System and method for full life cycle management of a smart luggage trolley

Abstract

The application discloses a whole life cycle management system and method for an intelligent luggage trolley, relates to the technical field of intelligent maintenance and management of aviation ground equipment, and comprises the following steps: S001, surrounding the running surface of the intelligent luggage trolley, collecting illumination intensity, reflectance and shadow change information, drawing an illumination distribution map according to the collection results, determining an unstable area of ambient light and establishing an illumination basic data model. The application realizes luggage edge recognition and dynamic compensation under light and shadow changes by means of illumination distribution map construction and self-adaptive regulation and control of roller pressure, and maintains force stability and posture balance. In combination with time positioning index and shadow turnaround rhythm, flexible pressure regulation and spiral pressure relief linkage are formed, force continuity and coordination are maintained, luggage damage is prevented, and the operation safety and reliability of the equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent maintenance and management technology for aviation ground equipment, specifically to a full lifecycle management system and method for intelligent baggage shuttle vehicles. Background Technology

[0002] The full lifecycle management of intelligent baggage shuttle vehicles refers to building a traceable, assessable, and optimizable dynamic management system that integrates product lifecycle management concepts and big data processing capabilities, covering the entire process from equipment design, manufacturing, operation, maintenance to decommissioning. Based on the material content, its core lies in using modular structures, standardized interfaces, and intelligent monitoring systems as a foundation, supported by the continuous collection and centralized processing of multi-source operational data, to achieve a closed-loop system of equipment status perception and decision-making at different stages: In the design and manufacturing stages, energy consumption and manufacturing costs are reduced through lightweight materials and a double-layer adjustable structure, while structural parameters, process data, and quality inspection data are collected and analyzed to provide data support for subsequent improvements; in the operation stage, data interaction from visual perception, radar fusion, energy recovery, and baggage handling systems, combined with real-time processing and trend analysis of large-scale operational data, enables unmanned operation and remote monitoring; in the maintenance stage, pluggable components and predictive maintenance strategies are used, and the comprehensive processing results of historical fault data and status monitoring data are used to reduce downtime and extend service life; in the decommissioning stage, based on material recyclability, component reuse plans, and full life-cycle data records, a comprehensive assessment of resource residual value and environmental impact is conducted to reduce environmental burden. This management model runs through the entire product lifecycle, forming a data-driven intelligent closed loop of traceable design, monitorable operation, predictable maintenance, and recyclable decommissioning, achieving an overall improvement in equipment economy, safety, and sustainability.

[0003] The existing technology has the following shortcomings: Existing visual positioning methods largely rely on cameras to identify the external outline of luggage and track its position. When airport lighting conditions change suddenly (such as direct sunlight, reflected glare, or sudden shadows), images are prone to exposure deviations or edge blurring, leading to errors in recognizing the true boundaries of the luggage. Such misjudgments can cause the control logic to incorrectly determine that the luggage is off-center, thus instructing the conveyor rollers to apply excessive clamping force to correct its position. In this situation, the rollers exert abnormal pressure on the surface of the luggage, especially on hard-shell or handle areas, which can easily cause damage such as shell deformation, crack expansion, or corner tearing, and may even crush the internal items.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a full lifecycle management system and method for intelligent baggage shuttle vehicles to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for full lifecycle management of intelligent baggage shuttle vehicles, comprising the following steps: S001, around the operating surface of the smart baggage shuttle bus, collect information on light intensity, reflectance and shadow changes, draw a light distribution map based on the collection results, determine the unstable areas of ambient light and establish a basic light data model; S002, based on the illumination distribution map, perform multi-exposure switching shooting on the surface of the luggage to obtain multiple frames of images under alternating light and shadow, calculate the luggage edge displacement trajectory through edge comparison, and establish a roller pressure adjustment reference point with the center point of the displacement trajectory. S003, around the pressure adjustment reference point, tracks the direction of light spot offset at the previous moment, identifies the area of ​​light and shadow error accumulation by combining the trend of light distribution map changes, extracts image segments with identification deviations, and generates a time positioning index for each risk segment; S004, based on the time positioning index, implement roller pressure adjustment control according to the corresponding light spot offset direction, perform light pressure reduction operation on the opposite side along the light spot offset direction, and perform time-division depressurization operation on the same side, forming a flexible pressure adjustment process based on time index and spatial direction to correct clamping deviation and maintain luggage force balance; S005, based on the light distribution map and feedback data of the flexible pressure adjustment process, establishes a shadow return sequence and reverse pressure relief rhythm, and performs delayed balance, cross silence and spiral pressure relief linkage to achieve continuous adaptive and coordinated control of roller pressure under light changes, preventing repeated damage to luggage surface.

[0007] Preferably, step S001 includes: Multiple light sensing areas are set up around the operating surface of the smart baggage shuttle bus to collect light intensity data in the baggage running direction and the conveying channels on both sides, and form a light intensity matrix to reflect the characteristics of light distribution; After completing the light intensity acquisition, reflectance information is obtained around the same operating surface area. A reflection distribution dataset is constructed by recording the reflection characteristics of different material surfaces to incident light, and the light intensity matrix and reflectance matrix are made to correspond in spatial coordinates. After collecting light intensity and reflectance data, the shadow change of the running surface is monitored. By recording the brightness gradient difference within the light change cycle, the light-blocked area is identified and shadow feature data is generated. Illumination distribution maps are drawn based on data of light intensity, reflectance, and shadow variation. Based on the illumination distribution maps, unstable areas of ambient light are identified and a basic illumination data model is established to provide illumination reference for subsequent edge detection and pressure adjustment.

[0008] Preferably, when drawing the illumination distribution map, the illumination intensity, reflectance, and shadow change are used as input parameters. The illumination change sequence is formed by continuous time acquisition. The unstable area of ​​ambient light is marked according to the spatial gradient and temporal fluctuation characteristics of illumination. The illumination intensity distribution parameters, reflectance response coefficient, and shadow change period are associated in the illumination basic data model to characterize the dynamic change law of illumination on the running surface with time and space.

[0009] Preferably, step S002 includes: Based on the generated illumination distribution map, the time period and spatial distribution characteristics of illumination intensity changes in the baggage operating area are determined, and the exposure sequence of the shooting process is scheduled according to the illumination characteristics to form a multi-frame image sequence. After acquiring the multi-exposure image sequence, the lighting and shadow states of consecutive frames are time-aligned, and the regional features in the illumination distribution map are mapped to each frame to capture the brightness transition zone at the edge of the luggage. After completing the light and shadow state alignment, the edge trajectory identified in multiple consecutive frames is used as input, and the displacement trajectory of the luggage edge is calculated based on the direction of the light gradient in the light distribution map and the displacement direction of the edge contour. Based on the time series data of the edge displacement trajectory, the central segment with continuous displacement change in the trajectory is extracted, and the geometric center point of the central segment is used to establish a reference point for roller pressure adjustment to maintain the balance of luggage clamping.

[0010] Preferably, the exposure timing is set based on the continuity of the brightness gradient change in the illumination distribution map. Short exposure switching is performed in areas with large illumination changes, and long exposure switching is performed in areas with gentle illumination changes. This ensures that the brightness coverage of the multi-frame image sequence remains balanced under alternating light and shadow conditions, thereby ensuring continuous recording of the surface features of the luggage and providing a stable image basis for calculating the edge displacement trajectory.

[0011] Preferably, step S003 includes: After establishing the roller pressure adjustment reference point, a light spot direction tracking framework is established based on the pressure adjustment reference point. By continuously comparing the illumination distribution data of the previous moment and the current moment, the movement direction of the light spot on the luggage surface is determined and the illumination gradient change is recorded. After obtaining the direction of light spot offset, and combining the continuous change trend of the illumination distribution map, a time series analysis is performed on the region of illumination intensity gradient change to form an illumination change band extending along the direction of light spot offset and to determine the propagation path of illumination disturbance. After determining the spatial variation trend of illumination disturbance, time accumulation analysis is performed on the illumination variation zone to identify the area of ​​light and shadow error accumulation and form a marker layer for high-risk areas of light and shadow interference. Continuous image segments are extracted from areas where light and shadow errors accumulate, and time-location indexes of risk segments are generated based on time markers in the illumination distribution map to achieve spatiotemporal correspondence of visual errors.

[0012] Preferably, step S004 includes: After obtaining the time positioning index, the initial timing sequence of roller pressure adjustment is established based on the range of light state changes and the direction of light spot offset recorded by the time positioning index, and the time positioning index is matched with the spatial coordinates of the light distribution map to determine the range of light interference. After completing the association between the time positioning index and the spot offset direction, a light pressure reduction operation is performed on the opposite side along the spot offset direction to match the pressure reduction action with the time change of the illumination disturbance and gradually restore it to the initial pressure level. After completing the light pressure reduction operation on the light side, a time-division depressurization operation is performed in the same area as the light interference. The pressure release speed and duration are adjusted by the light change cycle recorded by the time positioning index. After coordinating the pressure adjustment on the light side and the same side, the real-time updated data of the illumination distribution map is compared with the time positioning index to form a flexible pressure adjustment process based on the time index and spatial direction to maintain the force balance of the luggage.

[0013] Preferably, the light pressure reduction operation on the opposite side and the time-sharing pressure reduction operation on the same side are adjusted synchronously according to the real-time change rate of light intensity in the light distribution diagram, and gradually restored to the balanced pressure state when the light interference enters the attenuation stage, so as to realize the continuous force balance and dynamic adaptive control of the roller during the light disturbance cycle.

[0014] Preferably, step S005 includes: After the flexible pressure adjustment process is completed, the periodic variation law of light intensity in time and space is analyzed by combining the real-time updated data of the light distribution map, the light reflection path and the shadow boundary movement trajectory are extracted and a shadow reflection sequence is formed. After the shadow return sequence is established, a reverse pressure relief rhythm opposite to the direction of light change is constructed based on the feedback data of the flexible pressure adjustment process, so that the roller pressure adjustment and the propagation direction of light disturbance cancel each other out. Based on the reverse pressure relief rhythm execution, a delay balance and cross silence control strategy is introduced to maintain the time coordination of roller pressure by setting a delay balance stage and a cross silence stage. After the delayed balancing and cross-silent phases are completed, the spiral pressure relief linkage is executed, so that the roller pressure forms a spiral decreasing pattern according to the time sequence and spatial direction and maintains dynamic balance.

[0015] The intelligent baggage shuttle vehicle's full lifecycle management system includes a lighting information acquisition module, a multi-exposure edge detection module, a light and shadow error recognition module, a flexible pressure adjustment module, and a dynamic coordination control module. The illumination information acquisition module collects information on illumination intensity, reflectivity, and shadow changes around the operating surface of the smart luggage shuttle bus. Based on the acquisition results, it draws an illumination distribution map, identifies unstable areas of ambient light, and establishes a basic illumination data model. The multi-exposure edge detection module performs multi-exposure switching shooting on the surface of the luggage based on the illumination distribution map, acquires multiple frames of images under alternating light and shadow, calculates the luggage edge displacement trajectory through edge comparison, and establishes a roller pressure adjustment reference point with the center point of the displacement trajectory. The light and shadow error recognition module tracks the direction of light spot shift in the previous moment around the pressure adjustment reference point, identifies the area of ​​light and shadow error accumulation by combining the trend of light distribution map changes, extracts image segments with recognition deviations, and generates a time positioning index for each risk segment. The flexible pressure adjustment module, based on the time positioning index, implements roller pressure adjustment control according to the corresponding light spot offset direction, performs a light pressure reduction operation on the opposite side along the light spot offset direction, and performs a time-division depressurization operation on the same side, forming a flexible pressure adjustment process based on time index and spatial direction to correct clamping deviation and maintain the luggage force balance; The dynamic coordination control module establishes a shadow return sequence and reverse pressure relief rhythm based on the feedback data of the light distribution map and the flexible pressure adjustment process. It performs delayed balance, cross silence and spiral pressure relief linkage to achieve continuous adaptive coordination control of roller pressure under light changes, and prevent repeated damage to the luggage surface.

[0016] The technical effects and advantages provided by the present invention in the above technical solution are as follows: This invention achieves dynamic compensation for baggage edge recognition and clamping actions under alternating light and shadow conditions by constructing a multi-dimensional information acquisition and roller pressure adaptive control process based on illumination distribution maps. By establishing a basic illumination data model on the running surface, the system can identify areas of unstable illumination in real time, forming a multi-exposure image sequence on the baggage surface. This determines the edge displacement trajectory and pressure adjustment reference point, thereby ensuring stable clamping accuracy of the rollers under complex lighting conditions. This avoids overpressure or clamping displacement caused by sudden changes in illumination, ensuring the stability of the baggage's posture and structural integrity during transportation.

[0017] This invention introduces a dynamic feedback mechanism based on time positioning indexes and shadow folding rhythms, enabling the adjustment of roller pressure to be spatially and temporally coordinated in response to changes in lighting conditions. The combination of a flexible pressure adjustment process and a spiral pressure relief linkage provides the force adjustment with delayed balance and gradual recovery characteristics, thus maintaining continuous and balanced force even during periodic disturbances in lighting. This method effectively avoids fatigue damage to the luggage shell during repeated clamping, improves the reliability and service life of the equipment, and enhances the safety and smoothness of the automated transfer process. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a flowchart illustrating the full lifecycle management method for the intelligent baggage shuttle vehicle of the present invention.

[0020] Figure 2 This is a schematic diagram of the modules of the full lifecycle management system for the intelligent baggage shuttle vehicle of the present invention. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of this disclosure will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art.

[0022] This invention provides, for example Figure 1 The intelligent baggage shuttle vehicle's full lifecycle management method, as shown, includes the following steps: S001, around the operating surface of the smart baggage shuttle bus, collect information on light intensity, reflectance and shadow changes, draw a light distribution map based on the collection results, determine the unstable areas of ambient light and establish a basic light data model; To ensure the intelligent baggage shuttle can stably identify the operating surface and the external outline of baggage under different lighting conditions, the lighting characteristics of the operating area are dynamically collected and structuredly modeled to form a basic lighting data model that reflects real-time ambient brightness, reflectivity, and shadow changes. This provides accurate lighting references for subsequent edge detection and pressure adjustment. The specific implementation steps are as follows: Multiple illumination sensing areas were set up around the operating surface of the intelligent baggage shuttle bus, and illumination intensity data were collected within the baggage travel direction and the conveyor channels on both sides. Illumination values ​​at various locations on the operating surface were continuously collected over time using evenly distributed collection points, forming a multi-dimensional illumination intensity matrix. Each collection point simultaneously recorded the instantaneous trend and spatial distribution gradient of illumination to reflect local brightness differences caused by the direction of the light source, light refraction due to obstructions, and ground reflection. During the data collection process, the frequency of illumination intensity changes, fluctuation amplitude, and light incidence direction were recorded in parallel, enabling the identification of areas with significant local illumination variations in subsequent processing. This step ensured the spatial distribution integrity of the illumination data, allowing the overall brightness characteristics of the operating surface to be continuously expressed, providing a basic reference for subsequent analysis of reflectance and shadow data.

[0023] After spatial acquisition of illumination intensity, reflectance information is obtained around the same operating surface area. Reflectance acquisition is based on the reflection response at each location in the illumination intensity matrix, constructing a reflectance distribution dataset by recording the reflection characteristics of different material surfaces to incident light. The operating surface includes various materials such as metal frames, rubber rollers, ground guide plates, and luggage shell surfaces, each with different reflectance responses under the same illumination. In this step, the reflectance changes of each material area are continuously recorded, ensuring a consistent spatial correspondence between the illumination intensity matrix and the reflectance matrix. This correspondence allows for the differentiation between brightness fluctuations caused by changes in ambient light and reflection deviations caused by material differences in subsequent illumination distribution mapping. The acquisition of reflectance information ensures a comprehensive description of the reflective characteristics of the operating surface, making the subsequent identification of shadow changes more accurate.

[0024] After acquiring illumination intensity and reflectance data, shadow changes on the operating surface are monitored. This monitoring uses the illumination intensity matrix and reflectance matrix as input. By continuously recording the brightness gradient differences within the illumination change cycle, areas of illumination attenuation caused by occlusion are identified on the operating surface. Shadow change identification considers not only the spatial distribution of shadows but also the movement speed and direction of shadow boundaries to reflect the dynamic changes in light projection at different time points. By comparing the rate of illumination intensity decrease in the same area at continuous acquisition times, the generation, diffusion, and disappearance processes of shadows are determined, thus forming a shadow change curve. Comparing the shadow change curve with the reflectance matrix further distinguishes between real shadows caused by object occlusion and virtual shadows caused by changes in the brightness of reflective object surfaces, ensuring the spatial accuracy of shadow identification. The results of this step form shadow feature data containing shadow distribution, boundary trajectories, and change cycles, providing dynamic boundary data for drawing illumination distribution maps.

[0025] Based on data on light intensity, reflectance, and shadow variation, the overall illumination distribution of the operating surface is plotted, and unstable regions of ambient light are identified to establish a basic illumination data model. The illumination distribution map is plotted with spatial coordinates on the horizontal axis and illumination characteristic parameters on the vertical axis, generating a distribution map containing multiple layers of illumination information by integrating the aforementioned three datasets. Each pixel in the distribution map corresponds to a sampling unit on the operating surface, and its brightness value is determined by light intensity, reflectance, and shadow variation. By continuously arranging these pixels in the time dimension, a time series of illumination changes is formed, reflecting the illumination stability of the operating surface during the actual operating cycle. Based on the spatial gradient and temporal fluctuation characteristics of the illumination distribution map, regions where the amplitude of illumination change exceeds a predetermined stability threshold are marked as unstable ambient light regions. These unstable regions are typically distributed at the edges of the operating surface, reflective parts of equipment, and areas with abrupt changes in the angle of sunlight incidence. The basic illumination data model is built upon this distribution map, containing three types of data: light intensity distribution parameters, reflectance response coefficient, and shadow variation cycle. These data are interconnected to describe the comprehensive laws governing illumination changes with space and time. This model can provide basic parameters for multi-exposure switching shooting in subsequent steps, to determine whether the current environment is in a state of changing lighting, and to dynamically adjust the baggage recognition strategy accordingly.

[0026] S002, based on the illumination distribution map, perform multi-exposure switching shooting on the surface of the luggage to obtain multiple frames of images under alternating light and shadow, calculate the luggage edge displacement trajectory through edge comparison, and establish a roller pressure adjustment reference point with the center point of the displacement trajectory. To enable the intelligent baggage shuttle to stably identify the external contours of baggage and establish precise roller pressure adjustment reference points under varying lighting conditions, a multi-exposure switching shooting method based on illumination distribution maps is used to create a dynamic image acquisition and edge displacement trajectory calculation process for the baggage surface. This allows for continuous positioning of the baggage's true boundaries in alternating light and shadow environments. The specific implementation steps are as follows: Based on the generated illumination distribution map, the temporal period and spatial distribution characteristics of illumination intensity changes within the baggage's operating area are determined, and the exposure sequence during the shooting process is scheduled according to these characteristics. Multiple sets of exposure time parameters are set for locations on the baggage surface with significant illumination variations. Short and long exposures are switched during critical periods of light and shadow transitions to ensure that both brightly lit and shadowed areas are fully captured. In this process, each exposure switch is based on the brightness gradient in the illumination distribution map, thus forming a multi-frame image sequence with balanced brightness coverage throughout the entire exposure cycle. This multi-exposure switching method maintains continuous recording of the baggage's surface features and details even with rapid light and shadow alternations, providing a reliable image basis for subsequent edge trajectory calculations.

[0027] After acquiring a multi-exposure image sequence, the lighting and shadow states of the continuously captured multi-frame images are temporally aligned, and the regional features in the illumination distribution map are mapped to the spatial location of each frame. By synchronously associating the illumination intensity data of the illumination distribution map with the brightness information of the multi-frame images, the brightness transition zone of the luggage edge can be captured during the inter-frame intervals with abrupt changes in lighting. This transition zone reflects the true geometric boundary changes of the luggage surface under different lighting conditions. When alternating light and shadow cause a gradient change in brightness in the same edge area, the relative displacement of the same physical edge can be determined in consecutive frames using the reference value of the illumination distribution map. This process ensures that the identification results of the luggage boundary still have stable continuity under drastic changes in lighting conditions, thereby avoiding edge breakage caused by exposure deviation.

[0028] After completing the alignment of light and shadow states and edge region recognition, the displacement trajectory of the luggage edge in the time dimension is calculated using the edge trajectories identified in multiple consecutive frames as input. By comparing the direction of the illumination gradient in the illumination distribution map with the displacement direction of the edge contour frame by frame, the actual positional change trend of the luggage surface under alternating light and shadow can be determined. This process not only records the linear offset of the edge but also records the minute curvature changes of the edge morphology in consecutive frames, so as to refer to the stable range of the edge morphology during subsequent pressure adjustment. With the assistance of the illumination distribution map, the trajectory calculation can distinguish between the virtual displacement caused by illumination changes and the real displacement, giving the spatial trajectory of the luggage edge a physical correspondence. The calculation results of the displacement trajectory express the motion law of the luggage boundary through a continuous time series and reflect the real offset relationship under different illumination conditions. The formation of this continuous trajectory provides a precise spatial positioning basis for the next step of establishing the roller pressure adjustment reference point.

[0029] Based on time-series data of edge displacement trajectories, the central segment with the smallest fluctuations and continuous displacement changes is extracted from the trajectory. The geometric center point of this segment is used as the reference point for roller pressure adjustment. The determination process of the roller pressure adjustment reference point comprehensively considers the correspondence between the brightness-balanced area in the illumination distribution map and the stable segment of the trajectory, so that the reference point reflects both the geometric center of the luggage surface and avoids the influence of abrupt changes in illumination on the recognition results. This reference point serves as a spatial benchmark for luggage clamping control, guiding the clamping direction and clamping force distribution of the rollers in subsequent operation. By associating the stable illumination area in the illumination distribution map with the center point of the edge trajectory, the roller clamping pressure can be continuously maintained in a balanced state under different illumination conditions, thereby avoiding clamping deviations caused by changes in illumination. The establishment of this reference point not only reflects the correlation and control relationship between illumination information and visual recognition, but also realizes continuous data transmission from illumination distribution to pressure adjustment, enabling the smart luggage shuttle to maintain the accuracy and stability of luggage placement in alternating light and shadow environments.

[0030] S003, around the pressure adjustment reference point, tracks the direction of light spot offset at the previous moment, identifies the area of ​​light and shadow error accumulation by combining the trend of light distribution map changes, extracts image segments with identification deviations, and generates a time positioning index for each risk segment; To ensure the intelligent baggage shuttle can continuously track the true position of the baggage boundary in an environment with frequently changing lighting, thus preventing the accumulation of visual errors caused by lighting deviations and resulting in clamping control deviations, the system continuously tracks the direction of light spot deviation around a pressure adjustment reference point. Combined with the dynamic changing trend of the lighting distribution map, areas of accumulated lighting errors are gradually identified, and image segments with identification deviations are extracted. A time-based positioning index is then generated for each risky segment to achieve spatiotemporal tracing and proactive correction of visual errors. The specific implementation steps are as follows: After establishing a reference point for roller pressure adjustment, a tracking framework for the light spot direction is built based on this reference point. By continuously comparing the illumination distribution map of the previous moment with the illumination distribution data of the current moment, the gradient of light intensity change and the offset trend of reflection direction are analyzed to determine the movement direction of the light spot on the luggage surface. The determination of the light spot offset direction is based on the relative change relationship of light projection on the running surface, recording the movement path of the light spot brightness center and the directional change of the illumination gradient in each time interval. The directional information of the light spot offset is used to reflect the impact of changes in the incident angle of light on the illumination state of the luggage surface, thereby determining whether illumination changes will cause visual errors at the edges of the luggage. By mapping the spatial coordinates of the pressure adjustment reference point to the light spot movement trajectory, the degree of illumination interference of illumination changes on the area where the reference point is located can be clearly identified in the time series, providing a directional basis for subsequent identification of accumulated light and shadow errors.

[0031] After obtaining the light spot offset direction, and combining it with the continuous changing trend of the illumination distribution map, a time-series analysis is performed on areas with large changes in illumination intensity gradient on the running surface. By observing the brightness differences in the illumination distribution map over multiple consecutive time periods, areas with irregular jumps in the illumination distribution are identified. These jump areas typically correspond to areas with frequent illumination interference, complex reflection characteristics, or rapid shadow migration. In this process, the light spot offset direction is matched with the spatial gradient direction of the illumination distribution map to determine the spatial propagation path of illumination disturbances. In this way, an illumination variation band extending along the light spot offset direction can be formed on the illumination distribution map, reflecting the trend of illumination interference propagating on the luggage surface. The spatial relationship between the illumination variation band and the pressure adjustment reference point is used to determine whether illumination disturbances have entered the luggage edge recognition area, and based on this, the area range that may cause visual deviations is initially marked. This step expands the illumination disturbance from a single-point change to a description of a continuously changing spatial trend, laying a spatial distribution foundation for identifying areas where light and shadow errors accumulate.

[0032] After determining the spatial variation trend of illumination perturbation, a temporal cumulative analysis is performed on the illumination variation band extending along the light spot offset direction to identify areas of accumulated illumination errors. By continuously recording the frequency and duration of illumination intensity fluctuations at various locations within the illumination variation band, it is determined which areas are in a state of abrupt illumination changes over multiple time intervals. Accumulation of illumination errors typically occurs in boundary regions where illumination frequently alternates. In these regions, the incident direction of light constantly changes, causing positional drift in the visual recognition results of luggage edges across consecutive frames. By temporally synchronizing and comparing these areas of abrupt illumination changes with the luggage edge trajectory, it is possible to determine which edge positions exhibit repetitive recognition deviations under the influence of illumination changes. Areas identified as having accumulated errors are marked as high-risk areas for illumination interference, forming an error accumulation marker layer on the illumination distribution map for subsequent extraction of corresponding image segments. This process achieves a spatiotemporal correspondence from illumination perturbation to error accumulation, enabling a quantitative expression of the patterns of illumination changes' impact on visual recognition.

[0033] For identified areas of accumulated light and shadow errors, image segments corresponding to these areas are extracted from continuously acquired multi-frame images. A temporal location index is generated for each risk segment based on the time stamps in the illumination distribution map. This index, using the moment of light and shadow error accumulation as a baseline and combining the temporal sequence of light spot offset directions, records the illumination state change interval corresponding to each risk segment. Each temporal location index is also associated with illumination intensity, reflectivity, and shadow change information, describing the duration and intensity distribution of light and shadow interference within the illumination change cycle. This temporal location method establishes a one-to-one correspondence between the spatial location and temporal characteristics of light and shadow errors, enabling subsequent flexible pressure adjustment to implement precise pressure correction for illumination interference within specific time periods. The generation of the temporal location index not only provides a temporal reference for tracing the source of visual errors but also allows the historical trajectory of illumination changes to be recalled in real time during pressure control, achieving coordinated linkage between illumination status and force control execution.

[0034] S004, based on the time positioning index, implement roller pressure adjustment control according to the corresponding light spot offset direction, perform light pressure reduction operation on the opposite side along the light spot offset direction, and perform time-division depressurization operation on the same side, forming a flexible pressure adjustment process based on time index and spatial direction to correct clamping deviation and maintain luggage force balance; To enable the intelligent baggage shuttle to achieve dynamic balance of clamping pressure in operating environments with frequent changes in lighting, and to prevent over-clamping or uneven force due to light spot deviation, a flexible pressure adjustment process is established by combining time positioning index and light spot deviation direction. This allows the roller clamping action to adaptively correct itself in real time according to lighting disturbances, thereby maintaining the stable posture and force balance of the baggage during transportation. The specific implementation steps are as follows: After obtaining the time-positioning index, the initial timing sequence for roller pressure adjustment is established based on the recorded intervals of illumination state changes and the direction of light spot offset. The time-positioning index reflects the time period and intensity changes of illumination interference on the luggage surface, while the direction of light spot offset indicates the propagation path of the illumination disturbance in space. At this stage, the time-positioning index is mapped to the spatial coordinates in the illumination distribution map to determine the starting point, diffusion direction, and range of influence of the illumination disturbance. Through this mapping, a dynamic force distribution plan with the direction of illumination disturbance as a reference can be formed during pressure adjustment, allowing roller pressure adjustment to flexibly adjust according to changes in the direction of illumination disturbance, rather than relying on a fixed center. By setting the starting point of pressure adjustment at the onset of illumination changes, the roller clamping action can be synchronized with the temporal characteristics of the illumination disturbance, providing a time reference basis for subsequent directional pressure reduction operations.

[0035] After associating the time positioning index with the light spot offset direction, a light pressure reduction operation is performed on the opposite side along the light spot offset direction. This operation uses the direction of light interference propagation as a reference, dividing the luggage contact area corresponding to the light change interval into two directions: the illuminated side and the illuminated side. When light interference causes luggage edge recognition offset, the visual result of the illuminated side area often shows positional errors, and the clamping pressure of the illuminated side roller is prone to increase during correction. Therefore, by performing a light pressure reduction operation on the illuminated side roller, the tendency to apply excessive pressure due to visual deviation can be counteracted, preventing excessive compressive stress on the luggage surface. The magnitude of the light pressure reduction is performed in stages according to the light intensity change rate in the time positioning index, matching the pressure reduction action with the time change of light disturbance. When the light interference enters the attenuation stage, the illuminated side roller gradually returns to the initial pressure level, thereby completing the force rebalancing while the light stabilizes. This step ensures that the pressure adjustment of the roller during sudden changes in light has a flexible transition characteristic, allowing the force adjustment to smoothly accompany changes in light conditions.

[0036] After performing a light pressure reduction operation on the light-affected side, a time-sharing depressurization operation is performed on the same side as the light interference. The time-sharing depressurization is based on the duration and intensity changes of the light interference. The depressurization action is divided into several time periods using the light change cycle recorded in the time positioning index. Within each time period, the pressure release speed and duration of the rollers on the same side are adjusted according to the intensity change curve of the light disturbance, ensuring that the depressurization process is consistent with the rhythm of light changes. During the rapid increase in light intensity, the depressurization action is performed frequently at short intervals to prevent excessive clamping due to increased light reflection; during the gradual decrease in light intensity, the depressurization frequency is appropriately reduced to maintain the clamping balance of the luggage before it stabilizes. Through this time-sharing control method, the roller clamping pressure can form a continuous and controllable dynamic curve within the light change cycle, avoiding both luggage shaking caused by instantaneous depressurization and shell deformation caused by continuous overpressure. The combined effect of time-sharing depressurization and light depressurization on the opposite side creates a time- and space-coordinated pressure regulation process, ensuring that the luggage remains under balanced stress during light disturbances.

[0037] After coordinating the pressure adjustment on both the light-side and the same-side, a flexible pressure adjustment process based on time index and spatial direction is formed by comparing the real-time updated data of the illumination distribution map with the time positioning index. This process continuously updates the time interval and spatial direction mapping relationship formed in the previous steps, keeping the roller pressure adjustment trajectory synchronized with changes in illumination status. Through this continuous correlation mechanism, each pressure adjustment action is based on the real-time changes in the illumination distribution map, uses the time positioning index as the execution sequence, and uses the light spot offset direction as the force control guide, thus forming a time-coordinated force closed loop on both sides of the roller. The continuous execution of the flexible pressure adjustment process allows the roller to automatically correct clamping deviations within the operating cycle. When illumination interference gradually disappears, the system automatically returns to a balanced pressure state, ensuring that the luggage is always subjected to uniform force during transport. This flexible adjustment process achieves dynamic self-balancing of roller pressure through the correlation control of time and space, making the clamping correction action both directional and continuous, thereby effectively maintaining the structural safety and posture stability of the luggage under changing illumination conditions.

[0038] S005, based on the light distribution map and feedback data of the flexible pressure adjustment process, establishes a shadow return sequence and reverse pressure relief rhythm, executes delayed balance, cross silence and spiral pressure relief linkage, realizes continuous adaptive coordinated control of roller pressure under light changes, and prevents repeated damage to luggage surface. To maintain a balance between the roller clamping pressure and the stress state of the luggage in complex lighting environments, and to prevent pressure response delays, repeated stress fluctuations, or damage to the luggage surface caused by periodic changes in lighting, a shadow return sequence and reverse pressure relief rhythm are established by combining lighting distribution maps and feedback data from the flexible pressure adjustment process. Based on this, delayed balancing, cross-silencing, and spiral pressure relief linkage are implemented to achieve continuous adaptive and coordinated control of roller pressure under lighting disturbances. The specific implementation steps are as follows: After the flexible pressure adjustment process is completed, the periodic variation of light intensity in time and space is analyzed by combining real-time updated data from the illumination distribution map. The light reflection paths and shadow boundary movement trajectories in areas of alternating illumination and darkness are extracted. By overlaying illumination distribution maps at consecutive moments, a temporal overlay model of illumination changes is formed, thus clarifying the generation, diffusion, and reflection patterns of shadows on the running surface. Shadow reflection typically occurs when the angle of light incidence changes, causing existing shadowed areas on the luggage surface or running surface to move in the opposite direction or cross-cover. In this stage, the shadow boundary movement paths in the illumination distribution map are transformed into shadow reflection sequences to describe the direction, duration, and repetition frequency of shadow movement within the illumination cycle. The formation of shadow reflection sequences makes illumination changes predictable in both time and space, providing a foundation for establishing subsequent reverse pressure relief rhythms. In this way, the control of roller pressure can detect the upcoming changes in the illumination environment in advance, thereby avoiding delays in pressure adjustment actions.

[0039] After the shadow return sequence is established, a reverse pressure relief rhythm is constructed based on real-time feedback data during the flexible pressure adjustment process, opposite to the direction of light intensity change. The flexible pressure adjustment process provides real-time pressure response curves of the rollers under light disturbances, including the pressure change trends of the illuminated and shaded rollers at different time points. By comparing the correspondence between this curve and the light intensity reversal moment in the shadow return sequence, the reverse adjustment sequence of roller pressure during the light recovery phase can be determined. As the light intensity gradually increases, the surface reflection intensity of the luggage increases, and the illuminated roller is prone to a slight pressure rebound, while the disappearance of the shadow area weakens the luggage support. At this time, by performing reverse pressure relief in the early stage of light intensity increase, the rollers temporarily release some pressure during the light enhancement phase to counteract the local clamping enhancement effect caused by light reflection. The execution of the reverse pressure relief rhythm uses the direction of light change as the reverse reference, so that the pressure adjustment of the rollers cancels out the propagation direction of the light disturbance, thereby forming a pressure neutralization zone in the boundary area of ​​alternating light and dark, providing a buffer transition to prevent damage to the luggage surface.

[0040] Building upon the reverse pressure relief rhythm, a delayed balancing and cross-silence control strategy is introduced. Delayed balancing involves setting a short delay after a change in light intensity triggers roller pressure adjustments, ensuring the roller pressure remains temporarily stable even after the light change ceases, preventing frequent pressure switching caused by short-cycle light flicker. During the delayed balancing phase, the roller pressure remains static, waiting for light intensity fluctuations to stabilize. Once the light intensity stabilizes, the cross-silence phase begins. Cross-silence involves alternating short periods of stillness for the light-receiving and light-receiving rollers, allowing each roller to enter a resting state under opposite light conditions, preventing simultaneous pressure adjustments on both sides. Through cross-silence, the roller clamping system maintains stable pressure on at least one side during the alternating light phase, ensuring the luggage's position does not shift during transport. The combined effect of delayed balancing and cross-silence transforms the pressure adjustment action from a continuous response to a rhythmic, step-by-step adjustment, achieving rhythmic buffering and time coordination in pressure adjustment, creating a stable foundation for subsequent spiral pressure relief linkage.

[0041] After the delayed balancing and cross-silence phases, the spiral pressure relief linkage execution phase begins. Spiral pressure relief linkage refers to adjusting the roller pressure in a spiral decreasing pattern according to a time sequence and spatial direction, achieving smooth pressure relief while illumination interference changes. This process uses the trajectory of the light center change in the illumination distribution map as the rotation center and feedback data from the flexible pressure adjustment process as the control basis. Pressure is released in layers over time and gradually reduced spatially along the direction of illumination change. The spiral pressure relief path transitions slowly from the illuminated side to the illuminated side, gradually expanding the pressure release range within each time period, and forming a continuous pressure relief curve through adjustments to the pressure reduction rate. During spiral pressure relief, the illumination distribution map is continuously updated. When illumination interference reappears, the system automatically adjusts the spiral direction according to the new shadow return sequence, thus forming a closed-loop dynamic coordination process. Through spiral pressure relief linkage, the roller pressure maintains dynamic balance throughout the entire illumination change cycle, avoiding repeated compression caused by periodic illumination disturbances. The continuous operation of the spiral depressurization not only eliminates the instantaneous uneven stress caused by changes in lighting, but also maintains the continuity of stress on the luggage surface during the operating cycle, fundamentally preventing the recurrence of fatigue damage to the luggage shell, handle, or corners.

[0042] This invention achieves dynamic compensation for baggage edge recognition and clamping actions under alternating light and shadow conditions by constructing a multi-dimensional information acquisition and roller pressure adaptive control process based on illumination distribution maps. By establishing a basic illumination data model on the running surface, the system can identify areas of unstable illumination in real time, forming a multi-exposure image sequence on the baggage surface. This determines the edge displacement trajectory and pressure adjustment reference point, thereby ensuring stable clamping accuracy of the rollers under complex lighting conditions. This avoids overpressure or clamping displacement caused by sudden changes in illumination, ensuring the stability of the baggage's posture and structural integrity during transportation.

[0043] This invention introduces a dynamic feedback mechanism based on time positioning indexes and shadow folding rhythms, enabling the adjustment of roller pressure to be spatially and temporally coordinated in response to changes in lighting conditions. The combination of a flexible pressure adjustment process and a spiral pressure relief linkage provides the force adjustment with delayed balance and gradual recovery characteristics, thus maintaining continuous and balanced force even during periodic disturbances in lighting. This method effectively avoids fatigue damage to the luggage shell during repeated clamping, improves the reliability and service life of the equipment, and enhances the safety and smoothness of the automated transfer process.

[0044] This invention provides, for example Figure 2 The intelligent baggage shuttle vehicle's full lifecycle management system, as shown, includes a lighting information acquisition module, a multi-exposure edge detection module, a light and shadow error recognition module, a flexible pressure adjustment module, and a dynamic coordination control module. The illumination information acquisition module collects information on illumination intensity, reflectivity, and shadow changes around the operating surface of the smart luggage shuttle bus. Based on the acquisition results, it draws an illumination distribution map, identifies unstable areas of ambient light, and establishes a basic illumination data model. The multi-exposure edge detection module performs multi-exposure switching shooting on the surface of the luggage based on the illumination distribution map, acquires multiple frames of images under alternating light and shadow, calculates the luggage edge displacement trajectory through edge comparison, and establishes a roller pressure adjustment reference point with the center point of the displacement trajectory. The light and shadow error recognition module tracks the direction of light spot shift in the previous moment around the pressure adjustment reference point, identifies the area of ​​light and shadow error accumulation by combining the trend of light distribution map changes, extracts image segments with recognition deviations, and generates a time positioning index for each risk segment. The flexible pressure adjustment module, based on the time positioning index, implements roller pressure adjustment control according to the corresponding light spot offset direction, performs a light pressure reduction operation on the opposite side along the light spot offset direction, and performs a time-division depressurization operation on the same side, forming a flexible pressure adjustment process based on time index and spatial direction to correct clamping deviation and maintain the luggage force balance; The dynamic coordination control module establishes a shadow return sequence and reverse pressure relief rhythm based on the feedback data of the light distribution map and the flexible pressure adjustment process. It performs delayed balance, cross silence and spiral pressure relief linkage to achieve continuous adaptive coordination control of roller pressure under light changes, and prevent repeated damage to the luggage surface.

[0045] The full lifecycle management method for the smart baggage shuttle bus provided in this embodiment of the invention is implemented through the aforementioned full lifecycle management system for the smart baggage shuttle bus. For details of the specific methods and processes of the full lifecycle management system for the smart baggage shuttle bus, please refer to the embodiments of the full lifecycle management method for the smart baggage shuttle bus, which will not be repeated here.

[0046] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A method for full lifecycle management of intelligent luggage shuttle vehicles, characterized in that, Includes the following steps: S001, around the operating surface of the smart baggage shuttle bus, collect information on light intensity, reflectance and shadow changes, draw a light distribution map based on the collection results, determine the unstable areas of ambient light and establish a basic light data model; S002, based on the illumination distribution map, perform multi-exposure switching shooting on the surface of the luggage to obtain multiple frames of images under alternating light and shadow, calculate the luggage edge displacement trajectory through edge comparison, and establish a roller pressure adjustment reference point with the center point of the displacement trajectory. S003, around the pressure adjustment reference point, tracks the direction of light spot offset at the previous moment, identifies the area of ​​light and shadow error accumulation by combining the trend of light distribution map changes, extracts image segments with identification deviations, and generates a time positioning index for each risk segment; S004, based on the time positioning index, implement roller pressure adjustment control according to the corresponding spot offset direction, perform light pressure reduction operation on the opposite side along the spot offset direction, and perform time-division pressure reduction operation on the same side, forming a flexible pressure adjustment process based on time index and spatial direction; S005, based on the light distribution map and feedback data from the flexible pressure adjustment process, establishes a shadow return sequence and a reverse pressure relief rhythm, and performs delayed balance, cross silence and spiral pressure relief linkage.

2. The method for full lifecycle management of the intelligent baggage shuttle bus according to claim 1, characterized in that, Step S001 includes: Multiple light sensing areas are set up around the operating surface of the smart baggage shuttle bus to collect light intensity data in the baggage running direction and the conveying channels on both sides, and form a light intensity matrix to reflect the characteristics of light distribution; After completing the light intensity acquisition, reflectance information is obtained around the same operating surface area. A reflection distribution dataset is constructed by recording the reflection characteristics of different material surfaces to incident light, and the light intensity matrix and reflectance matrix are made to correspond in spatial coordinates. After collecting light intensity and reflectance data, the shadow change of the running surface is monitored. By recording the brightness gradient difference within the light change cycle, the light-blocked area is identified and shadow feature data is generated. Illumination distribution maps are drawn based on data of light intensity, reflectance, and shadow variation. Based on the illumination distribution maps, unstable areas of ambient light are identified, and a basic illumination data model is established.

3. The method for full lifecycle management of the intelligent baggage shuttle bus according to claim 2, characterized in that, When drawing the illumination distribution map, the illumination intensity, reflectance, and shadow change are used as input parameters. The illumination change sequence is formed by continuous time acquisition. The unstable areas of ambient light are marked according to the spatial gradient and temporal fluctuation characteristics of illumination. The illumination intensity distribution parameters, reflectance response coefficient, and shadow change period are associated in the illumination basic data model.

4. The method for full lifecycle management of the intelligent baggage shuttle bus according to claim 2, characterized in that, Step S002 includes: Based on the generated illumination distribution map, the time period and spatial distribution characteristics of illumination intensity changes in the baggage operating area are determined, and the exposure sequence of the shooting process is scheduled according to the illumination characteristics to form a multi-frame image sequence. After acquiring the multi-exposure image sequence, the lighting and shadow states of consecutive frames are time-aligned, and the regional features in the illumination distribution map are mapped to each frame to capture the brightness transition zone at the edge of the luggage. After completing the light and shadow state alignment, the edge trajectory identified in multiple consecutive frames is used as input, and the displacement trajectory of the luggage edge is calculated based on the direction of the light gradient in the light distribution map and the displacement direction of the edge contour. Based on the time series data of the edge displacement trajectory, the central segment with continuous displacement change in the trajectory is extracted, and the geometric center point of the central segment is used to establish a reference point for roller pressure adjustment to maintain the balance of luggage clamping.

5. The method for full lifecycle management of the intelligent baggage shuttle bus according to claim 4, characterized in that, The timing of exposures is set based on the continuity of brightness gradient changes in the illumination distribution map. Short exposures are switched in areas with large illumination changes, while long exposures are switched in areas with gentle illumination changes, so that the multi-frame image sequence maintains balanced brightness coverage under alternating light and shadow conditions.

6. The method for full lifecycle management of the intelligent baggage shuttle bus according to claim 4, characterized in that, Step S003 includes: After establishing the roller pressure adjustment reference point, a light spot direction tracking framework is established based on the pressure adjustment reference point. By continuously comparing the illumination distribution data of the previous moment and the current moment, the movement direction of the light spot on the luggage surface is determined and the illumination gradient change is recorded. After obtaining the direction of light spot offset, and combining the continuous change trend of the illumination distribution map, a time series analysis is performed on the region of illumination intensity gradient change to form an illumination change band extending along the direction of light spot offset and to determine the propagation path of illumination disturbance. After determining the spatial variation trend of illumination disturbance, time accumulation analysis is performed on the illumination variation zone to identify the area of ​​light and shadow error accumulation and form a marker layer for high-risk areas of light and shadow interference. Continuous image segments are extracted from areas where light and shadow errors accumulate, and time-location indexes of risk segments are generated based on time markers in the illumination distribution map to achieve spatiotemporal correspondence of visual errors.

7. The method for full lifecycle management of the intelligent baggage shuttle bus according to claim 6, characterized in that, Step S004 includes: After obtaining the time positioning index, the initial timing sequence of roller pressure adjustment is established based on the range of light state changes and the direction of light spot offset recorded by the time positioning index, and the time positioning index is matched with the spatial coordinates of the light distribution map to determine the range of light interference. After completing the association between the time positioning index and the spot offset direction, a light pressure reduction operation is performed on the opposite side along the spot offset direction to match the pressure reduction action with the time change of the illumination disturbance and gradually restore it to the initial pressure level. After completing the light pressure reduction operation on the light side, a time-division depressurization operation is performed in the same area as the light interference. The pressure release speed and duration are adjusted by the light change cycle recorded by the time positioning index. After coordinating the pressure adjustment on the light side and the same side, the real-time updated data of the illumination distribution map is compared with the time positioning index to form a flexible pressure adjustment process based on the time index and spatial direction to maintain the force balance of the luggage.

8. The method for full lifecycle management of the intelligent baggage shuttle bus according to claim 7, characterized in that, During the roller pressure adjustment process, the light pressure reduction operation on the opposite side and the time-sharing pressure reduction operation on the same side are adjusted synchronously according to the real-time change rate of light intensity in the light distribution diagram, and gradually restored to the balanced pressure state when the light interference enters the attenuation stage.

9. The method for full lifecycle management of the intelligent baggage shuttle bus according to claim 7, characterized in that, Step S005 includes: After the flexible pressure adjustment process is completed, the periodic variation law of light intensity in time and space is analyzed by combining the real-time updated data of the light distribution map, the light reflection path and the shadow boundary movement trajectory are extracted and a shadow reflection sequence is formed. After the shadow return sequence is established, a reverse pressure relief rhythm opposite to the direction of light change is constructed based on the feedback data of the flexible pressure adjustment process, so that the roller pressure adjustment and the propagation direction of light disturbance cancel each other out. Based on the reverse pressure relief rhythm execution, a delay balance and cross silence control strategy is introduced to maintain the time coordination of roller pressure by setting a delay balance stage and a cross silence stage. After the delayed balancing and cross-silent phases are completed, the spiral pressure relief linkage is executed, so that the roller pressure forms a spiral decreasing pattern according to the time sequence and spatial direction and maintains dynamic balance.

10. A full lifecycle management system for a smart luggage shuttle bus, used to implement the full lifecycle management method for the smart luggage shuttle bus as described in any one of claims 1-9, characterized in that, It includes a lighting information acquisition module, a multi-exposure edge detection module, a lighting error recognition module, a flexible pressure adjustment module, and a dynamic coordination control module. The illumination information acquisition module collects information on illumination intensity, reflectivity, and shadow changes around the operating surface of the smart luggage shuttle bus. Based on the acquisition results, it draws an illumination distribution map, identifies unstable areas of ambient light, and establishes a basic illumination data model. The multi-exposure edge detection module performs multi-exposure switching shooting on the surface of the luggage based on the illumination distribution map, acquires multiple frames of images under alternating light and shadow, calculates the luggage edge displacement trajectory through edge comparison, and establishes a roller pressure adjustment reference point with the center point of the displacement trajectory. The light and shadow error recognition module tracks the direction of light spot shift in the previous moment around the pressure adjustment reference point, identifies the area of ​​light and shadow error accumulation by combining the trend of light distribution map changes, extracts image segments with recognition deviations, and generates a time positioning index for each risk segment. The flexible pressure regulation module, based on the time positioning index, implements roller pressure regulation control according to the corresponding spot offset direction, performs a light pressure reduction operation on the opposite side along the spot offset direction, and performs a time-division depressurization operation on the same side, forming a flexible pressure regulation process based on time index and spatial direction; The dynamic coordination control module establishes a shadow return sequence and reverse pressure relief rhythm based on the feedback data of the illumination distribution map and the flexible pressure adjustment process, and performs delayed balancing, cross silence and spiral pressure relief linkage.

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