-units, such as Figure 5 As shown, the position marked as "1" indicates that the corresponding sub-unit is in a linkage state in the plane motion combination. In the directional motion layer and the rotational motion layer: the relative motion relationship of each sub-unit is as follows: Figure 6 As shown, it reflects the synergy between different target objects during angle changes and posture adjustments.

[0110] For each motion layer sub-unit, a preset reconstruction function is called to generate a configuration sub-unit that meets the motion constraint conditions within the motion layer and the corresponding constraint matrix.

[0111] For each of the above-mentioned motion layer subunits, the preset reconstruction function is called to generate the configuration. The reconstruction function is the structure conversion logic set according to the motion characteristics. It combines the motion constraints and constraint matrix within each layer to output the configuration subunit that meets the constraint rules. Taking the plane motion layer as an example, according to the translation direction feature obtained after trajectory dimensionality reduction The value of is determined by the corresponding constraint matrix, such as Figure 7 As shown. When the trajectory dimension reduction feature satisfies + When ≥1, the plane motion layer is determined to exist and the preset reconstruction function is called , combined with the matrix to generate a configuration subunit that meets the constraints; if =0, = 0, then the translation mode is excluded. Similarly, in the direction and rotation motion layer, if the trajectory dimension reduction feature satisfies , it means that the target has non-translational motion requirements, and the corresponding constraint matrix is ​​as follows: Figure 8 As shown, the sub-unit combination and screening operations are also performed in conjunction with the matrix.

[0112] During the reconstruction process, the motion type (independent / combined) of each subunit will be determined by the direction coefficient or rotation coefficient in the dimensionality reduction trajectory. For example, when the direction coefficient is 1, the target subunit participates in the motion, and when the direction coefficient is 0, the target subunit does not participate in the motion.

[0113] Furthermore, when the planar motion layer exists, rotation can replace translation in the planar motion. The trajectory subunit reconstruction function is designed according to the reconstructed target subunit: When the planar motion layer exists and each target subunit is driven by a combination of two kinematic pairs, the constraint condition Established, the trajectory subunit is reconstructed as: ; When the planar motion layer exists and each target subunit is driven by one motion pair, the constraint condition Established, the trajectory subunit is reconstructed as: If the directional motion layer or the rotational motion layer exists, and each target subunit is driven by a motion pair, the directional motion layer trajectory subunit is reconstructed as , the rotational motion layer trajectory subunit is reconstructed as: .in, represents the constraints and conditions under which each target subunit in the planar motion layer is driven by a combination of two kinematic pairs; Indicates the constraint condition driven by a kinematic pair in planar motion; PP indicates the translation-translation kinematic pair combination in planar motion; PR indicates the translation-rotation kinematic pair combination in planar motion; RP indicates the rotation-translation kinematic pair combination in planar motion; RR indicates the rotation-rotation kinematic pair combination in planar motion. and There are four matrix forms and different matrix judgment criteria.

[0114] In an optional embodiment, step S400 includes:

[0115] The preset reorganization functions are called for the plane motion layer configuration subunit, the directional motion layer configuration subunit, and the rotational motion layer configuration subunit respectively, and hierarchical combination is performed according to the motion sequence of each configuration subunit in the handling task to generate the plane motion layer configuration scheme, the directional motion layer configuration scheme, and the rotational motion layer configuration scheme.

[0116] Exemplarily, the preset reorganization function is called for the plane motion layer configuration subunit, the directional motion layer configuration subunit, and the rotational motion layer configuration subunit respectively. The reorganization function rearranges and combines the subunits according to predetermined algorithms and rules to ensure that the motion characteristics of each subunit meet the task requirements. Then, according to the movement order of each configuration subunit in the handling task, the configuration subunits of plane motion, directional motion, and rotational motion are combined into independent configuration schemes in a hierarchical combination manner, generating the plane motion layer configuration scheme, directional motion layer configuration scheme, and rotational motion layer configuration scheme respectively. These configuration schemes provide the basic schemes for different motion layers for subsequent reorganization and optimization.

[0117] The Kronecker product operation and vector processing technology are used to combine the plane motion layer configuration scheme, the directional motion layer configuration scheme, and the rotation motion layer configuration scheme to generate a recombined configuration set.

[0118] To further integrate the configuration schemes for each layer, the generated planar motion layer, directional motion layer, and rotational motion layer configuration schemes were combined using Kronecker product operations and vector processing techniques. The Kronecker product is a matrix operation that generates a new matrix by multiplying the elements of different matrices. In this application, the Kronecker product is used to combine the configuration schemes for different motion layers to generate a complete set of schemes. Vector processing techniques are used to process and calculate the vector data in each configuration scheme, ensuring that the motion path and object state of each configuration scheme can be accurately calculated and optimized. Through this combination operation, the final recombined configuration set generated includes all possible configuration schemes, covering all combinations of planar, directional, and rotational motion, and providing multiple feasible transportation solutions for further selection of the optimal one.

[0119] Building on this foundation, the comprehensive configuration scheme reconfiguration (QML) model was further applied. It generates the final reconfigured configuration set based on the motion constraints (such as translation and rotation constraints) at each layer and the motion relationships of the subunits. The QML model uses a hierarchical approach, combining planar motion with translational and rotational motions to form a complete reconfigured configuration set. The configuration set, constraint set, and topology of each layer are clearly defined to ensure that each layer meets the motion requirements and provide a basis for subsequent configuration evaluation and optimization.

[0120] The specific mathematical expression is as follows:

[0121]

[0122] in, represents the recombinant configuration set of the jth layer, that is, the set of configuration subunits of each layer;

[0123] Represents the topological relationship of the reorganized configuration of the jth layer;

[0124] Represents the reconfiguration constraint set of the jth layer, including the motion constraints and motion directions of the subunits of this layer;

[0125] vec(.) represents the vectorization of the configuration scheme after reorganization of each layer;

[0126] The target subunit motion constraint function representing the planar motion layer;

[0127] ， The target subunit motion constraint functions representing the directional motion layer and the rotational motion layer respectively;

[0128] P represents the translational kinematic pair, which means the translation of the object in the plane;

[0129] R represents a revolute pair, which indicates the rotational motion of an object;

[0130] Represents the transposed matrix of the i-th layer, which is used for the motion transformation of the subunit;

[0131] represents the symbolic configuration solution vector;

[0132] is the Kronecker product, which is used to combine the recombination functions of different motion layers to form the final recombined configuration;

[0133] represents the existence coefficient of the reconstruction layer. If =0 , then the motion subunit of this layer does not participate in the final configuration reorganization, avoiding the appearance of an all-zero matrix.

[0134] Through this hierarchical reorganization and mathematical operations, efficient integration of multiple layers of motion characteristics (plane, direction, rotation) can be achieved, ultimately generating a set of reorganized configurations that meet the requirements of the handling task, providing multiple feasible solutions for subsequent path planning and task execution, so as to further select the optimal solution.

[0135] In an optional embodiment, step S500, such as Figure 9 As shown, including:

[0136] Step S501: Input the configuration schemes of each moving layer in the reorganized configuration set and the preset design parameters of the transport mechanism into a preset hierarchical evaluation model to obtain a candidate configuration scheme set.

[0137] Among them, the hierarchical evaluation model is a multi-level evaluation system that aims to select the best configuration scheme that meets the mission requirements by analyzing different configuration schemes layer by layer. For example, in this model, each configuration scheme is compared based on the number of kinematic pairs and component mass. If in a certain configuration scheme, if configuration scheme 1 has a smaller number of kinematic pairs and a smaller mass, configuration scheme 2 will be output to ensure the quality and efficiency of the scheme. Among them, the above-mentioned number of kinematic pairs refers to the number of independent kinematic pairs required for each scheme, which reflects the freedom and flexibility of the transport mechanism; the component mass refers to the weight and durability of all components in the configuration scheme. Through this analysis, a set of candidate configuration schemes that meet the preset conditions (such as the minimum number of kinematic pairs and reasonable component mass) is generated.

[0138] Step S502 : Reorganize the candidate configuration solution set through the configuration solution reorganization model to generate an initial candidate configuration solution set.

[0139] In one embodiment, the above configuration scheme reorganization model is expressed as follows:

[0140]

[0141] in, Represents the final generated configuration scheme set; vec(.) represents the vectorization of the configuration schemes after reorganization of each layer to obtain the final reorganized configuration set; is the Kronecker product, which is used to combine the recombination functions of different motion layers to form the final recombined configuration; Represents the existence coefficient of the reconstruction layer; represents the reorganized configuration set of the jth layer, that is, the set of configuration subunits of each layer.

[0142] It can be understood that this formula combines the configuration schemes of different motion layers (such as plane motion layer, directional motion layer, rotational motion layer, etc.) through the Kronecker product, and through the existence coefficient The participation of each layer is controlled, and finally the vectorization function vec(.) is used to convert the combined results into symbolic configuration solutions. This design allows for the flexible combination of configuration solutions from different layers to generate diverse configuration solutions that meet the requirements of the handling task.

[0143] In step S503, the initial set of candidate configuration schemes is input into a preset comprehensive evaluation model to calculate the redundancy, energy consumption, and efficiency of each candidate configuration scheme respectively; based on the multi-objective optimization method, the candidate configuration schemes are ranked according to redundancy, energy consumption, and efficiency, and the configuration scheme with the best ranking is determined as the optimal configuration configuration scheme.

[0144] The comprehensive evaluation model is primarily used to analyze key performance indicators such as redundancy, energy consumption, and efficiency. Redundancy refers to unnecessary kinematic pairs or degrees of freedom. For example, it can be calculated by comparing the number of kinematic pairs in a proposed configuration to the output values ​​from the trajectory dimensionality reduction process. Energy consumption includes both no-load and loaded energy consumption. Efficiency refers to the efficiency of movement of each component and the overall efficiency of the system during the handling process. For example, it can be calculated by measuring the total distance traveled by all components during the handling process.

[0145] Information from the initial candidate configurations (e.g., total number of kinematic joints, total number of kinematic joints required for the mechanical system, friction coefficient, component mass, speed, acceleration, target position parameters, etc.) is input into a pre-set comprehensive evaluation model. These calculations evaluate the pros and cons of each candidate configuration, providing a basis for ultimately selecting the optimal configuration. A multi-objective optimization approach is then used to rank the resulting candidate configurations and select the optimal configuration for application to the handling mechanism. This approach aims to find the optimal balance between redundancy, energy consumption, and efficiency, ensuring that the final selected configuration is highly efficient, energy-efficient, and offers excellent operability.

[0146] Take a specific example to illustrate the movement process of the transport mechanism: Figure 10 As shown, the symbolic description of the transport mechanism is The gripper that holds the target object is driven by two mobile pairs P in series, the initial position is driven by a rotation pair R, and the target position is driven by a mobile pair P. The initial position and the target position are placed in the same plane, and the gripper is placed above the initial position and the target position.

[0147] In detail, the complete movement process of the target object can be described by the following stages. The transport task from the initial position to the target position includes planar motion and rotational motion. First, the target object is located at the initial position (e.g. Figure 10 (as shown by "number 1" in the figure). At this position, the object is ready to start the transport task and is at the starting point. At this time, the target object is driven by a translation pair (P) and begins to translate in a certain direction. The target object starts to move along the plane from the initial position. Through the drive of the translation pair, the object's motion trajectory in the plane gradually forms, and finally reaches the position shown in the figure. Figure 10 The position shown by "number 2" in the figure. This position reflects an intermediate point in the object's transportation process, and the target object is still performing linear motion in the plane. Then, the target object continues to translate along the plane and moves to the position shown in the figure. Figure 10The position shown by number 3 in the figure. At this point, fine-tuning of the motion may be performed according to the task requirements to ensure that the target object can accurately reach the target position. Through the continuous driving of the translation pair, the plane trajectory of the object is continuously improved. After completing the plane motion, the target object enters the rotational motion stage. The rotational motion is driven by the rotation pair (R), which allows the object to rotate around a fixed point. At this time, the target object can adjust its direction and angle to ensure that it maintains the correct orientation when it reaches the target position. Figure 10 As shown in the figure "number 4", the target object is rotated to adjust its direction and accurately placed at the target location. The rotation joint controls the rotation angle of the object, thereby ensuring that the direction of the target object is completely aligned when it reaches the target location. Finally, the target object successfully reaches the target location (such as Figure 10 At this position, the target object has completed the entire transport process and has been correctly placed in the predetermined location, completing the mission.

[0148] By combining the two kinematic pairs of translation and rotation, the motion of the target object is precisely controlled. In the initial stage, the object is translated along the plane by the translation pair (P) (from Figure 10 Then, when the object approaches the target position, the revolute joint (R) comes into play to help the object adjust its direction and finally place it precisely at the target position (as shown in the figure 1 to 2 and then to 3). Figure 10 The coordinated action of these two kinematic pairs ensures the precise handling of the target object, avoids unnecessary deviations, and ensures that the target object is ultimately accurately placed at the target location.

[0149] Figure 11 A schematic diagram of a configuration evaluation device for a transport mechanism according to an embodiment of the present application is shown. Exemplarily, the configuration evaluation device 100 includes:

[0150] The information acquisition module 110 is used to obtain target object information and corresponding transport trajectory information in the transport task;

[0151] An information processing module 120 is configured to perform feature dimensionality reduction on the target object information and the transport trajectory information based on topological quotient space theory to obtain target feature information and trajectory feature information, wherein the target feature information and trajectory feature information are respectively described by their corresponding subunit information;

[0152] A reconstruction processing module 130 is configured to reconstruct subunits according to the target feature information and the trajectory feature information by using a reconstruction function to obtain configuration subunits suitable for the transport mechanism;

[0153] The reorganization processing module 140 is used to perform a reorganization operation on the configuration subunits using the configuration scheme reorganization model to generate a reorganized configuration set;

[0154] The configuration scheme acquisition module 150 is used to select the best configuration scheme for the transport mechanism to perform the transport task from the reorganized configuration set.

[0155] It can be understood that the apparatus of this embodiment corresponds to the method of the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0156] The present application also provides a conveying mechanism control device. Exemplarily, the conveying mechanism control device includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to enable the conveying mechanism control device to execute the functions of each module in the above method or the above device.

[0157] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0158] The memory may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM). The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving an execution instruction.

[0159] This application also provides a computer-readable storage medium for storing the computer program used in the aforementioned computer device. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or flowchart, and the combination of boxes in the structure diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0161] In addition, the functional modules or units in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0162] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a smart phone, personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0163] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A method for evaluating the configuration of a transport mechanism, characterized in that: The method comprises: Obtain target object information and corresponding transport trajectory information in the transport task; According to the topological quotient space theory, feature dimensionality reduction is performed on the target object information and the transport trajectory information to obtain target feature information and trajectory feature information, wherein the target feature information and the trajectory feature information are respectively described by their corresponding subunit information; According to the target feature information and the trajectory feature information, a subunit is reconstructed by a preset reconstruction function to obtain a configuration subunit suitable for the transport mechanism; the configuration subunit includes a plane motion layer configuration subunit, a directional motion layer configuration subunit, and a rotational motion layer configuration subunit; Performing a recombination operation on the configuration subunits using a preset configuration scheme recombination model to generate a recombinant configuration set, including: Calling a preset reorganization function for each of the planar motion layer configuration subunits, the directional motion layer configuration subunits, and the rotational motion layer configuration subunits, and performing hierarchical combination according to the motion sequence of each configuration subunit in the handling task to generate a planar motion layer configuration scheme, a directional motion layer configuration scheme, and a rotational motion layer configuration scheme; Using Kronecker product operation and vector processing technology, the planar motion layer configuration scheme, the directional motion layer configuration scheme, and the rotational motion layer configuration scheme are combined to generate the recombined configuration set; An optimal configuration scheme for the transport mechanism to perform the transport task is selected from the reorganized configuration set.

2. The method for evaluating the configuration of a transport mechanism according to claim 1, wherein: The obtaining of target object information and corresponding transport trajectory information in the transport task includes: Obtaining basic information of the target object in the transport task, and determining a motion path planned for the target object in the transport task based on the basic information and task requirements; the basic information includes type, size, initial position, and target position; Based on the motion path, obtaining a transport trajectory of the target object from the initial position to the target position, wherein the transport trajectory includes obstacle avoidance points and posture change points; The basic information and the transport trajectory of the target object are structured and sorted to obtain the target object information and the corresponding transport trajectory information of the transport task.

3. The method for evaluating the configuration of a transport mechanism according to claim 2, wherein: The feature dimensionality reduction is performed on the target object information and the transport trajectory information based on the topological quotient space theory to obtain target feature information and trajectory feature information, including: Based on the target object information, a spatial topological map between the target objects is constructed, and the target object information is equivalently transformed using an equivalent relationship in the topological quotient space theory to generate the target feature information of the corresponding dimension; Based on the transport trajectory information, the obstacle avoidance points and the posture change points are extracted, and the transport trajectory information is equivalently transformed using an equivalent relationship in the topological quotient space theory to generate the trajectory feature information of the corresponding dimension; The target feature information is described by the target sub-unit corresponding to the quotient space; the trajectory feature information is described by the trajectory sub-unit corresponding to the quotient space.

4. The method for evaluating the configuration of a transport mechanism according to claim 3, wherein: The performing equivalent transformation on the transport trajectory information by using the equivalent relationship in the topological quotient space theory to generate the corresponding trajectory feature information includes: Using the obstacle avoidance point and the posture change point as first-dimensional trajectory feature information; Extracting corresponding motion direction and rotation information at the obstacle avoidance point and the posture change point as second-dimensional trajectory feature information; The kinematic pair required to realize the motion direction and rotational motion is used as the third-dimensional trajectory feature information.

5. The method for evaluating the configuration of a transport mechanism according to claim 3, wherein: The subunit reconstruction is performed according to the target feature information and the trajectory feature information by using a preset reconstruction function to obtain a configuration subunit suitable for the transport mechanism, including: Simplifying the target subunit to generate a simplified target configuration subunit; Divide the simplified target configuration subunit and the trajectory subunit into plane motion layer, direction motion layer and rotation motion layer, and generate corresponding motion layer subunits according to the motion characteristics of each layer; For each of the motion layer subunits, a preset reconstruction function is called to generate a configuration subunit that satisfies the motion constraint conditions within the motion layer and the corresponding constraint matrix; The motion layer subunits include a plane motion layer subunit, a directional motion layer subunit, and a rotational motion layer subunit.

6. The method for evaluating the configuration of a transport mechanism according to claim 1, wherein: The selecting of the optimal configuration scheme for the transport mechanism to perform the transport task from the reorganized configuration set includes: Inputting each motion layer configuration scheme in the reorganized configuration set and preset transport mechanism design parameters into a preset hierarchical evaluation model to obtain a candidate configuration scheme set; Recombining the candidate configuration scheme set through a configuration scheme recombination model to generate an initial candidate configuration scheme set; The initial set of candidate configuration schemes is input into a preset comprehensive evaluation model, and the redundancy, energy consumption and efficiency of each candidate configuration scheme are calculated respectively; based on a multi-objective optimization method, each candidate configuration scheme is ranked according to the redundancy, energy consumption and efficiency, and the configuration scheme with the best ranking is determined as the optimal configuration configuration scheme.

7. A configuration evaluation device for a transport mechanism, characterized in that: The device comprises: An information acquisition module is used to obtain target object information and corresponding transport trajectory information in a transport task; an information processing module, configured to perform feature dimensionality reduction on the target object information and the transport trajectory information based on the topological quotient space theory to obtain target feature information and trajectory feature information, wherein the target feature information and trajectory feature information are respectively described by their corresponding subunit information; a reconstruction processing module, configured to reconstruct subunits using a reconstruction function according to the target feature information and the trajectory feature information, to obtain configuration subunits suitable for the transport mechanism; the configuration subunits include a plane motion layer configuration subunit, a directional motion layer configuration subunit, and a rotational motion layer configuration subunit; A recombination processing module is used to perform a recombination operation on the configuration subunits using a configuration scheme recombination model to generate a recombined configuration set, including: Calling a preset reorganization function for each of the planar motion layer configuration subunits, the directional motion layer configuration subunits, and the rotational motion layer configuration subunits, and performing hierarchical combination according to the motion sequence of each configuration subunit in the handling task to generate a planar motion layer configuration scheme, a directional motion layer configuration scheme, and a rotational motion layer configuration scheme; Using Kronecker product operation and vector processing technology, the planar motion layer configuration scheme, the directional motion layer configuration scheme, and the rotational motion layer configuration scheme are combined to generate the recombined configuration set; A configuration scheme acquisition module is used to select the best configuration scheme for the transport mechanism to perform the transport task from the reorganized configuration set.

8. A conveying mechanism control device, characterized in that: The control device includes a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the configuration evaluation method for a transport mechanism according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The device stores a computer program, which, when executed on a processor, implements the configuration evaluation method for a transport mechanism according to any one of claims 1 to 6.

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