Control method and system, equipment, storage medium and program product

Abstract

The embodiment of the invention provides a control method and system, equipment, a storage medium and a program product, and the method comprises the steps: determining an initial clamping position based on the attribute information of a target material and a deflection threshold value; generating an initial control instruction based on the initial clamping position and sending the initial control instruction to the first transportation equipment and the second transportation equipment so as to control the first transportation equipment and the second transportation equipment to clamp and fix the target material and move according to the target route by utilizing a clamping part according to the respective corresponding initial clamping positions; in the moving process, a clamping position adjusting request is obtained; the clamping position adjusting request is generated based on a detection result that the deflection of the target material exceeds a deflection threshold value; and on the basis of the position information exceeding the deflection threshold value, the clamping position of the first transportation equipment and / or the second transportation equipment is adjusted, and an adjustment control instruction is generated so as to control and adjust the clamping position of the first transportation equipment and / or the second transportation equipment. According to the scheme of the embodiment of the invention, the material carrying safety is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent control, and more particularly to a control method and system, device, storage medium and program product. Background Technology

[0002] With the continuous development of intelligent construction and smart logistics, the application of transportation equipment in material handling and distribution operations is becoming increasingly widespread. For example, AGVs (Automated Guided Vehicles) are used to transport steel bars on construction sites.

[0003] For materials with slender structures, two transport devices are typically used in tandem for handling. Specifically, the two devices can clamp the two ends of the material and move synchronously along a given route. However, due to the material's properties, the suspended portions of the material are prone to bending and deformation during handling, which may cause a shift in the center of gravity and increase the risk of the material falling off or colliding.

[0004] Therefore, how to reasonably set the clamping positions of the two transport devices is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a control method, system, device, storage medium, and program product to improve the rationality of the clamping position of the two transport devices when they are cooperating in the material handling process.

[0006] In a first aspect, this application provides a control method applied to a control device in a control system, the control system including the control device and a plurality of transport devices having a communicative connection with the control device, the transport devices including moving parts and clamping parts, the method comprising: In response to a handling request for a target material, the initial clamping positions of the first transport device and the second transport device corresponding to the target material are determined based on the attribute information and deflection threshold of the target material. An initial control command is generated based on the initial clamping position and sent to the first transport device and the second transport device to control the first transport device and the second transport device to clamp and fix the target material using the clamping component according to their respective initial clamping positions, and to move according to the target route; During the movement of the first transport device and the second transport device, a clamping position adjustment request is obtained; the clamping position adjustment request is generated based on the detection result that the deflection of the target material exceeds the deflection threshold; Based on the position information where the deflection exceeds the deflection threshold, adjust the clamping position of the first transport device and / or the second transport device; An adjustment control command is generated based on the adjusted clamping position, and the adjustment control command is sent to the first transport device and the second transport device to control the adjustment of the clamping position of the first transport device and / or the second transport device.

[0007] Secondly, this application provides a control method applied to any transport device in a control system, the control system including a control device and a plurality of transport devices having a communication connection with the control device, the transport devices including moving parts and clamping parts, the method comprising: The initial control command sent by the control device is obtained; the initial control command is generated based on the initial clamping positions of the first transport device and the second transport device corresponding to the target material, and the initial clamping positions are determined based on the attribute information and deflection threshold of the target material. According to the corresponding initial clamping position, the clamping component is used to clamp and fix the target material, and then move it along the target route; During the movement, an adjustment control command sent by the control device is acquired; the adjustment control command is generated based on the adjusted clamping position of the first transport device and / or the second transport device, and the clamping position is determined based on the position information of the deflection exceeding the deflection threshold; Adjust the corresponding clamping position according to the control command.

[0008] Thirdly, this application provides a control system, including a control device and a plurality of transport devices having a communication connection with the control device, wherein the transport devices include moving parts and clamping parts; The control device is used to respond to a handling request for a target material, and based on the target material's property information and deflection threshold, determine the initial clamping positions of the first transport device and the second transport device corresponding to the target material; generate initial control commands based on the initial clamping positions, and send the initial control commands to the first transport device and the second transport device; The first transport device and the second transport device are used to obtain the initial control command, and according to their respective initial clamping positions, use the clamping components to clamp and fix the target material, and move according to the target route; The control device is further configured to acquire a clamping position adjustment request during the movement of the first transport device and the second transport device; the clamping position adjustment request is generated based on the detection result that the deflection of the target material exceeds the deflection threshold; adjust the clamping position of the first transport device and / or the second transport device based on the position information that the deflection exceeds the deflection threshold; generate an adjustment control command based on the adjusted clamping position, and send the adjustment control command to the first transport device and the second transport device; The first transport device and the second transport device are also used to adjust the corresponding clamping position according to the adjustment control command.

[0009] Fourthly, this application provides a computing device, including a storage component and a processing component; the storage component stores one or more computer program instructions, which are invoked and executed by the processing component, and the processing component executes the one or more computer program instructions to implement the control method as described in the first aspect, or the control method as described in the second aspect.

[0010] Fifthly, this application provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a computer to implement the control method as described in the first aspect, or the control method as described in the second aspect.

[0011] In a sixth aspect, this application provides a computer program product, including a computer program or instructions, which, when executed by a computer, implement the control method as described in the first aspect or the control method as described in the second aspect.

[0012] In this embodiment of the application, when responding to a handling request for a target material, the control device can determine the initial clamping positions of the two transport devices used for collaborative handling of the target material based on the material's property information and a preset deflection threshold. It then generates initial control commands and sends them to the two transport devices to control them to clamp the target material and begin moving according to their respective initial clamping positions. During the movement, the control device can also acquire a clamping position adjustment request. This request is generated based on the detection result that the target material has undergone deflection deformation and the deflection exceeds a preset deflection threshold. Based on the position information indicating that the deflection exceeds the deflection threshold, the control device can adjust the clamping positions of the first and / or second transport devices, thereby generating adjustment control commands and sending them to the two transport devices to control the adjustment of their clamping positions.

[0013] By pre-setting a reasonable deflection threshold and based on this threshold and the target material's properties, the initial clamping positions of the two transport devices are accurately calculated. Furthermore, based on the detection results of whether the deflection of the target material exceeds the deflection threshold during movement, and upon detection of an exceedance, the clamping positions of the transport devices are adjusted accordingly based on the location information of the deflection exceeding the threshold. This combination of static theoretical calculation and dynamic detection and adjustment effectively addresses the impact of external factors such as asynchronous device movement and uneven ground, ensuring that the target material remains within a safe range during actual handling, thus improving the safety and stability of the collaborative handling of target materials using two transport devices.

[0014] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A flowchart of one embodiment of the control method provided in this application is shown; Figure 2a A schematic diagram of a transportation device in a practical application is shown; Figure 2b A schematic diagram of the initial clamping position in a practical application is shown; Figure 2c A schematic diagram of deflection detection in a practical application is shown; Figure 2d A schematic diagram illustrating the flexural deformation of a material in a practical application is shown. Figure 2e A schematic diagram of clamping position adjustment in a practical application is shown; Figure 3 A flowchart of another embodiment of a control method provided in this application is shown; Figure 4 A schematic diagram of one embodiment of the control device provided in this application is shown; Figure 5 A schematic diagram of another embodiment of the control device provided in this application is shown; Figure 6 A schematic diagram of a control system in a practical application is shown; Figure 7A schematic diagram of one embodiment of a computing device provided in this application is shown. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] It should be noted that, in the cases involving user information in the embodiments of this application, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse. In addition, the various models involved in this application (including but not limited to language models or large models) comply with relevant laws and standards.

[0019] Additionally, it should be noted that when user interaction operations or triggering operations are involved in the embodiments of this application, these operations include, but are not limited to, various interaction methods such as touch operations, gesture operations, voice operations, head movement operations, and eye movement operations. Touch operations include, but are not limited to, click operations, double-click operations, long-press operations, swipe operations, pinch operations, or mouse hover operations. Swipe operations include, but are not limited to, straight-line swipes and curved-line swipes.

[0020] As described in the background section, in order to solve the above-mentioned technical problems, the present application proposes a technical solution, including: a control device applied in a control system, the control system including the control device and a plurality of transport devices having a communication connection with the control device, the transport devices including moving parts and clamping parts, the method including: in response to a handling request for a target material, determining initial clamping positions of a first transport device and a second transport device corresponding to the target material based on the attribute information and deflection threshold of the target material; generating an initial control command based on the initial clamping position, and sending the initial control command to the first transport device and the second transport device to control the first transport device and the second transport device. The transport devices, according to their respective initial clamping positions, use the clamping components to clamp and fix the target material, and move along the target route; during the movement of the first transport device and the second transport device, a clamping position adjustment request is obtained; the clamping position adjustment request is generated based on the detection result that the deflection of the target material exceeds the deflection threshold; based on the position information that the deflection exceeds the deflection threshold, the clamping position of the first transport device and / or the second transport device is adjusted; based on the adjusted clamping position, an adjustment control command is generated, and the adjustment control command is sent to the first transport device and the second transport device to control the adjustment of the clamping position of the first transport device and / or the second transport device.

[0021] By pre-setting a reasonable deflection threshold and based on this threshold and the target material's properties, the initial clamping positions of the two transport devices are accurately calculated. Furthermore, based on the detection results of whether the deflection of the target material exceeds the deflection threshold during movement, and upon detection of an exceedance, the clamping positions of the transport devices are adjusted accordingly based on the location information of the deflection exceeding the threshold. This combination of static theoretical calculation and dynamic detection and adjustment effectively addresses the impact of external factors such as asynchronous device movement and uneven ground, ensuring that the target material remains within a safe range during actual handling, thus improving the safety and stability of the collaborative handling of target materials using two transport devices.

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Figure 1This is a flowchart of an embodiment of a control method provided in this application. The technical solution of this embodiment can be applied to control equipment in a control system.

[0024] In a practical application, the system architecture to which the technical solution of this application applies may include a control device and multiple transport devices that have a communication connection with the control device. The control device and the transport devices can establish a communication connection through a network, which may include various connection types, such as wired or wireless communication links or fiber optic cables, etc.

[0025] Transportation equipment is typically a comprehensive system integrating environmental perception, behavior control and execution, dynamic decision-making and planning, and other functions. It has mobility and material handling capabilities and can automatically perform transportation tasks. It can be directed by humans, run pre-programmed procedures, or act according to principles and guidelines established using artificial intelligence technology.

[0026] Specifically, the transport equipment may include moving parts and clamping parts. The clamping parts can grip and fix an object, and then move it around the site to perform a transport task. The movement method may be wheeled, tracked, or other similar methods, and the clamping method may be claw-type, adsorption-type, magnetic-type, or other similar methods. This application does not impose any limitations on these methods.

[0027] In a practical application, the transportation equipment can be an AGV (Automated Guided Vehicle), which is a driverless transportation vehicle powered by batteries and guided along a preset path by magnetic strips, tracks, lasers or QR codes. It is equipped with safety protection and transfer devices and can perform various types of transportation tasks such as handling, assembly and heavy loads. It has wide applications in fields such as smart construction and smart logistics.

[0028] Figure 2a A schematic diagram of a transportation device in a practical application is shown, such as... Figure 2a As shown, the transport device 20 includes a moving part 201 and a clamping part 202. The moving part 201 includes wheels, and the clamping part 202 may include multiple clamping structures, two of which are shown in the figure. Each clamping structure may include a support arm 2021 and a clamping mechanism 2022 fixedly connected to the top end of the support arm 2021. The clamping mechanism 2022 in the figure is implemented as a gripper.

[0029] The control device can be an electronic device, such as a personal mobile terminal like a mobile phone, tablet, personal computer, desktop computer, smart speaker, or smartwatch, which may have a display screen and support information browsing. The control device runs a control terminal, which can be a browser, an app (application), a web application such as an H5 (HyperText Markup Language 5) application, a lightweight application (also known as a mini-program), or a cloud application, etc., which depends on the device or certain apps on the device to run.

[0030] The control device can interact with the transport equipment via a network to send control commands to the transport equipment to control the transport equipment to perform corresponding operations, or it can receive and analyze the handling data sent by the transport equipment and then send new control commands.

[0031] Optionally, the control system may also include a server that has a communication connection with the control terminal. The control terminal can interact with the server through the network to generate control commands based on the control data sent by the server, or it can send transfer data to the server for the server to analyze and issue new control data, thereby generating new control commands, etc.

[0032] It should be noted that the server can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. The server can also be a server in a distributed system, or a server combined with blockchain. The server can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms, or an intelligent cloud computing server or intelligent cloud host with artificial intelligence technology.

[0033] Figure 1 The control method shown may include the following steps: 101: In response to a handling request for the target material, based on the target material's property information and deflection threshold, determine the initial clamping positions of the first and second transport devices corresponding to the target material.

[0034] The solution in this application embodiment is applicable to a control scenario where two transport devices collaboratively transport a target material. For ease of description, the two transport devices can be referred to as the first transport device and the second transport device, and the first transport device and the second transport device can be any two transport devices in the control system.

[0035] The target material refers to a material that will undergo flexural deformation (a key performance indicator characterizing a material's resistance to bending deformation), such as materials with slender structures, such as slender steel bars and plastics.

[0036] The deflection of a target material refers to the displacement of each point on its axis within the plane normal to the axis at that point during deformation. To improve handling safety, a deflection threshold can be preset. The deflection threshold can be set based on actual needs, such as the height of the transport equipment or the height of the material placement equipment. In a practical application, the deflection threshold could be, for example, 20 cm.

[0037] The initial clamping position of the transport equipment and the target material can refer to the position in the target material that contacts and clamps the clamping part of the transport equipment in the initial state. This position can be a single point or a range of points. For ease of calculation, when the position in the target material that contacts and clamps the transport equipment is a single point, that point can be taken as the clamping point of the transport equipment. When the position in the target material that contacts and clamps the transport equipment is a range of points, the midpoint of that range can be taken as the clamping point of the transport equipment.

[0038] Based on this, the position of the clamping point corresponding to the transport equipment can be taken as the clamping position of the transport equipment. Similarly, the position of the initial clamping point corresponding to the transport equipment can be taken as the initial clamping position of the transport equipment.

[0039] For ease of description, the location of the clamping point can be represented by the distance between the specified end point on one side of the target material and that clamping point. For example, the location of the clamping point corresponding to the transport equipment is 260cm, which means that the location of the clamping point corresponding to the transport equipment is 260cm away from the specified end point on one side of the target material.

[0040] In practical applications, the structure between one end of the target material and the outer edge of the clamping component in the adjacent transport equipment is suspended, which can be called a cantilever. The position of the clamping point can be determined based on the length of the cantilever.

[0041] Those skilled in the art will understand that for materials with different properties, there is a clear mechanical mapping relationship between the length of the cantilever and the deflection threshold. Based on this, a method for determining the initial clamping positions of the first and second transport devices corresponding to the target material, based on the target material's property information and deflection threshold, may include: Based on the target material's property information and deflection threshold, calculate the cantilever length threshold of the target material; Based on the cantilever length threshold, the position of the initial clamping point corresponding to the transportation equipment is determined, i.e., the initial clamping position.

[0042] There are multiple ways to determine the initial clamping position based on the cantilever length threshold, which will be described in subsequent embodiments and will not be elaborated here.

[0043] 102: Generate initial control commands based on the initial clamping position, and send the initial control commands to the first transport device and the second transport device to control the first transport device and the second transport device to clamp and fix the target material using clamping components according to their respective initial clamping positions, and to move according to the target route.

[0044] Optionally, the initial control command may also include a target route. The target route can refer to the path from the initial placement position of the target material to its final placement position. The placement position may include, for example, a placement rack, a processing table, etc. The generation and planning of the target route are consistent with traditional methods and will not be elaborated upon in this application.

[0045] 103: During the movement of the first and second transport devices, obtain a clamping position adjustment request.

[0046] This clamping position adjustment request can be generated based on the detection result that the deflection of the target material exceeds the deflection threshold.

[0047] In practical applications, considering the influence of asynchronous equipment movement and uneven ground, the target material may undergo flexural deformation. Suspended parts, such as one end or the middle, may deflect downwards. If the deflection exceeds a preset deflection threshold, there may be risks of detachment or collision. Therefore, it is necessary to detect whether the deflection of the target material exceeds the deflection threshold during movement.

[0048] As an optional implementation, the control system may also include a detection device that has a communication connection with the control equipment. The above method may also include: Send detection control commands to the detection equipment to control the detection equipment to emit detection signals.

[0049] This detection device can detect whether the deflection of the target material exceeds a preset deflection threshold during the movement of the transport equipment. When the deflection exceeds the threshold, it sends a clamping position adjustment request to the control device. At this time, the control device can receive the clamping position adjustment request sent by the detection device.

[0050] As another optional implementation, the transportation equipment may also include control components and detection components.

[0051] The above methods may also include: Send detection control commands to the first and second transport devices so that their respective control components can control their corresponding detection components to transmit detection signals.

[0052] During the movement of the target material by the transport equipment, the detection component in the transport equipment can detect whether the deflection of the target material exceeds a deflection threshold. When the deflection exceeds the deflection threshold, it sends a clamping position adjustment request to the corresponding control component, which then sends the clamping position adjustment request to the control device. At this time, the control device can receive the clamping position adjustment request sent by the transport equipment.

[0053] The detection equipment or component can be, for example, a sensor, such as an ultrasonic sensor or a laser rangefinder. There are various detection implementation methods, which will be described in subsequent embodiments.

[0054] 104: Based on the position information of the deflection exceeding the deflection threshold, adjust the clamping position of the first transport device and / or the second transport device.

[0055] Location information can refer to the location in the target material where flexural deformation occurs and the deflection exceeds the deflection threshold. For example, it could be the end of one side, the middle position, etc., and there can be many different situations.

[0056] Based on this location information, the clamping position of the first transport device can be adjusted, and / or the clamping position of the second transport device can be adjusted. For example, if the location information is one end of the target material, the clamping position of the transport device adjacent to that end can be adjusted while keeping the clamping position of the other transport device different, or the clamping positions of both transport devices can be adjusted simultaneously, which can be set according to actual needs.

[0057] 105: Generate adjustment control commands based on the adjusted clamping positions, and send the adjustment control commands to the first transport device and the second transport device to control and adjust the clamping positions of the first transport device and / or the second transport device.

[0058] Upon receiving an adjustment control command, the first and second transport devices can stop moving and adjust to their respective clamping positions. If the adjustment control command does not specify a corresponding clamping position, they can simply maintain their current clamping positions.

[0059] In this embodiment, when responding to a handling request for a target material, the control device can determine the initial clamping positions of the two transport devices used for collaborative handling of the target material based on the material's property information and a preset deflection threshold. It then generates initial control commands and sends them to the two transport devices to control them to clamp the target material and begin moving according to their respective initial clamping positions. During the movement, the control device can also acquire a clamping position adjustment request. This request is generated based on the detection result that the target material has undergone deflection deformation and the deflection exceeds a preset deflection threshold. Based on the position information indicating that the deflection exceeds the deflection threshold, the control device can adjust the clamping positions of the first and / or second transport devices, thereby generating adjustment control commands and sending them to the two transport devices to control the adjustment of their clamping positions.

[0060] By pre-setting a reasonable deflection threshold and based on this threshold and the target material's properties, the initial clamping positions of the two transport devices are accurately calculated. Furthermore, based on the detection results of whether the deflection of the target material exceeds the deflection threshold during movement, and upon detection of an exceedance, the clamping positions of the transport devices are adjusted accordingly based on the location information of the deflection exceeding the threshold. This combination of static theoretical calculation and dynamic detection and adjustment effectively addresses the impact of external factors such as asynchronous device movement and uneven ground, ensuring that the target material remains within a safe range during actual handling, thus improving the safety and stability of the collaborative handling of target materials using two transport devices.

[0061] The calculation process for the initial clamping position is explained below.

[0062] Taking steel bars as an example, for steel bars of different materials and cross-sectional diameters, there is a clear mechanical mapping relationship between the length of the cantilever and the deflection at the end.

[0063] Therefore, in some embodiments, the property information of the target material may include its material composition and cross-sectional diameter. Based on the property information of the target material and the deflection threshold, a method for calculating the cantilever length threshold of the target material may include: Based on the material, find the elastic modulus and material density corresponding to the target material; Based on the cross-sectional diameter, calculate the cross-sectional area and moment of inertia of the target material. Calculate the cross-sectional area and material density, and calculate the gravitational linear load per unit length of the target material; The cantilever length threshold of the target material is calculated based on the unit length gravity line load, elastic modulus, cross-sectional area, moment of inertia of the section, and deflection threshold.

[0064] In this embodiment, the cantilever portion of the reinforcing bar can be considered as a uniform cross-section cantilever beam subjected to uniformly distributed self-weight. Specifically, based on the material properties of the target material, the elastic modulus and density of the target material can be found from relevant data. Based on the cross-sectional diameter of the target material, the cross-sectional area and moment of inertia of the target material are calculated respectively. The cross-sectional area, gravitational acceleration, and material density are multiplied, and the calculated product value is used as the unit length gravity linear load of the target material. The elastic modulus, deflection threshold, and value 8 are multiplied, and the quotient of the calculated product value and the unit length gravity linear load is calculated. The fourth root of the calculated quotient is then used as the cantilever length threshold.

[0065] The specific calculation formula is as follows: Where l0 represents the cantilever length threshold, i.e., the maximum allowable cantilever length, δ0 represents the deflection threshold, E represents the elastic modulus, and I represents the moment of inertia of the section, I=πd 4 / 64, d represents the cross-sectional diameter, w represents the gravitational linear load per unit length of the reinforcing bar, w=ρgA, ρ represents the material density, g represents the gravitational acceleration, A represents the cross-sectional area, A=πd 2 / 4.

[0066] It should be noted that this mechanical mapping formula can be derived from the Euler-Bernoulli Beam Equation, which will not be elaborated upon here.

[0067] Based on the calculated cantilever length threshold, the initial clamping position of the transport equipment can be determined, and there are multiple ways to achieve this.

[0068] As an alternative implementation, the clamping component may include a single clamping structure. In a practical application, this clamping structure may include a support arm and a clamping mechanism, such as a gripper, fixedly connected to the top of the support arm. In this case, the clamping position of the transport device in the target material, i.e., the position where the gripper clamps the target material, can be considered as a location point.

[0069] Based on this, determining the initial clamping position corresponding to the transport equipment may include: The cantilever length threshold is used as the initial clamping position for the first and second transport devices, respectively.

[0070] In other words, the initial clamping positions corresponding to the first and second transport devices are both the cantilever length threshold, i.e., d. A =d B =l0. Where, d A Indicates the initial clamping position of the first transport device, d BThis indicates the initial clamping position of the second transport device.

[0071] As an alternative implementation, the clamping component may include multiple clamping structures, and the multiple clamping structures may include at least two clamping structures arranged in a front-to-back manner along the moving direction of the transport device. In this case, the clamping position of the transport device in the target material, that is, the position where the multiple grippers clamp the target material, is a position range including multiple position points. The length of this position range may be the distance between the two clamping structures located on the outer side of the transport device.

[0072] For ease of understanding, consider a clamping component comprising two clamping structures arranged one behind the other along the direction of movement of the transport device. Each clamping structure may include a support arm and a clamping mechanism, such as a gripper, fixedly connected to the top of the support arm. The distance between the two outer clamping structures in the transport device is the distance between the two clamping mechanisms.

[0073] Based on this, determining the initial clamping position corresponding to the transport equipment may include: For any transport device, the distance between the two clamping structures on the outer side of the transport device is used to calculate the quotient of 2. The calculated quotient is then added to the cantilever length threshold, and the sum is used as the initial clamping position of the transport device.

[0074] Figure 2b This diagram illustrates the initial clamping position in a practical application. The initial clamping positions for both the first transport device A and the second transport device B are d. A =d B =l0+s / 2. Where s represents the distance between the two clamping structures located on the outer side of the transport equipment.

[0075] To improve the rationality of control, in some embodiments, the method for generating initial control commands based on the initial clamping position may include: Based on the total length of the target material and the initial clamping positions of the first and second transport devices, the initial distance between the first and second transport devices is determined. Initial control commands are generated based on the initial spacing.

[0076] Specifically, the initial control command can be used to control the first and second transport devices to move from the midpoint of the target material away from the other transport device to the position of the initial distance, to clamp and fix the target material using their respective multiple clamping structures, and to move along the target route.

[0077] like Figure 2b As shown, the initial distance L between the first transport equipment A and the second transport equipment B is...AB =L-(d A +d B Where L represents the total length of the target material 30.

[0078] The initial distance between the two transport devices is determined based on their respective initial clamping positions and the total length of the target material. This initial distance is then sent to the two transport devices to control their movement based on the distance between them. This eliminates the need to detect the distance to one end of the target material, thus improving the rationality of the transport device control.

[0079] During the movement of the two transport devices, the detection equipment included in the control system, and / or the detection components included in the transport devices, can detect whether the deflection of the target material exceeds the deflection threshold.

[0080] Taking a testing device as an example, in some embodiments, the clamping component may include multiple clamping structures, each including a support arm and a clamping mechanism fixedly connected to the top of the support arm. The testing device may be mounted on the two outer clamping arms at a distance from the deflection threshold position of the clamping mechanism.

[0081] This detection device can be used to determine that the deflection of the target material exceeds the deflection threshold when the feedback result of the received detection signal is obtained and the one-way transmission distance of the signal is less than the distance threshold or the one-way transmission time of the signal is less than the time threshold.

[0082] The distance threshold can be the cantilever length threshold of the target material, the calculation process of which has been explained in detail in the previous embodiments and will not be repeated here. The time threshold can be determined based on the distance threshold and the transmission speed of the detection signal; specifically, the difference between the distance threshold and the transmission speed can be used as the time threshold.

[0083] The one-way signal transmission distance can refer to the distance between the position where the detection signal contacts the downward-sloping part of the target material and the detection device. Optionally, the emission beam axis of the detection device can be aligned with the edge position of the corresponding clamping arm. Based on this, the one-way signal transmission distance can refer to the distance between the position where the detection signal contacts the downward-sloping part of the target material and the edge position of the clamping arm.

[0084] For ease of understanding, Figure 2c A schematic diagram of deflection detection in a practical application is shown. Figure 2cAs shown, the transport equipment includes two clamping structures, each of which includes a support arm 2021 and a clamping mechanism 2022 fixedly connected to the top of the support arm 2021. A detection device 40 is installed on one of the two support arms 2021 at a deflection threshold δ0 position relative to its own clamping mechanism 2022. The detection signal emitted by the detection device 40 near the target material endpoint is directed towards that endpoint. The other detection device 40 emits a detection signal in the opposite direction.

[0085] like Figure 2c In the middle, for the detection device 40 installed in the left support arm 2021, when the deflection of the target material does not exceed the deflection threshold, the detection device 40 may not be able to receive the feedback result of the detection signal, or the distance at which the feedback result is received is greater than the distance threshold, or the time at which the feedback result is received is greater than the time threshold. At this time, the feedback result may be the result of the detection signal contacting other obstacles at a distance, such as walls, other transportation equipment, etc.

[0086] For the detection device 40 installed in the right support arm 2021, when the deflection of the target material exceeds the deflection threshold, the detection device 40 can receive the feedback result of the detection signal, that is, the result of the detection signal contacting the deflected target material. Furthermore, based on this feedback result, it can be determined that the one-way signal transmission distance h(t) is less than the distance threshold l0, or the one-way signal transmission time t is less than the time threshold t0, where t0 = l0 / v, and v represents the signal transmission speed.

[0087] The installation and testing process of the testing components is the same as that of the testing equipment mentioned above, and will not be repeated here.

[0088] Of course, in addition to the above detection methods, other detection methods can be selected according to actual needs. For example, a sensor with signal analysis function can be used to determine whether the detection signal has come into contact with the deflected target material by the content of the feedback signal, thereby determining whether the deflection of the target material exceeds the deflection threshold. This application does not impose any restrictions on this.

[0089] Based on the detection results obtained by the detection equipment or detection components, the control equipment can adjust the clamping position of the transport equipment based on the position information where the deflection exceeds the deflection threshold.

[0090] In one embodiment, the location information may include multiple location types, which may include any one of a single-sided cantilever, a double-sided cantilever, an intermediate cantilever between the first transport equipment and the second transport equipment, an intermediate cantilever, and a single-sided cantilever.

[0091] For ease of understanding, Figure 2d This diagram illustrates a material undergoing flexural deformation in a practical application. Figure 2d As shown, when δ Aor δ B When δ is greater than 0, the corresponding position type is a single-sided cantilever. A and δ B When both are greater than δ0, the corresponding position type is a double-sided cantilever. AB When δ is greater than 0, the corresponding position type is a cantilever. AB and δ A Both are greater than δ0, or δ AB and δ B When both are greater than δ0, the corresponding position types are intermediate cantilever and single-sided cantilever.

[0092] The clamping component may include multiple clamping structures, and the structure between one end of the target material and the outer clamping structure in the adjacent transport equipment may be called a cantilever.

[0093] Based on this, the method for adjusting the clamping position of the first transport device and / or the second transport device based on the position information of the deflection exceeding the deflection threshold may include: Based on the location information where the deflection exceeds the deflection threshold, determine the target location type corresponding to the location information; From the adjustment strategies corresponding to various location types, find the target adjustment strategy corresponding to the target location type; this adjustment strategy may include the adjustment object, adjustment direction, and adjustment distance. Adjust the clamping positions of the first and / or second transport equipment according to the target adjustment strategy.

[0094] In this embodiment, different adjustment strategies can be adopted for different location types. The adjustment strategies can be pre-generated and saved along with their corresponding location types.

[0095] The adjustment strategy can include the adjustment target, adjustment direction, and adjustment distance. The adjustment target can include specified transport equipment, and the adjustment direction can refer to adjusting relative to the target material, moving towards or away from one end of the target material, or moving towards or away from another transport equipment. The adjustment distance can be an empirical distance, calculated based on historical data.

[0096] In a practical application, the adjustment strategies corresponding to different location types are as follows: When the position type is intermediate cantilever, the adjustment objects include the first transport equipment and the second transport equipment, the adjustment direction includes adjusting relative to the target material towards the other transport equipment, and the adjustment distance includes a first preset distance; When the position type is a single-sided cantilever, the adjustment objects include the first transport equipment and the second transport equipment, the adjustment direction includes adjusting relative to the target material towards the side where the deflection exceeds the deflection threshold, and the adjustment distance includes a second preset distance; or, the adjustment objects include the transport equipment corresponding to the side where the deflection exceeds the deflection threshold, the adjustment direction includes adjusting relative to the target material towards the side where the deflection exceeds the deflection threshold, and the adjustment distance includes a third preset distance. When the position type is double-sided cantilever, the adjustment objects include the first transport equipment and the second transport equipment, the adjustment direction includes adjusting relative to the target material, moving away from the other transport equipment, and the adjustment distance includes a fourth preset distance; When the position type is a center cantilever and a single-sided cantilever, the adjustment strategy includes executing the adjustment strategy for the center cantilever position type and the adjustment strategy for the single-sided cantilever position type, respectively.

[0097] Specifically, when the position type is a cantilever, it indicates that the target material located between two transport devices is relatively long, and the length in the middle can be shortened. Therefore, the adjustment object can include two transport devices, the adjustment direction can be relative to the target material, and the adjustment can be made towards the other transport device. The adjustment distance of each of the two transport devices can be the same, which is a first preset distance. Figure 2e A schematic diagram illustrating clamping position adjustment in a practical application is shown. For example... Figure 2e As shown, both the first transport device A and the second transport device B are adjusted by l / 2 relative to the target material, moving closer to the other transport device. l can be an empirical distance, such as 10cm, 20cm, 30cm, etc.

[0098] When the position type is a single-sided cantilever, it indicates that the length of that side cantilever is relatively long, and its length can be shortened. As an optional implementation, the adjustment object can include two transport devices, and the adjustment direction can be relative to the target material, simultaneously adjusting towards that side cantilever. The adjustment distance for each transport device can be the same, both being a second preset distance. As another optional implementation, the adjustment object can include only the transport device adjacent to that side cantilever, and the adjustment direction is also relative to the target material, adjusting towards that side cantilever. The adjustment distance can be a third preset distance.

[0099] When the position type is double-sided cantilever, it indicates that the length of the two cantilever arms is relatively long. In this case, the length of the two cantilever arms can be shortened. Therefore, the adjustment object can include two transport devices, the adjustment direction can be relative to the target material, and the adjustment can be made away from the other transport device. The adjustment distance of each of the two transport devices can be the same, which is the fourth preset distance.

[0100] When the position type is a center cantilever or a single-sided cantilever, the adjustment strategy corresponding to the center cantilever position type can be prioritized. Once the deflection of the center cantilever no longer exceeds the deflection threshold, the adjustment strategy corresponding to the single-sided cantilever position type can be applied. Alternatively, the adjustment strategy corresponding to the single-sided cantilever position type can be prioritized, followed by the adjustment strategy corresponding to the center cantilever position type; this will not be elaborated further.

[0101] By setting different adjustment strategies for different location types, the rationality and accuracy of clamping position adjustment can be improved, which helps to quickly solve the problem of target material deflection exceeding the limit, and improves transportation efficiency while ensuring the safety of target material transportation.

[0102] In some embodiments, the transport device may also include a transmission component connected to the clamping component.

[0103] Specifically, the adjustment control command can be used to control the first transport equipment and / or the second transport equipment, using the moving parts to control the corresponding transport equipment to move, and / or using the transmission parts to control the corresponding clamping parts to move relative to the transport equipment, so as to adjust the clamping position of the transport equipment.

[0104] The transmission components may include, for example, a conveyor belt or a drive wheel, which are responsible for driving the clamping components to move relative to the transport equipment, thereby changing the relative position of the clamping components and the transport equipment.

[0105] In this embodiment, when adjusting the clamping position of the transport equipment and the target material according to the adjustment control command, that is, adjusting the relative position of the clamping mechanism of the transport equipment and the target material, there are multiple ways to achieve this.

[0106] As an alternative implementation, the movement of the transport equipment can be controlled by a moving component, thereby adjusting the relative position of the clamping mechanism of the transport equipment and the target material, and thus adjusting the clamping position of the transport equipment.

[0107] As an alternative implementation, the movement of the clamping component relative to the transport equipment can be controlled by the transmission component, and the relative position of the transport clamping mechanism and the target material can also be adjusted.

[0108] As another alternative implementation, the movement of the transport equipment can be controlled by the moving parts, and the movement of the clamping parts relative to the transport equipment can be controlled by the transmission parts, thereby adjusting the relative position of the clamping mechanism and the target material.

[0109] By setting up a transmission component connected to the clamping component, the clamping position of the transport equipment can be adjusted in various ways, thereby improving the flexibility of clamping position adjustment.

[0110] Optionally, after adjusting the clamping position, a detection device or component can be used to re-detect whether the deflection of the target material exceeds the deflection threshold. If the deflection threshold is not exceeded, the adjustment ends. Otherwise, adjustments can be made again based on the location type where the deflection exceeds the deflection threshold, according to the corresponding adjustment strategy, until the deflection threshold is no longer exceeded.

[0111] To further improve the rationality of the clamping position adjustment, a limited number of adjustments can be made. Therefore, in some embodiments, the method for adjusting the clamping position of the first transport device and / or the second transport device according to the target adjustment strategy may include: If the number of adjustments does not exceed the preset number threshold, for each adjustment process, the clamping position of the first transport equipment and / or the second transport equipment is adjusted according to the target adjustment strategy corresponding to the target location type corresponding to the current location information. The above methods may also include: If the number of adjustments exceeds a preset threshold, an adjustment prompt message will be generated and provided to the relevant personnel.

[0112] The number of adjustments can be set according to actual needs, such as 3 or 4 times, and this application does not impose any restrictions on this. If the deflection still exceeds the deflection threshold after multiple adjustments, the automatic adjustment operation can be stopped, and relevant personnel can be notified to make manual adjustments.

[0113] Adjustment prompts can take various forms, including text and voice. For example, an adjustment prompt might read: "First transport equipment A and second transport equipment B have failed to adjust their clamping positions multiple times. Please have relevant personnel check them."

[0114] In a practical application, when the location information corresponding to the location where the deflection exceeds the deflection threshold is a middle cantilever or a double-sided cantilever, in order to avoid multiple adjustments, adjustment prompts can be generated and provided to relevant personnel to notify them to make manual adjustments directly.

[0115] By setting a preset threshold for the number of adjustments, if the number of adjustments exceeds the preset threshold, or if the position type includes a middle cantilever or double-sided cantilever, automatic adjustment will no longer be performed. Instead, an adjustment prompt message will be generated and provided to the relevant personnel to notify them to make manual adjustments, thereby improving adjustment efficiency and further enhancing transportation efficiency.

[0116] In practical applications, the setting and adjustment of the clamping position can be recorded, and optimization can be performed based on historical data. Therefore, in some embodiments, the above method may further include: After the target material is transported, the clamping data sent by the first and second transport devices are obtained respectively; the clamping data may include the initial clamping position, the end clamping position, the number of adjustments, and the adjustment distance; Determine the historical clamping data corresponding to multiple transport equipment groups; each transport equipment group includes two transport equipment, and the historical clamping data includes the clamping data sent by the two transport equipment respectively; Based on the historical adjustment count and historical adjustment distance in the historical clamping data, the adjustment distance in the adjustment strategy is updated; And / or, update the initial clamping position based on the historical end clamping position in the historical clamping data.

[0117] The clamping data may also include the target material's property information, deflection threshold, and other data.

[0118] In this embodiment, historical clamping data corresponding to multiple sets of transportation equipment can be obtained. Each set of transportation equipment includes two transportation equipment, and the corresponding historical clamping data includes clamping data sent by the two transportation equipment respectively.

[0119] In a practical application, the adjustment distance in the adjustment strategy can be optimized and updated based on the historical number of adjustments and the historical adjustment distance, using parameter optimization algorithms such as gradient descent and momentum methods. For example, if the historical number of adjustments is 3 and the historical adjustment distance is 10cm, the updated adjustment distance could be 15cm, and the corresponding number of adjustments would be changed to 2.

[0120] In another practical application, the initial clamping position can be optimized and updated based on the historical end-clamping position. For example, when using the same group of transport equipment, following the same target route, and collaboratively transporting target materials with the same properties, if the end-clamping positions of multiple transport equipment are identical and significantly different from the initial clamping positions, it indicates that the initial clamping position setting is unreasonable due to external factors such as the target location. In this case, the initial clamping position can be optimized and updated. For example, the end-clamping positions corresponding to these multiple transport equipment groups can be set as the initial clamping positions.

[0121] After the target material handling is completed, the clamping data of each transportation device is acquired and analyzed, and the adjustment strategy and initial clamping position are optimized and updated to provide a reference for subsequent tasks, further improving the rationality and accuracy of the clamping position and further improving the safety of material transportation.

[0122] Figure 3This is a flowchart illustrating another embodiment of the control method provided in this application. The technical solution of this embodiment can be applied to any transportation device in a control system. The control system may include a control device and multiple transportation devices, each of which has a communication connection with the control device.

[0123] This method may include the following steps: 301: Obtain the initial control command sent by the control device.

[0124] The initial control command is generated based on the initial clamping positions of the first and second transport devices corresponding to the target material. These initial clamping positions are determined based on the target material's property information and deflection threshold. The specific process is as follows: Figure 1 The examples shown already contain relevant descriptions and will not be repeated here.

[0125] It should be noted that the control method of this embodiment applies to either the first transportation device or the second transportation device.

[0126] 302: According to the corresponding initial clamping position, use the clamping components to clamp and fix the target material, and move it according to the target route.

[0127] 303: During movement, receive adjustment control commands sent by the control equipment.

[0128] The adjustment control command is generated based on the adjusted clamping position of the first transport device and / or the second transport device, which is determined based on position information where the deflection exceeds the deflection threshold.

[0129] 304: Adjust the corresponding clamping position according to the adjustment control command.

[0130] By pre-setting a reasonable deflection threshold using control equipment, and based on this threshold and the target material's properties, the initial clamping positions of the two transport devices are accurately calculated. Furthermore, based on the detection results of whether the deflection of the target material exceeds the deflection threshold during movement, and upon detection of an exceedance, the clamping positions of the transport devices are adjusted accordingly based on the location information of the deflection exceeding the threshold. This combination of static theoretical calculation and dynamic detection and adjustment effectively addresses the impact of external factors such as asynchronous device movement and uneven ground, ensuring that the target material remains within a safe range during actual handling, thus improving the safety and stability of the collaborative handling of target materials using two transport devices.

[0131] In some embodiments, the clamping component may include a plurality of clamping structures, each clamping structure may include a support arm and a clamping mechanism fixedly connected to the top of the support arm.

[0132] The transport equipment may also include control components and detection components. The detection components are installed in the two outer support arms at a distance from the deflection threshold position of the clamping mechanism.

[0133] Based on this, the above method may also include: The system acquires detection control commands sent by the control device and uses the control component to control the detection component to emit detection signals. When the detection component receives the feedback result of the detection signal, and determines based on the feedback result that the one-way transmission distance of the signal is less than the distance threshold, or the one-way transmission time of the signal is less than the time threshold, it is determined that the deflection of the target material exceeds the deflection threshold. Based on the position information where the deflection exceeds the deflection threshold, a clamping position adjustment request is generated and sent to the control device; Among them, the distance threshold is the cantilever length threshold of the target material, which is determined based on the target material's property information and deflection threshold, while the time threshold is determined based on the distance threshold and the transmission speed of the detection signal.

[0134] In some embodiments, the transport device may also include a transmission component connected to the clamping component.

[0135] At this point, adjusting the corresponding clamping position according to the adjustment control command may include: According to the adjustment control command, the moving part is used to control the movement of the transport equipment, and / or the transmission part is used to control the movement of the clamping part relative to the transport equipment, so as to adjust the corresponding clamping position.

[0136] Figure 4 This is a schematic diagram of a control system according to an embodiment of the present application. The control system may include a control device 40 and a plurality of transport devices that are communicatively connected to the control device 40. The transport devices may include moving parts and clamping parts.

[0137] It should be noted that the quantity and implementation of the control and transportation equipment are merely illustrative examples. Figure 4 The control device 40 is a computer, and the transportation equipment is an automated guided vehicle (AGV), of which there are two: a first transportation device A and a second transportation device B. Those skilled in the art will understand that other forms can also be used, and the number of transportation devices can be set according to actual needs.

[0138] The control device 40 can respond to a handling request for the target material, and determine the initial clamping positions of the first transport device A and the second transport device B corresponding to the target material based on the property information and deflection threshold of the target material; generate an initial control command based on the initial clamping position, and send the initial control command to the first transport device A and the second transport device B; The first transport device A and the second transport device B can obtain initial control commands and, according to their respective initial clamping positions, use clamping components to clamp and fix the target material, and move along the target route; The control device 40 is also used to acquire a clamping position adjustment request during the movement of the first transport device A and the second transport device B; the clamping position adjustment request is generated based on the detection result of the target material deflection exceeding the deflection threshold; the clamping position of the first transport device A and / or the second transport device B is adjusted based on the position information of the deflection exceeding the deflection threshold; an adjustment control command is generated based on the adjusted clamping position, and the adjustment control command is sent to the first transport device A and the second transport device B; The first transport device A and the second transport device B are also used to adjust the corresponding clamping positions according to the adjustment control command.

[0139] By pre-setting a reasonable deflection threshold and based on this threshold and the target material's properties, the initial clamping positions of the two transport devices are accurately calculated. Furthermore, based on the detection results of whether the deflection of the target material exceeds the deflection threshold during movement, and upon detection of an exceedance, the clamping positions of the transport devices are adjusted accordingly based on the location information of the deflection exceeding the threshold. This combination of static theoretical calculation and dynamic detection and adjustment effectively addresses the impact of external factors such as asynchronous device movement and uneven ground, ensuring that the target material remains within a safe range during actual handling, thus improving the safety and stability of the collaborative handling of target materials using two transport devices.

[0140] Figure 5 This application provides a schematic diagram of the structure of a control device according to one embodiment. The device may include the following modules: The first determining module 501 is used to respond to a handling request for the target material and determine the initial clamping positions of the first transport device and the second transport device corresponding to the target material based on the attribute information and deflection threshold of the target material. The first generation module 502 is used to generate initial control commands based on the initial clamping position and send the initial control commands to the first transport device and the second transport device to control the first transport device and the second transport device to clamp and fix the target material using clamping components according to their respective initial clamping positions, and to move according to the target route; The first acquisition module 503 is used to acquire a clamping position adjustment request during the movement of the first transport device and the second transport device; the clamping position adjustment request is generated based on the detection result that the deflection of the target material exceeds the deflection threshold; The adjustment module 504 is used to adjust the clamping position of the first transport device and / or the second transport device based on the position information of the deflection exceeding the deflection threshold. The second generation module 505 is used to generate adjustment control commands based on the adjusted clamping position, and send the adjustment control commands to the first transport device and the second transport device to control and adjust the clamping position of the first transport device and / or the second transport device.

[0141] In some embodiments, the clamping component includes multiple clamping structures, and the position information includes multiple position types, including any one of a single-sided cantilever, a double-sided cantilever, an intermediate cantilever between the first transport device and the second transport device, an intermediate cantilever, and a single-sided cantilever; the cantilever includes the structure between one end point of the target material and the outer clamping structure in the adjacent transport device; The adjustment module 504 can be used to determine the target position type corresponding to the position information based on the position information where the deflection exceeds the deflection threshold; find the target adjustment strategy corresponding to the target position type from the adjustment strategies corresponding to various position types; the adjustment strategy includes the adjustment object, adjustment direction and adjustment distance; and adjust the clamping position of the first transport equipment and / or the second transport equipment according to the target adjustment strategy.

[0142] In some embodiments, the control system further includes a detection device; The device may also include: The first transmitting module is used to send detection control commands to the detection equipment to control the detection equipment to transmit detection signals; The first acquisition module 503 can be specifically used to acquire the clamping position adjustment request sent by the detection device; the clamping position adjustment request is generated when the detection device detects that the deflection of the target material exceeds the deflection threshold; Alternatively, the first transmitting module is also used to send detection control commands to the first transport equipment and the second transport equipment, so that their respective control components can control the corresponding detection components to transmit detection signals; The first acquisition module 503 can be used to acquire a clamping position adjustment request sent by the first transport device and / or the second transport device; the clamping position adjustment request is generated when the detection component detects that the deflection of the target material exceeds the deflection threshold.

[0143] In some embodiments, the adjustment module 504 can be specifically used to adjust the clamping position of the first transport device and / or the second transport device according to the target adjustment strategy corresponding to the target position type corresponding to the current position information for each adjustment process, provided that the number of adjustments does not exceed the preset number threshold. The device may also include: The third generation module is used to generate adjustment prompts and provide them to relevant personnel when the number of adjustments exceeds a preset threshold, and / or when the position type includes a middle cantilever and a double-sided cantilever.

[0144] In some embodiments, the property information of the target material includes material and cross-sectional diameter; The first determining module 501 can be used to find the elastic modulus and material density of the target material based on the material; calculate the cross-sectional area and moment of inertia of the target material based on the cross-sectional diameter; calculate the unit length gravity line load of the target material based on the cross-sectional area and material density; calculate the cantilever length threshold of the target material based on the unit length gravity line load, elastic modulus, cross-sectional area, moment of inertia and deflection threshold; and determine the initial clamping position of the transport equipment based on the cantilever length threshold.

[0145] In some embodiments, the device may further include: The second acquisition module is used to acquire clamping data sent by the first and second transport devices respectively after the target material handling is completed; the clamping data includes the initial clamping position, the end clamping position, the number of adjustments, and the adjustment distance; The second determining module is used to determine the historical clamping data corresponding to multiple transport equipment groups respectively; each transport equipment group includes two transport equipment, and the historical clamping data includes the clamping data sent by the two transport equipment respectively; The update module is used to update the adjustment distance in the adjustment strategy based on the historical adjustment count and historical adjustment distance in the historical clamping data; and / or, to update the initial clamping position based on the historical end clamping position in the historical clamping data.

[0146] Figure 5 The control device shown can be used to perform Figure 1 The implementation principle and technical effects of the control method shown will not be elaborated further. The specific methods by which each module of the control device in the above embodiments performs its operations have been described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0147] Figure 6 This is a schematic diagram of another embodiment of a control device provided in this application. The device may include the following modules: The third acquisition module 601 is used to acquire the initial control command sent by the control device. The initial control command is generated based on the initial clamping positions of the first transport device and the second transport device corresponding to the target material, and the initial clamping positions are determined based on the property information and deflection threshold of the target material. The first control module 602 is used to clamp and fix the target material using the clamping component according to the corresponding initial clamping position, and to move according to the target route; The fourth acquisition module 603 is used to acquire adjustment control commands sent by the control device during the movement process; the adjustment control commands are generated based on the adjusted clamping positions of the first transport device and / or the second transport device, and the clamping positions are determined based on position information where the deflection exceeds the deflection threshold; The second control module 604 is used to adjust the corresponding clamping position according to the adjustment control command.

[0148] Figure 6 The control device shown can be used to perform Figure 3 The implementation principle and technical effects of the control method shown will not be elaborated further. The specific methods by which each module of the control device in the above embodiments performs its operations have been described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0149] Figure 7 This is a schematic diagram of the structure of one embodiment of a computing device provided in this application. Figure 7 As shown, in practical applications, the computing device may include a storage component 701 and a processing component 702.

[0150] Storage component 701 is used to store computer programs and can be configured to store various other data to support operation on a computing device. Examples of this data include instructions for any application or method operating on the computing device, data structures, contact data, phone book data, messages, pictures, videos, etc.

[0151] Processing component 702, coupled to storage component 701, is used to execute computer programs in storage component 701 for implementing, etc. Figure 1 The control method shown or Figure 3 The control method shown.

[0152] Furthermore, such as Figure 7 As shown, the computing device may also include other components such as a communication component 703, a display component 704, a power supply component 705, and an audio component 706. Figure 7 The diagram only shows some components and does not mean that the device includes only these components. Figure 7 The components shown. Additionally... Figure 7The components within the dashed box are optional, not mandatory, and their specific requirements depend on the product form of the computing device. The computing device in this embodiment can be a terminal device such as a desktop computer, laptop computer, smartphone, or IoT (Internet of Things) device, or a server-side device such as a conventional server, cloud server, or server array. If the computing device in this embodiment is implemented as a terminal device such as a desktop computer, laptop computer, or smartphone, it may include... Figure 7 The components within the dashed box; if the computing device in this embodiment is implemented as a conventional server, cloud server, or server array, etc., it may be omitted. Figure 7 The component within the dashed box.

[0153] The processing component described above includes one or more processors to execute computer instructions to complete all or part of the steps in the method described above. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the method described above.

[0154] The aforementioned storage components can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0155] The aforementioned communication component is configured to facilitate wired or wireless communication between the device housing the communication component and other devices. The device housing the communication component can access wireless networks based on communication standards, such as mobile communication networks, or combinations thereof. In one exemplary embodiment, the communication component receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel.

[0156] The aforementioned display components may include a screen, which may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation.

[0157] The aforementioned power supply components provide power to various components within the device in which they reside. These power supply components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the device in which they reside.

[0158] The aforementioned audio component can be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC) configured to receive external audio signals when the device containing the audio component is in an operating mode, such as call mode, recording mode, or voice recognition mode. The received audio signals can be further stored in memory or transmitted via a communication component. In some embodiments, the audio component also includes a speaker for outputting audio signals.

[0159] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to implement the steps in the above-described method embodiments. The computer-readable storage medium includes volatile or non-volatile components, or a combination thereof, and can be removable or non-removable. Examples of computer-readable storage media include, but are not limited to, phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), flash memory or other memory technologies, CD-ROM, Digital Video Disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium. Accordingly, this application also provides a computer program product, which includes a computer program or instructions that, when executed by a processor, cause the processor to implement the steps in the above method embodiments. It should be understood that each step or combination of steps in the above method flow can be implemented by the computer program or instructions. Furthermore, these computer programs or instructions can be applied to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device, enabling the processor of the general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to function as an apparatus for implementing the corresponding functions in the above method embodiments.

[0160] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0161] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0162] Finally, it should be noted that the above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method, characterized in that, A control device applied in a control system, the control system including the control device and a plurality of transport devices having a communicative connection with the control device, the transport devices including moving parts and clamping parts, the method comprising: In response to a handling request for a target material, the initial clamping positions of the first transport device and the second transport device corresponding to the target material are determined based on the attribute information and deflection threshold of the target material. An initial control command is generated based on the initial clamping position and sent to the first transport device and the second transport device to control the first transport device and the second transport device to clamp and fix the target material using the clamping component according to their respective initial clamping positions, and to move according to the target route; During the movement of the first transport device and the second transport device, a clamping position adjustment request is obtained; the clamping position adjustment request is generated based on the detection result that the deflection of the target material exceeds the deflection threshold; Based on the position information where the deflection exceeds the deflection threshold, adjust the clamping position of the first transport device and / or the second transport device; An adjustment control command is generated based on the adjusted clamping position, and the adjustment control command is sent to the first transport device and the second transport device to control the adjustment of the clamping position of the first transport device and / or the second transport device.

2. The method according to claim 1, characterized in that, The clamping component includes multiple clamping structures, and the position information includes multiple position types, including a single-sided cantilever, a double-sided cantilever, an intermediate cantilever between the first transport device and the second transport device, and any one of the intermediate cantilever and the single-sided cantilever; the cantilever includes the structure between one end point of the target material and the outer clamping structure in the adjacent transport device; Adjusting the clamping position of the first transport device and / or the second transport device based on the position information where the deflection exceeds the deflection threshold includes: Based on the location information where the deflection exceeds the deflection threshold, the target location type corresponding to the location information is determined; From the adjustment strategies corresponding to the various location types, find the target adjustment strategy corresponding to the target location type; the adjustment strategy includes the adjustment object, the adjustment direction, and the adjustment distance. Adjust the clamping position of the first transport device and / or the second transport device according to the target adjustment strategy.

3. The method according to claim 2, characterized in that, The adjustment strategies corresponding to the various location types are as follows: When the position type is intermediate cantilever, the adjustment objects include the first transport equipment and the second transport equipment, the adjustment direction includes adjusting relative to the target material towards the other transport equipment, and the adjustment distance includes a first preset distance; When the position type is a single-sided cantilever, the adjustment object includes the first transport equipment and the second transport equipment, the adjustment direction includes adjusting relative to the target material towards the side where the deflection exceeds the deflection threshold, and the adjustment distance includes a second preset distance; and / or, the adjustment object includes the transport equipment corresponding to the side where the deflection exceeds the deflection threshold, the adjustment direction includes adjusting relative to the target material towards the side where the deflection exceeds the deflection threshold, and the adjustment distance includes a third preset distance; When the position type is double-sided cantilever, the adjustment objects include the first transport equipment and the second transport equipment, the adjustment direction includes adjusting away from the other transport equipment relative to the target material, and the adjustment distance includes a fourth preset distance; When the position type is the middle cantilever and the single-sided cantilever, the adjustment strategy includes executing the adjustment strategy for the position type of the middle cantilever and the adjustment strategy for the position type of the single-sided cantilever, respectively.

4. The method according to claim 1, characterized in that, The control system also includes detection equipment; The method further includes: Send a detection control command to the detection device to control the detection device to transmit a detection signal; The request to obtain the clamping position adjustment includes: Obtain the clamping position adjustment request sent by the detection device; the clamping position adjustment request is generated by the detection device when it detects that the deflection of the target material exceeds the deflection threshold; Alternatively, the transport equipment may also include control components and detection components; The method further includes: Send detection control commands to the first transport device and the second transport device, so that their respective control components can control their respective detection components to emit detection signals; The request to obtain the clamping position adjustment includes: Obtain a clamping position adjustment request sent by the first transport device and / or the second transport device; the clamping position adjustment request is generated when the detection component detects that the deflection of the target material exceeds the deflection threshold.

5. The method according to claim 4, characterized in that, The clamping component includes multiple clamping structures, each clamping structure including a support arm and a clamping mechanism fixedly connected to the top of the support arm; the detection device or the detection component is installed in the two outer support arms at a distance from the deflection threshold position of the clamping mechanism; The detection device or the detection component is used to determine that the deflection of the target material exceeds the deflection threshold when it receives the feedback result of the detection signal and determines, based on the feedback result, that the one-way transmission distance of the signal is less than the distance threshold or the one-way transmission time of the signal is less than the time threshold. Wherein, the distance threshold is the cantilever length threshold of the target material, the cantilever length threshold is determined based on the property information of the target material and the deflection threshold, and the time threshold is determined based on the distance threshold and the transmission speed of the detection signal.

6. The method according to claim 2, characterized in that, The step of adjusting the clamping position of the first transport device and / or the second transport device according to the target adjustment strategy includes: If the number of adjustments does not exceed the preset number threshold, for each adjustment process, the clamping position of the first transport device and / or the second transport device is adjusted according to the target adjustment strategy corresponding to the target location type corresponding to the current location information. The method further includes: If the number of adjustments exceeds the preset threshold, and / or if the position type includes the middle cantilever and the double-sided cantilever, an adjustment prompt message is generated and provided to the relevant personnel.

7. The method according to claim 1, characterized in that, The transport equipment also includes a transmission component connected to the clamping component; The adjustment control command is specifically used to control the first transport device and / or the second transport device, using the moving component to control the corresponding transport device to move, and / or using the transmission component to control the corresponding clamping component to move relative to the transport device, so as to adjust the clamping position of the transport device.

8. The method according to claim 1, characterized in that, The property information of the target material includes its material composition and cross-sectional diameter; Determining the initial clamping positions of the first and second transport devices relative to the target material based on the target material's property information and deflection threshold includes: Based on the material, find the elastic modulus and material density corresponding to the target material; Based on the cross-sectional diameter, calculate the cross-sectional area and moment of inertia of the target material. Calculate the cross-sectional area and the material density, and calculate the gravitational linear load per unit length of the target material; Based on the unit length gravity line load, elastic modulus, cross-sectional area, moment of inertia of the section, and the deflection threshold, the cantilever length threshold of the target material is calculated. The initial clamping position of the transport equipment is determined based on the cantilever length threshold.

9. The method according to claim 2, characterized in that, The method further includes: After the target material is transported, the clamping data sent by the first transport device and the second transport device are acquired respectively; the clamping data includes the initial clamping position, the end clamping position, the number of adjustments, and the adjustment distance. Determine the historical clamping data corresponding to multiple transport equipment groups; each transport equipment group includes two transport equipment, and the historical clamping data includes clamping data sent by the two transport equipment respectively; Based on the historical adjustment count and historical adjustment distance in the historical clamping data, the adjustment distance in the adjustment strategy is updated; And / or, update the initial clamping position based on the historical end clamping position in the historical clamping data.

10. A control method, characterized in that, The method is applied to any transport device in a control system, the control system including a control device and a plurality of transport devices having a communicative connection with the control device, the transport device including a moving part and a clamping part, the method comprising: The initial control command sent by the control device is obtained; the initial control command is generated based on the initial clamping positions of the first transport device and the second transport device corresponding to the target material, and the initial clamping positions are determined based on the attribute information and deflection threshold of the target material. According to the corresponding initial clamping position, the clamping component is used to clamp and fix the target material, and then move it along the target route; During the movement, an adjustment control command sent by the control device is acquired; the adjustment control command is generated based on the adjusted clamping position of the first transport device and / or the second transport device, and the clamping position is determined based on the position information of the deflection exceeding the deflection threshold; Adjust the corresponding clamping position according to the control command.

11. A control system, characterized in that, The system includes a control device and multiple transport devices having a communication connection with the control device, wherein the transport devices include moving parts and clamping parts; The control device is used to respond to a handling request for a target material and, based on the property information and deflection threshold of the target material, determine the initial clamping positions of the first transport device and the second transport device corresponding to the target material, respectively. An initial control command is generated based on the initial clamping position, and the initial control command is sent to the first transport device and the second transport device; The first transport device and the second transport device are used to obtain the initial control command, and according to their respective initial clamping positions, use the clamping components to clamp and fix the target material, and move according to the target route; The control device is further configured to acquire a clamping position adjustment request during the movement of the first transport device and the second transport device; the clamping position adjustment request is generated based on the detection result that the deflection of the target material exceeds the deflection threshold; and the clamping position of the first transport device and / or the second transport device is adjusted based on the position information that the deflection exceeds the deflection threshold. An adjustment control command is generated based on the adjusted clamping position, and the adjustment control command is sent to the first transport device and the second transport device; The first transport device and the second transport device are also used to adjust the corresponding clamping position according to the adjustment control command.

12. A computing device, characterized in that, It includes a storage component and a processing component; the storage component stores one or more computer program instructions, which are invoked and executed by the processing component, and the processing component executes the one or more computer program instructions to implement the control method as described in any one of claims 1 to 8, or the control method as described in any one of claims 9 to 10.

13. A computer-readable storage medium, characterized in that, It stores a computer program, which is executed by a computer to implement the control method as described in any one of claims 1 to 8, or the control method as described in any one of claims 9 to 10.

14. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a computer, implement the control method as described in any one of claims 1 to 8, or the control method as described in any one of claims 9 to 10.

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