Pipeline processing coordination control system and method

Abstract

This invention discloses a pipeline processing coordination control system and method, belonging to the field of industrial automation processing technology. It aims to solve the problems of high spatial interference risk, frequent time window conflicts, and low processing efficiency in collaborative processing of multiple processing equipment. By collecting basic pipeline data and matching processing procedures, a processing task queue is generated. Then, based on the parallel and sequential relationships between tasks and the safety distance requirements of processing equipment, parallel and sequential process groups are divided. Optimization models are constructed for each group, aiming to minimize the total processing time and the interval between adjacent processes. Combining the allocation of the pipeline port starting area and the bounding box spacing constraints of the processing equipment, the processing area path and time flow sequence of each processing equipment are planned, generating initial processing instructions. By collecting real-time data on the attitude and position of the processing equipment and processing time, a two-layer detection system for spatial attitude deviation and time window conflicts is implemented, updating the processing instructions of the processing equipment to ensure that multiple processing equipment operate collaboratively under safety constraints.

Description

Technical Field

[0001] This invention relates to the field of industrial automated processing technology, and more specifically to a coordinated control system and method for pipeline processing. Background Technology

[0002] In the field of industrial pipeline manufacturing, the internal and external wall treatment processes directly affect the corrosion resistance, sealing performance, and service life of pipelines. Currently, the industry generally adopts a traditional processing mode, where each process, such as internal wall grinding, external wall rust removal, and coating spraying, operates linearly and independently, relying on manual intervention for process connection and equipment parameter adjustment. Under this mode, pipelines require frequent manual transfer during rust removal, spraying, and inspection, which not only leads to low production efficiency and long overall processing time for a single pipeline, but also easily causes quality defects such as uneven coating thickness and missed coatings due to parameter matching errors and positional deviations between processes.

[0003] Furthermore, when multiple processing devices operate simultaneously, existing technologies lack effective collaborative control mechanisms. The planning of processing device trajectories and the allocation of processing areas rely on manual experience, often leading to interference, overlapping trajectories, or conflicting process parameters due to improper timing and scheduling. For example, internal wall processing equipment and external wall processing devices are prone to physical collisions when operating in the same section. Conflict detection methods relying on manual inspections are slow to respond and cannot identify potential risks in real time. Once a processing device malfunctions or abnormalities occur, shutdown for troubleshooting is often necessary, further exacerbating the inefficiency and quality instability of the processing flow. How to overcome the technical bottlenecks of multi-process collaborative scheduling and conflict-free operation of processing equipment to achieve efficient, precise, and intelligent pipeline processing has become a critical issue that urgently needs to be addressed. Therefore, to overcome these limitations, this invention proposes a pipeline processing coordinated control system and method. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a pipeline processing coordination control system and method. This system dynamically acquires basic pipeline parameters to divide processing steps into groups, collaboratively controls the start time, operating trajectory, and area of ​​processing equipment, and performs real-time conflict detection, resolution, and feedback. It solves the technical problems of interference risks caused by spatial attitude deviations in multi-processing equipment collaborative processing, time window overlap caused by abnormal processing speeds, and how to generate and dynamically update efficient and safe processing instructions based on basic pipeline parameters and processing step constraints. To achieve the above objectives, the present invention provides the following technical solution:

[0005] Pipeline processing coordination and control system, including:

[0006] Collect basic pipeline parameters, match processing procedures, and generate a processing task queue with priority and timing constraints; based on the processing task queue, obtain the parallel relationship of processing procedures and the spatial constraints of processing equipment, divide the processing procedure groups, and generate an initial processing scheme for the coordinated control of the processing procedure groups. The processing procedure groups include parallel processing procedure groups and sequential processing procedure groups.

[0007] Based on the initial processing scheme, by dividing the processing area, for parallel processing operation groups, the initial processing area is allocated based on the spacing of the bounding box of the processing equipment, and an objective optimization function that minimizes the total processing time is constructed. For sequential processing operation groups, the initial processing area is taken as the starting area of ​​the pipe port, and an objective optimization function that minimizes the interval between adjacent operations is constructed in combination with the safety buffer time. The processing area path sequence and processing area flow time sequence of the processing equipment are planned respectively to generate the processing instructions of the processing equipment.

[0008] The system collects operational data of the processing equipment while executing processing instructions. By comparing the real-time attitude bounding box position of the processing equipment with the actual processing completion time in the processing area, it performs dual conflict detection on the processing equipment, including spatial attitude deviation detection and time window conflict detection, and updates the processing instructions of the processing equipment.

[0009] Specifically, spatial attitude deviation detection includes identifying spatially abnormal processing equipment by measuring the attitude distance deviation between the real-time attitude bounding box position of the processing equipment and the bounding box position of the preset execution attitude of the processing area, expanding the attitude bounding box of the spatially abnormal processing equipment, and updating the processing instructions of the processing equipment.

[0010] Specifically, time window conflict detection includes identifying time-abnormal processing equipment by calculating the interval difference between the actual processing end time and the processing departure time of the processing equipment in the processing area, and updating the processing instructions of the processing equipment by updating the time interval between the entry time and the start time of the time-abnormal processing equipment in the processing area.

[0011] Specifically, the steps for generating processing instructions for processing equipment include:

[0012] The processing areas are divided according to the total length of the pipeline and the single movement distance of the processing equipment, and each processing area is marked with an identifier and the processing process group to which it belongs.

[0013] Determine the type of processing operation group, including parallel processing operation groups and sequential processing operation groups. Based on the type of processing operation group, plan the processing area path sequence and processing area flow time sequence of the processing equipment within the processing operation group.

[0014] Based on the planned processing area path sequence and processing area flow time sequence of the processing equipment, processing instructions are generated for each processing equipment in the processing process group. The processing instructions include the running trajectory, start time, completion time, and processing parameters of the processing equipment. The processing instructions are then optimized and sent to each processing equipment.

[0015] Specifically, the steps for planning the processing area path sequence and processing area turnover time sequence of processing equipment within a processing process group include:

[0016] For parallel processing groups, the initial processing area of ​​the processing equipment is allocated based on maximizing the bounding box spacing of the processing equipment within the processing group, and the bounding boxes of the processing equipment execution postures in different processing areas are obtained; the initial processing area of ​​the processing equipment is allocated based on the bounding box spacing of the processing equipment within the processing group.

[0017] With the same start-up time, based on the standard processing speed of the processing equipment and the posture change time of the processing equipment in each processing area, plan the processing area path sequence and processing area flow time sequence for the processing equipment within the parallel processing operation group. The processing area flow time sequence includes the processing area entry time sequence, processing start time sequence, and processing area exit time sequence; specifically including:

[0018] Configure the buffer distance of the processing equipment, and construct the objective optimization function by minimizing the total processing time of the processing process group. The total processing time of the processing process group is determined by the processing equipment with the lowest processing speed. Under the safety constraint of the buffer distance of the processing equipment, the processing equipment in the processing process group traverses the processing area in sequence.

[0019] Specifically, the steps for planning the processing area path sequence and processing area turnover time sequence of processing equipment within a processing process group also include:

[0020] For a sequential processing sequence, the initial processing area of ​​the processing equipment within the processing sequence is set as the starting processing area of ​​the pipe port; a safety buffer time is set to isolate the processing time of the processing equipment of the preceding and subsequent processing sequences.

[0021] Based on the implementation priority of each processing step within the sequential processing step group, starting from the initial processing area, a processing area path sequence is planned for each processing equipment.

[0022] Based on the safety buffer time and the buffer distance of the processing equipment, an objective optimization function is constructed by minimizing the start interval time of adjacent processing steps. The processing area flow time sequence of the processing equipment in the processing step group is planned. Under the safety constraints of the buffer distance of the processing equipment and the safety buffer time, the processing equipment in the processing step group traverses the processing area in sequence.

[0023] Specifically, the steps for updating the processing instructions of the processing equipment include:

[0024] When the processing equipment executes processing instructions, the operating data of the processing equipment is collected in real time. The operating data includes the basic parameters of the processing equipment and the processing process parameters.

[0025] Based on the basic parameters of the processing equipment, dual conflict detection is performed on the processing equipment, including spatial attitude deviation detection and time window conflict detection, to identify processing equipment with spatial and temporal anomalies.

[0026] Updating processing instructions for space-abnormal processing equipment includes:

[0027] The attitude distance deviation of the processing equipment in the space is obtained. The attitude distance deviation is calculated by comparing the real-time attitude bounding box position of the processing equipment with the bounding box position of the preset execution attitude of the current processing area.

[0028] Based on the degree of attitude distance deviation, the attitude bounding boxes of different processing areas preset by the spatial anomaly processing equipment are expanded to increase the safety margin.

[0029] Update the bounding box of the preset execution posture of the processing equipment in the current processing area, and expand the bounding box of the preset posture of all remaining processing areas proportionally; re-plan the path sequence of the remaining processing areas and the flow time sequence of the remaining processing areas of the processing equipment in the processing process group, so as to update the processing instructions of the processing equipment.

[0030] Specifically, the steps for updating the processing instructions of the processing equipment also include:

[0031] Updating processing instructions for processing equipment with time anomalies includes:

[0032] Configure interval thresholds, including upper and lower interval thresholds, obtain the interval difference between the actual processing end time and processing departure time of the processing area of ​​the time-abnormal processing equipment, and calculate the average processing speed of the processing area that the time-abnormal processing equipment has completed, as the standard processing speed for dynamic updates.

[0033] If the interval difference is greater than the upper threshold of the interval, the remaining processing area flow time sequence is re-planned based on the updated standard processing speed, reducing the time interval between the entry time and start time of the time-abnormal processing equipment in the processing area, sending the start advance instruction to the subsequent processing equipment, and coordinating the adjustment and updating of the remaining processing area flow time sequence of other processing equipment in the processing process group;

[0034] If the interval difference is less than the lower threshold of the interval, the remaining processing area flow time sequence is re-planned based on the updated standard processing speed, the time interval between the entry time and start time of the time-abnormal processing equipment in the processing area is increased, a start delay instruction is sent to the subsequent processing equipment, and the remaining processing area flow time sequence of other processing equipment in the processing process group is adjusted and updated in a coordinated manner.

[0035] Update the processing instructions of the processing equipment based on the time sequence of the remaining processing area of ​​the processing equipment.

[0036] Specifically, the steps for generating the initial processing plan for the coordinated control of processing operation groups include:

[0037] Obtain the processing task queue and extract the basic attributes of the processing procedures, including processing worker ID, process segment, processing time, and execution conditions;

[0038] A directed acyclic graph is constructed based on the basic attributes of the processing steps. Each processing step is mapped to a node. Directed edges between nodes are established according to the forced order of the process, and a linear sequence of process execution is generated.

[0039] Based on the identification of independent subgraphs without dependencies using directed acyclic graphs, the corresponding processing steps are divided into parallel processing step groups.

[0040] Remove parallel processing steps from the linear sequence of process execution to form a linear sequence to be processed. Obtain the processing equipment and its spatial constraints under different postures for each processing step in the linear sequence to be processed, and generate the dynamic bounding box of the processing equipment.

[0041] Forced conflict verification of adjacent processing steps is performed on the linear sequence to be processed to determine whether there is a forced conflict between the processing equipment of adjacent processing steps. Based on the forced conflict verification results, the processing steps are divided into groups, and the processing parameters of the processing equipment that match the pipeline basic parameters are retrieved to generate an initial processing plan that includes processing step combination, processing equipment configuration, and processing parameter settings.

[0042] Specifically, the steps for determining whether there is a forced conflict between processing equipment in adjacent processing steps, and for dividing processing step groups based on the forced conflict verification results, include:

[0043] For two adjacent processing steps, verify whether the bounding box of the processing equipment in each pose of the processing step with the higher priority is spatially interfered with the bounding box of the processing equipment in different poses of the processing equipment with the lower priority. If so, it is determined that there is a forced conflict between the processing equipment of the two adjacent processing steps; otherwise, it is determined that there is no forced conflict between the processing equipment of the two adjacent processing steps.

[0044] Based on the results of the forced conflict verification, the linear sequence to be processed is divided into processing operation groups. Specifically, starting from the first processing operation of the linear sequence to be processed, the first independent operation group is initialized. When processing the linear sequence to be processed sequentially, the current processing operation to be processed is forced to conflict with the previous independent operation group.

[0045] If there is a mandatory conflict between the processing equipment of the current processing step and the processing equipment of the previous independent process group, a new independent process group will be created for the current processing step.

[0046] Otherwise, merge the current pending processing step into the previous independent process group, and update the processing equipment set and process list of the processing step group.

[0047] The pipeline processing coordination and control method includes the following steps:

[0048] Step S1: Collect basic pipeline parameters, match processing procedures, and generate a processing task queue with priority and timing constraints; based on the processing task queue, obtain the parallel relationship of processing procedures and the spatial constraints of processing equipment, divide the processing procedure groups, and generate an initial processing scheme for the coordinated control of the processing procedure groups. The processing procedure groups include parallel processing procedure groups and sequential processing procedure groups.

[0049] Step S2: Based on the initial processing plan, by dividing the processing area, for parallel processing operation groups, the initial processing area is allocated based on the spacing of the processing equipment bounding box, and an objective optimization function that minimizes the total processing time is constructed. For sequential processing operation groups, the initial processing area is taken as the starting area of ​​the pipe port, and an objective optimization function that minimizes the interval between adjacent operations is constructed in combination with the safety buffer time. The processing area path sequence and processing area flow time sequence of the processing equipment are planned respectively to generate the processing instructions of the processing equipment.

[0050] Step S3: Collect the running data of the processing equipment when executing processing instructions. By using the real-time attitude bounding box position of the processing equipment and the actual processing end time of the processing equipment in the processing area, perform dual conflict detection on the processing equipment, including spatial attitude deviation detection and time window conflict detection, and update the processing instructions of the processing equipment.

[0051] The beneficial effects of this invention are:

[0052] This invention identifies spatially abnormal processing equipment based on the deviation between the real-time bounding box position of the processing equipment and a preset position. It expands the safety boundary by dynamically increasing the bounding box, effectively avoiding spatial interference risks when multiple processing equipment operate collaboratively. Simultaneously, it identifies time-abnormal processing equipment by calculating the processing time interval difference, dynamically adjusting the time interval of the processing area to eliminate time window overlap caused by speed fluctuations, ensuring safe and orderly process transitions. In the task planning phase, a directed acyclic graph is constructed to divide parallel and sequential processing groups. For parallel groups, the initial processing area is allocated based on maximizing the bounding box spacing of the processing equipment, and the path and time sequence are planned with the goal of minimizing the total processing time. For sequential groups, the interval between adjacent processes is optimized by starting from the pipeline port and incorporating a safety buffer time, achieving efficient allocation of processing resources and tight connection of process flows. In the instruction update phase, based on real-time collected processing equipment operating data, the bounding box parameters, processing speed, and time sequence of abnormal processing equipment are dynamically adjusted. The progress of the processing equipment is synchronized through collaborative instructions, enabling the system to adapt to changes in the operating status of the processing equipment, reducing manual intervention while ensuring a stable overall processing rhythm. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the pipeline processing coordination control system of the present invention;

[0054] Figure 2 A flowchart for generating the initial processing scheme for the coordinated control of each processing step group in this invention;

[0055] Figure 3 This invention provides a flowchart of the generation of processing instructions for each processing device within each processing step group.

[0056] Figure 4 A flowchart illustrating the specific operational steps for updating the processing instructions of the processing equipment according to this invention;

[0057] Figure 5 This is a flowchart of the pipeline processing coordination control method of the present invention. Detailed Implementation

[0058] Example 1:

[0059] Please see Figure 1 This embodiment introduces a pipeline processing coordination and control system, including a data parsing module, a process planning module, a collaborative control module, and a conflict detection module;

[0060] The data parsing module collects basic pipeline parameters and inputs them in multiple ways. Based on the process rule database, it matches the processing procedures and generates a processing task queue with priority and timing constraints.

[0061] In this embodiment, the data parsing module is responsible for collecting basic parameters such as pipe specifications, materials, and process requirements. It supports multiple input methods such as manual entry, electronic document reading, or RFID tag identification. It also has a built-in process rule database, which is used to automatically match the corresponding processing steps according to the input parameters and the forced process sequence, and generate a standard process list including internal wall treatment, external wall treatment, coating spraying, etc. It generates an implementation priority sequence for each processing step. For example, the priority of internal wall strength testing is automatically higher than that of external wall marking spraying, forming a processing task queue with priority time constraints.

[0062] The process planning module obtains the parallel relationship of processing processes and the spatial constraints of processing equipment based on the processing task queue, divides the processing process groups according to priority, retrieves and adjusts the processing parameters of the processing equipment, and generates an initial processing plan for the coordinated control of each processing process group.

[0063] In this embodiment, the process planning module, based on the processing task queue, obtains the dependencies and parallel relationships between processing processes through a directed acyclic graph. Processes without mandatory order requirements and without spatial conflicts are grouped together; for example, internal wall grinding and external wall rust removal can be executed in parallel. Grouping follows the implementation priority of the processing task queue. For instance, internal wall pretreatment and external wall pretreatment are grouped into a first-priority process group to ensure their processing equipment starts first; subsequent internal wall coating and external wall painting are grouped into a second-priority process group, and then sequentially connected. Simultaneously, processing parameters for the corresponding processing equipment, such as grinding machine speed and spraying pressure, are retrieved from the process rule database based on parameters such as pipe diameter and wall thickness. The power and speed of the processing equipment are dynamically adjusted according to the implementation priority to form an initial processing plan that includes processing process combinations, processing equipment configuration, and processing parameter settings, providing an execution basis for collaborative operation of multiple processing equipment.

[0064] Please see Figure 2 Preferably, the specific steps for generating the initial processing plan for coordinated control of each processing operation group include:

[0065] Retrieve a priority queue of processing tasks and extract basic attributes of each processing step, including processing step ID, process segment, processing time, and execution conditions. The processing step ID assigns a unique identifier to each step for accurate identification and tracking, facilitating subsequent data processing and management. The process segment clearly defines the process stage to which the step belongs, such as preprocessing, main processing, or post-processing, aiding in overall process planning and resource allocation. The processing time records the estimated processing time for each step, serving as a crucial basis for subsequent scheduling and resource allocation. Execution conditions include, but are not limited to, processing equipment requirements, personnel qualifications, and material preparation, ensuring that all conditions are met before executing the processing step.

[0066] Based on the basic attributes of the processing steps, a directed acyclic graph is constructed, and each processing step is mapped to a node in the directed acyclic graph. The node attributes include resource requirements and process parameter ranges. Directed edges are established between nodes according to the forced process order. For example, "inner wall flaw detection → inner wall painting" means that the inner wall flaw detection step must be completed before the inner wall painting step. The Kahn algorithm is used to sort the directed acyclic graph and generate a linear sequence of process execution.

[0067] Based on directed acyclic graphs, for machining processes with no dependencies, such as inner wall grinding and outer wall rust removal, they are identified as independent subgraphs. If there is no directed path between two subgraphs, the machining processes corresponding to these two subgraphs can be executed in parallel. The machining processes corresponding to the subgraphs are divided into parallel machining process groups. The process groups that can be operated synchronously are initially divided to improve work efficiency.

[0068] After removing parallel processing steps from the linear sequence of operations, the remaining linear sequences constitute the linear sequence to be processed. The processing equipment required for each step in this linear sequence is then obtained, along with the spatial constraints (space occupancy) of each piece of equipment under different postures, generating dynamic bounding boxes. The construction of these dynamic bounding boxes must consider factors such as the dimensions of the processing equipment and the range of motion of the robotic arm to accurately describe the three-dimensional space occupied by the equipment during operation. The spatial occupancy of the equipment under different postures is the core criterion for determining whether a conflict exists. Generating dynamic bounding boxes by combining parameters such as the dimensions of the processing equipment and the range of motion of the robotic arm can accurately describe the three-dimensional space region during equipment operation, providing a geometric model for conflict verification.

[0069] Forced conflict verification of adjacent processing steps in the linear sequence to be processed, verifying whether there is spatial interference between processing equipment in all orientations, is crucial to ensuring the safe collaborative operation of multiple processing devices. If the bounding boxes of processing equipment intersect, it indicates that a collision may occur during operation, requiring forced isolation; otherwise, they can be merged and grouped to improve resource utilization.

[0070] For two adjacent processing steps, verify whether the bounding box of the processing equipment in each posture of the processing step with the higher priority has spatial interference with the bounding box of the processing equipment in different postures of the processing equipment with the lower priority. If so, it is determined that there is a forced conflict between the processing equipment of the two adjacent processing steps; otherwise, it is determined that there is no forced conflict between the processing equipment of the two adjacent processing steps. A preliminary grouping result based on spatial compatibility is formed, and the processing equipment in each process group has no risk of interference during operation, providing a safe grouping unit for subsequent resource scheduling and parameter setting.

[0071] Based on the results of the forced conflict verification, the linear sequence to be processed is divided into sequential processing steps. Starting from the first processing step of the linear sequence to be processed, the first independent processing step group is initialized. When processing the linear sequence to be processed sequentially, the current processing step to be processed is forced to conflict with the previous independent processing step group. Through forced conflict verification, the spatially interfering steps are divided into independent groups, so that the processing equipment in each process group has no spatial overlap in all attitudes, thus eliminating mechanical interference accidents from the source and improving the operational safety of the processing equipment.

[0072] If there is a forced conflict between the processing equipment of the current processing step and the processing equipment of the previous independent process group, that is, at least one pair of processing equipment bounding boxes overlap in a certain posture, then a new independent process group is created for the current processing step.

[0073] Otherwise, the current pending processing step is merged into the previous independent process group, and the processing equipment set and process list of the processing step group are updated. Processes without conflicts are dynamically merged to reduce the number of process groups, reduce the time loss caused by frequent switching of processing equipment, and increase the continuous operation time of processing equipment.

[0074] For the defined processing steps, the processing parameters of the processing equipment that match the basic parameters such as pipe diameter, wall thickness, and material are retrieved from the process rule database. These parameters include the grinding machine speed range, spraying pressure threshold, and welding current range. An initial processing plan is then generated, which includes the processing step combination, processing equipment configuration, and processing parameter settings.

[0075] Based on the initial processing plan and pipeline parameters, the collaborative control module divides the processing area and generates processing instructions for each processing device within each processing step group, then sends these instructions to each device. The processing instructions include the interference-free operating trajectory and time window for each device, ensuring orderly operation.

[0076] In this embodiment, during pipe processing, when multiple processing devices simultaneously treat the inner and outer walls, unreasonable time scheduling often leads to the incomplete commencement of subsequent processing steps. For example, incomplete rust removal before painting can cause coating peeling, or unclear spatial division can cause collisions between processing devices, such as mechanical interference when the inner wall grinding device and the outer wall spraying device operate in the same position, affecting processing quality and equipment safety. To solve this problem, based on the initial processing plan and basic pipe parameters, a refined spatiotemporal coordination strategy is used to achieve orderly operation of processing devices. In the time dimension, the start-stop sequence and processing duration of processing devices are controlled to ensure that the previous processing step is completed before the pipe enters the next processing step. In the spatial dimension, the pipe axis is divided into independent processing areas, and photoelectric sensors and position encoders monitor the coordinates of processing devices in real time to avoid overlapping operations of multiple processing devices in the same area. Real-time acquisition of processing device operation data is synchronously fed back to the central controller to achieve dynamic calibration and parameter fine-tuning of the processing process, ensuring the accuracy and coordination of inner and outer wall treatment. Significantly improved processing efficiency and quality: processing equipment waiting time is greatly reduced, and the processing cycle of a single pipe is effectively shortened; the risk of collision with processing equipment is eliminated, and processing defects caused by overlapping areas are significantly reduced; dynamic parameter adjustment ensures the consistency of inner and outer wall treatment, meeting the stringent processing standards of high-pressure and corrosion-resistant pipes.

[0077] Please see Figure 3 Preferably, the specific steps for generating processing instructions for each processing device within each processing operation group include:

[0078] Obtain the total pipeline length and the operating distance that the processing equipment within the processing unit can cover in a single movement. Calculate the required number of segments based on the total pipeline length and the operating distance of the processing equipment, dividing the pipeline axially and circumferentially into several independent processing areas. For example, divide the total pipeline length by the minimum single operating distance of the processing equipment and round up to ensure full pipeline coverage.

[0079] Each pre-defined processing area is labeled with a unique identifier and its associated processing step group. For example, the inner wall of a pipe is divided into multiple areas, and each area is labeled with its corresponding inner wall processing step group and the order in which that area is processed throughout the entire inner wall processing process.

[0080] Determine the type of processing operation group, including parallel processing operation groups and sequential processing operation groups; for parallel processing operation groups, make full use of processing equipment resources to improve processing efficiency; for sequential processing operation groups, ensure the correctness and safety of the processing sequence.

[0081] For parallel processing operations, the bounding boxes of the preset execution postures of the processing equipment in different processing areas are obtained to clarify the postures of the processing equipment in different processing areas, so that the actual space occupied by the processing equipment can be fully considered when planning the path and time, and further ensure safety.

[0082] The initial processing area of ​​the processing equipment is allocated based on the maximum spacing between the bounding boxes of the processing equipment within the processing process group. This ensures that each processing equipment has sufficient safety distance in its initial position, reduces the risk of collision between processing equipment, and provides more reasonable starting conditions for subsequent path planning.

[0083] With the same start time, based on the preset standard processing speed of the processing equipment and the posture change time of the processing equipment in each processing area, the processing area path sequence and processing area flow time sequence of the processing equipment in the parallel processing process group are planned. The preset standard processing speed of the processing equipment is determined by the historical processing speed of the processing equipment. The posture change time of the processing equipment in each processing area is determined by the complexity of the operation steps in the processing area, such as the number of joint adjustments of the robotic arm and the tool head posture switching range. The processing area flow time sequence includes the processing area entry time sequence, processing start time sequence and processing area exit time sequence.

[0084] The processing area entry time is used to identify the moment when the processing equipment reaches the boundary of the target processing area. It can be obtained by calculating the ratio of the distance the processing equipment moves from the upstream processing area to the standard moving speed.

[0085] The processing start time is used to define the moment when the processing equipment begins to perform processing operations. It can be obtained by superimposing the processing area entry time with the processing equipment posture change time.

[0086] The processing area departure time is used to record the moment when the processing equipment completes processing and leaves the target area. It can be obtained by superimposing the processing start time with the standard processing time of the area.

[0087] A buffer distance is configured for the machining equipment to provide additional safety during equipment movement. The objective optimization function is constructed by minimizing the total processing time of a machining process group, determined by the machining equipment with the lowest processing speed. This ensures that, under the safety constraint of the buffer distance, the machining equipment within the process group sequentially traverses all processing areas. The safety constraint of the buffer distance means that, at any given time, the minimum distance between the bounding boxes of the machining equipment's posture must be greater than the buffer distance.

[0088] For processing steps that can proceed sequentially, the initial processing area of ​​the processing equipment within the processing step group is set as the starting processing area of ​​the pipe port. This ensures that the processing steps start in sequence, avoids confusion and errors, and ensures the continuity and accuracy of the entire processing process.

[0089] A safety buffer time is set to isolate the processing time of processing equipment in the preceding and subsequent processing steps, preventing the subsequent processing equipment from starting accidentally before the preceding processing equipment has completely exited the processing area. The bounding boxes of the preset execution postures of the processing equipment in different processing areas are obtained.

[0090] Based on the implementation priority of each processing step within a feasible processing step group, with lower priority values ​​indicating earlier execution, a continuous processing area path sequence along the axial or circumferential direction is planned for each processing equipment, starting from the initial area at the pipe port. For example, the processing direction is determined: if the processing task needs to be performed along the length of the pipe, such as inner wall welding, an axial continuous path is used, starting from the initial area at the pipe port and dividing the path into axial segments according to the single-operation length of the processing equipment; if the processing task needs to be performed around the inner or outer wall of the pipe, such as spraying, a circumferential continuous path is used, starting from the circumferential angle of the initial area and dividing the path into circumferential segments according to the single-operation angle of the processing equipment. The processing area sequence is allocated according to implementation priority. First, the processing steps within the feasible processing step group are sorted by priority from lowest to highest. The highest priority step starts from the initial area and is allocated a continuous area axially or circumferentially. Subsequent steps start from the last processing area of ​​the preceding step and continue to allocate continuous areas in the same direction, ensuring that each step can complete the processing sequentially. The process involves path connection and safety constraint handling. Based on the determined processing direction and area allocation, a continuous processing path for the processing equipment is formed. At the same time, it is necessary to ensure that the processing equipment paths of adjacent processes meet the safety buffer distance requirements to avoid collisions or interference between processing equipment, and to generate an execution path sequence.

[0091] Based on the safety buffer time and the buffer distance of the processing equipment, an objective optimization function is constructed by minimizing the start interval time of adjacent processing steps. Based on the standard processing speed of the processing equipment and the posture change time of the processing equipment in each processing area, the processing area flow time sequence of the processing equipment in the processing step group is planned so that, under the safety constraints of the buffer distance of the processing equipment and the safety buffer time, the processing equipment in the processing step group traverses all processing areas in sequence.

[0092] Based on the planned processing area path sequence and processing area flow time sequence of the processing equipment, processing instructions are generated for each processing equipment within the processing process group. These instructions include the equipment's running trajectory, start time, completion time, and processing parameters. Simultaneously, the processing instructions are validated to ensure their accuracy and completeness, and optimized to reduce the number and complexity of instructions, thereby improving the execution efficiency of the processing equipment. For example, instructions for consecutive processing areas are merged to reduce the number of equipment start-stop cycles before being sent to each processing equipment. During the distribution process, the reliability and real-time nature of instruction transmission must be ensured to avoid instruction loss or delays.

[0093] When the processing equipment executes processing instructions, the conflict detection module performs dual conflict detection on the processing equipment, including spatial attitude deviation detection and time window conflict detection; it identifies the spatial interference risk of the processing equipment and the overlap of the processing procedure time window, and triggers a hierarchical resolution strategy to update the processing instructions of the processing equipment to ensure that the processing equipment operates without interference.

[0094] In this embodiment, geometric calculations are used to identify spatial interference risks in processing equipment, identify overlapping time windows of processes, and verify the compatibility of process parameters within a process group. Upon detection of a conflict, a tiered resolution strategy is automatically triggered according to preset rules: for low-priority conflicts, time-shifting or path replanning is performed to replan a collision-free trajectory for the processing equipment; minimizing production interruptions while ensuring safety.

[0095] Please see Figure 4 Preferably, the specific steps for updating the processing instructions of the processing equipment include:

[0096] When the processing equipment executes processing instructions, sensors collect the operating data of the processing equipment in real time, including the basic parameters of the processing equipment and the processing process parameters. The basic parameters of the processing equipment include the standard speed of the processing equipment and the buffer distance of the processing equipment. The processing process parameters include the real-time processing area, the real-time attitude bounding box position of the processing equipment, the real-time speed of the processing equipment, the real-time entry time of the processing area, the real-time start time of the processing area, and the real-time exit time of the processing area, forming a complete processing time trajectory, which comprehensively reflects the actual operation of the processing equipment during the processing process.

[0097] Based on the basic parameters of the processing equipment, dual conflict detection is performed on the processing equipment, including spatial attitude deviation detection and time window conflict detection. Spatial attitude deviation detection includes identifying spatially abnormal processing equipment by measuring the attitude distance deviation between the real-time attitude bounding box position of the processing equipment and the bounding box position of the preset execution attitude of the processing area, expanding the attitude bounding box of the spatially abnormal processing equipment, and updating the processing instructions of the processing equipment. Time window conflict detection includes identifying time-abnormal processing equipment by calculating the interval difference between the actual processing end time and the processing departure time of the processing area, and updating the processing instructions of the processing equipment by updating the time interval between the entry time and the start time of the time-abnormal processing equipment in the processing area.

[0098] Specifically, the steps for performing dual collision detection include:

[0099] Configure the position deviation threshold, which is determined comprehensively based on the accuracy requirements of the processing equipment and the actual working environment. Calculate the attitude distance deviation of the three-dimensional spatial coordinates based on the real-time attitude bounding box position of the processing equipment and the bounding box position of the preset execution attitude of the current processing area.

[0100] If the attitude distance deviation exceeds the position deviation threshold, it indicates that the actual attitude of the processing equipment has deviated, leading to a shift in the bounding box space occupancy and posing a risk of interference with other processing equipment. In this case, the safety boundary is expanded by dynamically increasing the bounding box, and the existence of spatial interference risk is determined, triggering a processing command update and replanning a deviation-free trajectory.

[0101] The system acquires information on spatially abnormal processing equipment with potential spatial interference risks and their attitude distance deviations. Based on the degree of attitude distance deviation, it performs targeted expansion processing on the attitude bounding boxes of different preset processing areas of the spatially abnormal processing equipment. By expanding the bounding box boundaries, the safety margin is increased. For example, based on the bounding box boundaries of the preset execution attitude, the attitude distance deviation is increased, and the bounding box boundaries of the preset execution attitude of the spatially abnormal processing equipment are expanded to eliminate spatial interference risks and ensure the safe collaborative operation of multiple processing equipment.

[0102] The bounding box of the preset execution posture of the spatially abnormal processing equipment in the current processing area is updated in real time, and the bounding boxes of the preset postures of all remaining processing areas are expanded proportionally.

[0103] The limit threshold is configured based on factors such as the size of the processing equipment, its range of motion, and the spatial constraints of the processing environment. Based on the bounding box of the expanded preset execution posture, the spatial distance between the bounding box of the spatially abnormal processing equipment and the bounding boxes of other processing equipment in the processing process group is calculated at any time under the current processing instruction. If the spatial distance is less than the limit threshold, it indicates that the current processing instruction cannot guarantee the safe distance between processing equipment and may lead to dangerous situations such as collisions. In this case, the remaining processing area path sequence and the remaining processing area flow time sequence of the processing equipment in the processing process group are replanned to update the processing instruction. Otherwise, it indicates that the current processing instruction can guarantee the safety between processing equipment within the limit threshold range, but the operating status of the processing equipment still needs to be closely monitored. At this time, an anomaly warning is issued to remind the operator to pay attention to the subsequent operation of the processing equipment so as to promptly detect and deal with potential problems.

[0104] Configure interval thresholds, including upper and lower interval thresholds, which are set according to factors such as the standard processing speed of the processing equipment and the time requirements of the processing technology, to evaluate the impact of processing efficiency on the time window;

[0105] Obtain the processing completion time of the processing equipment in each processing area. By calculating the interval difference between the actual processing completion time and the processing departure time of the processing area, determine whether the processing speed of the processing equipment in the sequential processing process group meets the standard.

[0106] If the interval difference is greater than the upper threshold of the interval, it means that the processing speed of the processing equipment is greater than the preset standard processing speed of the processing equipment. It is marked as a time-abnormal processing equipment, triggering the processing equipment instruction update and reducing the processing time of the processing equipment group.

[0107] The average processing speed of the processed area completed by the abnormal processing equipment is calculated, and the average processing speed is used as the standard processing speed for dynamic updates.

[0108] Based on the updated standard processing speed, the time sequence of the remaining processing area of ​​the time-abnormal processing equipment is re-planned to reduce the time interval between the entry time and start-up time of the time-abnormal processing equipment in the processing area and increase the utilization rate of the time-abnormal processing equipment.

[0109] Send an advance start command to subsequent processing equipment. Based on the remaining processing area flow time sequence of the equipment with time anomalies, coordinately adjust and update the remaining processing area flow time sequence of other processing equipment within the processing process group. This avoids other processing equipment being forced to wait or start prematurely due to the processing equipment starting too quickly.

[0110] If the speed is less than the lower threshold of the interval, it indicates that the processing speed of the processing equipment is less than the preset standard processing speed of the processing equipment, and there is a risk of overlapping time windows. It is marked as a time-abnormal processing equipment, triggering a processing equipment instruction update and extending the reserved time for the processing equipment posture change, that is:

[0111] The average processing speed of the processed area completed by the abnormal processing equipment is calculated, and the average processing speed is used as the standard processing speed for dynamic updates.

[0112] Based on the updated standard processing speed, the time sequence of the remaining processing area of ​​the time-abnormal processing equipment is re-planned. The time interval between the entry time and the start time of the time-abnormal processing equipment in the processing area is increased, which provides more time for the processing equipment to complete preparatory actions such as tool head angle adjustment and robotic arm joint calibration, and avoids posture deviation or processing error caused by hasty start-up.

[0113] Send a start delay command to the subsequent processing equipment, and coordinately adjust and update the flow time sequence of the remaining processing area of ​​other processing equipment in the processing process group based on the cumulative lag time of the time-abnormal processing equipment.

[0114] The human-computer interaction module is used to dynamically label the location of processing equipment, processing parameters and processing progress, display abnormal warning information, and has data traceability function. It supports querying process records, processing equipment operation logs and conflict handling details by pipeline number and time interval.

[0115] In this example, the spatial location of processing equipment is dynamically marked based on real-time sensor data, and detailed information such as processing equipment ID and processing area number can be viewed interactively. Simultaneously, processing parameters, including basic and dynamic operating parameters of the processing equipment, are visualized using dashboards and trend curves, with automatic highlighting of critical parameters exceeding preset ranges. Regarding process progress display, the overall progress of processing process groups is tracked in real-time using Gantt charts or flowcharts, clearly marking the processing area time nodes and task completion status of each processing equipment. Clicking on nodes allows querying specific processing parameter configurations and execution details. When spatial interference risks are detected, the conflicting processing equipment ID, location, and risk level are clearly marked. If an anomaly in the time window is detected, the abnormal processing equipment number, deviation range, and impact on subsequent processes are displayed, along with a detailed risk description. Operators can manually trigger operations such as emergency stop and command pause of processing equipment through the interface. Multi-dimensional queries by pipeline number and time interval are supported. Entering the unique identifier of a pipeline retrieves the process records, parameter configurations, and conflict handling logs of all processing equipment on that pipeline. Selecting a specific time interval filters the processing equipment operation logs and abnormal event records for that time period.

[0116] Example 2:

[0117] Please see Figure 5 This embodiment introduces a pipeline processing coordination control method, including the following steps:

[0118] Step S1: Collect basic pipeline parameters, match processing procedures, and generate a processing task queue with priority and timing constraints; based on the processing task queue, obtain the parallel relationship of processing procedures and the spatial constraints of processing equipment, divide the processing procedure groups, and generate an initial processing scheme for the coordinated control of the processing procedure groups. The processing procedure groups include parallel processing procedure groups and sequential processing procedure groups.

[0119] Step S2: Based on the initial processing plan, by dividing the processing area, for parallel processing operation groups, the initial processing area is allocated based on the spacing of the processing equipment bounding box, and an objective optimization function that minimizes the total processing time is constructed. For sequential processing operation groups, the initial processing area is taken as the starting area of ​​the pipe port, and an objective optimization function that minimizes the interval between adjacent operations is constructed in combination with the safety buffer time. The processing area path sequence and processing area flow time sequence of the processing equipment are planned respectively to generate the processing instructions of the processing equipment.

[0120] Step S3: Collect the running data of the processing equipment when executing processing instructions. By using the real-time attitude bounding box position of the processing equipment and the actual processing end time of the processing equipment in the processing area, perform dual conflict detection on the processing equipment, including spatial attitude deviation detection and time window conflict detection, and update the processing instructions of the processing equipment.

[0121] Preferably, the spatial attitude deviation detection includes identifying spatially abnormal processing equipment by measuring the attitude distance deviation between the real-time attitude bounding box position of the processing equipment and the bounding box position of the preset execution attitude in the processing area, expanding the attitude bounding box of the spatially abnormal processing equipment, and updating the processing instructions of the processing equipment.

[0122] Preferably, time window conflict detection includes identifying time-abnormal processing equipment by calculating the interval difference between the actual processing end time and the processing departure time of the processing equipment in the processing area, and updating the processing instructions of the processing equipment by updating the time interval between the entry time and the start time of the time-abnormal processing equipment in the processing area.

[0123] Preferably, the specific steps for generating processing instructions for the processing equipment include:

[0124] The processing areas are divided according to the total length of the pipeline and the single movement distance of the processing equipment, and each processing area is marked with an identifier and the processing process group to which it belongs.

[0125] Determine the type of processing operation group, including parallel processing operation groups and sequential processing operation groups. Based on the type of processing operation group, plan the processing area path sequence and processing area flow time sequence of the processing equipment within the processing operation group, that is:

[0126] For parallel processing groups, the initial processing area of ​​the processing equipment is allocated based on maximizing the bounding box spacing of the processing equipment within the processing group, and the bounding boxes of the processing equipment execution postures in different processing areas are obtained; the initial processing area of ​​the processing equipment is allocated based on the bounding box spacing of the processing equipment within the processing group.

[0127] With the same start-up time, based on the standard processing speed of the processing equipment and the posture change time of the processing equipment in each processing area, plan the processing area path sequence and processing area flow time sequence for the processing equipment within the parallel processing operation group. The processing area flow time sequence includes the processing area entry time sequence, processing start time sequence, and processing area exit time sequence; specifically including:

[0128] Configure the buffer distance of the processing equipment, and construct the objective optimization function by minimizing the total processing time of the processing process group. The total processing time of the processing process group is determined by the processing equipment with the lowest processing speed. Under the safety constraint of the buffer distance of the processing equipment, the processing equipment in the processing process group traverses the processing area in turn.

[0129] For a sequential processing sequence, the initial processing area of ​​the processing equipment within the processing sequence is set as the starting processing area of ​​the pipe port; a safety buffer time is set to isolate the processing time of the processing equipment of the preceding and subsequent processing sequences.

[0130] Based on the implementation priority of each processing step within the sequential processing step group, starting from the initial processing area, a processing area path sequence is planned for each processing equipment.

[0131] Based on the safety buffer time and the buffer distance of the processing equipment, an objective optimization function is constructed by minimizing the start interval time of adjacent processing steps. The processing area flow time sequence of the processing equipment in the processing step group is planned. Under the safety constraints of the buffer distance of the processing equipment and the safety buffer time, the processing equipment in the processing step group traverses the processing area in sequence.

[0132] Based on the planned processing area path sequence and processing area flow time sequence of the processing equipment, processing instructions are generated for each processing equipment in the processing process group. The processing instructions include the running trajectory, start time, completion time, and processing parameters of the processing equipment. The processing instructions are then optimized and sent to each processing equipment.

[0133] Preferably, the specific steps for updating the processing instructions of the processing equipment include:

[0134] When the processing equipment executes processing instructions, the operating data of the processing equipment is collected in real time. The operating data includes the basic parameters of the processing equipment and the processing process parameters.

[0135] Based on the basic parameters of the processing equipment, dual conflict detection is performed on the processing equipment, including spatial attitude deviation detection and time window conflict detection, to identify processing equipment with spatial and temporal anomalies.

[0136] Updating processing instructions for space-abnormal processing equipment includes:

[0137] The attitude distance deviation of the processing equipment in the space is obtained. The attitude distance deviation is calculated by comparing the real-time attitude bounding box position of the processing equipment with the bounding box position of the preset execution attitude of the current processing area.

[0138] Based on the degree of attitude distance deviation, the attitude bounding boxes of different processing areas preset by the spatial anomaly processing equipment are expanded to increase the safety margin.

[0139] The bounding box of the preset execution posture of the processing equipment in the current processing area is updated in real time, and the bounding boxes of the preset postures of all remaining processing areas are expanded proportionally; the path sequence of the remaining processing areas and the flow time sequence of the remaining processing areas of the processing equipment in the processing process group are replanned to update the processing instructions of the processing equipment.

[0140] Updating processing instructions for processing equipment with time anomalies includes:

[0141] Configure interval thresholds, including upper and lower interval thresholds, obtain the interval difference between the actual processing end time and processing departure time of the processing area of ​​the time-abnormal processing equipment, and calculate the average processing speed of the processing area that the time-abnormal processing equipment has completed, as the standard processing speed for dynamic updates.

[0142] If the interval difference is greater than the upper threshold of the interval, the remaining processing area flow time sequence is re-planned based on the updated standard processing speed, reducing the time interval between the entry time and start time of the time-abnormal processing equipment in the processing area, sending the start advance instruction to the subsequent processing equipment, and coordinating the adjustment and updating of the remaining processing area flow time sequence of other processing equipment in the processing process group;

[0143] If the interval difference is less than the lower threshold of the interval, the remaining processing area flow time sequence is re-planned based on the updated standard processing speed, the time interval between the entry time and start time of the time-abnormal processing equipment in the processing area is increased, a start delay instruction is sent to the subsequent processing equipment, and the remaining processing area flow time sequence of other processing equipment in the processing process group is adjusted and updated in a coordinated manner.

[0144] Update the processing instructions of the processing equipment based on the time sequence of the remaining processing area of ​​the processing equipment.

[0145] Working principle and its effects:

[0146] This invention implements dual conflict detection based on real-time acquisition of processing equipment operation data and processing parameters, using both basic equipment parameters and process parameters. In the spatial dimension, by calculating the three-dimensional deviation between the real-time attitude bounding box of the processing equipment and the preset position, the bounding box boundary of abnormal processing equipment exceeding the threshold is dynamically expanded to increase the safety margin. The occupancy model of the current and subsequent processing areas is updated simultaneously, effectively avoiding the risk of interference between processing equipment and improving the safety of multi-machine collaborative operation. In the temporal dimension, by comparing the interval difference between the actual processing end time and the planned departure time, abnormal processing equipment is identified and the standard processing speed is dynamically updated. The time interval of the remaining processes is adjusted accordingly, and the progress of related processing equipment is adjusted in a coordinated manner to eliminate the hidden danger of overlapping time windows and ensure smooth process connection.

[0147] During the task planning phase, a directed acyclic graph (DAG) is constructed to analyze the parallel and sequential relationships of processing operations. Independent operations are divided into parallelizable groups, and dependent operations are divided into sequential groups. For parallel groups, the initial processing area is allocated based on maximizing the bounding box spacing of processing equipment. The path and time sequence are planned with the goal of minimizing the total processing time, improving the space utilization and operational synchronization of processing equipment. For sequential groups, the interval between adjacent operations is optimized using the pipeline port as the starting point, combined with a safety buffer time, to reduce waiting time. During instruction generation, processing areas are divided and labeled according to pipeline length and processing equipment capacity. Path planning is driven by an objective optimization function to ensure that each processing equipment efficiently traverses the processing area under safety constraints.

[0148] During real-time operation, instructions are dynamically updated based on actual processing data from the processing equipment. For example, in case of spatial anomalies, collision-free trajectories are replanned; in case of temporal anomalies, the processing rhythm is adjusted. This mechanism enables the system to adapt to dynamic changes such as equipment posture deviation and speed fluctuations, significantly reducing the frequency of manual intervention and improving the stability and adaptability of the processing process. The modular architecture design supports the rapid integration of new processing equipment and processes. Different pipeline processing scenarios can be adapted through parameter configuration, enhancing the system's flexible scalability. Ultimately, it achieves collaborative operation of multiple processing devices under the dual constraints of spatial safety intervals and orderly temporal connections, significantly improving production efficiency and resource utilization while ensuring processing safety.

[0149] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A coordinated control system for pipe machining, characterized by, The method comprises the following steps: Collecting pipeline basic parameters, matching processing procedures, generating a processing task queue with priority time constraints; obtaining the parallel relationship of processing procedures and the spatial constraints of processing equipment based on the processing task queue, dividing processing procedure groups, and generating an initial processing scheme for the coordinated control of the processing procedure groups, which include parallel processing procedure groups and sequential processing procedure groups; Based on the initial processing scheme, by dividing the processing area, for the parallel processing procedure groups, assign initial processing areas based on the bounding box distance between processing equipment, and construct a target optimization function to minimize the total processing time, for the sequential processing procedure groups, take the pipeline port starting area as the initial processing area, and construct a target optimization function to minimize the interval between adjacent procedures by combining the safety buffer time, and plan the processing area path sequence and the processing area flow time sequence of the processing equipment respectively to generate the processing instructions of the processing equipment; Collecting the running data of the processing equipment executing the processing instructions, performing double conflict detection on the processing equipment through the real-time pose bounding box position of the processing equipment and the actual processing end time of the processing equipment in the processing area, including spatial pose deviation detection and time window conflict detection, and updating the processing instructions of the processing equipment; The spatial pose deviation detection includes identifying spatial abnormal processing equipment through the pose distance deviation between the real-time pose bounding box position of the processing equipment and the bounding box position of the preset execution pose of the processing area, performing inflation processing on the pose bounding box of the spatial abnormal processing equipment, and updating the processing instructions of the processing equipment; The time window conflict detection includes identifying time abnormal processing equipment by calculating the interval difference between the actual processing end time and the processing exit time of the processing equipment in the processing area, and updating the time interval between the entry time and the start time of the time abnormal processing equipment in the processing area to update the processing instructions of the processing equipment.

2. The coordinated control system for processing pipe as defined in claim 1, wherein, The specific steps of generating the processing instructions of the processing equipment include: Divide the processing area according to the total length of the pipeline and the single moving operation distance of the processing equipment, and label the identifier, the processing procedure group to which the processing area belongs for the processing area; Determine the processing procedure group type, including parallel processing procedure groups and sequential processing procedure groups, and plan the processing area path sequence and the processing area flow time sequence of the processing equipment in the processing procedure group according to the processing procedure group type; Generate the processing instructions of each processing equipment in the processing procedure group according to the planned processing area path sequence and the processing area flow time sequence of the processing equipment, and the processing instructions include the running track, the start time, the completion time, and the processing parameters of the processing equipment; optimize the processing instructions, and send them to each processing equipment.

3. The coordinated control system for processing pipe as defined in claim 2, wherein, The specific steps of planning the processing area path sequence and the processing area flow time sequence of the processing equipment in the processing procedure group include: For the parallel processing procedure groups, assign the initial processing area of the processing equipment based on the maximum bounding box distance between the processing equipment in the processing procedure group, and obtain the bounding box of the execution pose of the processing equipment in different processing areas; assign the initial processing area of the processing equipment based on the bounding box distance between the processing equipment in the processing procedure group; The processing area path sequence and the processing area flow time sequence of the processing equipment in the parallel processing process group are planned according to the standard processing speed of the processing equipment and the posture transformation time of the processing equipment in each processing area at the same starting time, and the processing area flow time sequence includes a processing area entering time sequence, a processing starting time sequence and a processing area leaving time sequence; specifically including: The processing equipment buffer distance is configured, a target optimization function is constructed by minimizing the total processing time of the processing process group, the total processing time of the processing process group is determined by the minimum processing speed of the processing equipment, and the processing equipment in the processing process group sequentially traverses the processing area under the safety constraint of the processing equipment buffer distance.

4. The coordinated control system for processing pipe as defined in claim 3, wherein, The specific steps of planning the processing area path sequence and the processing area flow time sequence of the processing equipment in the processing process group also include: For the parallel processing process group, the initial processing area of the processing equipment in the processing process group is set as the pipeline port starting processing area; a safety buffer time is set for isolating the processing time of the processing equipment of the previous processing process and the subsequent processing process; According to the implementation priority of each processing process in the parallel processing process group, the processing area path sequence of each processing equipment is planned from the initial processing area; According to the safety buffer time and the processing equipment buffer distance, a target optimization function is constructed by minimizing the adjacent processing process starting interval time, the processing area flow time sequence of the processing equipment in the parallel processing process group is planned, and the processing equipment in the processing process group sequentially traverses the processing area under the safety constraint of the processing equipment buffer distance and the safety buffer time.

5. The coordinated control system for processing pipe as defined by claim 4, wherein, The specific steps of updating the processing instruction of the processing equipment include: When the processing equipment executes the processing instruction, the running data of the processing equipment is collected in real time, and the running data includes the processing equipment basic parameters and the processing process parameters; Based on the processing equipment basic parameters, double conflict detection is performed on the processing equipment, including spatial posture deviation detection and time window conflict detection, to identify spatial abnormal processing equipment and time abnormal processing equipment; The processing instruction update of the spatial abnormal processing equipment includes: The posture distance deviation of the spatial abnormal processing equipment is obtained, and the posture distance deviation is calculated by the real-time posture bounding box position of the processing equipment and the bounding box position of the preset execution posture of the current processing area; According to the degree of the posture distance deviation, the posture bounding box of different processing areas of the spatial abnormal processing equipment is inflated, and the bounding box boundary is expanded to increase the safety margin; The bounding box of the preset execution posture of the spatial abnormal processing equipment in the current processing area is updated, the preset posture bounding box of all remaining processing areas is inflated at the same ratio, and the remaining processing area path sequence and the remaining processing area flow time sequence of the processing equipment in the processing process group are re-planned to update the processing instruction of the processing equipment.

6. The coordinated control system for processing pipe as defined by claim 5, wherein, The specific steps of updating the processing instruction of the processing equipment also include: The processing instruction update of the time abnormal processing equipment includes: The interval threshold is configured, including an upper interval threshold and a lower interval threshold, the interval difference between the actual processing end time and the processing leaving time of the time abnormal processing equipment processing area is obtained, the average processing speed of the processing area completed by the time abnormal processing equipment is calculated as the dynamically updated standard processing speed; If the interval difference is greater than the upper interval threshold, the remaining processing area flow time sequence of the processing sequence group is re-planned based on the updated standard processing speed, the time interval between the entering time and the starting time of the time abnormal processing equipment in the processing area is reduced, the starting advance instruction is sent to the subsequent processing equipment, and the remaining processing area flow time sequence of other processing equipment in the updated processing sequence group is adjusted; If the interval difference is less than the lower interval threshold, the remaining processing area flow time sequence of the processing sequence group is re-planned based on the updated standard processing speed, the time interval between the entering time and the starting time of the time abnormal processing equipment in the processing area is increased, the starting delay instruction is sent to the subsequent processing equipment, and the remaining processing area flow time sequence of other processing equipment in the updated processing sequence group is adjusted; According to the remaining processing area flow time sequence of the processing equipment, the processing instruction of the processing equipment is updated.

7. The coordinated control system for processing pipe as defined by claim 1, wherein, The specific steps of generating the initial processing scheme of the coordinated control of the processing sequence group include: Obtaining the processing task queue, extracting the basic attributes of the processing sequence, including the processing sequence ID, the belonging process section, the processing time, and the execution condition; Based on the basic attributes of the processing sequence, a directed acyclic graph is constructed, each processing sequence is mapped as a node, a directed edge between the nodes is established according to the process forced order, and a linear sequence of process execution is generated; Based on the directed acyclic graph, independent subgraphs with no dependency relationship are identified, and the corresponding processing sequences are divided into parallel processing sequence groups; The parallel processing sequence groups in the linear sequence of process execution are removed to form a to-be-processed linear sequence, the processing equipment and the spatial constraints of each processing sequence in the to-be-processed linear sequence are obtained, and the dynamic bounding box of the processing equipment is generated; The to-be-processed linear sequence is subjected to adjacent processing sequence forced conflict verification, whether there is a forced conflict between the processing equipment of adjacent processing sequences is judged, and the processing sequence group is divided according to the forced conflict verification result, the processing parameters of the processing equipment matched with the pipeline basic parameters are called, and the initial processing scheme including the processing sequence combination, the processing equipment configuration, and the processing parameter setting is generated.

8. The coordinated control system for processing pipe as defined by claim 7, wherein, The specific steps of judging whether there is a forced conflict between the processing equipment of adjacent processing sequences and dividing the processing sequence group according to the forced conflict verification result include: For two adjacent processing sequences, it is verified whether the bounding box of the processing equipment of the processing sequence with the higher implementation priority in each attitude exists spatial interference with the bounding box of the processing equipment in different attitudes with the lower implementation priority, if yes, it is determined that there is a forced conflict between the processing equipment of the two adjacent processing sequences, otherwise, it is determined that there is no forced conflict between the processing equipment of the two adjacent processing sequences. According to the forced conflict verification result, the machining process group division is performed on the linear sequence to be processed, specifically: starting from the first machining process of the linear sequence to be processed, initializing the first independent process group, when sequentially processing the linear sequence to be processed, performing forced conflict verification between the current machining process to be processed and the previous independent process group: If there is a forced conflict between the machining equipment of the current machining process to be processed and the previous independent process group, a new independent process group is created for the current machining process to be processed; Otherwise, the current machining process to be processed is integrated into the previous independent process group, and the machining equipment set and the process list of the machining process group are updated.

9. A method of coordinated control of pipe machining, implemented based on the coordinated control system of pipe machining according to any one of claims 1-8, characterized in that, The method comprises the following steps: Step S1: Collecting pipeline basic parameters, matching machining processes, generating machining task queue with priority time sequence constraints; based on the machining task queue, obtaining machining process parallel relationship and machining equipment space constraints, dividing machining process groups, and generating an initial machining scheme for coordinated control of the machining process groups, the machining process groups including parallel machining process groups and sequential machining process groups; Step S2: Based on the initial machining scheme, by dividing the machining area, for the parallel machining process groups, based on the distance between the bounding boxes of the machining equipment, the initial machining area is allocated, and the objective optimization function of minimizing the total machining time is constructed, for the sequential machining process groups, taking the pipeline port starting area as the initial machining area, combining the safety buffer time to construct the objective optimization function of minimizing the interval between adjacent processes, and planning the machining area path sequence and the machining area flow time sequence of the machining equipment respectively to generate the machining instructions of the machining equipment; Step S3: Collecting the running data of the machining equipment in executing the machining instructions, performing double conflict detection on the machining equipment through the real-time pose bounding box position of the machining equipment and the actual machining end time of the machining equipment in the machining area, including space pose deviation detection and time window conflict detection, and updating the machining instructions of the machining equipment.

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