Communication, perception and control integrated multi-intelligent machine closed-loop control method and device

Abstract

The present invention provides a closed-loop control method and device for a multi-intelligent machine with integrated communication, perception and control, which relates to the technical field of integrated communication, perception and control, including: when the first mobile terminal meets the first condition, receiving a first control instruction sent by a communication network device, which is used to instruct the adjustment of the motion trajectory and motion speed of the first mobile terminal within a target motion cycle, and the duration of the target motion cycle is a preset duration; when the first mobile terminal does not meet the first condition, adjusting the motion trajectory and motion speed of the first mobile terminal within the target motion cycle according to the first motion state observation value perceived by the sensor of the first mobile terminal and / or the second motion state observation value perceived by the sensor of the second mobile terminal, and the duration of the target motion cycle is a first duration, which is determined according to the control environment status information in the workshop, and the first condition includes at least one of the following: located in the assembly area; located in the turning area.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated communication, perception and control, and in particular to a closed-loop control method and device for a multi-intelligent machine with integrated communication, perception and control. Background Art

[0002] With the widespread application and development of technologies such as mobile communications and edge computing in the manufacturing industry, smart factories have deployed smart machines and mobile platforms on a large scale, such as automated guided vehicles (AGVs), to free up human resources and effectively improve workshop production efficiency. In addition, by introducing a networked control system (NCS), smart factories adopt a centralized management model to achieve networked closed-loop control of AGVs to efficiently perform industrial tasks such as material transportation and collaborative assembly. Among them, the closed-loop control process involves the AGV periodically uploading sensory data to the edge server on the base station side through a wireless communication network, and receiving and executing control instructions from the programmable logic controller (PLC) built into the edge server. However, as the scale of factory production expands and production capacity demands increase, the demand for the number of controllable AGVs and working speed has surged, and the failure rate and risk of loss of control of large-scale AGV closed-loop control systems have also increased. Therefore, in order to meet the low-latency and efficient real-time control requirements of the AGV closed-loop control system, it is necessary to collaboratively design the perception, communication, and control systems in the AGV closed-loop control process, including perception-control collaboration and communication-control collaboration, aiming to consume the least resources and improve control performance.

[0003] Specifically, existing closed-loop control schemes based on perception-control collaboration only consider AGVs moving along fixed paths, and may require extensive infrastructure modifications to enable AGVs to navigate new paths. Under this production model, the AGV system has high deployment costs, relatively low cumulative control errors, low performance requirements for the communication system, and a relatively simple network structure model. However, with the large-scale deployment of mobile intelligent machines such as AGVs in manufacturing workshops, the number of retransmissions and the risk of congestion collisions and loss of control have increased dramatically. The complex physical environment and limited communication resources cannot meet the needs of large-scale intelligent terminals to efficiently perform industrial tasks and the problem of real-time control of AGVs.

[0004] Existing closed-loop control schemes for communication-control collaboration focus on parameters such as air interface latency and reliability within unidirectional links, neglecting the closed-loop interactive nature of closed-loop information flows within actual intelligent machines. This makes it difficult for intelligent machine networks to meet the requirements for efficient information flow interaction. For small-scale AGV closed-loop control systems, existing closed-loop control schemes within these simple network structures are already very detailed and can meet the requirements for real-time and efficient control of low-density AGVs in manufacturing workshops. However, as the number of AGVs and operating speeds increase, most work has neglected the coupling relationship between communication, perception, and control, particularly failing to consider the degree to which different industrial tasks depend on communication performance, control, and perception errors. This results in the transmission of excessive redundant data, increased communication overhead, and exponentially increased end-to-end latency, making the control system unable to meet the requirements for efficient and stable closed-loop interaction among large-scale intelligent machines.

[0005] In summary, existing mobile terminal (such as AGV) control systems have the problems of poor control performance and high resource consumption. Summary of the Invention

[0006] The purpose of the present invention is to provide a multi-intelligent machine closed-loop control method and device with integrated communication, perception and control, so as to solve the problems of poor control performance and high resource consumption of existing mobile terminal control systems.

[0007] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0008] An embodiment of the present invention provides a closed-loop control method for a multi-intelligent machine with integrated communication, perception, and control, which is applied to a first mobile terminal. The method includes:

[0009] When the first mobile terminal satisfies a first condition, receiving a first control instruction sent by a communication network device, the first control instruction being used to instruct adjustment of a motion trajectory and a motion speed of the first mobile terminal within a target motion period, wherein the duration of the target motion period is a preset duration;

[0010] If the first mobile terminal does not meet the first condition, adjusting the motion trajectory and motion speed of the first mobile terminal within a target motion cycle based on a first motion state observation value sensed by a sensor of the first mobile terminal and / or a second motion state observation value sensed by a sensor of a second mobile terminal, where the second mobile terminal is a motion terminal adjacent to the first mobile terminal, wherein the duration of the target motion cycle is a first duration, and the first duration is determined based on control environment status information within the workshop where the first mobile terminal is located;

[0011] The first condition includes at least one of the following:

[0012] The first mobile terminal is located in an assembly area in a workshop;

[0013] The first mobile terminal is located in a turning area on an assembly line in a workshop.

[0014] Optionally, after adjusting the motion trajectory and motion speed of the first mobile terminal within the target motion period according to the first motion state observation value perceived by the sensor of the first mobile terminal and / or the second motion state observation value perceived by the sensor of the second mobile terminal, the method further includes:

[0015] Sending a third motion state observation value sensed by a sensor of the first mobile terminal to the communication network device;

[0016] Receive a second control instruction sent by the communication network device, where the second control instruction is sent by the communication network device when it is determined that the difference between the motion trajectory of the first mobile terminal and the preset motion trajectory is greater than a preset threshold based on the third motion state observation value perceived by the sensor and the preset motion trajectory, and the second control instruction is used to instruct the first mobile terminal to make adjustments according to the preset motion trajectory.

[0017] Optionally, the method further includes:

[0018] sensing, based on first sensor data on the first mobile terminal, a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0019] determining whether the first mobile terminal satisfies the first condition based on a first motion state observation value sensed by the sensor and pre-stored vehicle map data;

[0020] If so, determining that the first mobile terminal meets the first condition;

[0021] In a case where the first mobile terminal does not meet the first condition, indication information sent by the communication network device is received, where the indication information is used to indicate whether the first mobile terminal meets the first condition.

[0022] Optionally, receiving the indication information sent by the communication network device includes:

[0023] sensing a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0024] sending the first motion observation value to the communication network device;

[0025] receiving the indication information sent by the communication network device;

[0026] In which, the communication network device is used to receive the second sensor data sent by the sensor in the workshop, determine the third sensor data of the first mobile terminal observed in the second sensor data, determine the fourth motion state observation value perceived by the sensor of the first mobile terminal in the third sensor data, and process the fourth motion state observation value perceived by the sensor to obtain the fifth motion state observation value perceived by the sensor, and estimate the target motion state observation value of the first mobile terminal based on the first motion state observation value perceived by the sensor and the fifth motion state observation value perceived by the sensor, and determine whether the first mobile terminal meets the first condition based on the target motion state observation value and the pre-stored workshop map data.

[0027] The first motion state observation value sensed by the sensor includes a first position of the first mobile terminal in the workshop; the second motion state observation value sensed by the sensor includes a second position of the second mobile terminal in the workshop;

[0028] Adjusting the movement speed of the first mobile terminal in a first movement cycle according to a first movement state observation value sensed by a sensor of the first mobile terminal and / or a second movement state observation value sensed by a sensor of the second mobile terminal includes:

[0029] Obtaining a safety distance based on the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, a preset collision warning threshold factor, and a first radius, wherein the first radius is a radius of an inscribed circle of a projection of the first mobile terminal on the ground;

[0030] Obtaining a collision distance based on a preset collision warning threshold factor and the safety distance;

[0031] When the Euclidean distance between the first position and the second position is greater than the safety distance, controlling the first mobile terminal to accelerate within the target motion cycle;

[0032] When the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance, controlling the first mobile terminal to decelerate within the target motion cycle;

[0033] When the Euclidean distance between the first position and the second position is less than the collision distance, the first mobile terminal is controlled to perform emergency braking within the target motion cycle.

[0034] Optionally, receiving a first control instruction sent by the communication network device includes:

[0035] After a first movement cycle ends, sending a first movement state observation value sensed by a sensor of the first mobile terminal to the communication network device, where the first movement state observation value sensed by the sensor includes a first position of the first mobile terminal in the workshop, wherein the first movement cycle is a movement cycle adjacent to the target movement cycle;

[0036] receiving a first control instruction sent by the communication network device;

[0037] Wherein, when the Euclidean distance between the first position and the second position is greater than the safety distance, the first control instruction is used to control the first mobile terminal to accelerate within the target motion cycle;

[0038] When the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance, the first control instruction is used to control the first mobile terminal to decelerate within the target motion cycle;

[0039] When the Euclidean distance between the first position and the second position is less than the collision distance, the first control instruction is used to control the first mobile terminal to perform emergency braking within the target motion cycle;

[0040] The safety distance is obtained by the communication network device based on the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, a preset collision warning threshold factor, and a first radius, where the first radius is the radius of the inscribed circle of the projection of the first mobile terminal on the ground;

[0041] The collision distance is obtained based on a preset collision warning threshold factor and the safety distance;

[0042] The second location is sent by the second mobile terminal to the communication network device.

[0043] Optionally, the first motion state observation value sensed by the sensor includes a first position, a first steering angle, a current speed, and a current motion trajectory of the first mobile terminal in the workshop;

[0044] Adjusting the motion trajectory of the first mobile terminal in a first motion cycle according to a first motion state observation value sensed by a sensor of the first mobile terminal includes:

[0045] The motion trajectory of the first mobile terminal in the target motion cycle is obtained based on the current speed, the acceleration of the first mobile terminal, the duration of the first motion cycle, the first position, the first steering angle, the current motion trajectory and the first duration.

[0046] Optionally, the method further includes:

[0047] Obtaining a time-related stability coefficient according to the first time duration;

[0048] The acceleration of the first mobile terminal is obtained according to the communication delay, the safety distance, the maximum speed of the first mobile terminal and the stability coefficient.

[0049] Optionally, receiving a first control instruction sent by the communication network device includes:

[0050] sensing, based on first sensor data on the first mobile terminal, a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0051] Sending a first motion state observation value sensed by the sensor to the communication network device, where the first motion state observation value sensed by the sensor includes a current motion trajectory of the first mobile terminal;

[0052] receiving a first control instruction sent by the communication network device, where the first control instruction includes a second motion trajectory, where the second motion trajectory is obtained by the communication network device according to a trajectory error, where the trajectory error is an error between the current motion trajectory and a preset motion trajectory;

[0053] The motion trajectory of the first mobile terminal within the target motion cycle is adjusted according to the second motion trajectory, the preset duration, the first travel angle, and the current trajectory.

[0054] Optionally, the method further includes:

[0055] The first duration is determined based on the safety distance, the current speed of the first mobile terminal and the closed-loop communication delay.

[0056] An embodiment of the present invention further provides a multi-intelligent machine closed-loop control device integrating communication, perception and control, the device comprising: a control module;

[0057] The control module is used for:

[0058] When the first mobile terminal meets the first condition, receiving a first control instruction sent by the communication network device, the first control instruction is used to instruct to adjust the motion trajectory and motion speed of the first mobile terminal within a target motion period, wherein the duration of the target motion period is a preset duration;

[0059] If the first mobile terminal does not meet the first condition, adjusting the motion trajectory and motion speed of the first mobile terminal within a target motion cycle based on a first motion state observation value sensed by a sensor of the first mobile terminal and / or a second motion state observation value sensed by a sensor of a second mobile terminal, where the second mobile terminal is a motion terminal adjacent to the first mobile terminal, wherein the duration of the target motion cycle is a first duration, and the first duration is determined based on control environment status information in the workshop where the first mobile terminal is located;

[0060] The first condition includes at least one of the following:

[0061] The first mobile terminal is located in an assembly area in a workshop;

[0062] The first mobile terminal is located in a turning area on an assembly line in a workshop.

[0063] An embodiment of the present invention also provides a multi-intelligent machine closed-loop control device with integrated communication, perception and control, including: a transceiver, a processor, a memory, and a program or instruction stored on the memory and executable on the processor; when the processor executes the program or instruction, it implements the steps in the multi-intelligent machine closed-loop control method with integrated communication, perception and control as described above.

[0064] An embodiment of the present invention also provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the steps in the multi-intelligent machine closed-loop control method with integrated communication, perception and control as described above.

[0065] An embodiment of the present invention also provides a computer program product, including computer instructions, which, when executed by a processor, implement the steps in the multi-intelligent machine closed-loop control method with integrated communication, perception and control as described above.

[0066] The beneficial effects of the above technical solution of the present invention are as follows:

[0067] The communication, perception and control integrated closed-loop control method of a multi-intelligent machine provided by the solution of the present invention is that, when the first mobile terminal meets the first condition (the first mobile terminal is located in the assembly area in the workshop and / or the first mobile terminal is located in the turning area on the assembly line in the workshop), the first mobile terminal receives a first control instruction sent by the communication network device, and the first control instruction is used to instruct the adjustment of the motion trajectory and motion speed of the first mobile terminal in the first motion cycle, that is, the first mobile terminal passively adjusts its motion trajectory and motion speed in the target motion cycle according to the first control instruction. When the first mobile terminal does not meet the first condition, the first mobile terminal adjusts the motion trajectory and motion speed according to the first motion state observation value perceived by the sensor of the first mobile terminal and / or the second motion state perceived by the sensor of the second mobile terminal. Observation value, adjust the motion trajectory and motion speed of the first mobile terminal within the target motion cycle, that is, through the auxiliary control of the first mobile terminal, select active decision-making, actively control the motion trajectory and speed of the first mobile terminal, and solve the problem that the complex physical environment and limited communication resources cannot meet the needs of large-scale intelligent terminals to efficiently perform industrial tasks, and solve the problem of poor control stability caused by the inability of intelligent terminals to respond to the environment quickly. In the active decision-making, the first duration of the target motion cycle is determined according to the control environment status information in the workshop where the first mobile terminal is located, that is, the duration of the motion cycle is adaptively adjusted, reducing the number and overhead of mobile terminals accessing the base station, expanding the number of mobile terminals that can be controlled by the network, improving workshop production capacity, and reducing resource consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 A flow chart of a closed-loop control method for a multi-intelligent machine with integrated communication, perception, and control provided by an embodiment of the present invention;

[0069] Figure 2 A schematic diagram of the structure of a flexible automobile manufacturing assembly workshop provided by an embodiment of the present invention;

[0070] Figure 3 A schematic diagram of the congestion collision probability between different AGV spacings provided by an embodiment of the present invention;

[0071] Figure 4 A schematic diagram comparing the duration of a traditional closed-loop interaction cycle provided by an embodiment of the present invention and the duration of a closed-loop interaction cycle obtained by the present invention;

[0072] Figure 5 A schematic diagram showing the comparison results of the number of AGVs that can be controlled by different solutions provided in the embodiments of the present invention;

[0073] Figure 6 A schematic diagram showing comparison results of closed-loop communication delays of different solutions provided in an embodiment of the present invention;

[0074] Figure 7 A schematic diagram of the structure of a multi-intelligent machine closed-loop control device with integrated communication, perception and control provided by an embodiment of the present invention;

[0075] Figure 8 A schematic diagram of the structure of a multi-intelligent machine closed-loop control device with integrated communication, perception and control provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0076] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0077] To address the problems that the existing complex physical environment and limited communication resources cannot meet the needs of large-scale intelligent terminals to efficiently execute industrial tasks and have poor control stability, an embodiment of the present invention provides a multi-intelligent machine closed-loop control method and device with integrated communication, perception and control.

[0078] like Figure 1 As shown, an embodiment of the present invention provides a closed-loop control method for a multi-intelligent machine with integrated communication, perception and control, which is applied to a first mobile terminal. The method includes:

[0079] Step 101: When the first mobile terminal meets a first condition, receiving a first control instruction sent by a communication network device, the first control instruction is used to instruct to adjust the motion trajectory and motion speed of the first mobile terminal within a target motion period, wherein the duration of the target motion period is a preset duration;

[0080] If the first mobile terminal does not meet the first condition, adjusting the motion trajectory and motion speed of the first mobile terminal within a target motion cycle based on a first motion state observation value sensed by a sensor of the first mobile terminal and / or a second motion state observation value sensed by a sensor of a second mobile terminal, where the second mobile terminal is a motion terminal adjacent to the first mobile terminal, wherein the duration of the target motion cycle is a first duration, and the first duration is determined based on control environment status information within the workshop where the first mobile terminal is located;

[0081] The first condition includes at least one of the following:

[0082] The first mobile terminal is located in an assembly area in a workshop;

[0083] The first mobile terminal is located in a turning area on an assembly line in a workshop.

[0084] It should be noted that the first mobile terminal is any mobile terminal in the workshop, the mobile terminal can be an AGV or an intelligent AGV, and the communication network device can be a 5G base station, an edge server or a PLC device on an edge server. In the embodiment of the present invention, the mobile terminal is AGV as an example for explanation, the communication network device is PLC as an example for explanation, and the workshop is an automobile manufacturing assembly workshop as an example for explanation. As an example, the closed-loop control process of AGV in an industrial environment is accurately described, and the transportation of materials by AGV in an automobile manufacturing assembly workshop is used as a scenario to establish a new type of integrated closed-loop control system model of telecontrol. The automobile flexible manufacturing assembly workshop has a structure such as Figure 2 As shown. There are four assembly lines in the workshop, namely the chassis assembly bus, the general assembly bus, the engine assembly line and the cockpit assembly line. At least one AGV is set on each assembly line, and the AGV may run along a circular or rectangular assembly line on the assembly line. The assembly area includes the assembly area on the chassis assembly line, the assembly area on the general assembly bus, the assembly area on the engine assembly line, and the assembly area on the cockpit assembly line. The workshop also includes the loading end area, the turning machine area and the unloading end area. Sensors (multiple) and base stations are also set up in the workshop. The data of multiple sensors are uploaded to the base station. The base station communicates with the PLC on the edge server, and data can be transmitted between them.

[0085] During the AGV closed-loop control process, the perception system, communication network, and control system interact with each other. Independent redundant designs for perception, communication, and control can lead to a significant waste of resources, resulting in a surge in retransmissions and the risk of congestion, collision, and loss of control, high communication overhead, and an exponential increase in end-to-end latency.

[0086] In order to solve the above technical problems, in this step, it is determined whether the first AGV (i.e., the first mobile terminal) is located in the assembly area within the workshop, or whether it is located in the turning area on the assembly line within the workshop, or whether it is located in both the assembly area within the workshop and the turning area on the assembly line within the workshop. Based on the above judgment results, active local control decisions (active closed-loop control) or passive reception of PLC control decisions (passive closed-loop control) are intelligently selected.

[0087] Among them, the target motion cycle is any motion cycle, and the motion cycle is a closed-loop interaction cycle. Within the target interaction cycle, it is determined whether the above-mentioned first condition is met, so as to trigger active closed-loop control and passive closed-loop control. If it is met, for example, the first AGV is located in the assembly area, and the AGV will receive parts assembly tasks from intelligent machines such as collaborative robotic arms and flip machines. The assembly task requires the AGV to frequently communicate with the communication network equipment in a fixed closed-loop interaction cycle, continuously calibrate its own trajectory and positioning information, and perform high-precision control synchronization with the robotic arms, etc., that is, the first AGV receives the first control instruction sent by the communication network equipment, and the duration of the target motion cycle is fixed, which is a preset duration. The preset duration is relatively short, such as the preset duration is 4ms. The first AGV adjusts the motion trajectory and motion speed within the preset duration according to the first control instruction. The slow and high-precision cyclic forward movement within the long period of time ensures the efficient operation of the production process; if, for example, the first AGV is located in the linear motion area on the assembly line and is located in the non-assembly area, the AGVs in this area are all operating in a stable state, and there are no robotic arm assembly stations or other obstacles (such as other AGVs) between any AGVs, therefore, the AGV is mainly actively controlled, and the second AGV (second mobile terminal) is used as the obstacle avoidance target to adjust its own motion trajectory and motion speed, that is, the motion trajectory and motion speed of the first AGV are adjusted according to the motion state observation value of the first AGV and the motion state observation value of the second AGV.

[0088] The second AGV is the AGV that is adjacent to the front of the first AGV. Front adjacent can be understood as the second AGV and the first AGV are located on the same assembly line, the second AGV moves before the first AGV, and the second AGV is adjacent to the first AGV.

[0089] The motion state observation value includes at least one of the following:

[0090] The position of the mobile terminal in the workshop (current position); the position of the mobile terminal after the end of the previous movement cycle of the target movement cycle;

[0091] The current steering angle of the mobile terminal;

[0092] The current travel angle of the mobile terminal;

[0093] The current speed of the mobile terminal;

[0094] The current acceleration of the mobile terminal;

[0095] The current motion trajectory of the mobile terminal (the current motion trajectory is obtained by fitting based on the current position, the current steering angle, the steering angle of the mobile terminal after the end of the previous motion cycle of the target motion cycle, the speed of the mobile terminal after the end of the previous motion cycle of the target motion cycle, the acceleration of the mobile terminal after the end of the previous motion cycle of the target motion cycle, the current speed and the current acceleration, which can also be understood as the motion trajectory of the previous motion cycle of the target motion cycle).

[0096] Through the process of active AGV control, the problem of high-speed AGV's inability to respond to the environment quickly and having poor control performance is solved.

[0097] During the active control process, the duration of the target motion cycle is the first duration, and the first duration is determined based on the control environment status information in the workshop where the first mobile terminal is located. Generally speaking, the first duration is greater than the above preset duration.

[0098] The control environment status information (also referred to as real-time closed-loop control status) includes at least one of the following:

[0099] Safety distance between the first AGV and the second AGV;

[0100] The optimal speed of the first AGV;

[0101] cycle time (closed-loop communication delay).

[0102] That is, during the active control process, the first mobile terminal adaptively adjusts the duration of the closed-loop interaction cycle according to the control environment status information, allocates the duration of active and passive control decisions, greatly reduces the number of AGVs visiting the base station and the communication overhead, expands the number of AGVs that can be controlled by the network, and improves workshop production capacity.

[0103] Through the master control process, the problem of high communication overhead and high closed-loop communication latency caused by frequent interactions between large-scale AGVs and base stations is solved.

[0104] In summary, this step solves the problem of poor communication and control performance caused by busy communication of large-scale intelligent machines in traditional closed-loop control solutions.

[0105] Furthermore, after adjusting the motion trajectory and motion speed of the first mobile terminal within the target motion period based on the first motion state observation value perceived by the sensor of the first mobile terminal and / or the second motion state observation value perceived by the sensor of the second mobile terminal, the method further includes:

[0106] Sending a third motion state observation value sensed by a sensor of the first mobile terminal to the communication network device;

[0107] and receiving a second control instruction sent by the communication network device. The second control instruction is sent when the communication network device determines, based on the third motion state observation value sensed by the sensor and the preset motion trajectory, that the difference between the motion trajectory of the first mobile terminal and the preset motion trajectory is greater than a preset threshold. The second control instruction is used to instruct the first mobile terminal to adjust according to the preset motion trajectory. The preset motion trajectory may be a motion trajectory pre-stored in a PLC device and can be understood as a normal motion trajectory of the AGV.

[0108] The difference between the motion trajectory of the first mobile terminal and the preset motion trajectory can be understood as the average distance between several trajectory points on the motion trajectory of the first mobile terminal and several corresponding trajectory points on the preset motion trajectory, or the maximum distance corresponding to each trajectory point.

[0109] That is, after each round of active control, it communicates with the communication network equipment, passively receives the control decisions of the PLC equipment, synchronizes and verifies the driving trajectory, and achieves rapid environmental response with low communication overhead.

[0110] It should also be noted that the above-mentioned motion state observation values ​​can be sent by the mobile terminal to the 5G base station, and then sent by the 5G base station to the PLC device.

[0111] The following describes the process of determining whether the AGV is in the assembly area:

[0112] In an optional embodiment, the method further includes:

[0113] Perceiving, based on first sensor data on the first mobile terminal, a first motion state observation value perceived by a sensor of the first mobile terminal in the workshop, that is, the first mobile terminal obtains its own sensor data, and obtains, based on the sensor data, the first motion state observation value perceived by the sensor of the first mobile terminal in the workshop;

[0114] Based on the first motion state observation value sensed by the sensor and the pre-stored workshop map data, it is determined whether the first mobile terminal meets the first condition, that is, the first mobile terminal matches the position of the mobile terminal in the workshop in the first motion state observation value sensed by the sensor with the pre-stored workshop map data, and judges whether the current position is an assembly area or a turning area. If so, it is determined that the first mobile terminal meets the first condition, which is helpful for the selection of subsequent control decisions. If not, the indication of the communication network device (that is, the second indication information) is received, and the communication network device determines whether the first condition is met.

[0115] Further, receiving the instruction information sent by the communication network device includes:

[0116] sensing a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0117] Sending first sensor data and the first motion observation value on the first mobile terminal to the communication network device;

[0118] receiving the indication information sent by the communication network device;

[0119] In which, the communication network device is used to receive the second sensor data sent by the sensor in the workshop, determine the third sensor data of the first mobile terminal observed in the second sensor data, determine the fourth motion state observation value perceived by the sensor of the first mobile terminal in the third sensor data, and process the fourth motion state observation value perceived by the sensor to obtain the fifth motion state observation value perceived by the sensor, and estimate the target motion state observation value of the first mobile terminal based on the first motion state observation value perceived by the sensor and the fifth motion state observation value perceived by the sensor, and determine whether the first mobile terminal meets the first condition based on the target motion state observation value and the pre-stored workshop map data.

[0120] Specifically, the 5G base station receives sensor data uploaded by the AGV (i.e., the first sensor data) and sensor data uploaded by sensors in the workshop through optical fibers (i.e., the second sensor data). The above sensor data is sent by the 5G base station to the PLC device to provide prior information for the PLC's control decision. Afterwards, the PLC device receives the first sensor device and the second sensor data, integrates them, estimates the motion state of the first mobile terminal, and then specifies the control decision.

[0121] The communication network device determines the third sensor data of the current motion state of the first mobile terminal observed by M (M is an integer greater than or equal to 1) target sensors in the second sensor data, which is recorded as {S1, S2, ..., S M}, determine the observed motion state X of the first mobile terminal in the third sensor data n (i.e., the fourth motion state observation value sensed by the sensor), the PLC device processes the fourth state observation value to obtain the fifth motion state observation value sensed by the sensor satisfy:

[0122]

[0123] in, is the Gaussian white noise of the observation value, N n ~N(0,σ 2 ).

[0124] The state observation value perceived by AGV itself is (The first motion state observation value perceived by the sensor). The state of the AGV is estimated by the maximum likelihood estimation method based on the state observation values ​​from different sensors and the state value perceived by the AGV itself. According to the above assumptions, X n (The X n An estimated value comprising a first motion state observation value perceived by the sensor and a fifth motion state observation value perceived by the sensor) (Observation value of target motion state) can be expressed as:

[0125]

[0126] That is, the first motion state observation value sensed by the sensor and the fifth motion state observation value sensed by the sensor are estimated using the maximum likelihood estimation method to obtain the target motion state observation value.

[0127] The mean square error can be calculated as follows:

[0128]

[0129] Specifically, due to the influence of the number and accuracy of perception samples, there is a deviation between the actual position of the perceived AGV and the perceived position. At the same time, due to the dynamic movement of the AGV, the perceived AGV position and environmental information have a lag, which leads to an increase in perception error, thereby affecting the calibration of the control trajectory and resulting in poor stability of the control system. Therefore, the above-mentioned target motion state observation value is calculated in combination with the sensor data, which can enable the communication network equipment to more accurately determine whether the first mobile terminal meets the first condition based on the target motion state observation value.

[0130] The process of adjusting the movement speed of the first mobile terminal is described in detail below:

[0131] First, considering that the assembly line is arranged in a circular and parallel manner, all AGVs move in a circular and step-by-step manner. In this case, when an AGV collides, the default obstacle is other AGVs. In addition, due to the different sizes and working speeds of different AGVs, the range of their safety zones can be adaptively changed. The probability of congestion collision between different AGV spacings is different, such as Figure 3 shown.

[0132] When the AGV is traveling on the reference track (preset track), the collision between the AGV and the obstacle can be divided into the following three situations. Figure 3 As shown in the first case, when the Euclidean distance (distance) H0 between the AGV and the obstacle (the AGV adjacent to the AGV) is greater than the safety distance H cIn the second case, when the distance is in the warning area, ω0H c ≤H0≤H c , there is a probability of collision. In the third case, when the distance is in the danger zone, R n ≤H0<ω0H c , there is a high probability of collision congestion. And, there is another case, that is, H0<R n When , a collision will inevitably occur. Among them, ω0 represents the collision warning threshold factor of AGV, which is the preset value, R n Indicates the radius of the inscribed circle of the AGV's projection on the ground.

[0133] In an optional embodiment, the first motion state observation value sensed by the sensor includes a first position (current position) of the first mobile terminal in the workshop; the second motion state observation value sensed by the sensor includes a second position (current position) of the second mobile terminal in the workshop;

[0134] The first position of the first mobile terminal can be represented by the center point of the first AGV, and the second position of the second mobile terminal can be represented by the center point of the second AGV.

[0135] Adjusting the movement speed of the first mobile terminal in a first movement cycle according to a first movement state observation value sensed by a sensor of the first mobile terminal and / or a second movement state observation value sensed by a sensor of the second mobile terminal includes:

[0136] According to the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, the preset collision warning threshold factor ω0 and the first radius R n , get the safe distance H c , wherein the first radius is the radius of the inscribed circle of the projection outline of the first mobile terminal on the ground, which is specifically expressed as follows:

[0137]

[0138] Among them, a max is the maximum acceleration of AGV, v max is the maximum speed of the AGV.

[0139] According to the preset collision warning threshold factor ω0 and the safety distance H c , and the collision distance ω0H is obtained c (Also known as warning distance).

[0140] When the Euclidean distance between the first position and the second position is greater than the safety distance, controlling the first mobile terminal to accelerate within the first motion cycle, that is, when in the first case, the terminal is in the safety zone, and the control decision is to execute the acceleration command to ensure the production efficiency of the assembly line and ensure that the distance is close to the safety distance;

[0141] When the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance, the first mobile terminal is controlled to decelerate within the first motion cycle. That is, in the second case, the control decision issues a deceleration command to avoid collision and to prevent the carried parts from tipping over due to inertia.

[0142] When the Euclidean distance between the first position and the second position is less than the collision distance, the first mobile terminal is controlled to perform emergency braking within the target motion cycle, that is, in the third case mentioned above, when the distance is in the danger zone, the control instruction issues an emergency braking command.

[0143] In the embodiment of the present invention, the congestion probability function model for the third case and the above-mentioned case where a collision is inevitable may be as follows:

[0144]

[0145] Where, exp(1-(H0 / R n )) is the collision probability function constructed by the Euclidean distance between the AGV and the obstacle (the second AGV). Assume that when the AGV n (The first mobile terminal) moves at a maximum speed v max Driving, the distance to the front vehicle is reduced to ω0H c When the emergency braking command is executed, the AGV n The speed will be reduced from the maximum speed to 0, and the distance from the vehicle in front will be greater than or equal to R after stopping. n .

[0146] It's also important to note that, given the blind spots in AGVs when turning, the PLC needs to control the AGV based on real-time global information to prevent potential collisions outside of line of sight. Therefore, it's assumed that the AGV will issue control requests to the base station based on a typical service cycle when turning, completing, or receiving a task, and passively receive PLC control decisions to adjust its trajectory.

[0147] In an optional embodiment, receiving a first control instruction sent by a communication network device includes:

[0148] After a first movement cycle ends, sending a first movement state observation value sensed by a sensor of the first mobile terminal to the communication network device, where the first movement state observation value sensed by the sensor includes a first position of the first mobile terminal in the workshop, wherein the first movement cycle is a movement cycle adjacent to the target movement cycle;

[0149] receiving a first control instruction sent by the communication network device;

[0150] Wherein, when the Euclidean distance between the first position and the second position is greater than the safety distance, the first control instruction is used to control the first mobile terminal to accelerate within the first movement cycle;

[0151] When the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance, the first control instruction is used to control the first mobile terminal to decelerate within the first motion cycle;

[0152] When the Euclidean distance between the first position and the second position is less than the collision distance, the first control instruction is used to control the first mobile terminal to perform emergency braking;

[0153] The safety distance is obtained by the communication network device based on the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, a preset collision warning threshold factor, and a first radius, where the first radius is the radius of the inscribed circle of the projection of the first mobile terminal on the ground;

[0154] The collision distance is obtained based on a preset collision warning threshold factor and the safety distance;

[0155] The second location is sent by the second mobile terminal to the communication network device.

[0156] It should also be noted that the safety distance calculation process, the meaning of each parameter and the control content in this optional embodiment are consistent with the calculation process, the meaning of each parameter and the control content executed by the first mobile terminal in the above-mentioned optional embodiment. The only difference is that they are executed by the communication network device.

[0157] In this optional embodiment, the first motion state observation value perceived by the sensor of the first mobile terminal can be perceived by the first mobile terminal and sent to the communication network device, and the communication network device calculates the first position of the first mobile terminal based on the first motion state observation value perceived by the sensor. The second position of the second mobile terminal can be perceived by the second terminal itself, or the second mobile terminal can perceive the second motion state observation value perceived by its own sensor and send it to the communication network device, and the communication network device calculates the second position based on the second motion state observation value perceived by the sensor.

[0158] The following specifically describes the process of adjusting the motion trajectory of the first mobile terminal:

[0159] In the dynamic environment of the non-assembly area, AGVs operate in a stable state along a circular assembly line, with no robotic assembly stations or other obstacles between them. Therefore, AGVs in this area primarily use active local control decisions, using other AGVs as obstacle avoidance targets to optimize their own trajectory.

[0160] In an optional embodiment, the first motion state observation value sensed by the sensor includes a first position, a first steering angle, a current speed, and a current motion trajectory of the first mobile terminal in the workshop;

[0161] Adjusting the motion trajectory of the first mobile terminal in a first motion cycle according to a first motion state observation value sensed by a sensor of the first mobile terminal includes:

[0162] The motion trajectory of the first mobile terminal in the target motion cycle is obtained based on the current speed, the acceleration of the first mobile terminal, the duration of the first motion cycle, the first position, the first steering angle, the current motion trajectory and the first duration.

[0163] That is, when the AGV uploads the perception information to the PLC device next time (i.e., before the start of the target motion cycle to the end of the target motion cycle), the motion trajectory expression of the AGV active closed-loop control is:

[0164] X n (t+T′ ns )=X n (t)+T′ ns ·J'(t)·V n (t)

[0165] in, are binary discriminant factors for the changes in the XY coordinates (i.e., the first position) and steering angle (i.e., the first steering angle) trajectory of the AGV, T n ' s For AGV nThe closed-loop interaction period (i.e., the duration of the target motion cycle), V n (t)=[v n (t) T′ ns / 2·(dv n (t) / dt)0] -1 , where v n (t) is the speed of AGVn at time t (which can be understood as the current time), where T′ ns / 2·(dv n (t) / dt) is a function related to acceleration.

[0166] The following describes in detail the optimization of the motion trajectory, that is, the method for determining the acceleration:

[0167] Furthermore, the method further comprises:

[0168] Obtaining a time-related stability coefficient according to the first time duration;

[0169] The acceleration of the first mobile terminal is obtained according to the communication delay, the safety distance, the maximum speed of the first mobile terminal and the stability coefficient.

[0170] It should be noted that during active closed-loop control, due to the lack of global information from the PLC for trajectory calibration, it is necessary to design a trajectory optimization function based on the closed-loop interaction cycle to calculate control instructions and achieve rapid environmental response with low communication overhead.

[0171] Its trajectory optimization equation is:

[0172]

[0173] in, is the end-to-end delay (i.e., communication delay) during the AGV closed-loop communication process, κ = 1 / T ns ' is the time-related stability coefficient, T ns ' represents the duration of the target motion cycle, V(Δx n-1 (t)) is the velocity function, that is, V(Δx n-1 (t))=(Vmax / 2)·[tanh(Δx n-1 (t)-H c )+tanh(H c )]. Where H c is the safe distance between AGVs, and Vmax represents the maximum moving speed of the AGV. It is assumed that the acceleration remains constant during the closed-loop interaction cycle.

[0174] Expanding the equation and combining similar terms, we can get the final form of the AGV trajectory optimization function under the influence of the closed-loop interaction period:

[0175]

[0176] Where,

[0177]

[0178] If the AGV can run smoothly under offline active control and wait for the next closed-loop interaction cycle, upload the perception data to the PLC, receive the control decision through the downlink, adjust the motion state to run smoothly, the networked multi-node control with active and passive control coordination is completed.

[0179] It should be noted that when the AGV senses it is in the assembly area, it will also choose to actively receive PLC control decisions to adjust its motion trajectory, achieving high-precision control synchronization with the robotic arm. Therefore, within this area or when turning, the AGV mainly adopts a passive mode of receiving PLC control decisions, moving slowly and accurately in a cyclical stepping manner to ensure efficient operation of the production process.

[0180] In an optional embodiment, receiving a first control instruction sent by a communication network device includes:

[0181] According to the first sensor data on the first mobile terminal, the first motion state observation value sensed by the sensor of the first mobile terminal in the workshop is sensed; specifically, at the tth moment, the AGV n The first observation value is obtained based on the first perception data and transmitted to the PLC device of the edge server through the uplink, that is, the first motion state observation value perceived by the sensor is sent to the communication network device, wherein the first motion state observation value perceived by the sensor includes the current motion trajectory of the first mobile terminal;

[0182] Receive a first control instruction sent by the communication network device, the first control instruction includes a second motion trajectory, the second motion trajectory is obtained by the communication network device according to a trajectory error, and the trajectory error is the error between the current motion trajectory and the preset motion trajectory; specifically, the PLC device is based on the current AGV n The motion trajectory and the reference trajectory (preset motion trajectory or pre-stored motion trajectory) are used to calculate the trajectory error. Calibrate and compensate for trajectory deviation and generate a new round of vehicle trajectory decision X n (t), which is the second motion trajectory. The result is then packaged into the first control instruction u n (t) is sent to AGV via downlink n .

[0183] The motion trajectory of the first mobile terminal within the target motion cycle is adjusted according to the second motion trajectory, the preset duration, the first travel angle, and the current trajectory.

[0184] The first sensing data or the first motion state observation value sensed by the sensor includes the coordinates (x n (t),y n (t)), traveling direction θ n (t) (or called travel angle), etc. Considering the influence of perception error on control parameters, the trajectory error calculated by the PLC device is This includes perception errors. n After receiving the new first control instruction, the new driving trajectory is X n (t+1), that is

[0185] X n (t+1)=X n (t)+T s ·J·u n (t)

[0186] Among them, T s The duration of the interval between two PLC receiving control instructions, that is, the duration of the target motion cycle, The AGV is calculated by PLC based on the reference trajectory and trajectory error. n Trajectory control function. J is the transposed matrix, and the expression is as follows:

[0187]

[0188] Afterwards, the first mobile terminal travels within the target motion cycle according to the new trajectory.

[0189] The following specifically describes the matching process of the upper bound of the closed-loop interaction period provided by the embodiment of the present invention:

[0190] In an optional embodiment, the method further includes:

[0191] The first duration is determined based on the safety distance, the current speed of the first mobile terminal and the closed-loop communication delay.

[0192] It should be noted that during the closed-loop interaction of intelligent machines, analysis has found that the ability of the wireless network to efficiently respond to AGV motion control requests with low latency and the ability of the control system to safely and stably control intelligent machines are mutually influential. For example, when an AGV in a stable system state is moving in a straight line along a flat assembly line, if the AGV continuously uploads K times of perception and task-related data, it will not change the control decision of the PLC downlink transmission. At this time, the AGV system is still in a stable state. Then the data packets within these interaction cycles are worthless and there is no need to transmit them to increase communication overhead and closed-loop delay. Based on this concept, the present invention ensures that the system is in a stable state by adaptively increasing the closed-loop interaction cycle of the AGV and reducing the number of business requests per unit time of the AGV to support networked control of more AGVs.

[0193] Generally speaking, AGV control system stability refers to whether the AGV, while in equilibrium, can automatically return to its initial equilibrium state after being disturbed. If the system is unstable, the disturbance will spread, eventually leading to AGV jams and collisions. If the system is stable, the disturbance will gradually decrease and disappear during propagation, and the inter-vehicle distance will remain at the optimal distance after a period of fluctuation.

[0194] Therefore, the present invention uses the perturbation method to analyze the stability of the AGV control system under the influence of external interference. Assume that at time t, each group of AGVs is traveling along a straight line with a constant safety distance H0 and the speed is the optimal speed V(H0). At this time, each AGV in the AGV control system is in a completely stable state. At time t, AGV n The initial position is get:

[0195]

[0196] At the start time, a small disturbance y is added to the nth AGV on any assembly line within the range of the base station. n (t), which causes the AGV trajectory to fluctuate and propagate backward. The trajectory deviation is recorded as:

[0197] x n (t) = n·H′0 + V(H′0)t + y n (t)

[0198]

[0199] Expand the disturbance term, y n (t) = exp(nki + zt), substituting it into the above formula, simplifying and combining like terms to obtain the polynomial with respect to z:

[0200] (1-γe (ik) )z2 +[α-β(e (ik) -1)]z-αV'(H0)(e (ik) -1)=0

[0201] e ik Taylor expansion is:

[0202] e ik =1+ik+0.5×(ik) 2

[0203] z=z1(ik)+z2(ik) 2 Substitute e ik , the square term coefficient of ik is obtained as:

[0204]

[0205] If z2≥0, the AGV control system will be in a stable state.

[0206] Based on the stability coefficient (i.e. the time-related stability coefficient mentioned above) κ = 1 / T n ' s , the stability condition of the unified model is obtained as:

[0207]

[0208] in, Denote the reference end-to-end delay (i.e., closed-loop communication delay) for AGVs performing industrial tasks with different cycle times in the 3GPP standard, and V represents the current speed of the first mobile terminal (i.e., current speed). Let z2 = 0 and find the critical stability condition for the model to maintain stable operation under disturbances. Since the control feedback delay of the AGV is much lower than the closed-loop delay and can be ignored, the upper bound of the closed-loop interaction period in the stable state is:

[0209]

[0210] It can be seen that The AGV system can remain stable within this time, and the perception data uploaded by the AGV multiple times during this time will not affect the control decision of the edge server. Therefore, the upper bound of the closed-loop interaction period is It represents the maximum closed-loop interaction period that the AGV can tolerate under system stability conditions. That is, the AGV can ensure the maximum duration of control system stability without sending perception data and receiving control data requests to the server, which is the first duration.

[0211] Finally, the comparison between the duration of the traditional closed-loop interaction cycle and the duration of the closed-loop interaction cycle obtained by the present invention (i.e., the first duration) is as follows: Figure 4 As shown. Figure 4 As can be seen from the figure, compared to traditional 802.11P protocol transmission mechanisms like Wi-Fi and Zigbee, the closed-loop interaction cycle of the present invention is significantly longer than the fixed closed-loop interaction cycle of traditional transmission mechanisms. This is because the transmission method analyzes the impact of parameters such as cycle time, safety separation distance, and driving speed on control stability, and designs a more flexible, less redundant, adaptive closed-loop interaction cycle transmission scheme. Especially during AGV movement in non-assembly areas, the closed-loop interaction cycle of the system's steady-state communication with the base station is significantly increased, reducing the number of AGV base station visits and communication overhead, and expanding the number of controllable AGVs in the network.

[0212] The following is a comparison to illustrate the performance of the multi-intelligent machine closed-loop control method with integrated communication, perception and control in an embodiment of the present invention:

[0213] The comparison results of different solutions for controlling the number of AGVs are as follows: Figure 5 As shown, Figure 5 The performance of a multi-AGV control system based on the traditional Nmax outage tolerance AGV control scheme (Traditional algorithm with Nmax Outage Tolerance, TANOT), the traditional synaesthesia-integrated AGV control scheme (Classic ISAC algorithm, CISACA), the traditional networked control AGV scheme (Traditional algorithm, TA), and the proposed design scheme were compared. As can be seen from the figure, when AGVs execute industrial tasks with a reference interaction period of 4ms, the proposed design scheme can support a maximum of 100 AGVs, far exceeding the maximum supported AGV numbers of 60, 23, and 20 for TANOT, CISACA, and TA, respectively. This is because TANOT ensures the stability of the AGV control system under stable conditions by calculating the number of AGV interruptions and retransmissions, aiming to reduce AGV data access to the base station. However, it ignores the impact of perception and control errors on communication latency during each interruption and reconnection process, resulting in a weak effect on network load relief. While CISACA can reduce perception and control errors through active perception, it cannot effectively address the problems of packet collisions and long queuing delays caused by the high-frequency access of large-scale AGVs to base stations, and cannot optimize the number of AGVs. Due to the limited number of preambles, TA cannot support large-scale AGV access to base stations, leading to problems such as packet collisions and long queuing delays, and the number of supported AGVs is also small. In contrast, the design of the present invention comprehensively considers the impact of perception and control errors on communication transmission, calculates the upper bound of the closed-loop interaction period in the stable state of the AGV control system, and adaptively adjusts the closed-loop interaction period to enable more AGVs to participate in industrial tasks, effectively reducing network load pressure.

[0214] Table 1 below shows a comparison of parameters such as production efficiency performance and supported maximum travel speed of traditional solutions such as TANOT, CISACA and TA and the design solution of the present invention.

[0215] Table 1 Comparison of production efficiency performance

[0216]

[0217] As can be seen from the table, the design scheme of the present invention achieves superior network performance, and the wireless network can control a significantly greater number of AGVs and at a significantly higher speed than other schemes. This is because TANOT focuses on analyzing the impact of wireless network link interruptions on control stability. While it can reduce the number of AGVs accessing the base station and thus increase the number of AGVs supported by the network, it ignores safety spacing and the possibility of emergency braking. If an AGV is disturbed during each link interruption, its speed will lose control, leading to an increased probability of collision and congestion, further limiting the number of AGVs and travel speed that the system can support. CISACA can reduce latency and error through active sensing, but it cannot effectively address the problems of packet collisions and high queuing delays caused by a large number of AGVs frequently accessing the base station. It cannot optimize the number of AGVs, and the system design mechanism does not consider the impact of AGV speed on the communication and control system, making it impossible to further effectively optimize AGV speed. In this case, excessively slow travel speeds lead to reduced production capacity. Similarly, the limited preamble code of TA, under the transmission mechanism with a fixed closed-loop interaction period, cannot support a large number of AGVs accessing the base station, resulting in packet collisions, high queuing delays, a limited number of supported AGVs, and an inability to optimize AGV speed. However, the design of the present invention comprehensively considers the impact of the communication-sensing-control closed-loop process on network performance, adaptively adjusting the closed-loop interaction cycle duration to reduce the number of AGV visits to the base station and communication overhead. Simultaneously, it increases the number of AGVs that can be controlled by the network, ensuring that the wireless communication system can control large-scale AGVs in a networked manner. Furthermore, by comprehensively considering the impact of parameters such as safety spacing and closed-loop interaction cycle on AGV control performance, a networked multi-node control method with coordinated active and passive control is designed. This assists AGVs in intelligently selecting active local decisions and passively receiving PLC control decisions for trajectory control within different assembly areas, reducing the probability of collision congestion and ensuring the safety and stability of the AGV control system. Furthermore, as shown in the table, the capacity of the present design is 15.33 JPH, while the capacity of the TANOT, CISACA, and TA methods is 9.43 JPH, 3.41 JPH, and 2.90 JPH, respectively. The capacity of the present design is at least 62.6% higher than that of the latter, verifying the effectiveness of the proposed scheme. In summary, simulation performance analysis demonstrates that AGV speed and number are key parameters affecting the production capacity of the final assembly workshop, and adjusting AGV speed and number can effectively increase production capacity.

[0218] Figure 6 The closed-loop communication delays of the four schemes are compared. Figure 6 As can be seen from the figure, the closed-loop delay of the proposed design converges and maintains system stability at 600ms, significantly lower than TANOT's 1600ms, CISACA's 2600ms, and TA's 2000ms. This is because TANOT only optimizes the data retransmission process based on the communication parameter SNR threshold and reduces closed-loop delay by slightly increasing the control instruction step size. This is ineffective in addressing the series of error changes caused by external interference, resulting in slow convergence. CISACA can reduce some errors through active sensing, but it cannot quickly perceive and reduce new control errors generated by the AGV system under interference, resulting in slow convergence. Similarly, TA is unable to address the series of error changes caused by external interference, resulting in slow convergence. However, when all AGVs are disturbed, the proposed design can quickly and proactively optimize the trajectory locally on the AGV, adaptively adjust the closed-loop interaction cycle, reduce the number of user base station visits per unit time, reduce packet collisions and queuing delays, further reduce the impact of closed-loop delay on the stability coefficient, and accelerate stability convergence, verifying the superior interference resistance of the proposed solution.

[0219] In addition, from Figure 6 It can be seen that the closed-loop delay of the design scheme of the present invention is much lower than that of the other three schemes. This is because this scheme calculates the upper limit of the closed-loop interaction cycle from the communication level by designing a communication-sensing-control collaborative system, and adopts a more flexible transmission scheme of adaptive closed-loop interaction cycle. This improves the number of retransmissions and queuing delays, and intelligently selects active local decisions and passive PLC control decisions from the perspective of motion state control and environmental information perception, thereby reducing closed-loop delays with low communication overhead. The other three schemes respectively integrate communication control, integrate communication perception, and have a single communication perspective. They design separate redundant indicators with more demanding optimization schemes, and ignore the mutual influence between the number of AGVs and the travel speed and the communication delay, and thus cannot effectively reduce the closed-loop delay. Furthermore, the figure shows that the closed-loop latency of the proposed design is 1.3952ms, while the closed-loop latency of TANOT, CISACA, and TA are 1.8811ms, 4.4413ms, and 7.8727ms, respectively. Compared with the performance of other classic solutions, the closed-loop latency of this solution has been improved by 25.83%, 68.59%, and 82.28%, respectively. This further verifies that the proposed design has the best closed-loop latency performance improvement, enabling low-latency real-time control of AGVs.

[0220] In summary, the present invention can be applied to the field of closed-loop control, which refers to the closed-loop control business with highly differentiated time and space such as the closed-loop control loop of intelligent machine control and the closed-loop management of the whole life cycle of the production line in the intelligent manufacturing workshop. The process involves the communication, perception and control process between a large number of sensing devices, edge servers and control devices, which requires flexible and efficient closed-loop control. It can also be applied to the field of Integrated Sensing, Communication, and Control (ISCC), which refers to the unified design of communication, perception and control functions through the joint design of linear / nonlinear controllers, industrial wireless network protocols, networked collaborative perception and other means, so that the wireless network can achieve high-precision and refined perception functions while performing high-quality communication interaction, as well as real-time and efficient control performance, thereby improving the overall performance and business capabilities of the manufacturing workshop control system. It can also be applied to the field of wireless network control, which refers to combining wireless communication and automatic control technology to use wireless networks to achieve real-time monitoring and control of production lines, robots and automatic guided vehicles (AGVs) to improve the production efficiency of intelligent manufacturing.

[0221] The multi-intelligent machine closed-loop control method, integrating communication, perception, and control, proposed in this paper, offers a stable and efficient networked control solution for large-scale, high-speed AGV movement, ensuring optimal control performance while ensuring communication quality. This approach integrates perception, communication, and control functions to jointly design a closed-loop control method for multiple AGVs in a flexible manufacturing workshop, reducing communication overhead while ensuring control system stability and productivity.

[0222] like Figure 7 As shown, an embodiment of the present invention further provides a multi-intelligent machine closed-loop control device integrating communication, perception and control, the device comprising: a control module 701;

[0223] The control module 701 is used to:

[0224] When the first mobile terminal meets the first condition, receiving a first control instruction sent by the communication network device, the first control instruction is used to instruct to adjust the motion trajectory and motion speed of the first mobile terminal within a target motion period, wherein the duration of the target motion period is a preset duration;

[0225] If the first mobile terminal does not meet the first condition, adjusting the motion trajectory and motion speed of the first mobile terminal within a target motion cycle based on a first motion state observation value sensed by a sensor of the first mobile terminal and / or a second motion state observation value sensed by a sensor of a second mobile terminal, where the second mobile terminal is a motion terminal adjacent to the first mobile terminal, wherein the duration of the target motion cycle is a first duration, and the first duration is determined based on control environment status information in the workshop where the first mobile terminal is located;

[0226] The first condition includes at least one of the following:

[0227] The first mobile terminal is located in an assembly area in a workshop;

[0228] The first mobile terminal is located in a turning area on an assembly line in a workshop.

[0229] Optionally, the device further comprises:

[0230] A first sending module, configured to send a third motion state observation value sensed by a sensor of the first mobile terminal to the communication network device;

[0231] The first receiving module is used to receive a second control instruction sent by the communication network device. The second control instruction is sent by the communication network device when it is determined that the difference between the motion trajectory of the first mobile terminal and the preset motion trajectory is greater than a preset threshold based on the third motion state observation value perceived by the sensor and the preset motion trajectory. The second control instruction is used to instruct the first mobile terminal to make adjustments according to the preset motion trajectory.

[0232] Optionally, the device further comprises:

[0233] a first processing module, configured to sense, based on first sensor data on the first mobile terminal, a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0234] a second processing module, configured to determine whether the first mobile terminal satisfies the first condition based on the first motion state observation value sensed by the sensor and pre-stored vehicle map data;

[0235] a third processing module, configured to determine that the first mobile terminal satisfies the first condition if the condition is satisfied;

[0236] The second receiving module is used to receive indication information sent by the communication network device when the first mobile terminal does not meet the first condition, where the indication information is used to indicate whether the first mobile terminal meets the first condition.

[0237] Optionally, the second receiving module includes:

[0238] a first processing unit, configured to sense a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0239] A first sending unit, configured to send the first motion observation value to the communication network device;

[0240] A first receiving unit, configured to receive the indication information sent by the communication network device;

[0241] In which, the communication network device is used to receive the second sensor data sent by the sensor in the workshop, determine the third sensor data of the first mobile terminal observed in the second sensor data, determine the fourth motion state observation value perceived by the sensor of the first mobile terminal in the third sensor data, and process the fourth motion state observation value perceived by the sensor to obtain the fifth motion state observation value perceived by the sensor, and estimate the target motion state observation value of the first mobile terminal based on the first motion state observation value perceived by the sensor and the fifth motion state observation value perceived by the sensor, and determine whether the first mobile terminal meets the first condition based on the target motion state observation value and the pre-stored workshop map data.

[0242] Optionally, the first motion state observation value sensed by the sensor includes a first position of the first mobile terminal in the workshop and a collision warning threshold factor; the second motion state observation value sensed by the sensor includes a second position of the second mobile terminal in the workshop;

[0243] The control module 701 includes:

[0244] a second processing unit, configured to obtain a safety distance based on the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, the collision warning threshold factor, and a first radius, wherein the first radius is a radius of an inscribed circle of a projection of the first mobile terminal on the ground;

[0245] a third processing unit, configured to obtain a collision distance according to the collision warning threshold factor and the safety distance;

[0246] a fourth processing unit, configured to control the first mobile terminal to accelerate within the target motion cycle when the Euclidean distance between the first position and the second position is greater than the safety distance;

[0247] a fifth processing unit, configured to control the first mobile terminal to decelerate within the target motion cycle when the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance;

[0248] The sixth processing unit is configured to control the first mobile terminal to perform emergency braking within the target motion cycle when the Euclidean distance between the first position and the second position is less than the collision distance.

[0249] Optionally, the control module 701 includes:

[0250] a second sending unit, configured to send, after a first motion cycle ends, a first motion state observation value sensed by a sensor of the first mobile terminal to the communication network device, the first motion state observation value sensed by the sensor including a first position of the first mobile terminal in the vehicle and a collision warning threshold factor, wherein the first motion cycle is a motion cycle adjacent to the target motion cycle;

[0251] A second receiving unit, configured to receive a first control instruction sent by the communication network device;

[0252] Wherein, when the Euclidean distance between the first position and the second position is greater than the safety distance, the first control instruction is used to control the first mobile terminal to accelerate within the target motion cycle;

[0253] When the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance, the first control instruction is used to control the first mobile terminal to decelerate within the target motion cycle;

[0254] When the Euclidean distance between the first position and the second position is less than the collision distance, the first control instruction is used to control the first mobile terminal to perform emergency braking within the target motion cycle;

[0255] The safety distance is obtained by the communication network device based on the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, the collision warning threshold factor, and a first radius, where the first radius is the radius of the inscribed circle of the projection of the first mobile terminal on the ground;

[0256] The collision distance is obtained according to the collision warning threshold factor and the safety distance;

[0257] The second location is sent by the second mobile terminal to the communication network device.

[0258] Optionally, the first motion state observation value sensed by the sensor includes a first position, a first steering angle, a current speed, and a current motion trajectory of the first mobile terminal in the workshop;

[0259] The control module 701 includes:

[0260] The seventh processing unit is used to obtain the motion trajectory of the first mobile terminal within the target motion cycle based on the current speed, the acceleration of the first mobile terminal, the duration of the first motion cycle, the first position, the first steering angle, the current motion trajectory and the first duration.

[0261] Optionally, the control module 701 further includes:

[0262] an eighth processing unit, configured to obtain a time-related stability coefficient according to the first duration;

[0263] A ninth processing unit is configured to obtain the acceleration of the first mobile terminal based on the communication delay, the safety distance, the maximum speed of the first mobile terminal, and the stability coefficient.

[0264] Optionally, the control module 701 includes:

[0265] a tenth processing unit, configured to sense, based on first sensor data on the first mobile terminal, a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0266] a third sending unit, configured to send the first motion state observation value sensed by the sensor to the communication network device, where the first motion state observation value sensed by the sensor includes a current motion trajectory of the first mobile terminal;

[0267] a third receiving unit, configured to receive a first control instruction sent by the communication network device, where the first control instruction includes a second motion trajectory, where the second motion trajectory is obtained by the communication network device according to a trajectory error, where the trajectory error is an error between the current motion trajectory and a preset motion trajectory;

[0268] An eleventh processing unit is configured to adjust the motion trajectory of the first mobile terminal within the target motion cycle according to the second motion trajectory, the preset duration, the first travel angle, and the current trajectory.

[0269] Optionally, the device further comprises:

[0270] The fourth processing module is used to determine the first duration based on the safety distance, the current speed of the first mobile terminal and the closed-loop communication delay.

[0271] It should be noted that the embodiments of the present invention provide Figure 7 The multi-intelligent machine closed-loop control device with integrated communication perception control shown is a device capable of executing the above-mentioned multi-intelligent machine closed-loop control method with integrated communication perception control. All embodiments of the above-mentioned multi-intelligent machine closed-loop control method with integrated communication perception control are applicable to the device and can achieve the same or similar technical effects.

[0272] like Figure 8 As shown, an embodiment of the present invention also provides a multi-intelligent machine closed-loop control device with integrated communication, perception and control, including: a processor 801; and a memory 803 connected to the processor 801 through a bus interface 802, the memory 803 is used to store programs and data used by the processor 801 when performing operations, and the processor 801 calls and executes the programs and data stored in the memory 803.

[0273] The transceiver 804 is connected to the bus interface 802 and is configured to receive and send data under the control of the processor 801. Specifically, the processor 801 is configured to read the program in the memory 803, and the transceiver 804 performs the following process:

[0274] When the first mobile terminal meets the first condition, receiving a first control instruction sent by the communication network device, the first control instruction is used to instruct to adjust the motion trajectory and motion speed of the first mobile terminal within a target motion period, wherein the duration of the target motion period is a preset duration;

[0275] The processor 801 performs the following processes:

[0276] If the first mobile terminal does not meet the first condition, adjusting the motion trajectory and motion speed of the first mobile terminal within a target motion cycle based on a first motion state observation value sensed by a sensor of the first mobile terminal and / or a second motion state observation value sensed by a sensor of a second mobile terminal, where the second mobile terminal is a motion terminal adjacent to the first mobile terminal, wherein the duration of the target motion cycle is a first duration, and the first duration is determined based on control environment status information in the workshop where the first mobile terminal is located;

[0277] The first condition includes at least one of the following:

[0278] The first mobile terminal is located in an assembly area in a workshop;

[0279] The first mobile terminal is located in a turning area on an assembly line in a workshop.

[0280] Optionally, the transceiver 804 is further configured to:

[0281] Sending a third motion state observation value sensed by a sensor of the first mobile terminal to the communication network device;

[0282] Receive a second control instruction sent by the communication network device, where the second control instruction is sent by the communication network device when it is determined that the difference between the motion trajectory of the first mobile terminal and the preset motion trajectory is greater than a preset threshold based on the third motion state observation value perceived by the sensor and the preset motion trajectory, and the second control instruction is used to instruct the first mobile terminal to make adjustments according to the preset motion trajectory.

[0283] Optionally, the processor 801 is further configured to:

[0284] sensing, based on first sensor data on the first mobile terminal, a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0285] determining whether the first mobile terminal satisfies the first condition based on a first motion state observation value sensed by the sensor and pre-stored vehicle map data;

[0286] If so, determining that the first mobile terminal meets the first condition;

[0287] The transceiver 804 is further configured to:

[0288] In a case where the first mobile terminal does not meet the first condition, indication information sent by the communication network device is received, where the indication information is used to indicate whether the first mobile terminal meets the first condition.

[0289] Optionally, the processor 801 is specifically configured to:

[0290] sensing a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0291] The transceiver 804 is specifically used for:

[0292] sending the first motion observation value to the communication network device;

[0293] receiving the indication information sent by the communication network device;

[0294] In which, the communication network device is used to receive the second sensor data sent by the sensor in the workshop, determine the third sensor data of the first mobile terminal observed in the second sensor data, determine the fourth motion state observation value perceived by the sensor of the first mobile terminal in the third sensor data, and process the fourth motion state observation value perceived by the sensor to obtain the fifth motion state observation value perceived by the sensor, and estimate the target motion state observation value of the first mobile terminal based on the first motion state observation value perceived by the sensor and the fifth motion state observation value perceived by the sensor, and determine whether the first mobile terminal meets the first condition based on the target motion state observation value and the pre-stored workshop map data.

[0295] Optionally, the first motion state observation value sensed by the sensor includes a first position of the first mobile terminal in the workshop and a collision warning threshold factor; the second motion state observation value sensed by the sensor includes a second position of the second mobile terminal in the workshop;

[0296] The processor 801 is specifically configured to:

[0297] Obtaining a safety distance based on the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, the collision warning threshold factor, and a first radius, wherein the first radius is a radius of an inscribed circle of a projection of the first mobile terminal on the ground;

[0298] Obtaining a collision distance according to the collision warning threshold factor and the safety distance;

[0299] When the Euclidean distance between the first position and the second position is greater than the safety distance, controlling the first mobile terminal to accelerate within the target motion cycle;

[0300] When the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance, controlling the first mobile terminal to decelerate within the target motion cycle;

[0301] When the Euclidean distance between the first position and the second position is less than the collision distance, the first mobile terminal is controlled to perform emergency braking within the target motion cycle.

[0302] Optionally, the transceiver 804 is specifically configured to:

[0303] After a first motion cycle ends, sending a first motion state observation value sensed by a sensor of the first mobile terminal to the communication network device, the first motion state observation value sensed by the sensor including a first position of the first mobile terminal in the vehicle and a collision warning threshold factor, wherein the first motion cycle is a motion cycle adjacent to the target motion cycle;

[0304] receiving a first control instruction sent by the communication network device;

[0305] Wherein, when the Euclidean distance between the first position and the second position is greater than the safety distance, the first control instruction is used to control the first mobile terminal to accelerate within the target motion cycle;

[0306] When the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance, the first control instruction is used to control the first mobile terminal to decelerate within the target motion cycle;

[0307] When the Euclidean distance between the first position and the second position is less than the collision distance, the first control instruction is used to control the first mobile terminal to perform emergency braking within the target motion cycle;

[0308] The safety distance is obtained by the communication network device based on the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, the collision warning threshold factor, and a first radius, where the first radius is the radius of the inscribed circle of the projection of the first mobile terminal on the ground;

[0309] The collision distance is obtained according to the collision warning threshold factor and the safety distance;

[0310] The second location is sent by the second mobile terminal to the communication network device.

[0311] Optionally, the first motion state observation value sensed by the sensor includes a first position, a first steering angle, a current speed, and a current motion trajectory of the first mobile terminal in the workshop;

[0312] The processor 801 is specifically configured to:

[0313] The motion trajectory of the first mobile terminal in the target motion cycle is obtained based on the current speed, the acceleration of the first mobile terminal, the duration of the first motion cycle, the first position, the first steering angle, the current motion trajectory and the first duration.

[0314] Optionally, the processor 801 is further configured to:

[0315] Obtaining a time-related stability coefficient according to the first time duration;

[0316] The acceleration of the first mobile terminal is obtained according to the communication delay, the safety distance, the maximum speed of the first mobile terminal and the stability coefficient.

[0317] Optionally, the processor 801 is configured to:

[0318] sensing, based on first sensor data on the first mobile terminal, a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop;

[0319] The transceiver 804 is configured to:

[0320] Sending a first motion state observation value sensed by the sensor to the communication network device, where the first motion state observation value sensed by the sensor includes a current motion trajectory of the first mobile terminal;

[0321] receiving a first control instruction sent by the communication network device, where the first control instruction includes a second motion trajectory, where the second motion trajectory is obtained by the communication network device according to a trajectory error, where the trajectory error is an error between the current motion trajectory and a preset motion trajectory;

[0322] The processor 801 is configured to:

[0323] The motion trajectory of the first mobile terminal within the target motion cycle is adjusted according to the second motion trajectory, the preset duration, the first travel angle, and the current trajectory.

[0324] Optionally, the processor 801 is further configured to:

[0325] The first duration is determined according to the safety distance, the current speed of the first mobile terminal and the closed-loop communication delay.

[0326] Among them, Figure 8 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 801 and memory represented by memory 803. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein. The bus interface provides a user interface 805. The transceiver 804 may be a plurality of components, i.e., including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium. The processor 801 is responsible for managing the bus architecture and general processing, and the memory 803 may store data used by the processor 801 when performing operations.

[0327] A readable storage medium according to an embodiment of the present invention stores a program or instruction thereon. When the program or instruction is executed by a processor, the steps in the multi-intelligent machine closed-loop control method with integrated communication, perception and control as described above are implemented, and the same technical effect can be achieved. To avoid repetition, they will not be described here.

[0328] In embodiments of the present invention, modules can be implemented in software so that they can be executed by various types of processors. For example, an identified executable code module can include one or more physical or logical blocks of computer instructions, for example, which can be constructed as objects, procedures, or functions. Nevertheless, the executable code of the identified module does not need to be physically located together, but can include different instructions stored in different locations, which, when logically combined together, constitute the module and achieve the specified purpose of the module.

[0329] In fact, executable code module can be a single instruction or many instructions, and can even be distributed on a plurality of different code segments, distributed in the middle of different programs, and distributed across a plurality of memory devices.Similarly, operating data can be identified in the module, and can be implemented and organized in the data structure of any appropriate type according to any appropriate form.Described operating data can be collected as a single data set, or can be distributed in different locations (including on different storage devices), and can only be present on a system or network as an electronic signal at least in part.

[0330] When a module can be implemented using software, given the current state of hardware technology, those skilled in the art can build corresponding hardware circuits to implement the corresponding functions of the module, regardless of cost. The hardware circuits may include conventional very large scale integration (VLSI) circuits or gate arrays, as well as existing semiconductors such as logic chips and transistors, or other discrete components. Modules may also be implemented using programmable hardware devices, such as field programmable gate arrays, programmable array logic, or programmable logic devices.

[0331] The above exemplary embodiments are described with reference to the accompanying drawings. Many different forms and embodiments are possible without departing from the spirit and teachings of the present invention. Therefore, the present invention should not be construed as limited to the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be complete and perfect and will convey the scope of the invention to those skilled in the art. In the drawings, component sizes and relative sizes may be exaggerated for clarity. The terminology used herein is for purposes of describing specific exemplary embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include plural forms, unless the context clearly indicates otherwise. It will be further understood that the terms "comprising" and / or "including," when used in this specification, indicate the presence of stated features, integers, steps, operations, components, and / or elements, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, elements, and / or groups thereof. Unless otherwise indicated, when stated, a range of values ​​includes the upper and lower limits of that range and any subranges therebetween.

[0332] A specific embodiment of the present invention further provides a computer program product, including computer instructions, which, when executed by a processor, implement the above Figure 1 The various processes of the method embodiment shown can achieve the same technical effect, and to avoid repetition, they will not be described here.

[0333] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A closed-loop control method for multi-intelligent machines integrating communication, perception and control, characterized in that: Applied to a first mobile terminal, the method includes: When the first mobile terminal satisfies a first condition, receiving a first control instruction sent by a communication network device, the first control instruction being used to instruct adjustment of a motion trajectory and a motion speed of the first mobile terminal within a target motion period, wherein the duration of the target motion period is a preset duration; If the first mobile terminal does not meet the first condition, adjusting the motion trajectory and motion speed of the first mobile terminal within a target motion cycle based on a first motion state observation value sensed by a sensor of the first mobile terminal and / or a second motion state observation value sensed by a sensor of a second mobile terminal, where the second mobile terminal is a motion terminal adjacent to the first mobile terminal, wherein the duration of the target motion cycle is a first duration, and the first duration is determined based on control environment status information within the workshop where the first mobile terminal is located; The first condition includes at least one of the following: The first mobile terminal is located in an assembly area in a workshop; The first mobile terminal is located in a turning area on an assembly line in a workshop.

2. The method according to claim 1, characterized in that After adjusting the motion trajectory and motion speed of the first mobile terminal within the target motion period based on the first motion state observation value sensed by the sensor of the first mobile terminal and / or the second motion state observation value sensed by the sensor of the second mobile terminal, the method further includes: Sending a third motion state observation value sensed by a sensor of the first mobile terminal to the communication network device; Receive a second control instruction sent by the communication network device, where the second control instruction is sent by the communication network device when it is determined that the difference between the motion trajectory of the first mobile terminal and the preset motion trajectory is greater than a preset threshold based on the third motion state observation value perceived by the sensor and the preset motion trajectory, and the second control instruction is used to instruct the first mobile terminal to make adjustments according to the preset motion trajectory.

3. The method according to claim 1, characterized in that The method further comprises: sensing, based on first sensor data on the first mobile terminal, a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop; determining whether the first mobile terminal satisfies the first condition based on a first motion state observation value sensed by the sensor and pre-stored vehicle map data; If so, determining that the first mobile terminal meets the first condition; In a case where the first mobile terminal does not meet the first condition, indication information sent by the communication network device is received, where the indication information is used to indicate whether the first mobile terminal meets the first condition.

4. The method according to claim 3, characterized in that Receiving instruction information sent by the communication network device, including: sensing a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop; sending the first motion observation value to the communication network device; receiving the indication information sent by the communication network device; In which, the communication network device is used to receive the second sensor data sent by the sensor in the workshop, determine the third sensor data of the first mobile terminal observed in the second sensor data, determine the fourth motion state observation value perceived by the sensor of the first mobile terminal in the third sensor data, and process the fourth motion state observation value perceived by the sensor to obtain the fifth motion state observation value perceived by the sensor, and estimate the target motion state observation value of the first mobile terminal based on the first motion state observation value perceived by the sensor and the fifth motion state observation value perceived by the sensor, and determine whether the first mobile terminal meets the first condition based on the target motion state observation value and the pre-stored workshop map data.

5. The method according to claim 1, wherein The first motion state observation value sensed by the sensor includes a first position of the first mobile terminal in the workshop; the second motion state observation value sensed by the sensor includes a second position of the second mobile terminal in the workshop; Adjusting the movement speed of the first mobile terminal in a first movement cycle according to a first movement state observation value sensed by a sensor of the first mobile terminal and / or a second movement state observation value sensed by a sensor of the second mobile terminal includes: Obtaining a safety distance based on the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, a preset collision warning threshold factor, and a first radius, wherein the first radius is a radius of an inscribed circle of a projection of the first mobile terminal on the ground; Obtaining a collision distance based on a preset collision warning threshold factor and the safety distance; When the Euclidean distance between the first position and the second position is greater than the safety distance, controlling the first mobile terminal to accelerate within the target motion cycle; When the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance, controlling the first mobile terminal to decelerate within the target motion cycle; When the Euclidean distance between the first position and the second position is less than the collision distance, the first mobile terminal is controlled to perform emergency braking within the target motion cycle.

6. The method according to claim 1, characterized in that Receiving a first control instruction sent by a communication network device includes: After a first movement cycle ends, sending a first movement state observation value sensed by a sensor of the first mobile terminal to the communication network device, where the first movement state observation value sensed by the sensor includes a first position of the first mobile terminal in the workshop, wherein the first movement cycle is a movement cycle adjacent to the target movement cycle; receiving a first control instruction sent by the communication network device; Wherein, when the Euclidean distance between the first position and the second position is greater than the safety distance, the first control instruction is used to control the first mobile terminal to accelerate within the target motion cycle; When the Euclidean distance between the first position and the second position is greater than or equal to the collision distance and less than the safety distance, the first control instruction is used to control the first mobile terminal to decelerate within the target motion cycle; When the Euclidean distance between the first position and the second position is less than the collision distance, the first control instruction is used to control the first mobile terminal to perform emergency braking within the target motion cycle; The safety distance is obtained by the communication network device based on the maximum speed of the first mobile terminal, the maximum acceleration of the first mobile terminal, a preset collision warning threshold factor, and a first radius, where the first radius is the radius of the inscribed circle of the projection of the first mobile terminal on the ground; The collision distance is obtained based on a preset collision warning threshold factor and the safety distance; The second location is sent by the second mobile terminal to the communication network device.

7. The method according to claim 1, characterized in that The first motion state observation value sensed by the sensor includes a first position, a first steering angle, a current speed, and a current motion trajectory of the first mobile terminal in the workshop; Adjusting the motion trajectory of the first mobile terminal in a first motion cycle according to a first motion state observation value sensed by a sensor of the first mobile terminal includes: The motion trajectory of the first mobile terminal in the target motion cycle is obtained based on the current speed, the acceleration of the first mobile terminal, the duration of the first motion cycle, the first position, the first steering angle, the current motion trajectory and the first duration.

8. The method according to claim 7, characterized in that The method further comprises: Obtaining a time-related stability coefficient according to the first time duration; The acceleration of the first mobile terminal is obtained according to the communication delay, the safety distance, the maximum speed of the first mobile terminal and the stability coefficient.

9. The method according to claim 1, characterized in that Receiving a first control instruction sent by a communication network device includes: sensing, based on first sensor data on the first mobile terminal, a first motion state observation value sensed by a sensor of the first mobile terminal in the workshop; Sending a first motion state observation value sensed by the sensor to the communication network device, where the first motion state observation value sensed by the sensor includes a current motion trajectory of the first mobile terminal; receiving a first control instruction sent by the communication network device, where the first control instruction includes a second motion trajectory, where the second motion trajectory is obtained by the communication network device according to a trajectory error, where the trajectory error is an error between the current motion trajectory and a preset motion trajectory; The motion trajectory of the first mobile terminal within the target motion cycle is adjusted according to the second motion trajectory, the preset duration, the first travel angle, and the current motion trajectory.

10. The method according to claim 1, characterized in that The method further comprises: The first duration is determined based on the safety distance, the current speed of the first mobile terminal and the closed-loop communication delay.

11. A multi-intelligent machine closed-loop control device with integrated communication, perception and control, characterized in that: The device includes: a control module; The control module is used for: When the first mobile terminal meets the first condition, receiving a first control instruction sent by the communication network device, the first control instruction is used to instruct to adjust the motion trajectory and motion speed of the first mobile terminal within a target motion period, wherein the duration of the target motion period is a preset duration; If the first mobile terminal does not meet the first condition, adjusting the motion trajectory and motion speed of the first mobile terminal within a target motion cycle based on a first motion state observation value sensed by a sensor of the first mobile terminal and / or a second motion state observation value sensed by a sensor of a second mobile terminal, where the second mobile terminal is a motion terminal adjacent to the first mobile terminal, wherein the duration of the target motion cycle is a first duration, and the first duration is determined based on control environment status information in the workshop where the first mobile terminal is located; The first condition includes at least one of the following: The first mobile terminal is located in an assembly area in a workshop; The first mobile terminal is located in a turning area on an assembly line in a workshop.

12. A multi-intelligent machine closed-loop control device with integrated communication, perception, and control, comprising: A transceiver, a processor, a memory, and a program or instruction stored in the memory and executable on the processor; characterized in that when the processor executes the program or instruction, the steps of the closed-loop control method for a multi-intelligent machine with integrated communication, perception, and control as described in any one of claims 1 to 10 are implemented.

13. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by the processor, the steps in the communication, perception and control integrated multi-intelligent machine closed-loop control method according to any one of claims 1 to 10 are implemented.

14. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps in the closed-loop control method for multi-intelligent machines with integrated communication, perception and control as described in any one of claims 1 to 10.

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