Heterogeneous control system and method for boom truck and live working robot

Abstract

The present application discloses a heterogeneous control system and method for a boom truck and a live-working robot, which is applied to the field of remote control technology, including integrating the WiFi local area network of the boom truck control system into the WiFi local area network of the robot control system, and connecting the ground station control system to any WiFi local area network; the ground station control system is used to send standard control instructions to the boom truck control system if the target control device is a boom truck, and send standard control instructions to the robot control system if the target control device is a live-working robot; the boom truck control system is used to determine the manufacturer protocol corresponding to the boom truck identifier from the manufacturer's boom truck control protocol library, convert the boom truck control instruction into the control code specified by the manufacturer's protocol, convert the control code into WiFi format and then convert it into CAN instruction and send it to the boom truck for execution, thereby realizing unified control of the boom truck and the live-working robot, multi-vehicle adaptation and reliable operation.

Description

Technical Field

[0001] The present application relates to the technical field of remote control of boom trucks and live-working robots, and in particular to a heterogeneous control system and method for boom trucks and live-working robots. Background Art

[0002] Currently, control solutions for boom trucks and live-working robots are primarily categorized into single-device control, dedicated system control (such as a PLC system or industrial PC), and network remote control. These solutions are typically independent of each other. Single-device control solutions often utilize separate control terminals to operate the boom truck and live-working robot, resulting in complex operations, decentralized equipment, and difficulty in achieving centralized control. While dedicated system control solutions based on PLCs or industrial PCs can adapt to complex environments, they suffer from compatibility issues and are difficult to adapt to different brands and models of boom trucks. While network remote control solutions offer convenient remote operation, control signals are susceptible to interference and latency in wireless networks, and reliability cannot be fully guaranteed. Therefore, existing technologies still have significant shortcomings in achieving unified control of boom trucks and live-working robots, as well as improving operational reliability and device compatibility. In particular, in scenarios where simultaneous control of both boom trucks and live-working robots is required, a more flexible, efficient, adaptable, and reliable unified control solution for boom trucks and live-working robots is urgently needed. Summary of the Invention

[0003] This application provides a heterogeneous control system and method for a boom truck and a live working robot, which is intended to address the existing difficulties in achieving unified control of boom trucks and live working robots, multi-vehicle adaptation, and reliable operation. The technical solutions provided in this application are as follows:

[0004] On the one hand, the present application provides a heterogeneous control system for a boom truck and a live working robot, including a ground station control system, a boom truck control system, and a robot control system; a first WiFi local area network constructed by the boom truck control system is integrated into a second WiFi local area network constructed by the robot control system through a local area network dynamic fusion strategy, and the ground station control system accesses the first WiFi local area network or the second WiFi local area network through a local area network access path selection strategy; a communication channel is established between the ground station control system, the boom truck control system, and the robot control system using the TCP protocol; and decoupled communication is performed within the boom truck control system using the ROS communication strategy;

[0005] The ground station control system is used to respond to the user's real-time control operation, identify the device identification and control type of the target control device corresponding to the real-time control operation through the operation analysis module, and generate a standard control instruction in a unified format based on the device identification and control type of the target control device; through the path matching module, when the target control device is a boom truck, the standard control instruction is sent to the boom truck control system based on the TCP protocol; when the target control device is a live working robot, the standard control instruction is sent to the robot control system based on the TCP protocol;

[0006] The boom truck control system is configured to parse the standard control instruction to obtain the device identification and control type through the first instruction parsing module; determine the manufacturer's boom truck control protocol template corresponding to the device identification from the manufacturer's boom truck control protocol library through the instruction adaptation translation module, and map the standard control instruction to the component code and operation code specified in the manufacturer's boom truck control protocol template based on the control type, and convert the component code and operation code into a WiFi communication format and then into a CAN instruction, and send the CAN instruction to the boom truck corresponding to the device identification for instruction execution;

[0007] The robot control system is used to parse the standard control instructions through the second instruction parsing module to obtain the device identification and control type; through the task distribution control module, the robot task process information corresponding to the control type is determined from the robot control strategy set, task instructions are generated based on the robot task process information, and the task instructions are sent to the live working robot corresponding to the device identification for task execution.

[0008] Optionally, the first instruction parsing module includes an external communication unit and an external protocol processing unit; the instruction adaptation and translation module includes a boom truck protocol adaptation unit, a boom truck communication unit and an instruction translation unit;

[0009] The external communication unit is used to receive the standard control instructions sent by the ground station control system through Socket communication, and send the standard control instructions to the external protocol processing unit. When receiving the first ROS communication message corresponding to the standard control instruction returned by the external protocol processing unit, the device identifier and control type are obtained from the first ROS communication message, and the first ROS communication message is distributed to the boom truck communication unit based on the control type; when receiving the second ROS communication message returned by the boom truck communication unit, the second ROS communication message is sent to the external protocol processing unit. When receiving the standard external message in a unified format returned by the external protocol processing unit, the standard external message is sent to the ground station control system through Socket communication;

[0010] The external protocol processing unit is configured to translate the standard control instruction into a first ROS communication message and return it to the external communication unit; and to package the second ROS communication message into a standard external message in a unified format and return it to the external communication unit;

[0011] The boom truck communication unit is configured to, upon receiving a first ROS communication message distributed by an external communication unit, send the first ROS communication message to the boom truck protocol adaptation unit, and upon receiving a component code and an operation code returned by the boom truck protocol adaptation unit, send the component code and the operation code to the instruction translation unit; upon receiving a first CAN message returned by the instruction translation unit, send the first CAN message to the boom truck corresponding to the device identifier to perform a corresponding operation; upon receiving a second CAN message returned by the boom truck after performing a corresponding operation based on the first CAN message, send the second CAN message to the instruction translation unit, and upon receiving a second ROS communication message returned by the instruction translation unit, send the second ROS communication message to the external communication unit;

[0012] The boom truck protocol adapter unit is configured to obtain a device identifier and a control type from the first ROS communication message, determine a vendor boom truck control protocol template corresponding to the device identifier from the vendor boom truck control protocol library, map the first ROS communication message to a component code and an operation code specified in the vendor boom truck control protocol template based on the control type, and send the component code and the operation code to the boom truck communication unit;

[0013] The instruction translation unit is used to convert the component code and the operation code into the WiFi communication format and then convert them into the first CAN message, and send the first CAN message to the boom truck communication unit; and encapsulate the boom truck real-time status message in the second CAN message into a second ROS communication message and then convert it into the WiFi communication format and return it to the boom truck communication unit.

[0014] Optionally, the boom truck control system also includes:

[0015] The environment modeling and state perception module is used to obtain the operating environment perception data of the boom truck in the boom truck operating area; and obtain the boom truck posture state perception data corresponding to the equipment identification;

[0016] The motion planning module is used to call the environment modeling and state perception module to obtain the boom truck operating environment perception data and the boom truck posture state perception data when receiving the first ROS communication message distributed by the external communication unit based on the control type; extract the object model and the current posture state of the object model in the boom truck operating environment coordinate system from the boom truck operating environment perception data, and extract the current posture state of the boom truck corresponding to the equipment identifier in the boom truck operating environment coordinate system from the boom truck posture state perception data; based on the current posture state of the boom truck's mechanical arm, the object model and the current posture state of the object model, determine the optimal motion planning path that avoids obstacles represented by the object model from each motion planning path from the current posture state to the target posture state in the boom truck operating environment coordinate system, and send the optimal motion planning path to the boom truck communication unit, so that the boom truck communication unit sends the optimal motion planning path together with the component code and the operation code to the instruction translation unit for conversion into a first CAN message.

[0017] Optionally, a boom truck protocol adapter unit is used to call the boom truck control general interface, parse the device identifier and control type in the first ROS communication message into a universal device identifier and control type, call the manufacturer's boom truck control protocol interface, determine the manufacturer's boom truck control protocol template corresponding to the universal device identifier from the manufacturer's boom truck control protocol library, and map the first ROS communication message to the component code and operation code specified by the manufacturer's boom truck control protocol template based on the universal control type.

[0018] Optionally, an instruction translation unit is used to call the WiFi communication library interface, determine the WiFi communication library that matches the manufacturer type corresponding to the device identifier from the WiFi communication libraries corresponding to each manufacturer type, and then convert the component code and operation code into a data frame in the WiFi communication format based on the WiFi communication library; and call the WiFi communication library interface, determine the WiFi communication library that matches the manufacturer type corresponding to the device identifier from the WiFi communication libraries corresponding to each manufacturer type, and then encapsulate the real-time status message of the boom truck in the second CAN message into a second ROS communication message based on the WiFi communication library and convert it into a data frame in the WiFi communication format.

[0019] Optionally, the data frame includes at least a frame header, a sending mode, frame information, a frame ID, frame data, a receiving timestamp and a check value.

[0020] Optionally, the sending mode includes normal sending and self-transmission and self-reception; the frame information includes the identification bits of the standard frame and the extended frame, the identification bits of the remote frame and the data frame, the reserved bit and the data length bit; the frame ID includes the standard frame ID and the extended frame ID.

[0021] Optionally, the data frame includes 20 bytes; among them, the frame header is 2 bytes, the sending mode is 1 byte, the frame information is 1 byte, the frame ID is 4 bytes, the frame data is 8 bytes, the receiving timestamp is 3 bytes, and the check value is 1 byte.

[0022] Optionally, the LAN dynamic fusion strategy is to adopt a hybrid routing algorithm to automatically select the optimal transmission path in the second WiFi LAN for access based on the real-time channel quality; the LAN access path selection strategy is to adopt a comprehensive path quality evaluation algorithm to adaptively switch access between the first WiFi LAN and the second WiFi LAN based on the task type; the ROS communication strategy is to encapsulate each functional module and each functional unit inside the boom truck control system into an independent node, and perform decoupled interaction through a standard interface based on a multi-mode communication protocol.

[0023] On the other hand, the present application provides a heterogeneous control method for a boom truck and a live working robot, which is applied to a boom truck control system in the heterogeneous control system of the boom truck and the live working robot, including:

[0024] The first instruction parsing module parses the standard control instruction sent by the ground station control system to obtain the device identification, control type and target control parameters; if the control type includes speed control, the device identification, control type and target control parameters are sent to the instruction adaptation and translation module; if the control type includes position control, the device identification, control type and target control parameters are sent to the path planning module and the instruction adaptation and translation module;

[0025] Through the path planning module, the environment modeling and state perception module is called to collect the bucket truck operating environment perception data and the bucket truck posture state perception data corresponding to the equipment identifier in the bucket truck operating area; the bucket truck posture state perception data is analyzed to obtain the current posture state of the bucket truck's mechanical arm corresponding to the equipment identifier in the bucket truck operating environment coordinate system, and the posture difference is calculated based on the current posture state and the target posture state in the target control parameter; and the bucket truck operating environment perception data is analyzed to obtain the object model and the current posture state of the object model in the bucket truck operating environment coordinate system; based on the posture difference and the object model and the current posture state of the object model, a polynomial difference algorithm is used to generate multiple motion planning paths for the bucket truck's mechanical arm from the current posture state to the target posture state in the bucket truck operating environment coordinate system and avoiding obstacles represented by the object model; the optimal motion planning path is solved from the multiple motion planning paths and sent to the instruction adaptation translation module;

[0026] Through the instruction adaptation and translation module, the manufacturer's bucket truck control protocol template corresponding to the device identifier is determined from the manufacturer's bucket truck control protocol library, and the standard control instruction is mapped to the component code and operation code specified by the manufacturer's bucket truck control protocol template based on the control type; if the control type includes speed control, the component code, operation code and target speed value in the target control parameter are converted into WiFi communication format and encapsulated into CAN instructions; if the control type includes position control, the component code, operation code and optimal motion planning path are converted into WiFi communication format and encapsulated into CAN instructions; if the control type includes speed control and position control, the component code, operation code, optimal motion planning path and target speed value in the target control parameter are converted into WiFi communication format and encapsulated into CAN instructions; the CAN instruction is sent to the bucket truck corresponding to the device identifier for instruction execution.

[0027] The beneficial effects of this application are as follows:

[0028] This application designs a heterogeneous control system for boom trucks and live-working robots based on a ground station control system, enabling operators to achieve centralized control of boom trucks and live-working robots on a single control terminal. At the same time, by adopting a LAN dynamic fusion strategy and a LAN access path selection strategy, the control link between boom trucks and live-working robots can be opened up, solving the communication fragmentation problem between heterogeneous devices. By introducing a mapping mechanism between standard control instructions and manufacturer boom truck control protocols, unified control and automatic protocol adaptation for multi-brand equipment can be achieved. By adopting a hybrid communication architecture of ROS and TCP, both system scalability and remote communication stability can be taken into account, supporting parallel control and task scheduling of multiple devices, and improving collaborative control efficiency in complex operation scenarios.

[0029] Other features and advantages of the present application will be described in the following description, and in part, will become apparent from the description or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures particularly pointed out in the written description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic diagrams and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0031] Figure 1 Schematic diagram of the composition structure of the heterogeneous control system of the bucket arm truck and the live working robot in the embodiment of the present application;

[0032] Figure 2 This is a schematic diagram of the communication between the various functional modules and functional units within the boom truck control system in the embodiment of the present application;

[0033] Figure 3 Schematic diagram of the manufacturer adaptation process of the boom truck communication unit and the boom truck protocol adaptation unit in an embodiment of the present application;

[0034] Figure 4 This is a schematic diagram of the network topology between the various hardware components within the boom truck control system in an embodiment of the present application;

[0035] Figure 5 Schematic diagram of the overview of the heterogeneous control method of the boom truck and the live working robot in the embodiment of the present application;

[0036] Figure 6 This is a schematic diagram of a specific flow chart of a heterogeneous control method for a boom truck and a live working robot in an embodiment of the present application;

[0037] Figure 7 This is a schematic diagram of the hardware structure of the bucket truck control device in the embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and beneficial effects of this application more clearly understood, the technical solutions of this application will be clearly and completely described below in conjunction with the embodiments and drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of this application.

[0039] The embodiment of the present application provides a heterogeneous control system for a boom truck and a live working robot, see Figure 1 As shown, it includes a ground station control system, a boom truck control system and a robot control system; the first WiFi LAN constructed by the boom truck control system is integrated into the second WiFi LAN constructed by the robot control system through the LAN dynamic fusion strategy, and the ground station control system accesses the first WiFi LAN or the second WiFi LAN through the LAN access path selection strategy; the TCP protocol is used to establish a communication channel between the ground station control system, the boom truck control system and the robot control system; the internal communication of the boom truck control system is decoupled through the ROS communication strategy;

[0040] The ground station control system is used to respond to the user's real-time control operation, identify the device identification and control type of the target control device corresponding to the real-time control operation through the operation analysis module, and generate a standard control instruction in a unified format based on the device identification and control type of the target control device; through the path matching module, when the target control device is a boom truck, the standard control instruction is sent to the boom truck control system based on the TCP protocol; when the target control device is a live working robot, the standard control instruction is sent to the robot control system based on the TCP protocol;

[0041] The boom truck control system is configured to parse the standard control instruction to obtain the device identification and control type through the first instruction parsing module; determine the manufacturer's boom truck control protocol template corresponding to the device identification from the manufacturer's boom truck control protocol library through the instruction adaptation translation module, and map the standard control instruction to the component code and operation code specified in the manufacturer's boom truck control protocol template based on the control type, and convert the component code and operation code into a WiFi communication format and then into a CAN instruction, and send the CAN instruction to the boom truck corresponding to the device identification for instruction execution;

[0042] The robot control system is used to parse the standard control instructions through the second instruction parsing module to obtain the device identification and control type; through the task distribution control module, the robot task process information corresponding to the control type is determined from the robot control strategy set, task instructions are generated based on the robot task process information, and the task instructions are sent to the live working robot corresponding to the device identification for task execution.

[0043] In an alternative embodiment, see Figure 2 As shown, the boom truck control system also includes:

[0044] The environment modeling and state perception module is used to obtain the operating environment perception data of the boom truck in the boom truck operating area; and obtain the boom truck posture state perception data corresponding to the equipment identification;

[0045] The motion planning module is used to call the environment modeling and state perception module to obtain the boom truck operating environment perception data and the boom truck posture state perception data when receiving the first ROS communication message distributed by the external communication unit based on the control type; extract the object model and the current posture state of the object model in the boom truck operating environment coordinate system from the boom truck operating environment perception data, and extract the current posture state of the boom truck corresponding to the equipment identifier in the boom truck operating environment coordinate system from the boom truck posture state perception data; based on the current posture state of the boom truck's mechanical arm, the object model and the current posture state of the object model, determine the optimal motion planning path that avoids obstacles represented by the object model from each motion planning path from the current posture state to the target posture state in the boom truck operating environment coordinate system, and send the optimal motion planning path to the boom truck communication unit, so that the boom truck communication unit sends the optimal motion planning path together with the component code and the operation code to the instruction translation unit for conversion into a first CAN message.

[0046] In an alternative embodiment, see Figure 2 As shown, the first instruction parsing module includes an external communication unit and an external protocol processing unit; the instruction adaptation and translation module includes a boom truck protocol adaptation unit, a boom truck communication unit and an instruction translation unit;

[0047] The external communication unit is used to receive the standard control instructions sent by the ground station control system through Socket communication, and send the standard control instructions to the external protocol processing unit. When receiving the first ROS communication message corresponding to the standard control instruction returned by the external protocol processing unit, the device identifier and control type are obtained from the first ROS communication message, and the first ROS communication message is distributed to the boom truck communication unit based on the control type; when receiving the second ROS communication message returned by the boom truck communication unit, the second ROS communication message is sent to the external protocol processing unit. When receiving the standard external message in a unified format returned by the external protocol processing unit, the standard external message is sent to the ground station control system through Socket communication;

[0048] The external protocol processing unit is configured to translate the standard control instruction into a first ROS communication message and return it to the external communication unit; and to package the second ROS communication message into a standard external message in a unified format and return it to the external communication unit;

[0049] The boom truck communication unit is configured to, upon receiving a first ROS communication message distributed by an external communication unit, send the first ROS communication message to the boom truck protocol adaptation unit, and upon receiving a component code and an operation code returned by the boom truck protocol adaptation unit, send the component code and the operation code to the instruction translation unit; upon receiving a first CAN message returned by the instruction translation unit, send the first CAN message to the boom truck corresponding to the device identifier to perform a corresponding operation; upon receiving a second CAN message returned by the boom truck after performing a corresponding operation based on the first CAN message, send the second CAN message to the instruction translation unit, and upon receiving a second ROS communication message returned by the instruction translation unit, send the second ROS communication message to the external communication unit;

[0050] The boom truck protocol adapter unit is configured to obtain a device identifier and a control type from the first ROS communication message, determine a vendor boom truck control protocol template corresponding to the device identifier from the vendor boom truck control protocol library, map the first ROS communication message to a component code and an operation code specified in the vendor boom truck control protocol template based on the control type, and send the component code and the operation code to the boom truck communication unit;

[0051] The instruction translation unit is used to convert the component code and the operation code into the WiFi communication format and then convert them into the first CAN message, and send the first CAN message to the boom truck communication unit; and encapsulate the boom truck real-time status message in the second CAN message into a second ROS communication message and then convert it into the WiFi communication format and return it to the boom truck communication unit.

[0052] In an alternative embodiment, see Figure 3 As shown, the boom truck protocol adapter unit is used to call the boom truck control universal interface, parse the device identifier and control type in the first ROS communication message into the universal device identifier and control type, call the manufacturer's boom truck control protocol interface, determine the manufacturer's boom truck control protocol template corresponding to the universal device identifier from the manufacturer's boom truck control protocol library, and map the first ROS communication message to the component code and operation code specified by the manufacturer's boom truck control protocol template based on the universal control type.

[0053] In the embodiments of the present application, the ground station control system (e.g., a host computer) serves as the core module for control and command, achieving unified control of the boom truck and live-working robot by issuing standardized control commands. During the boom truck control process, these standard control commands are first entered into the boom truck control universal interface library. Based on the mapping relationship shown in Table 1, the standard control commands are parsed and distributed within the library.

[0054] Table 1.

[0055]

[0056] Among them, unit is an array type. Since standard control instructions can involve the control of a single joint or position control based on multiple joints, when position control is based on multiple joints, it will be divided and planned from bottom to top with two joints as the granularity. Considering the compatibility of boom trucks that support multiple joints, unit is set to an array type; type is the control type; speed is the speed value; positionArray is the position array, which is related to different components; operationArray is the operation array, which is represented by a combination of unit (component) + operation (operation), with about 26 combinations.

[0057] In an embodiment of the present application, the boom truck control universal interface library is used to control boom trucks of different manufacturers through the same standard interface. The boom truck control universal interface library is the core of the entire communication architecture, providing an abstraction layer that enables the ground station control system (such as the host computer) to control boom trucks of different manufacturers through the same standard interface. The standard control instructions sent by the ground station control system (such as the host computer) are passed to the boom truck control universal interface library, and through the protocol adaptation function of the boom truck control interface library, compatibility with the manufacturer's boom truck control protocol libraries of different manufacturers is achieved. The boom truck control interface library receives standard control instructions from the ground station control system (such as the host computer) and selects the corresponding manufacturer's boom truck control protocol library according to the manufacturer type.

[0058] In an optional embodiment, the boom truck control protocol library of each manufacturer is used to adapt the boom truck control protocol library corresponding to each manufacturer. In order to achieve multi-manufacturer adaptation, the boom truck protocol adaptation unit integrates the manufacturer's boom truck control protocol libraries of multiple manufacturers. The manufacturer's boom truck control protocol library of each manufacturer is responsible for converting the instructions in the boom truck control universal interface library into the manufacturer's proprietary control protocol format. For example, under speed control or joint position control instructions, the boom truck protocol adaptation unit maps the instructions to the corresponding component codes and operation codes of the corresponding manufacturers (such as control instructions for upper arms, turntables, legs and other components) through the boom truck control protocol libraries of each manufacturer.

[0059] In the embodiment of the present application, as shown in Table 2, the Unit components and component codes are described as follows:

[0060] Table 2.

[0061]

[0062] In the embodiment of the present application, as shown in Table 3, the control operations and operation codes are described as follows:

[0063] Table 3.

[0064]

[0065] In an alternative embodiment, see Figure 3 As shown, the instruction translation unit is used to call the WiFi communication library interface, determine the WiFi communication library that matches the manufacturer type corresponding to the device identifier from the WiFi communication libraries corresponding to each manufacturer type, and then convert the component code and the operation code into a data frame in the WiFi communication format based on the WiFi communication library; and call the WiFi communication library interface, determine the WiFi communication library that matches the manufacturer type corresponding to the device identifier from the WiFi communication libraries corresponding to each manufacturer type, and then encapsulate the bucket truck real-time status message in the second CAN message into a second ROS communication message based on the WiFi communication library and convert it into a data frame in the WiFi communication format.

[0066] In an optional embodiment, each manufacturer's boom truck control protocol library corresponds to a WiFi communication library, which is used for wireless data transmission with the boom truck control module on the boom truck, and the WiFi communication library transmits data through the WiFi communication protocol.

[0067] In an embodiment of the present application, the instruction translation unit, also referred to as a WiFi-to-CAN conversion unit, is configured to convert WiFi communication signals into the CAN bus protocol required for the low-level control of the boom truck. The WiFi-to-CAN conversion unit converts high-level WiFi data frames into CAN data frames. The converted CAN data frames contain standard or extended frame IDs, and the frame data length is controlled by B3-B0 to ensure adaptability to different data volumes. This conversion process supports the seamless transmission of speed control and position control commands, ensuring that the boom truck executes precise multi-joint control commands.

[0068] In an optional embodiment, each data frame includes at least a frame header, a transmission mode, a frame information, a frame ID, a frame data, a reception timestamp, and a check value, and each data frame includes 20 bytes and at least includes a frame header, a transmission mode, a frame information, a frame ID, a frame data, a reception timestamp, and a check value, to ensure the accuracy and integrity of data transmission. During the transmission process, each data frame determines the data length based on the B3 to B0 fields of the frame information and starts with a frame header identifier to ensure the consistency of the data structure. As shown in Table 4, the frame structure of the data frame is defined as follows:

[0069] Table 4.

[0070]

[0071] Frame header: 2 bytes long, used to identify the beginning of the data frame, also known as the start identifier, fixed to 0XFE or 0XFD.

[0072] Sending mode: Length is 1 byte, 0X00 is normal sending, 0X01 is self-transmitting and self-receiving.

[0073] Frame information: 1 byte in length, used to identify relevant information of the CAN frame; as shown in Table 5, the frame information includes the identification bits of the standard frame and extended frame, the identification bits of the remote frame and data frame, the reserved bit and the data length bit, etc.

[0074] Table 5.

[0075]

[0076] FF is the identification bit of standard frame and extended frame, 1 is extended frame, 0 is standard frame;

[0077] RTR is the identification bit of remote frame and data frame, 1 is remote frame, 0 is data frame;

[0078] Reserved, it is a reserved bit, its reserved value is 0, and 1 cannot be written;

[0079] B3~B0 are data length bits, which identify the data length of the CAN frame.

[0080] Frame ID: 4 bytes in length, including the standard frame ID shown in Table 6 and the extended frame ID shown in Table 7; the standard frame has 11 valid bits and the extended frame has 29 valid bits.

[0081] Table 6.

[0082]

[0083] As shown in Table 6, the standard frame ID is represented by 0X123;

[0084] Table 7.

[0085]

[0086] As shown in Table 7, the extended frame ID is represented by 0X12345678.

[0087] Frame data: The length is 8 bytes. The effective length is determined by the values ​​of B3 to B0 in the frame information. As shown in Table 8 and Table 9, the frame data is represented as follows:

[0088] Table 8.

[0089]

[0090] As shown in Table 8, the frame data has 8 bytes of valid data.

[0091] Table 9.

[0092]

[0093] As shown in Table 9, the frame data has 5 bytes of valid data.

[0094] Receive timestamp: The unit is ms, the length is 3 bytes, the time starts from power-on, returns to 0 after overflow, and continues to count.

[0095] Check value: 1 byte in length, which is the XOR value of all bytes from the frame header to the reserved bit.

[0096] In the embodiments of this application, see Figure 4 As shown, the boom truck control system includes a boom truck intelligent controller, an industrial computer, a first switch, a wireless AP, a boom truck wireless controller, a second switch and a boom truck global modeling device, etc.; the boom truck wireless controller includes a WiFi to CAN conversion unit (also known as an instruction translation unit); the boom truck global modeling device is installed with an environment modeling and state perception module, etc., and the environment modeling and state perception module includes a laser pan-tilt platform, a laser radar, a camera, etc.; the industrial computer and the boom truck global modeling device are installed on the boom truck control device, and the boom truck control device is installed on the boom truck; the industrial computer is connected to the second switch through an RJ45 network port, and the industrial computer is connected to the laser pan-tilt platform through a 485 serial port; the second switch is connected to the laser radar, camera, etc. through an RJ45 network port, and the industrial computer is connected to the WiFi to CAN conversion unit through the RJ45 network port, the switch and the wireless AP in turn for WiFi communication; the WiFi to CAN conversion unit is connected to the boom truck control system inside the boom truck.

[0097] In an optional embodiment, the LAN dynamic fusion strategy is to adopt a hybrid routing algorithm to automatically select the optimal transmission path access in the second WiFi LAN based on the real-time channel quality; the LAN access path selection strategy is to adopt a comprehensive path quality evaluation algorithm to adaptively switch access between the first WiFi LAN and the second WiFi LAN based on the task type; the ROS communication strategy is to encapsulate each functional module and each functional unit within the boom truck control system into an independent node, and perform decoupled interaction through a standard interface based on a multi-mode communication protocol.

[0098] In the embodiment of the present application, the hybrid routing algorithm includes:

[0099] First, the real-time comprehensive path quality score of each transmission path in the second WiFi LAN is calculated using the following formula (1):

[0100] Path_Score = α1*(1 / Bandwidth_utilization) + β1*RSSI+ γ1*(1 / Latency)

[0101] ...Formula (1)

[0102] Path_Score is the real-time comprehensive path quality score; Bandwidth_utilization is the bandwidth utilization; RSSI is the received signal strength indicator; Latency is the latency; α1, β1, and γ1 are weight parameters that can be adjusted through online learning; α1=0.5, β1=0.3, and γ1=0.2 are optional.

[0103] Then, based on the real-time integrated path quality score, it automatically switches to the optimal transmission path in the second WiFi local area network. For example, it automatically switches to the transmission path with the highest real-time integrated path quality score as the optimal transmission path. The real-time switching strategy includes: when the primary network delay time is not less than a first threshold (e.g., 50ms) and the number of times is not less than a second threshold (e.g., 3 times), the backup link is enabled and seamless switching is initiated; and / or, when the signal strength is not greater than a third threshold (e.g., -75dBm), spectrum scanning is triggered and switching is performed to the optimal AP node. The bandwidth priority scheduling strategy includes: if the standard control instruction is a real-time control instruction, the initial bandwidth share is the first share (e.g., 45%), which is increased to the second share (e.g., 60%) when the delay exceeds the threshold; if the standard control instruction is a perception data transmission instruction, the initial bandwidth share is the third share (e.g., 30%), and a compression algorithm is enabled to reduce bandwidth occupancy.

[0104] In this embodiment of the present application, the comprehensive path quality assessment algorithm includes:

[0105] First, the real-time comprehensive network quality scores of the first WiFi LAN and the second WiFi LAN are calculated using the following formula (2):

[0106] Q_score = α²*(RSSI+100) / 70 + β²*(1-packet loss rate / 100) + γ²*(1 / bandwidth utilization);

[0107] ...Formula (2)

[0108] Where Q_score is the real-time comprehensive network quality score; RSSI is the received signal strength indicator, which ranges from -100 dBm to -30 dBm, corresponding to 0 to 1; α2, β2, and γ2 are weight parameters that can be dynamically adjusted based on the task type; optionally, α2 = 0.5, β2 = 0.3, and γ2 = 0.2; packet loss rate and bandwidth utilization are the values ​​after reverse normalization.

[0109] Then, based on the real-time comprehensive network quality scores of the first and second Wi-Fi LANs, access is adaptively switched between the first and second Wi-Fi LANs. The dynamic weight adjustment mechanism includes: if the task type is real-time control command transmission, increasing α2 and β2 and decreasing γ2 to improve network stability and enable precise control of the robotic arm; if the task type is sensor data backhaul, decreasing α2, maintaining β2, and increasing γ2 to increase network bandwidth and enable high-definition monitoring of the construction scene. Adaptive switching trigger conditions include: activating a backup link and combining synchronous retransmission when the network delay is at least a first threshold (e.g., 50ms) and the number of times is at least a second threshold (e.g., 3). Also, triggering spectrum scanning and switching to the optimal AP node when the signal strength is at least a third threshold (e.g., -75dBm) and the packet loss rate is at least a fourth threshold (e.g., 10%).

[0110] In the embodiment of the present application, the multi-mode communication protocol is shown in Table 10:

[0111] Table 10.

[0112]

[0113] Based on the above embodiments, the present application provides a heterogeneous control method for a boom truck and a live working robot. Figure 5 As shown, the interaction process of the heterogeneous control method of the boom truck and the live working robot provided in the embodiment of the present application is as follows:

[0114] Step 501: The ground station control system responds to the user's real-time control operation, identifies the device identification and control type of the target control device corresponding to the real-time control operation through the operation analysis module, and generates a standard control instruction in a unified format based on the device identification and control type of the target control device.

[0115] Step 502: The ground station control system uses the path matching module to send standard control instructions to the boom truck control system based on the TCP protocol when the target control device is a boom truck, and to send standard control instructions to the robot control system based on the TCP protocol when the target control device is a live working robot.

[0116] Step 503: The boom truck control system parses the standard control instructions sent by the ground station control system through the first instruction parsing module to obtain the device identification, control type and target control parameters; if the control type includes speed control, the device identification, control type and target control parameters are sent to the instruction adaptation and translation module; if the control type includes position control, the device identification, control type and target control parameters are sent to the path planning module and the instruction adaptation and translation module.

[0117] Step 504: The boom truck control system calls the environment modeling and state perception module through the path planning module to collect the boom truck operating environment perception data and the boom truck posture state perception data corresponding to the equipment identifier in the boom truck operating area; the boom truck posture state perception data is analyzed to obtain the current posture state of the boom truck's mechanical arm corresponding to the equipment identifier in the boom truck operating environment coordinate system, and the posture difference is calculated based on the current posture state and the target posture state in the target control parameter; and the boom truck operating environment perception data is analyzed to obtain the object model and the current posture state of the object model in the boom truck operating environment coordinate system; based on the posture difference and the object model and the current posture state of the object model, a polynomial difference algorithm is used to generate multiple motion planning paths for the boom truck's mechanical arm from the current posture state to the target posture state in the boom truck operating environment coordinate system and avoiding obstacles represented by the object model; the optimal motion planning path is solved from the multiple motion planning paths and sent to the instruction adaptation and translation module.

[0118] Step 505: The boom truck control system determines the manufacturer's boom truck control protocol template corresponding to the device identifier from the manufacturer's boom truck control protocol library through the instruction adaptation translation module, and maps the standard control instruction to the component code and operation code specified by the manufacturer's boom truck control protocol template based on the control type; if the control type includes speed control, the component code, operation code and target speed value in the target control parameter are converted into WiFi communication format and encapsulated into CAN instructions; if the control type includes position control, the component code, operation code and optimal motion planning path are converted into WiFi communication format and encapsulated into CAN instructions; if the control type includes speed control and position control, the component code, operation code, optimal motion planning path and target speed value in the target control parameter are converted into WiFi communication format and encapsulated into CAN instructions; the CAN instruction is sent to the boom truck corresponding to the device identifier for instruction execution.

[0119] Step 506: The robot control system parses the standard control instruction through the second instruction parsing module to obtain the device identification and control type; through the task distribution control module, the robot task process information corresponding to the control type is determined from the robot control strategy set, the task instruction is generated based on the robot task process information, and the task instruction is sent to the live working robot corresponding to the device identification for task execution.

[0120] The heterogeneous control method of the boom truck and the live working robot provided in the embodiment of the present application is further described in detail below. Figure 6 As shown, the specific process of the heterogeneous control method of the boom truck and the live working robot provided in the embodiment of the present application is as follows:

[0121] Step 601: The ground station control system starts the task, sends initialization instructions, initializes the boom truck control system and the robot control system, including detecting the connection status of each sensor and execution module, and confirming that all hardware devices are in an available state to ensure that the system is ready and waiting for the input of subsequent control instructions.

[0122] Step 602: The ground station control system sends standard control instructions to the boom truck control system based on the TCP protocol through the Wi-Fi local area network. When the target control device is a boom truck, the ground station control system sends standard control instructions to the robot control system based on the TCP protocol when the target control device is a live working robot.

[0123] Step 603: The boom truck control system activates the specified environment modeling and state perception module according to the operation type in the standard control instruction, and assigns the corresponding task type to it; after receiving the task instruction, the environment modeling and state perception module collects the boom truck operating environment perception data and the boom truck posture state perception data.

[0124] Step 604: The boom truck control system performs target posture recognition and path difference calculation.

[0125] Target pose recognition: The environment modeling and state perception module (such as a visual sensor or lidar) obtains the target's position and orientation data through three-dimensional space scanning and image recognition algorithms (such as YOLO or OpenPose), generates the target's pose (position and attitude angle) in three-dimensional space, and then outputs the target's pose information, including the position vector (x, y, z)(x, y,z)(x,y,z) and the direction (qx,qy,qz,qw)(q_x, q_y, q_z, q_w)(qx,qy,qz,qw) represented by the rotation matrix or quaternion.

[0126] Difference calculation:

[0127] Position difference: The motion planning module compares the current position of the end of the robot arm with the target position. The position difference is calculated by vector subtraction, that is:

[0128]

[0129] in, is the position difference; is the target pose, is the current pose.

[0130] Attitude difference: The attitude difference uses quaternion interpolation (such as Slerp) or Euler angle conversion to calculate the difference between the target direction and the current direction. The quaternion difference can be obtained by the following formula:

[0131]

[0132] in, is the attitude difference, which is the quaternion representation of the difference between the target orientation and the current orientation; is the quaternion representation of the target direction and is the end point in the attitude difference calculation; It is the quaternion representation of the current orientation and the starting point for attitude difference calculation.

[0133] Path Generation: The motion planning module uses the Dijkstra or A* path planning algorithm based on the pose difference to generate the shortest path from the current position to the target position in the obstacle environment. This path is then decomposed into multiple intermediate waypoints to form a segmented trajectory.

[0134] Step 605: The boom truck control system generates a multi-joint smooth path.

[0135] Trajectory generation algorithm: To ensure smooth motion of the robotic arm, the motion planning module uses Cubic or Quintic polynomial interpolation to generate multi-segment curved trajectories. This algorithm generates a time-angle curve for each joint, ensuring a smooth transition between acceleration and velocity. The specific equation is as follows:

[0136] Cubic polynomial interpolation:

[0137] Quintic polynomial interpolation:

[0138] Where θ(t)\theta(t)θ(t) is the change of joint angle over time, and the coefficients a0, a1, …, a5 are solved by constraining the position, velocity, and acceleration of the start and end points.

[0139] Inverse kinematics calculation: For each waypoint, the motion planning module uses the inverse kinematics (IK) algorithm to convert the spatial pose into the target angles of each joint. Assuming the end position of the robot arm is (x, y, z), the inverse kinematics equations are as follows:

[0140]

[0141] in, and are the joint angles, and is the length of each segment of the robotic arm. The IK algorithm iteratively finds the optimal solution to enable the robotic arm to reach the specified position at each waypoint; 1 is the lower arm, and 2 is the upper arm.

[0142] Step 606: The boom truck control system performs real-time motion monitoring and dynamic adjustment.

[0143] Motion controller: The boom truck control system uses a PID controller to perform closed-loop control of the motion of each joint. The PID control formula is as follows:

[0144]

[0145] in, is the error in the joint angle, 、 、 are the proportional, integral and derivative gain parameters respectively.

[0146] Real-time feedback adjustment: The boom control system uses sensors to sample the actual position, velocity, and force of the joints. Using closed-loop control, joint positions are corrected during each sampling cycle to ensure stable arm motion. If velocity or acceleration exceeds set thresholds, the slope of the motion curve is immediately adjusted to prevent mechanical vibration.

[0147] Step 607: The boom truck control system performs collision detection and safety protection mechanisms.

[0148] Torque sensors and collision detection: Torque sensors at each joint collect force control data in real time. Once an abnormal external force (such as one exceeding a set force threshold) is detected, a collision detection algorithm is triggered. Collision detection uses a combination of threshold judgment and spatial position determination to identify whether the robotic arm is experiencing external interference.

[0149] Safety protection mechanism: When collision protection is triggered, the boom truck control system uses emergency braking to stop the motor and lock the current joint position. The boom truck control system then sends an alarm signal to the ground station for further action by the operator.

[0150] Step 608: When target recognition fails, the boom truck control system automatically triggers multiple retries. When the target cannot be recognized after several retries, it switches to manual input mode for manual positioning.

[0151] Re-identification and algorithm tuning: After an initial recognition failure, the motion planning module automatically triggers multiple retries. During each retry, it dynamically adjusts visual recognition parameters, such as increasing the optical threshold or switching to depth camera mode to improve recognition accuracy.

[0152] Manual Input Mode: If recognition is still unsuccessful after several retries, the system switches to Manual Input Mode. The operator enters the target's 3D position data into the ground station control system's interface, which is then directly used by the path planning module to generate a manual path trajectory.

[0153] Step 609: The boom truck control system generates and provides feedback on the task report.

[0154] Data Logging and Reporting: The boom truck control system automatically records key parameters during mission execution, including the position of each waypoint, the actual time of path planning, anomalies, and identification results. All data is recorded in JSON format to facilitate subsequent data analysis.

[0155] Feedback Display and Operation Confirmation: Generated report files are transmitted to the ground station control system and displayed on the user interface. Operators can view detailed data such as each path node, arrival accuracy, and movement speed, and confirm any anomalies. After the mission is completed, the system enters standby mode and prepares for the next mission.

[0156] Step 610: After the robot control system parses the standard control instruction to obtain the device identification and control type, it determines the robot task process information corresponding to the control type from the robot control strategy set, generates task instructions based on the robot task process information, and sends the task instructions to the live working robot corresponding to the device identification for task execution.

[0157] After introducing the heterogeneous control system and method of the boom truck and the live working robot provided in the embodiment of the present application, the boom truck control device provided in the embodiment of the present application is briefly introduced next.

[0158] See Figure 7 As shown, the boom truck control device 700 provided in the embodiment of the present application includes at least a processor 701, a memory 702, and a computer program stored in the memory 702 and executable on the processor 701. When the processor 701 executes the computer program, the heterogeneous control method of the boom truck and the live working robot executed by the boom truck control system provided in the embodiment of the present application is implemented.

[0159] The boom truck control device 700 provided in the embodiment of the present application may further include a bus 703 connecting different components (including the processor 701 and the memory 702). The bus 703 represents one or more of several types of bus structures, including a memory bus, a peripheral bus, a local bus, and the like.

[0160] The memory 702 may include a readable storage medium in the form of a volatile memory, such as a random access memory 7021 and / or a cache memory 7022, and may further include a read-only memory 7023. The memory 702 may also include a program tool 7025 having a set (at least one) of program modules 7024. The program modules 7024 include, but are not limited to, an operating subsystem, one or more application programs, other program modules, and program data. Each of these examples or some combination thereof may include the implementation of a network environment.

[0161] Processor 701 can be a single processing element or a collective term for multiple processing elements. For example, processor 701 can be a central processing unit (CPU) or one or more integrated circuits configured to implement the heterogeneous control method for a boom truck and a live working robot performed by the boom truck control system provided in the embodiments of the present application. Specifically, processor 701 can be a general-purpose processor, including but not limited to a CPU, an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0162] The boom truck control device 700 can communicate with one or more external devices 704 (such as a keyboard, a remote control, etc.), and can also communicate with one or more devices that enable a user to interact with the boom truck control device 700 (such as a mobile phone, a computer, etc.), and / or communicate with a device that enables the boom truck control device 700 to communicate with one or more other boom truck control devices 700 (such as a router, a modem, etc.). Such communication can be performed through the input / output interface 705. In addition, the boom truck control device 700 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 706. Figure 7 As shown, the network adapter 706 communicates with other modules of the boom truck control device 700 via the bus 703. Figure 7 Not shown, other hardware and / or software modules may be used in conjunction with the boom truck control device 700, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, disk array (Redundant Arrays of Independent Disks, RAID) subsystems, tape drives, and data backup storage subsystems.

[0163] It should be noted that Figure 7 The shown boom truck control device 700 is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0164] The computer-readable storage medium provided in the embodiment of the present application is introduced below. The computer-readable storage medium provided in the embodiment of the present application stores computer instructions, which, when executed by the processor, implement the heterogeneous control method of the boom truck and the live-working robot performed by the boom truck control system provided in the embodiment of the present application. Specifically, the computer instructions can be built-in or installed in the processor, so that the processor can implement the heterogeneous control method of the boom truck and the live-working robot performed by the boom truck control system provided in the embodiment of the present application by executing the built-in or installed computer instructions.

[0165] In addition, the heterogeneous control method of the boom truck and the live working robot executed by the boom truck control system provided in the embodiment of the present application can also be implemented as a computer program product, which includes program code. When the program code runs on a processor, it implements the heterogeneous control method of the boom truck and the live working robot executed by the boom truck control system provided in the embodiment of the present application.

[0166] The computer program product provided in the embodiments of the present application may adopt one or more computer-readable storage media, and the computer-readable storage medium may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the above. Specifically, more specific examples of computer-readable storage media (a non-exhaustive list) include an electrical connection with one or more wires, a portable disk, a hard disk, RAM, ROM, Erasable Programmable Read Only Memory (EPROM), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

[0167] The computer program product provided in the embodiments of the present application may include program code in a CD-ROM format and may also be run on a boom truck control device. However, the computer program product provided in the embodiments of the present application is not limited thereto. In the embodiments of the present application, a computer-readable storage medium may be any tangible medium containing or storing program code, which may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0168] It should be noted that although several units or subunits of the device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, depending on the embodiment of the application, the features and functions of two or more units described above can be embodied in a single unit. Conversely, the features and functions of a single unit described above can be further divided and embodied by multiple units.

[0169] Furthermore, although the operations of the method of the present application are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in this particular order, or that all illustrated operations must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0170] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0171] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include such modifications and variations.

Claims

1. A heterogeneous control system for a boom truck and a live working robot, characterized in that: It includes a ground station control system, a boom truck control system and a robot control system; the first WiFi local area network constructed by the boom truck control system evaluates the real-time comprehensive path quality of each transmission path in the second WiFi local area network constructed by the robot control system through a hybrid routing algorithm, adaptively selects the optimal transmission path to access the second WiFi local area network based on the real-time comprehensive path quality, and adjusts the bandwidth proportion of the optimal transmission path through a bandwidth priority scheduling strategy based on the task type; the ground station control system evaluates the real-time comprehensive network quality of the first WiFi local area network and the second WiFi local area network through a comprehensive path quality evaluation algorithm and a dynamic weight adjustment mechanism based on the task type, and adaptively accesses the first WiFi local area network or the second WiFi local area network based on the real-time comprehensive network quality; the TCP protocol is used to establish a communication channel between the ground station control system, the boom truck control system and the robot control system; The boom truck control system uses the ROS communication strategy to encapsulate each functional module and each functional unit into an independent node, and decouples and interacts based on the multi-mode communication protocol through a standard interface; The ground station control system is configured to respond to a user's real-time control operation, identify the device identification and control type of the target control device corresponding to the real-time control operation through an operation parsing module, and generate a standard control instruction in a unified format based on the device identification and control type of the target control device; and, through a path matching module, send the standard control instruction to the boom truck control system based on the TCP protocol when the target control device is a boom truck, and send the standard control instruction to the robot control system based on the TCP protocol when the target control device is a live working robot; The boom truck control system is configured to parse the standard control instruction through a first instruction parsing module to obtain the device identifier and the control type; Through the instruction adaptation translation module, the bucket truck control universal interface is called, and after the device identification and the control type are parsed into the universal device identification and control type, the manufacturer's bucket truck control protocol interface is called, and the manufacturer's bucket truck control protocol template corresponding to the universal device identification is determined from the manufacturer's bucket truck control protocol library, and based on the universal control type, the standard control instruction is mapped to the component code and operation code specified in the manufacturer's bucket truck control protocol template, and the component code and the operation code are converted into a WiFi communication format and then converted into a CAN instruction, and the CAN instruction is sent to the bucket truck corresponding to the device identification for instruction execution; The robot control system is used to parse the standard control instruction through a second instruction parsing module to obtain the device identification and the control type; determine the robot task process information corresponding to the control type from the robot control strategy set through a task distribution control module, generate task instructions based on the robot task process information, and send the task instructions to the live working robot corresponding to the device identification for task execution.

2. The heterogeneous control system of the boom truck and the live working robot according to claim 1, characterized in that: The first instruction parsing module includes an external communication unit and an external protocol processing unit; the instruction adaptation and translation module includes a boom truck protocol adaptation unit, a boom truck communication unit and an instruction translation unit; The external communication unit is configured to receive the standard control instruction sent by the ground station control system through Socket communication, and send the standard control instruction to the external protocol processing unit; upon receiving a first ROS communication message corresponding to the standard control instruction returned by the external protocol processing unit, obtain the device identifier and the control type from the first ROS communication message, and distribute the first ROS communication message to the boom truck communication unit based on the control type; upon receiving a second ROS communication message returned by the boom truck communication unit, send the second ROS communication message to the external protocol processing unit; upon receiving the standard external message in a unified format returned by the external protocol processing unit, send the standard external message to the ground station control system through Socket communication; The external protocol processing unit is configured to translate the standard control instruction into the first ROS communication message and return the translated message to the external communication unit; and packaging the second ROS communication message into the standard external message in the unified format and returning it to the external communication unit; The boom truck communication unit is configured to, upon receiving the first ROS communication message distributed by the external communication unit, send the first ROS communication message to the boom truck protocol adaptation unit, and upon receiving the component code and operation code returned by the boom truck protocol adaptation unit, send the component code and the operation code to the instruction translation unit; upon receiving the first CAN message returned by the instruction translation unit, send the first CAN message to the boom truck corresponding to the device identifier to perform a corresponding operation; upon receiving the second CAN message returned by the boom truck after performing a corresponding operation based on the first CAN message, send the second CAN message to the instruction translation unit, and upon receiving the second ROS communication message returned by the instruction translation unit, send the second ROS communication message to the external communication unit; The boom truck protocol adapter unit is configured to obtain the device identifier and the control type from the first ROS communication message, determine the vendor boom truck control protocol template corresponding to the device identifier from the vendor boom truck control protocol library, map the first ROS communication message to a component code and an operation code specified in the vendor boom truck control protocol template based on the control type, and send the component code and the operation code to the boom truck communication unit; The instruction translation unit is used to convert the component code and the operation code into the WiFi communication format and then convert them into the first CAN message, and send the first CAN message to the boom truck communication unit; and encapsulate the boom truck real-time status message in the second CAN message into a second ROS communication message and then convert it into the WiFi communication format and return it to the boom truck communication unit.

3. The heterogeneous control system of the boom truck and the live working robot according to claim 2, characterized in that: The boom truck control system also includes: The environment modeling and state perception module is used to obtain the operating environment perception data of the boom truck in the boom truck operating area; and obtain the boom truck posture state perception data corresponding to the equipment identifier; A path planning module is configured to, upon receiving the first ROS communication message distributed by the external communication unit based on the control type, call the environment modeling and state perception module to obtain the boom truck operating environment perception data and the boom truck posture state perception data; extract the object model and the current posture state of the object model in the boom truck operating environment coordinate system from the boom truck operating environment perception data, and extract the current posture state of the boom truck corresponding to the device identifier in the boom truck operating environment coordinate system from the boom truck posture state perception data; based on the current posture state of the boom truck's robotic arm, the object model and the current posture state of the object model, determine the optimal motion planning path that avoids the obstacle represented by the object model from each motion planning path from the current posture state to the target posture state in the boom truck operating environment coordinate system, and send the optimal motion planning path to the boom truck communication unit, so that the boom truck communication unit sends the optimal motion planning path together with the component code and the operation code to the instruction translation unit for conversion into the first CAN message.

4. The heterogeneous control system of the boom truck and the live working robot according to claim 2, characterized in that: The boom truck protocol adapter unit is used to call the boom truck control universal interface, parse the device identifier and the control type in the first ROS communication message into a universal device identifier and control type, call the manufacturer's boom truck control protocol interface, determine the manufacturer's boom truck control protocol template corresponding to the universal device identifier from the manufacturer's boom truck control protocol library, and map the first ROS communication message to the component code and operation code specified by the manufacturer's boom truck control protocol template based on the universal control type.

5. The heterogeneous control system of the boom truck and the live working robot according to claim 2, characterized in that: The instruction translation unit is configured to call a WiFi communication library interface, determine a WiFi communication library that matches the vendor type corresponding to the device identifier from WiFi communication libraries corresponding to various vendor types, and convert the component code and the operation code into a data frame in a WiFi communication format based on the WiFi communication library; And calling the WiFi communication library interface, after determining the WiFi communication library that matches the manufacturer type corresponding to the device identifier from the WiFi communication libraries corresponding to each manufacturer type, based on the WiFi communication library, the bucket truck real-time status message in the second CAN message is encapsulated into a second ROS communication message and then converted into a data frame in the WiFi communication format.

6. The heterogeneous control system of the boom truck and the live working robot according to claim 5, characterized in that: The data frame at least includes a frame header, a sending mode, frame information, a frame ID, frame data, a receiving timestamp and a check value.

7. The heterogeneous control system of the boom truck and the live working robot according to claim 6, characterized in that: The sending mode includes normal sending and self-transmission and self-reception; the frame information includes identification bits of standard frames and extended frames, identification bits of remote frames and data frames, reserved bits and data length bits; the frame ID includes standard frame ID and extended frame ID.

8. The heterogeneous control system of the boom truck and the live working robot according to claim 6, characterized in that: The data frame includes 20 bytes; among them, the frame header is 2 bytes, the sending mode is 1 byte, the frame information is 1 byte, the frame ID is 4 bytes, the frame data is 8 bytes, the receiving timestamp is 3 bytes, and the check value is 1 byte.

9. A heterogeneous control method for a boom truck and a live working robot, characterized in that: The boom truck control system applied to the heterogeneous control system of the boom truck and the live working robot according to any one of claims 1 to 8 comprises: The first instruction parsing module parses the standard control instruction sent by the ground station control system to obtain a device identification, a control type, and a target control parameter; if the control type includes speed control, the device identification, the control type, and the target control parameter are sent to the instruction adaptation and translation module; if the control type includes position control, the device identification, the control type, and the target control parameter are sent to the path planning module and the instruction adaptation and translation module; Through the path planning module, the environment modeling and state perception module is called to collect the boom truck operating environment perception data in the boom truck operating area and the boom truck posture state perception data corresponding to the equipment identifier; the boom truck posture state perception data is analyzed to obtain the current posture state of the boom truck's mechanical arm corresponding to the equipment identifier in the boom truck operating environment coordinate system, and the posture difference is calculated based on the current posture state and the target posture state in the target control parameter; and the boom truck operating environment perception data is analyzed to obtain the object model in the boom truck operating environment coordinate system and the current posture state of the object model; based on the posture difference and the object model and the current posture state of the object model, a polynomial difference algorithm is used to generate multiple motion planning paths for the boom truck's mechanical arm from the current posture state to the target posture state in the boom truck operating environment coordinate system and avoiding obstacles represented by the object model; the optimal motion planning path is solved from the multiple motion planning paths and sent to the instruction adaptation and translation module; Through the instruction adaptation and translation module, the manufacturer's bucket truck control protocol template corresponding to the device identifier is determined from the manufacturer's bucket truck control protocol library, and the standard control instruction is mapped to the component code and operation code specified by the manufacturer's bucket truck control protocol template based on the control type; if the control type includes speed control, the component code, the operation code and the target speed value in the target control parameter are converted into a WiFi communication format and encapsulated into a CAN instruction; if the control type includes position control, the component code, the operation code and the optimal motion planning path are converted into a WiFi communication format and encapsulated into a CAN instruction; if the control type includes speed control and position control, the component code, the operation code, the optimal motion planning path and the target speed value in the target control parameter are converted into a WiFi communication format and encapsulated into a CAN instruction; the CAN instruction is sent to the bucket truck corresponding to the device identifier for instruction execution.

Images