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CN-121037263-B - Multi-equipment collaborative online control system and method

CN121037263BCN 121037263 BCN121037263 BCN 121037263BCN-121037263-B

Abstract

The invention discloses an online control system and method for multi-equipment cooperation, belongs to the technical field of multi-equipment cooperation control, and aims to solve the problems of low synchronization precision and response lag during multi-equipment cooperation. The method comprises the steps of accessing and identifying trigger and response execution equipment, calibrating time reference deviation, receiving trigger state and auxiliary state data, constructing a multidimensional state data set, analyzing and judging trigger conditions, generating click-through trigger initial signals, comparing the click-through trigger initial signals with sequence end signal time stamps to update sequences and incrementally transmitting the sequence to a central control platform, measuring communication delay through test signals, generating and iterating online control instructions in real time to drive the equipment to cooperatively act, optimizing the instructions according to type identification and dynamically updating the instructions through an updating interface, constructing a correction data set based on feedback of the execution state, and calculating the execution deviation to correct the online control instructions. Finally, high-precision synchronization and high-efficiency response of the cooperative actions of the multiple devices are realized, and the stability and the suitability of the online control system are improved.

Inventors

  • ZHONG DINGSU

Assignees

  • 深圳市信冠机电有限公司

Dates

Publication Date
20260512
Application Date
20250822

Claims (10)

  1. 1. The multi-equipment collaborative online control system is characterized by comprising a central control platform, a reference synchronization module, a signal decision module, a signal execution module and a dynamic calibration module; The reference synchronization module is used for accessing and identifying trigger execution equipment and response execution equipment in the online control system and calibrating time reference deviation; the signal decision module is used for receiving the trigger state data of the trigger execution device and the auxiliary state data of the response execution device, constructing a multi-dimensional state data set, analyzing in real time through a multi-dimensional judgment rule to judge whether the trigger condition is met, responding to the generation of a click-through initial trigger signal, updating the trigger signal sequence through comparison with a starting time stamp of a tail end trigger signal in the trigger signal sequence, and transmitting the trigger signal sequence to the central control platform in an increment mode; the signal execution module is used for receiving a dynamically updated trigger signal sequence, measuring the communication delay time of the trigger execution equipment and the response execution equipment by sending a test signal, generating and iterating an online control instruction in real time, driving the trigger execution equipment and the response execution equipment to act cooperatively, optimizing the online control instruction according to the type identifier, and dynamically updating the online control instruction according to the configured update interface; The dynamic calibration module is used for constructing a correction data set based on the execution state feedback returned by the trigger execution equipment and the response execution equipment, calculating the execution deviation, identifying the abnormal execution deviation and correcting the online control instruction.
  2. 2. The multi-device collaborative online control system of claim 1, wherein the step of generating and iterating online control instructions comprises: Receiving a trigger signal sequence dynamically updated by a central control platform, extracting a type identifier, an execution parameter and a reference time stamp of a terminal trigger signal, and simultaneously calling unidirectional communication delay of trigger execution equipment and response execution equipment, which are measured by the central control platform for sending a test signal; generating an initial online control instruction, wherein the initial online control instruction comprises an execution parameter and a starting time stamp which trigger the execution equipment and respond to the execution equipment, and optimizing the initial online control instruction according to the type identifier; The method comprises the steps of acquiring an execution parameter of trigger execution equipment by analyzing an end trigger signal, acquiring the execution parameter of response execution equipment by a preset trigger intensity and response parameter mapping rule, wherein a starting time stamp is the sum of a reference time stamp and one-way communication delay of corresponding equipment; Synchronously transmitting the optimized initial online control instruction to the trigger execution equipment and the response execution equipment through a preset communication link, and after the trigger execution equipment and the response execution equipment receive the initial online control instruction, converting a time stamp in the online control instruction into a time corresponding to a local standardized time stamp, and performing time stamp alignment; after the trigger execution device is aligned with the time stamp of the response execution device, the action is executed according to the instruction, and the feedback of the execution state is returned in real time, wherein the feedback comprises the actual starting time, the actual value of the execution parameter and the action running progress.
  3. 3. The multi-device collaborative online control system of claim 2, wherein said optimizing initial online control instructions based on type identification comprises: if the type mark is click-through, setting the initial online control instruction into a single execution mode, wherein the starting time stamp is the same as the ending time stamp, executing the parameter fixation, and closing the parameter adjustment channel; if the type identifier is continuous, setting the initial online control instruction into a continuous execution mode, splitting the initial online control instruction into a starting instruction, a dynamic execution instruction and a temporary termination instruction, and dynamically updating the online control instruction according to a configured updating interface; the update interface comprises an execution parameter update interface, a duration update interface and a termination timestamp update interface; The starting instruction comprises an execution parameter and a starting time stamp and is used for triggering equipment to start; The dynamic execution instruction comprises an execution parameter and a duration time stamp which are adjusted according to the update frequency of the trigger signal sequence, wherein the duration time stamp is used for identifying the effective operation period of the dynamic execution instruction, and is obtained through calculation of the update frequency of the trigger signal sequence and the duration time of the trigger signal type identification; The temporary termination instruction comprises an execution parameter and a temporary termination time stamp, and is configured with a termination time stamp update interface for optimizing the actual termination time according to the trigger signal type identification.
  4. 4. The multi-device collaborative online control system of claim 3, wherein dynamically updating online control instructions according to a configured update interface comprises: in the execution process of the on-line control instruction, if the type of the tail end trigger signal of the trigger signal sequence dynamically updated by the central control platform is identified as continuous and unchanged, an execution parameter updating interface of the dynamic execution instruction is called, and the execution parameter of the tail end trigger signal of the trigger signal sequence is fused with the current execution parameter to generate an updated execution parameter; recalculating the duration time stamp of the dynamic execution instruction based on the reference time stamp of the terminal trigger signal, the update frequency of the trigger signal sequence and the duration time of the trigger state, and updating the effective operation period through a duration time update interface; A termination time stamp updating interface of the temporary termination instruction is called, a temporary termination time stamp is obtained according to a theoretical duration preset by a terminal trigger signal, and the temporary termination time stamp is updated; and triggering the execution equipment and responding the execution equipment to execute actions according to the updated online control instruction, and returning the execution state feedback in real time until the tail end trigger signal type identifier in the trigger signal sequence of the central control platform is changed, and closing the update interface.
  5. 5. The multi-device collaborative online control system of claim 1, wherein said generating a click-through initiation trigger signal comprises: Receiving trigger state data output by trigger execution equipment and auxiliary state data output by response execution equipment, and storing the trigger state data and the auxiliary state data into a multidimensional state data set according to a preset format template; Analyzing the multi-dimensional state data set in real time through a multi-dimensional judging rule, and judging whether the multi-dimensional state data set meets triggering conditions or not; the multi-dimensional judging rule comprises a standard threshold judging rule and a trend development judging rule, wherein the standard threshold judging rule performs interval verification on the trigger state data and the auxiliary state data based on a preset state threshold range; After the standard threshold value judging rule passes, the trend development judging rule judges whether the state conforming to the standard threshold value judging rule is stable or not by tracking the change slope, duration and fluctuation amplitude of the trigger state data and the auxiliary state data in the state threshold value range; if the trigger condition is judged to be met, generating a click-through type initial trigger signal, wherein the click-through type initial trigger signal comprises a starting time stamp taking the initial time meeting the trigger condition as a reference, an execution parameter of response execution equipment configured based on the strength of the trigger state data and a click-through type identifier.
  6. 6. The multi-device collaborative online control system of claim 5, wherein said updating trigger signal sequence comprises: Updating the click-through initial trigger signal into a trigger signal sequence, and comparing the trigger signal sequence with a starting time stamp of a tail end trigger signal in the trigger signal sequence: if the time interval of the two is smaller than the preset combining threshold value, starting a signal combining optimization flow: The starting time stamp of the tail end trigger signal is reserved as a starting point of the combined trigger signal, the click-through initial trigger signal and the execution parameters of the tail end trigger signal are fused, a new trigger signal is formed and updated to the tail end of the trigger signal sequence, and the type identifier of the new trigger signal is changed into a continuous type; otherwise, the click-through initial trigger signal is used as a new independent trigger signal to be added to the tail of the trigger signal sequence; And adding a unique identifier and a configuration check code of trigger execution equipment to the updated trigger signal sequence, and transmitting the unique identifier and the configuration check code to the central control platform by incrementally transmitting only the tail trigger signal in the trigger signal sequence based on a preset communication link.
  7. 7. The multi-device collaborative online control system of claim 1, wherein the step of measuring a communication latency of a trigger execution device and a response execution device comprises: Configuring a basic calibration period and establishing a sliding window mechanism, dynamically adjusting the basic calibration period by analyzing the fluctuation amplitude of the communication delay difference in the sliding window, judging that the communication state is stable if the fluctuation amplitude is smaller than a preset stability threshold value, maintaining the basic calibration period, taking the basic calibration period as a real-time calibration period, and executing the transmission of test signals; Based on a preset communication link, the central control platform respectively sends the test signals to the trigger execution equipment and the response execution equipment, and the sending moment is recorded as a test starting time stamp; After triggering execution equipment and responding the execution equipment to receive a test signal, extracting a standardized timestamp in the test signal, recording the receiving moment of the test signal by combining a local clock, generating a receiving feedback signal containing the receiving moment and the self identifier of the equipment, and transmitting the receiving feedback signal back to a central control platform through an original communication link; The signal execution module receives the received feedback signals of the trigger execution device and the response execution device, verifies the unique identification and the verification field of the test signal, calculates the one-way communication delay of the trigger execution device and the response execution device according to the receiving time of the trigger execution device and the response execution device in the received feedback signals and the standardized time stamp in the test signal, and calculates the communication delay difference of the trigger execution device and the response execution device.
  8. 8. The multi-device collaborative online control system of claim 7, wherein said step of measuring a communication latency of a trigger execution device and a response execution device further comprises: Calculating a change trend slope of the communication delay difference by adopting a linear fitting algorithm based on the communication delay difference in the sliding window, and judging that the communication delay has no trend if the absolute value of the trend slope is smaller than a preset trend threshold value, otherwise, judging that the communication delay has trend; if no trend of the communication delay is judged, the current unidirectional communication delay is used for updating the real-time calibration period and generating an online control instruction; If the communication delay is judged to have trend, triggering communication abnormality early warning, shortening a real-time calibration period according to the ratio of the absolute value of the trend slope to a preset trend threshold value, and calling unidirectional communication delay data of the previous calibration period to generate an online control instruction; if the triggering execution equipment or the responding execution equipment does not return the received feedback signal within the preset return time, marking that the measurement is invalid, restarting the test flow, and sending out an abnormal communication link alarm.
  9. 9. The multi-device collaborative online control system of claim 1, wherein said step of correcting online control instructions comprises: Continuously receiving the feedback of the execution state returned by the triggering execution equipment and the response execution equipment, analyzing the actual starting moment, the actual value of the execution parameter and the action running progress, calling the unified time axis data and the communication delay difference, and establishing a calibration data set; Calculating execution bias including start bias, execution parameter bias, and progress bias based on the calibration data set; Configuring an execution deviation threshold, marking the execution deviation larger than the execution deviation threshold as abnormal execution deviation, and correcting; The adjusted online control instruction is sent to trigger execution equipment and response execution equipment, and the online control instruction is updated and executed according to a unified time axis; The execution state feedback of the online control instruction after the dynamic tracking correction is used for recalculating the execution deviation, and judging that the correction is effective if the abnormal execution deviation is smaller than the corresponding execution deviation threshold value in a preset evaluation period; And counting the correction times in the evaluation period, if the correction times are larger than a preset correction threshold value, judging that the equipment is abnormal in operation, generating an alarm and suspending the execution of the online control instruction.
  10. 10. The multi-device collaborative online control method is realized based on the multi-device collaborative online control system according to any one of claims 1-9, and is characterized in that the online control system comprises a central control platform, a reference synchronization module, a signal decision module, a signal execution module and a dynamic calibration module, and the method comprises the following steps: step S1, accessing and identifying trigger execution equipment and response execution equipment in an online control system through the reference synchronization module, and calibrating time reference deviation; Step S2, receiving the trigger state data of the trigger execution device and the auxiliary state data of the response execution device through the signal decision module, constructing a multi-dimensional state data set, performing real-time analysis through a multi-dimensional judgment rule to judge whether the trigger condition is met, responding to the generation of a click-through initial trigger signal, updating the trigger signal sequence through comparison with a starting time stamp of a tail end trigger signal in the trigger signal sequence, and incrementally transmitting the trigger signal sequence to a central control platform; step S3, receiving a dynamically updated trigger signal sequence through the signal execution module, measuring the communication delay time of the trigger execution equipment and the response execution equipment through sending a test signal, generating and iterating an online control instruction in real time, driving the trigger execution equipment and the response execution equipment to act cooperatively, optimizing the online control instruction according to the type identifier, and dynamically updating the online control instruction according to the configured update interface; And S4, the dynamic calibration module builds a correction data set based on the execution state feedback returned by the trigger execution equipment and the response execution equipment, and is used for calculating the execution deviation, identifying the abnormal execution deviation and correcting the online control instruction.

Description

Multi-equipment collaborative online control system and method Technical Field The invention relates to the technical field of multi-equipment cooperative control, in particular to an online control system and method for multi-equipment cooperative control. Background In the field of multi-device cooperative control, complex tasks are required to be completed by the multi-device cooperation. For example, in the medical field, the cooperative operation of the imaging device and the therapeutic device and the linkage operation of a plurality of mechanical arms in an industrial production line all require that a plurality of devices keep high synchronization in time and motion so as to ensure task precision and safety. However, current multi-device cooperative control techniques still face a number of real-world challenges. On the time reference level, most systems rely on one-time calibration at the initial access, so that clock drift caused by hardware characteristic difference and environmental interference in the running process of equipment is difficult to deal with, as running time is accumulated, time axis deviation of each equipment is gradually expanded, and time sequence dislocation of action execution is directly caused. And in the state judgment link, the existing scheme focuses on core state data of a single device, lacks systematic fusion analysis on auxiliary states of response execution devices, is easily misled by instantaneous disturbance signals, causes misjudgment or delay of trigger logic, and is difficult to adapt to dynamic changes in complex scenes. Meanwhile, the measurement of communication delay adopts a fixed period, the trend change of delay cannot be captured dynamically, and the time sequence deviation of equipment action is easily caused when systematic fluctuation occurs in delay based on a control instruction generated by static delay data. In addition, in the execution process, the deviation between the actual running state of the equipment and the instruction requirement often lacks a real-time sensing and correcting mechanism, and long-term accumulation of the deviation not only reduces the cooperative precision, but also is more likely to cause potential safety hazards in high-risk scenes. The problems cause that the prior multi-device cooperative control system is difficult to meet the requirements of high-precision cooperative scenes in terms of synchronous precision, response speed, anti-interference capability and reliability, and limit the further application of the multi-device cooperative technology in the complex field. Accordingly, to overcome these limitations, the present invention proposes a multi-device coordinated on-line control system and method. Disclosure of Invention Aiming at the defects of the prior art, the invention aims to provide an online control system and an online control method for multi-equipment cooperation, which mainly solve the problems that in the multi-equipment cooperation process, the synchronization precision is low due to inconsistent time references, the trigger logic lacks dynamic adaptation to multi-dimensional states, the response delay caused by signal transmission redundancy, the communication delay change influences the cooperative action time sequence, the deviation in the execution process cannot be corrected in real time and the like, and realize the high-precision synchronization and reliable response of the multi-equipment cooperation through equipment calibration, multi-dimensional trigger judgment, dynamic instruction update, communication delay measurement and execution deviation correction. In order to achieve the above purpose, the present invention provides the following technical solutions: A multi-device coordinated on-line control system comprising: Accessing and identifying trigger execution equipment and response execution equipment in an online control system, and calibrating time reference deviation; Receiving trigger state data of trigger execution equipment and auxiliary state data of response execution equipment, constructing a multi-dimensional state data set, performing real-time analysis through a multi-dimensional judgment rule to judge whether the trigger condition is met, responding to generating a click-through initial trigger signal, updating the trigger signal sequence by comparing with a starting time stamp of a tail end trigger signal in the trigger signal sequence, and incrementally transmitting to a central control platform; The central control platform receives a dynamically updated trigger signal sequence, measures the communication delay time of the trigger execution device and the response execution device by sending a test signal, generates and iterates an online control instruction in real time, is used for driving the trigger execution device and the response execution device to act cooperatively, optimizes the online control instruction according to a type identifier, and dynamically