An edge computing method and system of an environment-adaptive flexible electronic skin

Abstract

The application relates to an edge computing method and system of an environment-adaptive flexible electronic skin, relates to the technical field of environment-adaptive algorithms and machine learning, and comprises the following steps: collecting preset scene matching instructions of the flexible electronic skin, and controlling a preset multi-modal sensing layer to collect environmental temperature; analyzing the environmental temperature and the scene matching instructions to generate actual scene matching instructions; judging whether the actual scene matching instructions are preset polar work instructions or preset factory work instructions; if the actual scene matching instructions are the polar work instructions, controlling the flexible electronic skin to perform ice collecting operation according to the environmental temperature; if the actual scene matching instructions are the factory work instructions, controlling the multi-modal sensing layer to collect volatile compound concentration and pipeline temperature; and controlling the flexible electronic skin to perform raw material grabbing operation according to the environmental temperature, the volatile compound concentration and the pipeline temperature. The application has the effect of improving equipment operation precision.

Description

Technical Field

[0001] This application relates to the technical field of environmental adaptive algorithms and machine learning, and in particular to an edge computing method and system for an environmental adaptive flexible electronic skin. Background Technology

[0002] Flexible electronic skin refers to a flexible electronic device that mimics the sensory functions of human skin. It gives robots similar tactile abilities by converting physical stimuli into electrical signals. It consists of a gradient protective layer, a multimodal sensing layer, an edge computing layer, and a flexible support layer stacked from the outside to the inside. Each layer is bonded together with a silicon-based elastic adhesive, with an overall thickness of <900μm and a minimum bending radius of 2mm.

[0003] In related technologies, environment-adaptive edge computing algorithms refer to algorithms deployed on flexible electronic skin that can dynamically adjust their own computing strategies, parameters, or model structures according to the surrounding environment in order to complete tasks stably and efficiently in complex and ever-changing environments.

[0004] Regarding the aforementioned technologies, the sensor response delay of flexible electronic skin exceeds 100ms in low-temperature working environments, and the signal drift rate is as high as 20% or more in high-temperature, high-humidity, or high-volatile compound concentration working environments. This results in inaccurate measurement data of flexible electronic skin in practical applications, which in turn affects the operational accuracy of related equipment in corresponding scenarios, and there is still room for improvement. Summary of the Invention

[0005] To improve the operational accuracy of the device, this application provides an edge computing method and system for an environment-adaptive flexible electronic skin.

[0006] In a first aspect, this application provides an edge computing method for environmentally adaptive flexible electronic skin, employing the following technical solution: An edge computing method for an environment-adaptive flexible electronic skin includes: Collect preset scene matching instructions for the flexible electronic skin and control the preset multimodal sensing layer to collect ambient temperature; The ambient temperature and scene matching instructions are analyzed to generate actual scene matching instructions; Determine whether the actual scenario matching instruction is a preset polar work instruction or a preset factory work instruction. If the instruction is for polar operations, the flexible electronic skin will be controlled to perform ice harvesting operations based on the ambient temperature. If it is a factory work instruction, then control the multimodal sensing layer to collect the concentration of volatile compounds and the pipeline temperature; The flexible electronic skin is controlled to grasp raw materials based on ambient temperature, volatile compound concentration, and pipeline temperature.

[0007] Optionally, the flexible electronic skin includes an edge computing layer and a flexible support layer. The steps for controlling the flexible electronic skin to perform ice harvesting operations according to the ambient temperature include: The ambient temperature is compared with the preset heating ambient temperature threshold to generate process inspection instructions; Determine whether the process inspection command is consistent with the preset heating command; If there is a discrepancy, the preset ice grabbing instruction will be determined as the process detection instruction, and the ambient temperature will continue to be collected for cyclical judgment. If they match, the ambient temperature is analyzed to generate the heating time; The flexible support layer is heated according to the process inspection instructions and heating time, and the preset ice collection instructions are determined as the process inspection instructions. Collect initial ice-grabbing pressure and ice thickness; The initial ice-grabbing pressure is corrected by controlling the edge computing layer based on the ice thickness to generate a corrected ice-grabbing pressure. The polar robot performs ice harvesting operations based on the process inspection instructions and the preset control of the ice grabbing pressure.

[0008] Optionally, the step of analyzing the ambient temperature to generate the heating time includes: Calculate the difference between the ambient temperature and the preset target temperature to generate the temperature to be heated; The heating power loss is determined by finding the corresponding relationship between the ice layer thickness and the pre-defined ice layer thickness power loss. Calculate the difference between the preset rated heating power and the heating loss power to generate the actual heating power; Calculate the product between the preset electronic skin heat capacity and the temperature to be heated to generate the heat required for heating; Calculate the quotient between the heat required for heating and the actual heating power to generate the heating time.

[0009] Optionally, the step of correcting the initial ice grabbing pressure based on the ice layer hardness control edge calculation layer to generate the corrected ice grabbing pressure includes: The polar robot presses the preset ice layer to be harvested based on the preset ice layer pressing pressure. Collect the thickness of the ice layer depressions; The quotient between the product of the ice layer indentation thickness and the preset ice block contact area and the ice layer pressing pressure is calculated to generate the ice layer hardness. The difference between the reference ice layer hardness and the ice layer hardness is normalized based on the preset reference ice layer hardness to generate a pressure correction ratio. Calculate the product between the pressure correction ratio and the preset ice hardness correction parameter to generate the pressure correction parameter; Calculate the product between the pressure correction parameter and the initial ice grab pressure to generate the pressure correction amount; Calculate the sum between the pressure correction and the initial ice grab pressure to generate the corrected ice grab pressure.

[0010] Optionally, the steps for controlling the material gripping operation of the flexible electronic skin based on ambient temperature, volatile compound concentration, and pipeline temperature include: Collect the preset initial gripping pressure of the mechanical gripper; Determine whether the ambient temperature and volatile compound concentration meet the preset environmental anomaly alarm requirements; If the conditions are not met, the concentration of volatile compounds and the pipeline temperature will continue to be collected for cyclical judgment, and the mechanical gripper will be controlled to perform raw material gripping operation based on the initial gripping pressure. If satisfied, the edge computing layer is controlled to correct the initial gripping pressure of the mechanical gripper based on the ambient temperature and the concentration of volatile compounds, so as to generate the corrected gripping pressure of the mechanical gripper. The mechanical gripper is controlled by adjusting the gripping pressure to perform the material gripping operation.

[0011] Optionally, the step of controlling the edge computing layer to correct the initial gripping pressure of the robotic gripper based on ambient temperature and volatile compound concentration to generate the corrected gripping pressure includes: Find the warning temperature, warning concentration, alarm temperature, and alarm concentration in the environmental anomaly alarm requirements; The ambient temperature and volatile compound concentration are compared with the warning temperature, warning concentration, alarm temperature, and alarm concentration, respectively, to generate environmental parameter detection results; The environmental parameter detection results, ambient temperature, and volatile compound concentration are analyzed to generate a pressure adjustment coefficient; Calculate the product between the pressure adjustment factor and the initial gripping pressure of the mechanical gripper to generate the corrected gripping pressure of the mechanical gripper.

[0012] Optionally, the steps of analyzing environmental parameter detection results, ambient temperature, and volatile compound concentrations to generate pressure adjustment factors include: Determine whether the abnormal results of environmental parameters are consistent with the preset single abnormality detection results; If they match, the ambient temperature and volatile compound concentration are substituted into the preset pressure adjustment coefficient calculation function based on the abnormal environmental parameter results to generate the pressure adjustment coefficient. If they are inconsistent, the ambient temperature and the concentration of volatile compounds will be substituted into the preset pressure correction coefficient calculation function to generate the temperature-pressure adjustment coefficient and the concentration-pressure adjustment coefficient. The temperature-pressure adjustment coefficient and the concentration-pressure adjustment coefficient are compared to generate the pressure adjustment coefficient.

[0013] Secondly, this application provides an edge computing system for environmentally adaptive flexible electronic skin, employing the following technical solution: An edge computing system with an environment-adaptive flexible electronic skin includes: The data acquisition module is used to collect scene matching commands, ambient temperature, volatile compound concentration, and pipeline temperature. A memory for storing a program for an edge computing method for an environment-adaptive flexible electronic skin as described in any of the preceding claims; The processor and the program in the memory can be loaded and executed by the processor to implement an edge computing method for an environment-adaptive flexible electronic skin as described in any of the above.

[0014] In summary, this application includes at least one of the following beneficial technical effects: 1. By analyzing the ambient temperature and scene matching instructions, the actual scene matching instructions are obtained. It is determined whether the actual scene matching instructions are polar work instructions or factory work instructions. If it is a polar work instruction, the flexible electronic skin is controlled to perform ice harvesting operation according to the ambient temperature. If it is a factory work instruction, the multimodal sensing layer is controlled to collect the concentration of volatile compounds and the pipeline temperature. Based on the ambient temperature, volatile compound concentration, and pipeline temperature, the flexible electronic skin is controlled to perform raw material grasping operation. In this way, the flexible electronic skin is matched with the work scene to improve the environmental adaptability of the flexible electronic skin, thereby ensuring the accuracy and safety of the flexible electronic skin in different work scenes and improving the operating precision of related equipment. 2. By comparing the ambient temperature with a preset heating ambient temperature threshold, a process detection command is obtained. It is then determined whether the process detection command is consistent with the heating command. If they are inconsistent, the ice block grabbing command is determined as the process detection command, and the ambient temperature is collected again for cyclical judgment. If they are consistent, the ambient temperature is analyzed to obtain the heating time. Based on the process detection command and the heating time, the flexible support layer is controlled to start heating, and the ice block grabbing command is determined as the process detection command. Based on the ice layer thickness, the edge computing layer is controlled to correct the initial ice block grabbing pressure to obtain the corrected ice block grabbing pressure. Thus, based on the process detection command and the corrected ice block grabbing pressure, the polar robot is controlled to perform ice-collecting operations, thereby avoiding sample damage caused by excessive force when the polar robot breaks the ice. 3. By determining whether the ambient temperature and volatile compound concentration meet the environmental anomaly alarm requirements, if not, the volatile compound concentration and pipeline temperature are continuously collected for cyclical judgment, and the mechanical gripper is controlled to perform raw material gripping operation based on the initial gripping pressure; if the requirements are met, the edge computing layer is controlled to correct the initial mechanical gripper gripping pressure based on the ambient temperature and volatile compound concentration to obtain the corrected mechanical gripper gripping pressure, thereby controlling the mechanical gripper to perform raw material gripping operation based on the corrected mechanical gripper gripping pressure, thus avoiding damage to the raw material packaging and causing environmental pollution during raw material gripping. Attached Figure Description

[0015] Figure 1 This is a flowchart of an edge computing method for an environment-adaptive flexible electronic skin according to an embodiment of this application.

[0016] Figure 2 This is a flowchart illustrating the steps of controlling the flexible electronic skin to perform ice harvesting operations based on ambient temperature, as described in this application embodiment.

[0017] Figure 3 This is a flowchart of the steps in this application embodiment to analyze the ambient temperature to generate the heating time.

[0018] Figure 4 This is a flowchart of the steps in this application embodiment to correct the initial ice block gripping pressure by controlling the edge calculation layer based on the ice layer hardness, so as to generate the corrected ice block gripping pressure.

[0019] Figure 5 This is a flowchart illustrating the steps of controlling the flexible electronic skin to grasp raw materials based on ambient temperature, volatile compound concentration, and pipeline temperature, as described in this application embodiment.

[0020] Figure 6 This is a flowchart illustrating the steps in this application embodiment to control the edge computing layer to correct the initial gripping pressure of the mechanical gripper based on ambient temperature and volatile compound concentration, in order to generate a corrected gripping pressure for the mechanical gripper.

[0021] Figure 7 This is a flowchart of the steps in this application embodiment to analyze the environmental parameter detection results, ambient temperature, and volatile compound concentration to generate a pressure adjustment coefficient. Detailed Implementation

[0022] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0023] This application discloses an edge computing method for an environment-adaptive flexible electronic skin. This method primarily addresses the edge computing problem of environment adaptation for flexible electronic skin. Specifically, it discloses a flexible electronic skin, a multimodal sensing layer, an edge computing layer, a flexible support layer, and a processing terminal. The processing terminal communicates with the multimodal sensing layer, the edge computing layer, and the flexible support layer to achieve data interaction and control. After the processing terminal collects scene matching instructions, it controls the multimodal sensing layer to send the collected environmental parameters to the edge computing layer. The processing terminal then controls the edge computing layer to adjust and calculate relevant parameters based on the scene matching instructions and environmental parameters. The aim is to quickly and reasonably match the flexible electronic skin with the working scene, thereby improving the environmental adaptability of the flexible electronic skin.

[0024] Reference Figure 1 This application discloses an edge computing method for an environment-adaptive flexible electronic skin, comprising the following steps: Step S100: Collect the preset scene matching command of the flexible electronic skin, and control the preset multimodal sensing layer to collect the ambient temperature.

[0025] The scene matching instruction refers to the switching instruction signal of the working mode of the flexible electronic skin, which is manually set by the operator. It includes polar working instructions and factory working instructions. In one embodiment, the operator uses an instruction sending device to send polar working instructions or factory working instructions to the flexible electronic skin through a wireless communication protocol. Then, the scene matching instruction can be obtained by receiving external instructions through the wireless communication module in the flexible electronic skin.

[0026] Ambient temperature refers to the real-time temperature of the working environment of the flexible electronic skin. Data is collected by the temperature sensor in the multimodal sensing layer controlled by the processing terminal, and then the collected data is transmitted to the edge computing layer to obtain the ambient temperature, thus providing data support for determining the working mode of the flexible electronic skin.

[0027] The polar work command refers to the command for switching the working mode of the flexible electronic skin when it is working in the polar regions; the factory work command refers to the command for switching the working mode of the flexible electronic skin when it is working in the factory.

[0028] Flexible electronic skin refers to a flexible electronic device that mimics the sensory functions of human skin. In polar work scenarios, flexible electronic skin is deployed on the surface of polar robots. In factory work scenarios, flexible electronic skin is deployed on the outer walls of workshop pipes and the surface of mechanical grippers. By converting physical stimuli into electrical signals, it gives robots similar tactile abilities. It includes a gradient protective layer, a multimodal sensing layer, an edge computing layer, a flexible support layer, and an adaptive control module stacked from the outside to the inside. Each layer is composited with a silicon-based elastic adhesive, with an overall thickness of <900μm and a minimum bending radius of 2mm.

[0029] The gradient protective layer refers to a gradient composite structure made of fluororubber or polyimide. In polar working scenarios, the gradient protective layer can maintain good flexibility at a low temperature of -50℃. After the robot joint is bent 1000 times, the sensor unit damage rate is less than 2%. In factory working scenarios, after working continuously for 30 days in a high humidity or high temperature environment in the workshop, the sensor sensitivity decay is less than 3%, which can maintain the stability of the flexible electronic skin.

[0030] The multimodal sensing layer refers to the data acquisition layer in the flexible electronic skin composed of a 30×30 array of composite sensing units. Each unit integrates a pressure sensor with a range of 0.01-4MPa and an accuracy of ±2.5% at -40-85℃, a temperature sensor with a range of -50-125℃ and an accuracy of ±0.2℃, and a gas sensor that detects VOCs concentrations of 0-1000ppm with a response time of <10s. It also achieves synchronous acquisition of multiple signals through an I2C bus.

[0031] The edge computing layer refers to the data processing layer in flexible electronic skin that can process pressure, temperature, and gas data in real time and output decision results. The edge computing layer integrates an ultra-low power edge processor and a storage module, and has a built-in multimodal data fusion algorithm.

[0032] The flexible support layer refers to the protective layer in flexible electronic skin that provides structural support, flexibility, deformability, and protection. The flexible support layer uses a carbon fiber reinforced polyetheretherketone film with a thickness of 60μm and a tensile strength of >20MPa. It has a built-in flexible heating film with a power density of 0.5W / cm² and a temperature compensation circuit. When the ambient temperature is <-10℃, the flexible support layer automatically starts heating, which can maintain the temperature of the sensing layer at 0-5℃.

[0033] The adaptive control module refers to the state adjustment layer in flexible electronic skin that autonomously and dynamically adjusts its own operating parameters based on real-time acquired environmental information and internal state to reduce redundant power consumption. The adaptive control module integrates an environmental parameter monitoring chip and a power regulation unit, and can automatically adjust the sensor sampling rate and processor operating mode according to ambient humidity and temperature.

[0034] Polar robots refer to robots used in polar work scenarios to perform tasks such as collecting polar ice blocks; mechanical grippers refer to gripping devices used in factory work scenarios to grasp chemical raw materials.

[0035] Step S101: Analyze the ambient temperature and scene matching instructions to generate actual scene matching instructions.

[0036] The actual scenario matching instruction refers to the switching instruction signal for the working mode of the flexible electronic skin that matches the actual working environment. The processing terminal searches for the ambient temperature within the scenario temperature range to obtain the environment-matching scenario instruction. It then compares the environment-matching scenario instruction with the actual scenario matching instruction to determine if the working scenario corresponding to the scenario matching instruction is consistent with the actual working scenario. If the processing terminal determines that the environment-matching scenario instruction and the actual scenario matching instruction are consistent, then the scenario matching instruction is determined to be the actual scenario matching instruction; otherwise, if the processing terminal determines that the environment-matching scenario instruction and the actual scenario matching instruction are inconsistent, then... If the working scenario corresponding to the scene matching instruction is inconsistent with the actual working scenario, the processing terminal determines whether the environment matching scene instruction is a single matching instruction. This determines whether the ambient temperature is within the temperature range where the two scenarios overlap. If the processing terminal determines that the environment matching scene instruction is a single matching instruction, it means that the ambient temperature is not within the temperature range where the two scenarios overlap, and the matching scene instruction is determined to be the actual scene matching instruction. If the processing terminal determines that the environment matching scene instruction is not a single matching instruction, it means that the ambient temperature is within the temperature range where the two scenarios overlap, and the scene matching instruction is determined to be the actual scene matching instruction.

[0037] The scene temperature range refers to the data set used to store the ambient temperature range corresponding to polar working scenarios and factory working scenarios. In one embodiment, the ambient temperature range in the polar working scenario is -50℃ to 0℃, and the ambient temperature range in the factory working scenario is -20℃ to 80℃.

[0038] An environment-matching scenario instruction refers to a set of signals used to store scenario-matching instructions that match the ambient temperature. It includes three cases: polar working instruction, factory working instruction, or a coexistence of polar working instruction and factory working instruction. The processing terminal compares the ambient temperature with two temperature ranges in the scenario temperature range. When the ambient temperature is within the temperature range of the polar working scenario, the environment-matching scenario instruction is a polar working instruction. When the ambient temperature is within the temperature range of the factory working scenario, the environment-matching scenario instruction is a factory working instruction. When the ambient temperature is within the temperature range of both the polar working scenario and the factory working scenario, the environment-matching scenario instruction is both a polar working instruction and a factory working instruction.

[0039] A single matching instruction refers to an instruction signal that exists only in the environment matching scenario when either a polar work instruction or a factory work instruction exists.

[0040] Step S102: Determine whether the actual scenario matching instruction is a preset polar work instruction or a preset factory work instruction.

[0041] Specifically, by processing the terminal to determine whether the actual scenario matching instruction is a polar work instruction or a factory work instruction, the working scenario of the flexible electronic skin is determined to be a polar work scenario or a factory work scenario.

[0042] The polar work instructions and factory work instructions in this step are the same as those in step S100 above, and will not be repeated here.

[0043] Step S1021: If it is a polar work command, then control the flexible electronic skin to perform ice harvesting operation according to the ambient temperature.

[0044] If the processing terminal determines that the actual scene matching instruction is a polar working instruction, then the flexible electronic skin's working scene is a polar working scene. Therefore, the processing terminal controls the flexible electronic skin to perform ice harvesting operations based on the ambient temperature. The specific method is described in [reference needed]. Figure 2 The steps involve matching the flexible electronic skin with the working environment to improve its environmental adaptability and ensure its accuracy and safety in polar working environments.

[0045] Step S1022: If it is a factory work instruction, control the multimodal sensing layer to collect the concentration of volatile compounds and the pipeline temperature.

[0046] If the processing terminal determines that the actual scene matching instruction is a factory work instruction, it means that the working scene of the flexible electronic skin is a factory work scene. Therefore, the processing terminal controls the multimodal sensing layer to collect the concentration of volatile compounds and the temperature of the pipeline, thereby providing data support for the subsequent control of the flexible electronic skin to perform raw material grabbing operations and abnormal alarms in the factory work scene.

[0047] Volatile compound concentration refers to the concentration of volatile organic compounds that evaporate into the air due to the volatilization of chemical raw materials caused by high temperatures in a factory work environment. The volatile compound concentration can be obtained by collecting data from gas sensors in a multimodal sensing layer deployed on the outer surface of the pipe.

[0048] Pipeline temperature refers to the surface temperature of a pipeline in a factory working environment. The pipeline temperature can be obtained by collecting the temperature of the outer surface of the pipeline through a temperature sensor in a multimodal sensing layer deployed on the outer surface of the pipeline.

[0049] Step S10221: Control the flexible electronic skin to perform raw material gripping operation based on ambient temperature, volatile compound concentration and pipeline temperature.

[0050] In this process, after the processing terminal determines the ambient temperature, volatile compound concentration, and pipeline temperature, the flexible electronic skin is controlled by the processing terminal to perform raw material grasping operations based on these parameters. The specific method is described in [reference needed]. Figure 5 The steps involve matching the flexible electronic skin with the working environment to improve its environmental adaptability and ensure its accuracy and safety in factory settings.

[0051] Reference Figure 2 The steps for ice harvesting using flexible electronic skin controlled by ambient temperature include: Step S200: Compare the ambient temperature with the preset heating ambient temperature threshold to generate a process inspection instruction.

[0052] Among them, the process detection command refers to the indication signal used to reflect the working sequence between the layers of the flexible electronic skin in the polar working scenario. It includes heating command and ice grab command. The processing terminal compares the ambient temperature with the heating ambient temperature threshold. When the processing terminal determines that the ambient temperature is greater than the heating ambient temperature threshold, it means that it is not necessary to control the flexible support layer to be heated, and the process detection command is determined as a process detection command. If the processing terminal determines that the ambient temperature is less than the heating ambient temperature threshold, it means that it is necessary to control the flexible support layer to be heated, and the heating command is determined as a process detection command.

[0053] The heating ambient temperature threshold refers to the lowest ambient temperature at which the flexible heating film and temperature compensation circuit in the flexible support layer start heating. In one embodiment, the heating ambient temperature threshold is -40°C.

[0054] The heating command refers to the command signal that controls the flexible heating film and temperature compensation circuit in the flexible support layer to start heating; the ice grabbing command refers to the command signal that controls the edge computing layer to calculate the pressure for grabbing ice blocks and controls the polar robot to perform ice harvesting operations.

[0055] Step S201: Determine whether the process inspection command is consistent with the preset heating command.

[0056] Specifically, the system determines whether the process inspection command is consistent with the heating command by processing the terminal, thereby determining whether it is necessary to control the flexible support layer to perform a heating operation.

[0057] The heating command in this step is the same as the heating command in step S200 above, and will not be repeated here.

[0058] Step S2011: If there is a discrepancy, the preset ice grabbing instruction will be determined as the process detection instruction, and the ambient temperature will continue to be collected for cyclical judgment.

[0059] If the processing terminal determines that the process detection command and the heating command are inconsistent, it means that there is no need to control the flexible support layer to perform heating operations. Therefore, the processing terminal determines the ice grab command as the process detection command and continues to collect the ambient temperature for cyclic judgment, thereby ensuring that the temperature of the multimodal sensing layer is maintained at 2℃.

[0060] The ice grabbing command in this step is the same as the ice grabbing command in step S200 above, and will not be repeated here.

[0061] Step S2012: If consistent, analyze the ambient temperature to generate the heating time.

[0062] If the processing terminal determines that the process detection command is consistent with the heating command, it means that the flexible support layer needs to be controlled to perform a heating operation. Therefore, the processing terminal analyzes the ambient temperature to generate the heating time, thereby providing data support for the subsequent control of the flexible support layer to start heating.

[0063] Heating time refers to the time required to heat the flexible support layer to maintain the temperature of the multimodal sensing layer at 2°C. For specific methods, please refer to [link / reference needed]. Figure 3 This process provides data support for subsequent control of the heating of the flexible heating mold in the flexible support layer.

[0064] Step S20121: Control the flexible support layer to start heating according to the process inspection command and heating time, and determine the preset ice block collection command as the process inspection command.

[0065] In this process, after the processing terminal determines that the process inspection command is a heating command, it controls the flexible support layer to start heating based on the process inspection command and the heating time, and determines the ice block collection command as the process inspection command, thereby providing data support for the subsequent control of the polar robot to carry out ice block collection operations.

[0066] Ice collection commands refer to the command signals that control the edge computing layer to calculate the pressure for grasping ice blocks and to control the polar robot to carry out ice collection operations.

[0067] Step S202: Collect the initial ice grab pressure and ice layer thickness.

[0068] The initial ice-grabbing pressure refers to the pressure value set by the operator when the ice layer is of medium hardness, which is used by the polar robot to grab the ice. In one embodiment, the operator conducts experiments on ice layers of different hardness, summarizes and compares the maximum pressure corresponding to each ice layer hardness that can avoid the robot from using too much force to break the ice and damaging the sample, and determines the median of all data as the initial ice-grabbing pressure.

[0069] Ice thickness refers to the height of the ice layer within the target ice collection area. In one embodiment, the ice thickness can be obtained by measuring the ice layer with an ultrasonic thickness gauge. In another embodiment, the operator uses an ice chisel to drill a hole in the ice surface until water seeps out from below the ice layer, indicating that the ice layer has been broken through. Then, an ice hook is inserted into the hole to reach the bottom of the ice layer, and the ice thickness is measured with a measuring ruler.

[0070] Step S203: Based on the ice layer thickness, control the edge calculation layer to correct the initial ice block gripping pressure to generate the corrected ice block gripping pressure.

[0071] The corrected ice-grabbing pressure refers to the pressure applied by the polar robot to grasp ice after correction by the edge computing layer. The corrected ice-grabbing pressure is obtained by controlling the edge computing layer to correct the initial ice-grabbing pressure based on the ice thickness, as detailed in the following method. Figure 4 This process provides data support for the subsequent control of polar robots to perform ice harvesting operations.

[0072] Step S204: The polar robot performs ice harvesting operation according to the process inspection instructions and the preset ice grabbing pressure control.

[0073] In this process, after the processing terminal determines the process inspection instructions and corrects the ice grabbing pressure, the processing terminal controls the polar robot to perform ice-collecting operations based on the process inspection instructions and corrected ice grabbing pressure, thereby avoiding excessive force by the robot when breaking the ice, which could damage the sample.

[0074] The polar robot in this step is the same as the polar robot in step S100 above, and will not be described again here.

[0075] Reference Figure 3 The steps for analyzing the ambient temperature to determine the heating time include: Step S300: Calculate the difference between the ambient temperature and the preset target temperature to generate the temperature to be heated.

[0076] The temperature to be heated refers to the amount of temperature increase by which the flexible support layer raises the ambient temperature collected by the multimodal sensing layer to the target temperature. The target temperature can be obtained by subtracting the ambient temperature from the target temperature through the processing terminal.

[0077] The target temperature refers to the temperature that the multimodal sensing layer needs to maintain in order to minimize the variation in the sensor response delay in polar operating scenarios. In one embodiment, the target temperature is 2°C.

[0078] Step S301: Find the heating power loss in the preset ice thickness power loss correspondence relationship based on the ice thickness.

[0079] Among them, heating loss power refers to the power loss caused by the flexible electronic skin on the surface of the polar robot when it comes into contact with the ice. The heating loss power can be obtained by the processing terminal by looking up the corresponding relationship between ice layer thickness and power loss based on the ice layer thickness.

[0080] The correspondence between ice thickness and heating power loss refers to the relationship between ice thickness and heating power loss. This is determined by operators conducting heat loss experiments based on ice thickness and mapping the results to a table. In one embodiment, when the ice thickness is 1-3m, the heating power loss is 0.02W / cm². 2 When the ice layer thickness is 3-100m, the heating power loss is 0.01W / cm². 2 When the ice layer thickness is greater than 100m, the heating power loss is 0.005W / cm². 2 .

[0081] Step S302: Calculate the difference between the preset rated heating power and the heating loss power to generate the actual heating power.

[0082] The actual heating power refers to the actual heating power used when the flexible support layer is heated. The actual heating power can be obtained by subtracting the heat loss rate from the rated heating power through the processing terminal.

[0083] The rated heating power refers to the maximum operating power of the flexible heating mold in the flexible support layer. In one embodiment, the rated heating power is 0.5 W / cm². 2 .

[0084] Step S303: Calculate the product between the preset electronic skin heat capacity and the temperature to be heated to generate the heat required for heating.

[0085] The heat required for heating refers to the amount of heat that the flexible support layer needs to generate when the multimodal sensing layer rises from the ambient temperature to the target temperature. The heat required for heating can be obtained by multiplying the heat capacity of the electronic skin by the temperature to be heated through the processing terminal.

[0086] The thermal capacity of electronic skin refers to the amount of heat absorbed or released per unit area of ​​flexible electronic skin for every one degree Celsius change in temperature. In one embodiment, the thermal capacity of the electronic skin is 0.8 J / (cm²). 2 ·℃).

[0087] Step S304: Calculate the quotient between the heat required for heating and the actual heating power to generate the heating time.

[0088] The heating time in this step is the same as the heating time in step S2012 above. The heating time can be obtained by dividing the heat required for heating by the actual heating power through the processing terminal, thereby providing data support for subsequent control of the heating of the flexible support layer.

[0089] Reference Figure 4 The steps for generating corrected ice-grabbing pressure by adjusting the initial ice-grabbing pressure based on the ice hardness control edge calculation layer include: Step S400: Control the polar robot to press the preset ice layer to be harvested according to the preset ice layer pressing pressure.

[0090] Specifically, the processing terminal controls the polar robot to press the ice layer to be mined based on the pressing pressure of the ice layer, thereby providing support for obtaining the thickness of the ice layer to be mined in the future.

[0091] Ice layer pressing pressure refers to the vertical downward pressure applied by the polar robot to the ice layer to be mined in order to determine the thickness of the ice layer. In one embodiment, the operator conducts pressing experiments on ice layers of different thicknesses. The pressures corresponding to the ice layers of different thicknesses obtained in the experiment are compared so that the ice layer will not be crushed and the polar robot can press the ice layer at a constant speed. The minimum value is determined as the ice layer pressing pressure.

[0092] The ice layer to be collected refers to the area where ice blocks collected by polar robots for subsequent research are located.

[0093] Step S401: Collect the thickness of the ice layer depression.

[0094] The ice layer indentation thickness refers to the depth of the indentation in the ice layer to be mined when the ice layer stops deforming after being pressed down by a polar robot. In one embodiment, the ice layer indentation thickness is obtained by collecting the displacement of the robot during the pressing process. In another embodiment, a laser rangefinder is first installed on the ice layer to be mined around the non-indented ice layer, and the surrounding ice layer is determined as the reference ice layer. The distance from the laser rangefinder to the reference ice layer is recorded at this time. Then, the laser rangefinder is moved horizontally to directly above the indented ice layer, and the distance between the laser rangefinder and the indentation is recorded at this time. The ice layer indentation thickness is obtained by subtracting the data from the first measurement from the data of the second measurement and taking the absolute value of the result.

[0095] Step S402: Calculate the quotient between the product of the ice layer indentation thickness and the preset ice block contact area and the ice layer pressing pressure to generate the ice layer hardness.

[0096] Ice hardness refers to a physical quantity that reflects the hardness of the ice layer to be extracted. By multiplying the degree of ice layer indentation by the contact area of ​​the ice block through the processing terminal, and then dividing the product by the ice layer pressing pressure, the ice layer hardness can be obtained, thus providing data support for subsequent correction of the initial ice block grasping pressure.

[0097] The ice contact area refers to the contact area between the polar robot and the ice layer to be harvested. In one embodiment, the operator can find the surface area of ​​the hand of the polar robot in the technical manual according to the model of the polar robot, and thus obtain the ice contact area.

[0098] Step S403: Normalize the difference between the reference ice layer hardness and the ice layer hardness according to the preset reference ice layer hardness to generate a pressure correction ratio.

[0099] The pressure correction ratio refers to the correction coefficient used to adjust the initial ice grab pressure based on the ice layer hardness. The pressure correction ratio is obtained by subtracting the reference ice layer hardness from the ice layer hardness at the processing terminal and then dividing the difference by the reference ice layer hardness.

[0100] The reference ice hardness refers to a physical quantity used to describe the hardness of ice when the ice layer is of medium hardness. In one embodiment, the reference ice hardness is 3 MPa.

[0101] Step S404: Calculate the product between the pressure correction ratio and the preset ice hardness correction parameter to generate the pressure correction parameter.

[0102] The pressure correction parameter refers to the total correction value of the initial ice grab pressure. The pressure correction parameter can be obtained by multiplying the pressure correction ratio with the ice hardness correction parameter by the processing terminal.

[0103] The ice hardness correction parameter refers to the parameter used to correct the initial ice grab pressure in order to balance the correction range and avoid sudden pressure changes. In one embodiment, the ice hardness correction parameter is 0.8.

[0104] Step S405: Calculate the product between the pressure correction parameter and the initial ice grab pressure to generate the pressure correction amount.

[0105] The pressure correction amount refers to the pressure correction value that corrects the initial ice grabbing pressure. The pressure correction amount can be obtained by multiplying the pressure correction parameter with the initial ice grabbing pressure through the processing terminal.

[0106] Step S406: Calculate the sum between the pressure correction amount and the initial ice grab pressure to generate the corrected ice grab pressure.

[0107] In this step, the corrected ice-grabbing pressure is the same as the corrected ice-grabbing pressure in step S203 above. The corrected ice-grabbing pressure can be obtained by adding the pressure correction amount to the initial ice-grabbing pressure through the processing terminal.

[0108] Reference Figure 5 The steps for controlling the raw material gripping operation of flexible electronic skin based on ambient temperature, volatile compound concentration, and pipeline temperature include: Step S500: Collect the preset initial gripping pressure of the mechanical gripper.

[0109] The initial gripping pressure of the mechanical gripper refers to the pressure that the mechanical gripper will apply when gripping chemical raw materials, which is preset by the operator. In one embodiment, the operator inputs the preset gripping pressure into the mechanical gripper according to the actual situation to obtain the initial gripping pressure of the mechanical gripper.

[0110] The mechanical gripper in this step is the same as the mechanical gripper in step S100 above, and will not be described again here.

[0111] Step S501: Determine whether the ambient temperature and volatile compound concentration meet the preset environmental anomaly alarm requirements.

[0112] Among them, the environmental anomaly alarm requirements refer to the two-level early warning and handling rules set for ambient temperature and volatile compound concentration, including the first-level alarm requirements and the second-level alarm requirements.

[0113] The Level 1 alarm requirement refers to the processing rule that when the ambient temperature or the concentration of volatile compounds deviates significantly from the corresponding threshold, a Level 1 alarm needs to be activated immediately, and the initial gripping pressure of the mechanical gripper needs to be adjusted significantly. In one embodiment, a Level 1 alarm is activated immediately when the ambient temperature exceeds 60°C, the concentration of volatile compounds exceeds 500 ppm, or both values ​​exceed the range simultaneously.

[0114] The Level 2 warning requirement refers to the processing rule that when the ambient temperature or the concentration of volatile compounds deviates slightly from the corresponding threshold, the Level 2 warning needs to be activated immediately, and the initial gripping pressure of the mechanical gripper needs to be adjusted slightly. In one embodiment, the Level 2 warning is activated immediately when the ambient temperature is not less than 55°C and less than 60°C, the concentration of volatile compounds is not less than 300ppm and less than 400ppm, or both values ​​exceed the range at the same time.

[0115] By analyzing whether the terminal ambient temperature and volatile compound concentration meet the requirements for environmental anomaly alarms, it is possible to determine whether there are risks in the plant's operations.

[0116] Step S5011: If the conditions are not met, continue to collect the concentration of volatile compounds and the pipeline temperature for cyclic judgment, and control the mechanical gripper to perform raw material gripping operation according to the initial mechanical gripper gripping pressure.

[0117] If the processing terminal determines that the ambient temperature and volatile compound concentration do not meet the environmental anomaly alarm requirements, it indicates that there is no risk in the factory operation. Therefore, the processing terminal continues to collect the volatile compound concentration and pipeline temperature to achieve real-time monitoring of the factory operation and control the mechanical gripper to perform raw material gripping operation based on the initial gripping pressure.

[0118] Step S5012: If satisfied, the edge computing layer is controlled to correct the initial mechanical gripper gripping pressure based on the ambient temperature and volatile compound concentration to generate the corrected mechanical gripper gripping pressure.

[0119] If the processing terminal determines that the ambient temperature and volatile compound concentration meet the requirements for an environmental anomaly alarm, it indicates that there is a risk in the factory's operation. Therefore, the processing terminal determines and corrects the gripping pressure of the mechanical gripper, thereby providing data support for the subsequent control of the mechanical gripper to grip raw materials.

[0120] The corrected gripper gripping pressure refers to the gripping pressure of the mechanical gripper after adjusting the initial gripping pressure. This is achieved by the processing terminal controlling the edge computing layer to correct the initial gripping pressure based on ambient temperature and volatile compound concentration. For specific methods, please refer to [link to relevant documentation]. Figure 6 This process provides data support for subsequent control of the mechanical gripper to perform material grabbing operations.

[0121] Step S50121: Control the mechanical gripper to perform raw material gripping operation according to the corrected gripping pressure.

[0122] In this process, after the processing terminal determines the correct gripping pressure of the mechanical gripper, it controls the mechanical gripper to perform raw material gripping operations based on the correct gripping pressure, thereby ensuring the safety of factory operations.

[0123] Reference Figure 6 The steps for generating a corrected gripper gripping pressure, which involve adjusting the initial gripping pressure of the edge computing layer based on ambient temperature and volatile compound concentration, include: Step S600: Locate the warning temperature, warning concentration, alarm temperature, and alarm concentration in the environmental anomaly alarm requirements.

[0124] Wherein, the warning temperature refers to the temperature threshold that triggers a level-two warning; the warning concentration refers to the volatile compound concentration threshold that triggers a level-two warning; the alarm temperature refers to the temperature threshold that triggers a level-one alarm; and the alarm concentration refers to the volatile compound concentration threshold that triggers a level-one alarm. The warning temperature, warning concentration, alarm temperature, and alarm concentration can be obtained by searching in the environmental anomaly alarm requirements through the processing terminal. In one embodiment, the warning temperature is 55°C, the warning concentration is 300 ppm, the alarm temperature is 60°C, and the alarm concentration is 500 ppm.

[0125] Step S601: Compare the ambient temperature and volatile compound concentration with the warning temperature, warning concentration, alarm temperature and alarm concentration, respectively, to generate environmental parameter detection results.

[0126] Among them, environmental parameter detection results refer to detection signals used to reflect the safety of factory operations, including both single anomaly detection results and compound anomaly detection results. The processing terminal compares the ambient temperature with the warning temperature and the alarm temperature, and compares the volatile compound concentration with the warning concentration and the alarm concentration, respectively. When the processing terminal determines that only one of the ambient temperature and volatile compound concentration is within any threshold range of the environmental anomaly alarm requirements, the single anomaly detection result is determined as the environmental parameter detection result; when the processing terminal determines that both the ambient temperature and volatile compound concentration are within the threshold range of the environmental anomaly alarm requirements, the compound anomaly detection result is determined as the environmental parameter detection result.

[0127] A single abnormal detection result refers to the detection result when only one of the data points, either ambient temperature or volatile compound concentration, is abnormal. This includes four types of detection results: ambient temperature within the warning temperature range, ambient temperature within the alarm temperature range, volatile compound concentration within the warning concentration range, and volatile compound concentration within the alarm concentration range.

[0128] The composite anomaly detection result refers to the detection result when both the ambient temperature and the concentration of volatile compounds are abnormal. It includes four types of detection results: ambient temperature within the warning temperature range and volatile compound concentration within the warning temperature range; ambient temperature within the warning temperature range and volatile compound concentration within the alarm temperature range; ambient temperature within the alarm temperature range and volatile compound concentration within the warning temperature range; and ambient temperature within the alarm temperature range and volatile compound concentration within the alarm temperature range.

[0129] Step S602: Analyze the environmental parameter detection results, ambient temperature, and volatile compound concentration to generate a pressure adjustment coefficient.

[0130] The pressure adjustment coefficient refers to the adjustment parameter used to adjust the initial gripping pressure of the mechanical gripper. This coefficient can be obtained by analyzing environmental parameter detection results, ambient temperature, and volatile compound concentrations through a processing terminal. The specific method is described in [reference needed]. Figure 7 This process provides data support for subsequent adjustments to the initial gripping pressure of the mechanical gripper.

[0131] Step S603: Calculate the product between the pressure adjustment coefficient and the initial mechanical gripper gripping pressure to generate the corrected mechanical gripper gripping pressure.

[0132] In this step, the corrected gripping pressure of the mechanical gripper is the same as that in step S50121 above. The corrected gripping pressure of the mechanical gripper can be obtained by multiplying the pressure adjustment coefficient with the initial gripping pressure of the mechanical gripper through the processing terminal.

[0133] Reference Figure 7 The steps for analyzing environmental parameter detection results, ambient temperature, and volatile compound concentrations to generate pressure adjustment coefficients include: Step S700: Determine whether the abnormal results of environmental parameters are consistent with the preset single abnormality detection results.

[0134] Specifically, by processing the terminal to determine whether the abnormal results of environmental parameters are consistent with the results of a single abnormality detection, it can be determined whether it is necessary to determine the pressure adjustment coefficient based on both environmental data and volatile compound concentration.

[0135] The single anomaly detection result in this step is consistent with the single anomaly detection result in step S601 above, and will not be repeated here.

[0136] Step S7001: If consistent, then based on the abnormal environmental parameter results, substitute the ambient temperature and volatile compound concentration into the preset pressure adjustment coefficient calculation function to generate the pressure adjustment coefficient.

[0137] If the processing terminal determines that the abnormal environmental parameter result is consistent with the single abnormality detection result, it means that it is not necessary to determine the pressure adjustment coefficient based on both environmental data and volatile compound concentration. Therefore, the processing terminal determines which of the four scenarios among the single abnormality detection results the abnormal environmental parameter result belongs to, and substitutes the ambient temperature or volatile compound concentration into the pressure adjustment coefficient calculation function according to the different scenarios. By performing calculations, the pressure adjustment coefficient can be obtained, where, This refers to the pressure adjustment coefficient. This refers to the minimum pressure adjustment coefficient, in order to For example, =0.4 This refers to ambient temperature or the concentration of volatile compounds. This refers to the warning temperature or warning concentration. This refers to the alarm temperature or alarm concentration. This refers to the attenuation intensity coefficient, in For example, let's take 0.5 as an example.

[0138] When the processing terminal determines that the ambient temperature is within the warning temperature range, that is... When the ambient temperature, warning temperature, alarm temperature, and attenuation intensity coefficient are substituted into the second formula of the pressure adjustment coefficient calculation function, the pressure adjustment coefficient can be obtained.

[0139] When the processing terminal determines that the ambient temperature is within the alarm temperature range, i.e. When this is the case, the minimum pressure adjustment coefficient is determined as the pressure adjustment coefficient.

[0140] When the processing terminal determines that the concentration of volatile compounds is within the warning concentration range, i.e. When the concentration of volatile compounds, the warning concentration, the alarm concentration, and the attenuation intensity coefficient are substituted into the second formula of the pressure adjustment coefficient calculation function, the pressure adjustment coefficient can be obtained.

[0141] When the processing terminal determines that the concentration of volatile compounds is within the alarm concentration range, i.e. When this is the case, the minimum pressure adjustment coefficient is determined as the pressure adjustment coefficient.

[0142] Step S7002: If they are inconsistent, the ambient temperature and the concentration of volatile compounds are substituted into the preset pressure correction coefficient calculation function to generate the temperature-pressure adjustment coefficient and the concentration-pressure adjustment coefficient.

[0143] If the processing terminal determines that the abnormal environmental parameter results are inconsistent with the single abnormality detection results, it means that it is necessary to determine the pressure adjustment coefficient based on both the environmental data and the volatile compound concentration. Therefore, by substituting the ambient temperature and volatile compound concentration into the pressure correction coefficient calculation function through the processing terminal, the temperature pressure adjustment coefficient and the concentration pressure adjustment coefficient can be obtained.

[0144] The temperature-pressure adjustment coefficient refers to the adjustment parameter used to adjust the initial gripping pressure of the mechanical gripper based on the temperature, while the concentration-pressure adjustment coefficient refers to the adjustment parameter used to adjust the initial gripping pressure of the mechanical gripper based on the concentration of volatile compounds.

[0145] The pressure correction coefficient calculation function in this step is the same as the pressure adjustment coefficient calculation function in step S7001 above, and will not be described again here.

[0146] When the processing terminal determines that the ambient temperature is within the warning temperature range, that is... When the ambient temperature, warning temperature, alarm temperature, and attenuation intensity coefficient are substituted into the second formula of the pressure adjustment coefficient calculation function, the temperature and pressure adjustment coefficient corresponding to the level 2 warning can be obtained.

[0147] When the processing terminal determines that the ambient temperature is within the alarm temperature range, i.e. When this happens, the minimum pressure adjustment coefficient is determined to be the temperature and pressure adjustment coefficient corresponding to the first-level alarm.

[0148] When the processing terminal determines that the concentration of volatile compounds is within the warning concentration range, i.e. When the concentration of volatile compounds, the warning concentration, the alarm concentration, and the attenuation intensity coefficient are substituted into the second formula of the pressure adjustment coefficient calculation function, the concentration pressure adjustment coefficient corresponding to the level 2 warning can be obtained.

[0149] When the processing terminal determines that the concentration of volatile compounds is within the alarm concentration range, i.e. When this happens, the minimum pressure adjustment coefficient is determined as the pressure adjustment coefficient corresponding to the first-level alarm.

[0150] Step S70021: Compare the temperature pressure adjustment coefficient and the concentration pressure adjustment coefficient to generate the pressure adjustment coefficient.

[0151] In this step, the pressure adjustment coefficient is the same as that in step S602 above. The temperature pressure adjustment coefficient and the concentration pressure adjustment coefficient are compared by the processing terminal, and the one with the smaller value is determined as the pressure adjustment coefficient.

[0152] Based on the same inventive concept, embodiments of this application provide an edge computing method for environmentally adaptive flexible electronic skin, including: The data acquisition module is used to collect scene matching instructions, ambient temperature, volatile compound concentration, pipeline temperature, initial ice grabbing pressure, ice layer thickness, ice layer indentation thickness, and initial mechanical gripper grabbing pressure. Memory for storing a program for an edge computing method of an environment-adaptive flexible electronic skin; The processor and memory can load and execute programs to implement an edge computing method for an environment-adaptive flexible electronic skin.

[0153] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0154] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as an edge computing method for an environment-adaptive flexible electronic skin.

[0155] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0156] Based on the same inventive concept, embodiments of this application provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as an edge computing method for an environment-adaptive flexible electronic skin.

[0157] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0158] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. An edge computing method for an environment-adaptive flexible electronic skin, characterized in that, include: Collect preset scene matching instructions for the flexible electronic skin and control the preset multimodal sensing layer to collect ambient temperature; The ambient temperature and scene matching instructions are analyzed to generate actual scene matching instructions; Determine whether the actual scenario matching instruction is a preset polar work instruction or a preset factory work instruction. If the instruction is for polar operations, the flexible electronic skin will be controlled to perform ice harvesting operations based on the ambient temperature. If it is a factory work instruction, then control the multimodal sensing layer to collect the concentration of volatile compounds and the pipeline temperature; The flexible electronic skin is controlled to grasp raw materials based on ambient temperature, volatile compound concentration, and pipeline temperature.

2. The edge calculation method for an environment-adaptive flexible electronic skin according to claim 1, characterized in that, The flexible electronic skin includes an edge computing layer and a flexible support layer. The steps for controlling the flexible electronic skin to perform ice harvesting operations according to the ambient temperature include: The ambient temperature is compared with the preset heating ambient temperature threshold to generate process inspection instructions; Determine whether the process inspection command is consistent with the preset heating command; If there is a discrepancy, the preset ice grabbing instruction will be determined as the process detection instruction, and the ambient temperature will continue to be collected for cyclical judgment. If they match, the ambient temperature is analyzed to generate the heating time; The flexible support layer is heated according to the process inspection instructions and heating time, and the preset ice collection instructions are determined as the process inspection instructions. Collect initial ice-grabbing pressure and ice thickness; The initial ice-grabbing pressure is corrected by controlling the edge computing layer based on the ice thickness to generate a corrected ice-grabbing pressure. The polar robot performs ice harvesting operations based on the process inspection instructions and the preset control of the ice-grabbing pressure.

3. The edge calculation method for an environment-adaptive flexible electronic skin according to claim 2, characterized in that, The steps for analyzing the ambient temperature to generate the heating time include: Calculate the difference between the ambient temperature and the preset target temperature to generate the temperature to be heated; The heating power loss is determined by finding the corresponding relationship between the ice layer thickness and the power loss based on the ice layer thickness. Calculate the difference between the preset rated heating power and the heating loss power to generate the actual heating power; Calculate the product between the preset electronic skin heat capacity and the temperature to be heated to generate the heat required for heating; Calculate the quotient between the heat required for heating and the actual heating power to generate the heating time.

4. The edge calculation method for an environment-adaptive flexible electronic skin according to claim 2, characterized in that, The steps for generating corrected ice-grabbing pressure by adjusting the initial ice-grabbing pressure based on the edge calculation layer according to ice hardness include: The polar robot presses the preset ice layer to be harvested based on the preset ice layer pressing pressure. Collect the thickness of the ice layer depressions; The quotient between the product of the ice layer indentation thickness and the preset ice block contact area and the ice layer pressing pressure is calculated to generate the ice layer hardness. The difference between the reference ice layer hardness and the ice layer hardness is normalized based on the preset reference ice layer hardness to generate a pressure correction ratio. Calculate the product between the pressure correction ratio and the preset ice hardness correction parameter to generate the pressure correction parameter; Calculate the product between the pressure correction parameter and the initial ice grab pressure to generate the pressure correction amount; Calculate the sum between the pressure correction and the initial ice grab pressure to generate the corrected ice grab pressure.

5. The edge calculation method for an environment-adaptive flexible electronic skin according to claim 1, characterized in that, The steps for using flexible electronic skin to grasp raw materials, based on ambient temperature, volatile compound concentration, and pipeline temperature, include: Collect the preset initial gripping pressure of the mechanical gripper; Determine whether the ambient temperature and volatile compound concentration meet the preset environmental anomaly alarm requirements; If the conditions are not met, the concentration of volatile compounds and the pipeline temperature will be collected and cycled for judgment. The mechanical gripper will be controlled to perform raw material gripping operation based on the initial gripping pressure. If satisfied, the edge computing layer is controlled to correct the initial gripping pressure of the mechanical gripper based on the ambient temperature and the concentration of volatile compounds, so as to generate the corrected gripping pressure of the mechanical gripper. The mechanical gripper is controlled by adjusting the gripping pressure to perform the material gripping operation.

6. The edge calculation method for an environment-adaptive flexible electronic skin according to claim 5, characterized in that, The steps for generating a corrected gripper gripping pressure, which involve adjusting the initial gripping pressure of the edge computing layer based on ambient temperature and volatile compound concentration, include: Find the warning temperature, warning concentration, alarm temperature, and alarm concentration in the environmental anomaly alarm requirements; The ambient temperature and volatile compound concentration are compared with the warning temperature, warning concentration, alarm temperature, and alarm concentration, respectively, to generate environmental parameter detection results; The environmental parameter detection results, ambient temperature, and volatile compound concentration are analyzed to generate a pressure adjustment coefficient; Calculate the product between the pressure adjustment factor and the initial gripping pressure of the mechanical gripper to generate the corrected gripping pressure of the mechanical gripper.

7. The edge calculation method for an environment-adaptive flexible electronic skin according to claim 6, characterized in that, The steps for analyzing environmental parameter test results, ambient temperature, and volatile compound concentrations to generate pressure adjustment factors include: Determine whether the abnormal results of environmental parameters are consistent with the preset single abnormality detection results; If they match, the ambient temperature and volatile compound concentration are substituted into the preset pressure adjustment coefficient calculation function based on the abnormal environmental parameter results to generate the pressure adjustment coefficient. If they are inconsistent, the ambient temperature and the concentration of volatile compounds will be substituted into the preset pressure correction coefficient calculation function to generate the temperature-pressure adjustment coefficient and the concentration-pressure adjustment coefficient. The temperature-pressure adjustment coefficient and the concentration-pressure adjustment coefficient are compared to generate the pressure adjustment coefficient.

8. An edge computing system for an environment-adaptive flexible electronic skin, characterized in that, include: The data acquisition module is used to collect scene matching commands, ambient temperature, volatile compound concentration, and pipeline temperature. A memory for storing a program of an edge computing method for an environmentally adaptive flexible electronic skin as described in any one of claims 1 to 7; The processor and the program in the memory can be loaded and executed by the processor to implement the edge computing method of the environmentally adaptive flexible electronic skin as described in any one of claims 1 to 7.

Images