A method for cooperative control of a road construction machine

Abstract

The present application relates to the technical field of cooperative control, in particular to a kind of road construction machinery cooperative control method, comprising the following steps, obtain control instruction and extract rhythm interference number, mark path coincident conflict section, build alternative path node sequence, recombine execution order to realize cooperative control.In the present application, by comparing the interference number extraction of the rhythm fluctuation of control instruction with node position information, the classification and positioning of rhythm abnormal construction paragraph are realized, combined with the classification and identification of path coincident area, and according to the rhythm change of control chain, the rhythm label is reconstructed, the new path sequence identification is formed, the optimization adjustment of control instruction rhythm distribution and the coordinated rearrangement of path instruction sequence are completed, the running state of multiple construction machines in path intersection area tends to balance, the path distribution clarity and rhythm consistency are improved, the control interference and task delay caused by frequent path conflict are avoided, and the consistency of path continuity and rhythm order in operation process is ensured.

Description

Technical Field

[0001] This invention relates to the field of collaborative control technology, and in particular to a collaborative control method for road construction machinery. Background Technology

[0002] The field of collaborative control technology involves control methods for information interaction and coordinated operation among multiple objects during task execution. This includes control logic allocation, execution coordination, behavior synchronization, and communication mechanisms among multiple devices, and is widely applied in complex operational scenarios such as unmanned system platooning, automated production lines, and intelligent transportation systems. Among these, the collaborative control method for road construction machinery refers to the coordinated operation of multiple construction machines through pre-defined work routes and parameters during road construction. It typically employs a master-slave communication control approach, where one construction machine acts as the master controller, acquiring global construction information and then issuing control commands to other subordinate construction machines via an onboard communication terminal. The construction machines then complete the coordinated operation using preset path-following and speed-maintaining strategies.

[0003] In the current collaborative control process of road construction machinery, the main reliance is on the master construction machinery to issue unified control commands to subordinate equipment. Although this can achieve path following and speed maintenance strategies, in complex construction environments, if path intersections or rhythm misalignments occur, the lack of ability to judge the rhythm changes between commands and the overlapping state of paths can easily lead to control conflicts between construction machinery in the path intersection area. Such conflicts cannot be identified and corrected by the system in real time, which can easily cause local operation node blockages or path duplication operations, resulting in an imbalance in construction rhythm and a decrease in resource scheduling efficiency. This is especially true in areas with high intensity of synchronous operations, where it is more likely to cause operation interference and progress delays. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a collaborative control method for road construction machinery.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a method for coordinated control of road construction machinery, comprising the following steps:

[0006] S1: Obtain the sequence of control commands received by the construction machinery in the synchronous construction area, detect the task code information of each control command, arrange them in the order of timestamps to form a continuous control link, record the position node of each control command in the continuous control link, extract the task code set corresponding to the rhythm change segment, and generate the control rhythm interference number group.

[0007] S2: Based on the position nodes corresponding to the control rhythm interference number group, compare the spatial distribution position with the path coordinates of the preceding control command, mark the overlapping path segments and associate them with the task control number, classify the path segment position numbers where control conflicts occur, and generate a path intersection segment sequence number set.

[0008] S3: Based on the overlapping path segments marked by the path intersection segment sequence number set, perform a compensation path replacement operation on the current working path of the construction machinery, extract non-intersecting segments from adjacent passable sections to establish an optional path node sequence, and reassign scheduling rhythm labels to distinguish the current control chain position, and generate a rhythm insertion path identifier group.

[0009] S4: Insert path identifier groups according to the rhythm, check whether the path segment has a coverage conflict with the construction machinery control nodes in the work area, perform path node position exchange operation on the path segment with conflict, and reorganize the path execution sequence identifier to generate a path sequence rearrangement number set.

[0010] S5: Rearrange the number set according to the path sequence, check and confirm the rhythm coordination and path integrity of the current control status of all construction machinery, and generate the collaborative control result of road construction machinery.

[0011] As a further aspect of the present invention, the control rhythm interference numbering group includes rhythm fluctuation type, rhythm instability frequency, and task scheduling correlation; the path intersection segment sequence number set includes path overlap density, task number conflict group, and spatial coordinate coincidence; the rhythm insertion path identifier group includes path node replacement rate, scheduling rhythm reorganization label, and path segment feasibility level; the path sequence rearrangement numbering set includes path sequence number mapping relationship, node exchange index, and operation rhythm priority; and the road construction machinery collaborative control result includes rhythm balance evaluation index, path clarity structure, instruction interval coordination record, and path intersection situation.

[0012] As a further aspect of the present invention, the rhythm change segment refers to the segment in which the frequency of time interval changes exceeds a set reference value.

[0013] As a further aspect of the present invention, the specific steps for obtaining the control rhythm interference number group are as follows:

[0014] S111: Obtain the sequence of control commands received by the construction machinery in the synchronous construction area, monitor the control timestamp and task code information corresponding to each control command, and perform an ascending sorting operation on all control commands according to the control timestamp to form a control link with temporal continuity. Perform segment identification operation on the path node sequence associated with each command in the control link in sequence, and after the identification is completed, map and record the corresponding node position of each command in the control link to generate a command node mapping matrix.

[0015] S112: Based on the instruction node mapping matrix, calculate the difference between the control timestamps of any two adjacent instructions in the continuous control link, monitor whether the difference between adjacent times exceeds the set rhythm change frequency benchmark value in terms of time interval frequency, and perform interval aggregation processing on the change segments that meet the conditions to obtain the task code set corresponding to each rhythm change segment and generate a rhythm task code list.

[0016] S113: Based on the rhythm task code list, perform number aggregation operation on each task code in the list according to the position order of the corresponding rhythm change segment, construct a number group with the rhythm change segment as the main index, and perform statistical sorting on the frequency of the task code in each rhythm change segment to generate a control rhythm interference number group.

[0017] As a further aspect of the present invention, the specific steps for obtaining the path intersection segment sequence number set are as follows:

[0018] S211: Based on the position nodes corresponding to the control rhythm interference number group, extract the path segment information associated with each task control number, obtain the starting path number and ending path number of each path segment, aggregate the path segment number sequence according to the task control number, and normalize each group of path segment number sets. Construct a standardized number set using the continuous path segment numbering method, complete the mapping record from task number to path segment number, and generate a task path segment mapping table.

[0019] S212: Based on the task path segment mapping table, according to the start and end number range of the path segment number set, compare whether the current task path segment number has consecutive number overlap with the previous task path segment number, perform path segment overlap determination operation according to the intersection of path segment numbers, calculate and obtain the path segment overlap ratio value, filter the path segment pairs with the overlap ratio value greater than the number overlap threshold ratio, classify and determine them as overlapping segments, construct the path conflict matching relationship between task control numbers, and obtain the path overlap ratio matching matrix;

[0020] S213: Based on the path overlap ratio matching matrix, extract the path segment number combination, locate the path segment number index position corresponding to all tasks in the combination, perform grouping and clustering processing on the path segment numbers and sort them in ascending order, summarize and construct the inter-path segment intersection number set, establish a unified sequence index structure, and generate the path intersection segment sequence number set.

[0021] As a further aspect of the present invention, the formula for calculating the overlap ratio of the path segments is as follows:

[0022] ;

[0023] in, Indicates task With the task The overlap ratio between corresponding path segment sets. , Representing tasks ,Task The set of path segment numbers, Indicates the number of elements in the set. The path number is a floating tolerance constant.

[0024] As a further aspect of the present invention, the specific steps for obtaining the rhythm insertion path identifier group are as follows:

[0025] S311: Based on the overlapping path segments marked by the path intersection segment sequence number set, extract the construction machinery number and current operation path coordinate sequence corresponding to each overlapping segment, detect the node coordinate interval of the path where the overlapping segment is located, perform interval trimming and alternative path pre-selection operations, retrieve the set of passable segment numbers adjacent to the overlapping segment, and generate an alternative path segment set.

[0026] S312: Based on the set of alternative path segments, extract non-intersecting path nodes that do not appear in the path intersection segment number set in each alternative segment, perform path node continuity judgment according to node order, aggregate and sort all nodes that meet the conditions according to segment number, establish a non-intersecting path node linked list, construct a non-intersecting segment path node index structure, and generate an optional path node sequence.

[0027] S313: Based on the optional path node sequence, recalculate the control instruction timestamp interval on the scheduling time axis for each optional path segment, allocate new scheduling rhythm identifier labels according to the original control rhythm time distribution benchmark value, remap the node sequence number corresponding to each rhythm label, and use the control chain position index as the mapping primary key to perform rhythm label number association on all nodes to generate a rhythm insertion path identifier group.

[0028] As a further aspect of the present invention, the specific steps for obtaining the path sequence rearrangement number set are as follows:

[0029] S411: Based on the path number and path node position of the rhythm insertion path identifier group, extract the spatial position index data of the path segment, and simultaneously retrieve the current control node number and corresponding coordinate value of all construction machinery in the work area. Perform node position coverage judgment operation on each path segment, determine the coverage conflict situation, and perform aggregation record on all path numbers and conflict node numbers detected as conflicting to generate a path node conflict mapping table.

[0030] S412: According to the path node conflict mapping table, perform position exchange operation on the nodes in each group of conflicting path segments. The exchange principle is set as follows: conflicting nodes in the path segment should be exchanged with adjacent non-conflicting nodes first. If there are no nodes to exchange with, non-conflicting nodes are borrowed from downstream path segments for replacement. The node numbers and coordinate index values ​​in the path segment are reordered to maintain the continuity of the path topology. After the exchange is completed, an updated path node sequence table is constructed, and a path node replacement sequence is generated.

[0031] S413: Based on the path node replacement sequence, extract all updated path segment numbers and node numbers, perform a reorganization sorting operation on the path segments in ascending order of node timestamps, establish a path segment execution sequence linked list, construct a time path association index table structure with node time as the main index and path number as the secondary index, generate a unified number identifier structure according to the linked list order, and generate a path sequence rearranged number set.

[0032] As a further aspect of the present invention, the specific steps for obtaining the collaborative control results of road construction machinery are as follows:

[0033] S511: Based on the node execution number and path number mapping table in the path sequence rearrangement number set, extract the path segment number and scheduling control node number bound to all current construction machinery, construct a three-dimensional scheduling structure of machinery-path-time, perform sorting judgment on the time interval of adjacent instructions in the same machinery control path, mark it as a segment with uneven rhythm, filter path segments with discontinuous or overlapping path numbers, and generate a set of control coordination structure factors.

[0034] S512: Based on the control coordination structure factor set, perform number aggregation processing on all construction machinery numbers, cluster and identify path segments with the same status code type, mark the structural stability of each machinery corresponding to the state group after clustering, assign a joint state code to each state combination, establish a number and rhythm-structure dual state mapping record, and generate a machinery state coordination coding matrix.

[0035] S513: Based on the mechanical state coordination coding matrix, arrange the joint state codes of all machines in ascending order of number, perform logical judgment operations on the rhythm continuity and path consistency state combinations in each coding group, output all mechanical state coordination results according to path segment number and timestamp, and generate the road construction machinery coordination control results.

[0036] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0037] In this invention, by extracting the interference numbers of control command rhythm fluctuations and comparing them with node position information, the location of conflicting segments in the path can be effectively identified, realizing the classification and positioning of construction segments with abnormal rhythms. Combined with the classification labels of overlapping areas of the path, alternative path segments with schedulable alternatives can be extracted from the path space. The rhythm labels are reconstructed according to the rhythm changes of the control chain to form new path sequence labels. This completes the optimization and adjustment of the control command rhythm distribution and the coordinated rearrangement of the path command sequence, making the operating status of multiple construction machines in the path intersection area tend to be balanced, improving the clarity of path distribution and rhythm consistency, avoiding control interference and task delays caused by frequent path conflicts, and ensuring that the continuity of the path and the orderliness of the rhythm remain consistent during the operation. Attached Figure Description

[0038] Figure 1 This is a flowchart of the main steps of the present invention;

[0039] Figure 2 This is a flowchart of the process for obtaining the control rhythm interference number group in this invention;

[0040] Figure 3 This is a flowchart of the process for obtaining the path intersection segment sequence number set in this invention;

[0041] Figure 4 Flowchart for obtaining the rhythm insertion path identifier group in this invention;

[0042] Figure 5 This is a flowchart of the process for obtaining the path sequence rearrangement number set in this invention;

[0043] Figure 6 This is a flowchart of the process for obtaining the collaborative control results of road construction machinery in this invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0045] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] Please see Figure 1 A method for collaborative control of road construction machinery includes the following steps:

[0047] S1: Obtain the sequence of control commands received by construction machinery (including pavers, rollers, transport vehicles, etc.) in the synchronous construction area, detect the timestamp and task code information of each control command, arrange them in the order of timestamps to form a continuous control link, perform segment identification operation on the path node sequence associated with each command, record the position node of each command in the continuous control link, extract the task code set corresponding to the rhythm change segment (segment where the frequency of time interval change exceeds the set benchmark value), and generate control rhythm interference number group;

[0048] S2: Based on the position nodes corresponding to the control rhythm interference number group, compare the spatial distribution of the path coordinates with the preceding control command path coordinates, mark the overlapping path segments by region numbering and associate them with the task control number, classify the path segment position numbers that cause control conflicts, and generate a path intersection segment sequence number set.

[0049] S3: Based on the overlapping path segments marked by the path intersection segment sequence number set, perform a compensation path replacement operation on the current operation path of the construction machinery. Extract non-intersecting segments from adjacent passable sections to establish an optional path node sequence, and reassign scheduling rhythm labels to distinguish the current control chain position, and generate a rhythm insertion path identifier group.

[0050] S4: Based on the rhythm, insert the path number and path node position associated with the path identifier group, check whether the path segment has a coverage conflict with the construction machinery control node in the work area, perform a path node position exchange operation on the path segment with conflict, and reorganize the path execution sequence identifier to generate a path sequence rearrangement number set.

[0051] S5: Rearrange the number set according to the path sequence, check and confirm the rhythm coordination and path integrity of the current control status of all construction machinery (i.e., check whether it has structural characteristics such as clear path sequence, uniform rhythm distribution, orderly instruction interval, and no path intersection), and generate the collaborative control results of road construction machinery.

[0052] The control rhythm interference numbering group includes rhythm fluctuation type, rhythm instability frequency, and task scheduling correlation; the path intersection section numbering set includes path overlap density, task number conflict group, and spatial coordinate coincidence; the rhythm insertion path identifier group includes path node replacement rate, scheduling rhythm reorganization label, and path segment feasibility level; the path sequence rearrangement numbering set includes path sequence number mapping relationship, node exchange index, and operation rhythm priority; and the road construction machinery collaborative control results include rhythm balance evaluation index, path clarity structure, instruction interval coordination record, and path intersection status.

[0053] Please see Figure 2 The specific steps of S1 are as follows:

[0054] S111: Obtain the sequence of control commands received by the construction machinery in the synchronous construction area, monitor the control timestamp and task code information corresponding to each control command, and perform an ascending sorting operation on all control commands according to the control timestamp to form a control link with temporal continuity. Perform segment identification operation on the path node sequence associated with each command in the control link in sequence, and after the identification is completed, map and record the corresponding node position of each command in the control link to generate a command node mapping matrix.

[0055] When obtaining the control command sequence received by construction machinery in the synchronous construction area, it is first necessary to obtain the actual control information records received by equipment such as pavers, rollers, and transport vehicles during construction based on the on-site operation scheduling system or vehicle control unit. Each control information should carry a timestamp field and a task code field. The timestamp is recorded in UTC standard time with millisecond precision, and the task code is a unique identifier assigned to each construction task, such as P001, R002, T003, etc. Subsequently, all the extracted control command sequences are arranged in ascending order according to the timestamp field to form a time-continuous control command link. For example, a roller receives the following 3 commands:

[0056] Instruction A: Timestamp is 10:01:01.102, task code is R002;

[0057] Instruction B: Timestamp is 10:01:03.367, task code is R002;

[0058] Instruction C: Timestamp is 10:01:04.789, task code is R003;

[0059] After ascending order, the nodes are arranged as A, B, and C. Then, the construction path node information pointed to by each control command is extracted. Each path node consists of a path number and a node index. For example, if the path number is P5 and the node index is N7, then the complete path nodes are P5-N7. A segment identification operation is performed on all path nodes. The segment identification method is to aggregate consecutive numbered segments according to the path number. For example, if path number P5 contains nodes N1 to N20, it is identified as segment Q5. The aforementioned path nodes are then mapped to their corresponding numbers within the segment. After completion, a structured data matrix is ​​constructed to represent the node correspondence of control commands in the control link. For example, command A is mapped to Q5-N2, command B to Q5-N4, and command C to Q6-N1. This establishes a command node mapping matrix in the control link. This matrix has command numbers horizontally, path node numbers vertically, and task codes as its value range.

[0060] Table 1. Sample Control Instructions for Construction Equipment:

[0061] ;

[0062] As shown in Table 1, the timestamp, task code and path node information of the instructions corresponding to each device can be extracted. After sorting and mapping, a unified structured control link node matrix is ​​formed. This matrix serves as an important basic data input for subsequent rhythm change extraction and interference identification, thereby generating the instruction node mapping matrix.

[0063] S112: Based on the instruction node mapping matrix, calculate the difference between the control timestamps of any two adjacent instructions in the continuous control link, monitor whether the difference between adjacent times exceeds the set rhythm change frequency benchmark value in terms of time interval frequency, and perform interval aggregation processing on the change segments that meet the conditions to obtain the task code set corresponding to each rhythm change segment and generate a rhythm task code list.

[0064] Based on the aforementioned instruction node mapping matrix, the timestamp information of two consecutive control instructions can be obtained. A difference calculation operation is performed on adjacent instruction timestamps. The calculation method involves subtracting the preceding instruction timestamp from the following instruction timestamp and converting the result into a time interval sequence in seconds. For example, if instruction A's timestamp is 10:01:01.102 and instruction B's is 10:01:03.367, the time difference is 2.265 seconds. This difference value is then sequentially filled into the time interval sequence to form a continuous time change sequence {2.265, 1.422}. , 3.118, ...}, and then perform rhythm change frequency monitoring operation on this time series. Set the rhythm change frequency benchmark value to 2 times / 10 seconds, which means that if the time interval difference changes more than or equal to 2 times within 10 seconds, it is marked as a rhythm change segment. The benchmark value setting process is as follows: According to the statistics of historical construction data, the average rhythm change frequency of different equipment in the same section is 1.6 times / 10 seconds. Set the safety tolerance value to 0.3 times, then the benchmark value is set to 1.6 + 0.3 = 1.9, which is rounded up to 2 times.

[0065] For example, in the sequence {2.265, 1.422, 3.118, 2.983, 4.201}, if the frequency of the segment corresponding to these 5 time differences changes 3 times within 10 seconds, exceeding the baseline value of 2 times, it is determined to be a rhythm change segment. Then, the task code set corresponding to the control instruction sequence of the rhythm change segment is extracted from the original control link. For example, if the corresponding task code in this segment is {R002, R003, R003, R004, R002}, the set is deduplicated and counted to obtain the task code set contained in the rhythm segment as {R002, R003, R004}. This set is then organized into an array or list structure for recording, and aggregated according to the rhythm segment position index in the control link to complete the classification of task codes for each rhythm segment, ultimately generating a rhythm task code list.

[0066] S113: Based on the rhythm task code list, perform number aggregation operation on each task code in the list according to the position order of the corresponding rhythm change segment, construct a number group with the rhythm change segment as the main index, and perform statistical sorting on the frequency of the task code in each rhythm change segment to generate control rhythm interference number group.

[0067] Based on the aforementioned list of rhythm task codes, the task code sets under each rhythm segment are extracted. The task codes within the sets are then numbered and aggregated according to the order of the rhythm segments in the control link. The numbering aggregation rule is set as follows: when a task code appears repeatedly within the same rhythm segment, its frequency is counted and assigned a weight. The task code numbering range is set to 0001 to 9999. The higher the task frequency, the earlier the number appears, forming a structured numbering group. For example, in rhythm segment 1, the task codes are {R002, R003, R003, R004, R002}, and their frequencies are 2, 2, and 1, respectively. Then the numbers can be set as R002-0001, R003-0002, and R004-0003.

[0068] During the statistical analysis, a frequency threshold of 2 was set. If a task code appeared ≥2 times within a certain rhythm segment, it was included in the interference number group; otherwise, it was discarded. The frequency threshold was set based on the stability requirements of the task scheduling system. Experiments verified that a threshold of 2 could cover common scheduling disturbance scenarios and meet the disturbance identification accuracy requirements. Finally, all task codes that met the conditions in all rhythm segments were merged into a two-dimensional structure array, with the rhythm segment number as the column and the task code number as the row. This array was used to construct the interference task structure set, ultimately generating the control rhythm interference number group.

[0069] Please see Figure 3 The specific steps of S2 are as follows:

[0070] S211: Based on the position nodes corresponding to the control rhythm interference number group, extract the path segment information associated with each task control number, obtain the starting path number and ending path number of each path segment, aggregate the path segment number sequence according to the task control number, and normalize each group of path segment number sets. Use the continuous path segment numbering method to construct a standardized number set, complete the mapping record from task number to path segment number, and generate a task path segment mapping table.

[0071] Based on the location nodes corresponding to the control rhythm interference numbering group, it is necessary to first obtain the set of path segment numbers pointed to by each task control number. This set is usually generated by the path segment records stored in the construction scheduling system. Each path segment is defined by a start number and an end number, and the numbering follows a numbering rule such as Z101-Z120, Z200-Z230, etc. After obtaining the set, the path segment number set is aggregated using the task control number as the primary key to ensure that all path segment data under the same task number can be centrally accessed. Continuous segment normalization is then performed, that is, non-continuous numbered segments are broken and re-numbered. For example, in the numbering set {Z101, Z102, Z103, Z105, Z106}, Z103... If there is a discontinuity between Z105 and Z105, it is divided into two consecutive numbered segments Z101-Z103 and Z105-Z106, respectively, and assigned segment numbers D01 and D02. A standardized path segment numbering table structure is then constructed to form a mapping pair between task numbers and their corresponding path segment numbers. Finally, a two-dimensional mapping table is established, where the row index is the task number, the column index is the segment number, and the cell value is the path segment range, such as task R001→D01: Z101-Z103, D02: Z105-Z106, task R002→D01: Z200-Z206, etc. To verify the completeness of the mapping data processing, the number of path segments under different task numbers is sampled and categorized by segment, as shown in Table 2.

[0072] Table 2 Task Path Segment Partition Mapping Table:

[0073] ;

[0074] As shown in Table 2, after the path segment normalization process, a mapping pair from the task control number to the continuous path segment number can be established, providing an index basis for the number matching and cross-judgment of subsequent overlapping areas of the path, thereby generating a task path segment mapping table.

[0075] S212: Based on the task path segment mapping table, according to the start and end number range of the path segment number set, compare whether the current task path segment number overlaps with the preceding task path segment number. Perform a path segment overlap determination operation based on the intersection of the path segment numbers, using the formula:

[0076] ;

[0077] The calculation obtains the path segment overlap ratio value, filters out path segment pairs whose overlap ratio value is greater than the number overlap threshold, classifies them as overlapping segments, constructs the path conflict matching relationship between task control numbers, and obtains the path overlap ratio matching matrix; where... Indicates task With the task The overlap ratio between corresponding path segment sets. , Representing tasks ,Task The set of path segment numbers, Indicates the number of elements in the set. Set the path number floating tolerance constant, which is set to 2 by default, to control the flexible processing range of error matching;

[0078] Based on the task path segment mapping table, extract the set of path segment numbers for each task number. Let the current task be Tα, and its set of path segment numbers be... The preceding task is Tβ, and its path segment number set is: The intersection and union operations are used to determine if there is an intersection of path numbers. If the intersection is not empty, the degree of overlap is calculated. The overlap ratio of path segments is constructed by dividing the number of intersections by the number of unions and adding the offset tolerance ΔN. ΔN=2 is set to indicate that there are at most two misalignments between the two path sets. Substituting the data, the intersection is calculated as {Z103, Z104}, with a size of 2, and the union is calculated as {Z101, Z102, Z103, Z104, Z105, Z106, Z107}, with a size of 7. Then:

[0079] ;

[0080] The overlap ratio is compared with the number overlap threshold ratio of 0.35. The result 0.222 < 0.35, indicating that the current task segment and the previous task segment have no valid number overlap. If the overlap ratio exceeds 0.35, a path overlap mapping relationship table between control numbers is constructed, recording the task pairs with overlapping numbers and their overlap values. Parallel judgment calculations are performed on the ratios of the cross paths between multiple tasks, and the path pairs with ratios greater than the threshold are included in the matrix record to form the path segment overlap structure between control numbers. Finally, a path overlap ratio matching matrix is ​​generated.

[0081] In the formula, This represents the percentage overlap of the path segments between task α and task β. , Let represent the sets of path numbers for task α and task β, respectively. This indicates the operation of counting the number of elements in the set. ΔN is the path number floating tolerance constant, which is 2. It is set to adjust for deviations caused by the incomplete overlap of path number pairs between tasks.

[0082] formula The operational logic lies in identifying the degree of overlap in path numbers through set operations and combining this with a number tolerance term to achieve flexible determination. The numerator part... Indicates task With the task The number of identical path numbers in each path segment's set, i.e., the actual overlap range of the path segments, is the denominator. This represents the overall coverage of the two task path segment numbers plus the number floating tolerance term. This tolerance term is used to account for minor numbering jumps or errors that may exist in the path numbering records. For example, the misalignment of path segment numbers caused by task switching or path adjustment may result in overlapping path segments not being completely matched in number. Therefore, this term is introduced to correct the calculation deviation value. This structure realizes the expression of "relative overlap ratio", that is, the degree of overlap between path segments between tasks is described by the proportion of actual overlap. In addition, the formula uses a division structure to normalize the output result to between 0 and 1, which is convenient for comparison and judgment with the overlap threshold. The overall structure reflects the proportional judgment mechanism under the constraints of set intersection operation and union boundary conditions, thereby accurately extracting the degree of structural conflict of task paths in the numbering space.

[0083] The path segment overlap ratio is used to measure the degree of overlap between the path segments associated with two task control numbers in the numbering space. This value is represented by a real number between 0 and 1. When the ratio is close to 1, it indicates that the two tasks have a high degree of overlap in path numbers, that is, their control paths have a large degree of intersection. Conversely, when the ratio is close to 0, it indicates that the path segment numbers between the two tasks have almost no overlap. This value not only reflects the absolute number of overlapping path segments, but also considers the breadth of the numbering range and the comparison of numbering tolerance, thus constructing a normalized and quantitative description of the degree of path overlap. This serves as a criterion for judging whether a control conflict has occurred in the task paths, and is used to further screen task pairs with path resource competition relationships.

[0084] S213: Based on the path overlap ratio matching matrix, extract the path segment number combination, locate the path segment number index position corresponding to all tasks in the combination, perform grouping and clustering processing on the path segment numbers and sort them in ascending order, summarize and construct the inter-path segment intersection number set, establish a unified sequence index structure, and generate the path intersection segment sequence number set.

[0085] Based on the path overlap ratio matching matrix, extract the task control number pairs with an overlap ratio greater than 0.35 and their corresponding path segment numbers. Locate all path number sequences that are determined to be path overlaps, and perform an ascending sort operation on the path segment number index. Use the path segment number as the clustering basis to merge the numbers and classify them into a set of cross path segment intervals. Set the path segment segment index number according to the continuity of the path segment number. For example, numbered segments Z103-Z106 are classified as cross segment number J001, numbered segments Z210-Z212 are classified as cross segment number J002, and so on to construct a path segment cross segment number table. Assign a unique index identifier to each cross interval, organize it into a structure array or matrix structure, complete the numbering identifier of the path cross segments, and finally generate a set of path cross segment sequence numbers.

[0086] Please see Figure 4 The specific steps of S3 are as follows:

[0087] S311: Based on the overlapping path segments marked by the path intersection segment sequence number set, extract the construction machinery number and current operation path coordinate sequence corresponding to each overlapping segment, detect the node coordinate interval of the path where the overlapping segment is located, perform interval trimming and alternative path pre-selection operations, retrieve the set of passable segment numbers adjacent to the overlapping segment, set the path passability judgment criteria as the node continuity length is greater than 3 nodes and the average distance between nodes does not exceed 2 meters, perform path substitution identification operation on the segments that meet the conditions, and generate a set of alternative path segments;

[0088] Based on the overlapping path segments marked by the path intersection segment sequence number set, the construction machinery number corresponding to the path segment matching the overlapping number is first extracted. The current work path data of the machinery is retrieved from the construction scheduling record, and a work path coordinate index table is established, recording the path node number, node coordinate value, and current scheduling timestamp. By comparing the node number range with the intersection segment number sequence, all sub-path segments in the current path that overlap with the intersection segment are identified. The position index number of these segments in the original work path is located, and the segment is cut from the original path. Then, the sub-path segments that do not overlap with the intersection segment at either end or within the current path are retrieved. Sections with overlapping numbers are considered candidate alternative path segments. Parameters such as the accessibility identifier, average passage width, minimum passage spacing, and node density of adjacent segments are read from the path segment attribute database. A passability judgment criterion for alternative segments is set, requiring a node continuity length of at least three nodes and an average node spacing of no more than 2 meters. If the average spacing is 1.5 meters and the number of nodes is 5, the condition is met and the segment is marked as "alternative segment." All path segments meeting the conditions are numbered sequentially according to the original path structure, and a data structure containing three fields—machine number, original path number, and candidate alternative segment number—is constructed, as shown in Table 3.

[0089] Table 3: Job Path Segment Substitution Mapping Table

[0090] ;

[0091] As shown in Table 3, the sequence of path numbers that can be replaced by different machines in the overlapping sections of the path constitutes a set of alternative options. This table structure can be used for subsequent path correction and control rhythm remapping processing to generate a set of alternative path segments.

[0092] S312: Based on the set of alternative path segments, extract non-intersecting path nodes that do not appear in the path intersection segment sequence number set in each alternative segment. Perform path node continuity judgment according to node order. If the difference in number between consecutive nodes does not exceed 2 and the distance between nodes is between 1 meter and 2.5 meters, then the node segment is determined to be passable. Aggregate and sort all nodes that meet the conditions according to segment number, establish a non-intersecting path node linked list, and mark each linked list node with a passable status code of 1. Non-consecutive nodes are marked with 0. Construct a non-intersecting segment path node index structure and generate an optional path node sequence.

[0093] Based on the set of alternative path segments, all path nodes are extracted from each candidate segment. Node numbers not appearing in the path intersection segment sequence are identified and filtered. Node continuity is checked according to node number order. Two nodes are considered continuous if the difference in their numbers does not exceed 2 and the spatial distance between them is between 1 and 2.5 meters. Each group of continuous node segments is aggregated to construct a complete node sequence in a single path segment that does not overlap with any intersection segment. A one-to-one mapping table is established for the aggregated node sequences according to their respective path segment numbers. A passability status identifier is added to each node; if the continuity and spatial distance constraints are met, a value of 1 is assigned, otherwise 0, forming a binary status code structure for quick node passability lookup. Furthermore, all filtered node sequences are sorted by path segment number to form a structured path node index list, as shown in the example below.

[0094] Table 4. List of nodes for passable paths:

[0095] ;

[0096] As shown in Table 4, the passage status sequence is used to distinguish whether the path nodes in each path are continuous and unoccupied, providing a node-level decision basis for rhythm label reconstruction and path substitution judgment, and finally generating a sequence of optional path nodes.

[0097] S313: Based on the sequence of optional path nodes, recalculate the control instruction timestamp interval on the scheduling time axis for each optional path segment, allocate a new scheduling rhythm identifier label according to the original control rhythm time distribution benchmark value, remap the node sequence number corresponding to each rhythm label, and use the control chain position index as the mapping primary key to perform rhythm label number association on all nodes to generate a rhythm insertion path identifier group.

[0098] Based on the sequence of optional path nodes, each optional path segment is reprojected onto the time axis structure of the scheduling system. The set of control instruction timestamps of the original positions of the path nodes is obtained. The time difference is calculated for the timestamps of the start and end nodes of each path segment, and the length of the scheduling rhythm interval is constructed accordingly. The rhythm benchmark value in the original system is set to issue one control instruction every 5 seconds. If the time difference is 10 seconds, the path segment will be assigned two rhythm tags. The scheduling index position number is extracted from the control instruction serial number. Mapping and binding are performed on each rhythm tag to form a matching pair between the node number and the rhythm tag. Then, a node-rhythm identifier matrix is ​​constructed according to the rhythm order. The vertical axis of the matrix is ​​the rhythm identifier number, and the horizontal axis is the node number index. The data value is the position level of the node in the scheduling interval, thus establishing the rhythm identifier index structure, completing the mapping and labeling process between rhythm and node position, and finally generating the rhythm insertion path identifier group.

[0099] Please see Figure 5 The specific steps of S4 are as follows:

[0100] S411: Based on the path number and path node position of the rhythm insertion path identifier group, extract the spatial position index data of the path segment, and simultaneously retrieve the current control node number and corresponding coordinate value of all construction machinery in the work area. Perform node position coverage judgment operation on each path segment. The judgment criterion is whether any node number in the path segment is the same as the control node number of the construction machinery, and the corresponding coordinate distance is less than 1 meter. Determine the coverage conflict situation, and perform aggregation record on all path numbers and conflict node numbers detected as conflicting to generate a path node conflict mapping table.

[0101] Based on the path number and path node position contained in the rhythm insertion path identifier group, firstly, the node number sequence and coordinate sequence corresponding to the path number are extracted, and a scheduling path segment spatial mapping table is established according to the path number index. Then, the control node number and the coordinate information of the current execution position of each construction machine in the work section are collected to construct the machine control node state matrix. The number matching and coordinate position comparison operation is performed on all path nodes and control nodes. The judgment rule is set as follows: if the path node number is equal to any machine control node number and the Euclidean distance between the two is less than 1 meter, it is marked as a coverage conflict. The node number of the detected conflict is jointly recorded with the corresponding path segment number. In the example, the node N205 in path Z105 has the same control node number as the construction machine M002, and the coordinate distance between the two is 0.84 meters. Therefore, it is judged that there is a coverage. The path number Z105 and the node N205 are written as a set of conflict mapping items into the record table structure, and the mapping relationship is organized as shown in Table 5.

[0102] Table 5: Path Node Coverage Conflict Mapping Table

[0103] ;

[0104] As shown in Table 5, conflicting path segments and their corresponding conflicting nodes are precisely mapped to relevant construction equipment through numbering, providing a direct input basis for subsequent node position replacement operations, and finally generating a path node conflict mapping table.

[0105] S412: Based on the path node conflict mapping table, perform position swapping operations on nodes within each group of conflicting path segments. The swapping principle is that conflicting nodes within a path segment should be swapped with adjacent non-conflicting nodes first. If there are no swapping nodes, non-conflicting nodes are borrowed from downstream path segments for replacement. The node numbers and coordinate index values ​​of all nodes in the path segment are reordered to maintain the continuity of the path topology. After the swapping is completed, an updated path node sequence table is constructed, and a path node replacement sequence is generated.

[0106] Based on the path node conflict mapping table, the node sequences of each conflicting path segment are retrieved sequentially. A node replacement operation is performed at the conflicting node positions. First, the number, coordinates, and status information of adjacent nodes in the path segment are identified to determine if they do not conflict with any construction machinery control node. If so, the conflicting node number is swapped with the adjacent non-conflicting node number, and the node arrangement order in the path segment is adjusted. If no swappable nodes exist, a non-conflicting node is searched for in the downstream path segments within the same scheduling time period and inserted into the current path segment's conflicting node position to replace it. The corresponding node number order and coordinate index value are updated. For example, if N205 and N206 in path Z105 do not conflict, their order is swapped to N206→N205. Simultaneously, their coordinate sequences are updated, and the replacement relationship is recorded. A new path segment node list is constructed, and a one-to-one mapping relationship between the original and replacement numbers is established, generating the node replacement structure shown in Table 6.

[0107] Table 6: Path Segment Node Replacement Structure Table

[0108] ;

[0109] As shown in Table 6, the path node replacement structure clearly defines the repositioning of conflicting nodes in the scheduling structure, which facilitates the subsequent rearrangement of scheduling time indexes and control rhythms, and finally generates the path node replacement sequence.

[0110] S413: Based on the path node replacement sequence, extract all updated path segment numbers and node numbers, perform a reorganization sorting operation on the path segments in ascending order of node timestamps, establish a path segment execution sequence linked list, construct a time path association index table structure with node time as the main index and path number as the secondary index, generate a unified number identifier structure according to the linked list order, and generate a path sequence rearranged number set.

[0111] Based on the path node replacement sequence, the node numbers of all updated path segments and their original instruction timestamps within the scheduling system are extracted. A three-field index structure containing node number, path number, and timestamp is constructed. For each path segment, the nodes are sorted in ascending order by timestamp. The order of nodes within the recombined path segment should conform to the increasing position of the scheduling chain. That is, if path segment Z105 contains nodes N206, N205, and N207 with corresponding timestamps of 10:02:03, 10:02:04, and 10:02:05, the sorting is adjusted to N206→N205→N207. At the same time, a linked list-style path segment index table is constructed with the scheduling time as the primary key. Each element in the structure records the path segment number corresponding to that time point and its node number index. After all path segment node sequences are updated, a unified number allocation operation is performed to generate a path execution number mapping from T001 to Tn. The corresponding structure is shown in Table 7.

[0112] Table 7 Execution sequence list for path segment rearrangement:

[0113] ;

[0114] As shown in Table 7, after the path segments are rearranged according to the node timestamps, a unified scheduling number sequence is formed. This sequence is used to bind the execution order and rhythm of nodes in the scheduling system, and finally generates a set of path sequence rearrangement numbers.

[0115] Please see Figure 6 The specific steps of S5 are as follows:

[0116] S511: Based on the mapping table of node execution numbers and path numbers in the path sequence rearrangement number set, extract the path segment numbers and scheduling control node numbers bound to all construction machinery, construct a three-dimensional scheduling structure of machinery-path-time, sort and judge the time interval of adjacent instructions in the same machinery control path, filter out instruction pairs with time intervals less than 2 seconds or greater than 8 seconds, mark them as uneven rhythm segments, and at the same time, search whether the path nodes in the path segment are consecutively numbered, whether the number jump is less than 2 and does not overlap with other machinery path segment numbers, filter path segments with discontinuous path numbers or overlapping paths, and generate a set of control coordination structure factors.

[0117] Based on the rearranged number set of the path sequence, the path segment number, control node number, and control command timestamp sequence corresponding to all construction machinery are extracted to construct a machinery path scheduling structure index table. Record fields include basic fields such as machinery number, node number, path number, and timestamp. Then, based on each machinery number, the adjacent timestamp intervals in its control commands are sequentially filtered, and the time difference between all consecutive command pairs is calculated to determine whether they are within the set rhythm continuity benchmark interval. The benchmark interval is set to 2 to 8 seconds. If the time difference between commands is outside the interval, such as the interval between control commands T001-T002 of machinery M001 being 1.3 seconds, and T002-T00... If the interval is 9.2 seconds, both are marked as rhythm discontinuous. For such time pairs, an identification operation is performed, and it is further determined whether the path segment number sequence corresponding to each machine is continuous. The continuity condition is that the number difference is not greater than 1 and the path segment number is not overlapped by other machine path segments. If the path number of machine M002 is Z201, Z203, Z204, then because there is a number jump of 2 between Z201 and Z203, and Z204 is occupied by other machines, the path number is marked as discontinuous. All cases of rhythm discontinuity or path breakage are aggregated and identified, and a rhythm continuity status code S1 and a path consistency status code S2 are generated for each node. Examples are shown in Table 8.

[0118] Table 8. Rhythm and Path Consistency Status Table:

[0119] ;

[0120] As shown in Table 8, the system can determine the consistency status of mechanical scheduling rhythm and path structure based on time intervals and path number order, and finally generate a set of control coordination structure factors.

[0121] S512: Based on the control coordination structure factor set, number aggregation processing is performed on all construction machinery numbers, and path segments with the same status code type are clustered and identified. The rhythm continuity status code is set to 1 to indicate continuity and 0 to indicate discontinuity. The path structure consistency status code is set to 1 to indicate continuity without intersection and 0 to indicate intersection or number breakage. The structural stability is marked on the corresponding state group of each machinery after clustering. At the same time, a joint state code is assigned to each state combination, and a dual state mapping record of number and rhythm-structure is established to generate a machinery state coordination coding matrix.

[0122] Based on the control coordination structure factor set, aggregation operations are performed on the state pair combinations S1-S2 corresponding to all machine numbers. The distribution characteristics of each type of state combination in the machine path control structure are statistically analyzed. There are four combination types: S1-S2 are 00, 01, 10, and 11, representing rhythm and path incoordination, rhythm and path incoordination, rhythm incoordination and path coordination, and both are coordinated, respectively. An independent numbering structure is constructed for each combination type, and the structure code is assigned to C001 to C004. An index mapping structure between the state code and the machine number is established. At the same time, the rhythm continuous path segment and the path consistent segment with the state code of 1 are segment clustered and labeled, and the state segment number and the structure continuity label are marked. The results are compiled into a cooperative state code table for the machine control path, as shown in the table below:

[0123] Table 9. Coordination Coding Matrix for Mechanical Control Paths:

[0124] ;

[0125] As shown in Table 9, each piece of construction machinery is classified into the corresponding coding category according to its rhythm and structural state, and the overall path scheduling and coordination information framework is further constructed to finally generate the machinery state coordination coding matrix.

[0126] S513: Based on the mechanical state coordination coding matrix, arrange the joint state codes of all machines in ascending order of number, perform logical judgment operations on the rhythm continuity and path consistency state combinations in each coding group, if both the continuity state and the structural state are 1, then mark it as coordinated completion, if any state is 0, then mark it as uncoordinated, output all mechanical state coordination results according to path segment number and timestamp, and generate the road construction machinery coordination control results.

[0127] Based on the machine state coordination coding matrix, all machine state records are arranged in coding order, and logical judgment operations are performed on state combinations. The judgment rule is set as follows: if S1=1 and S2=1, then it is set as "coordination completed"; if any state is 0, then it is set as "uncoordinated". The judgment results are numbered and bound to nodes. The output structure record contains five fields: machine number, path segment number, node number, state combination, and coordination identifier. This record is used to construct a control result index table that can be recognized by the scheduling system. An example of the result is as follows:

[0128] Table 10 Results of Cooperative Control of Road Construction Machinery:

[0129] ;

[0130] As shown in Table 10, the collaborative judgment results of different machinery corresponding to the path segments are uniformly classified and identified through the state structure, and used for subsequent path scheduling and execution control synchronization strategy formulation, ultimately generating the collaborative control results of road construction machinery.

[0131] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for collaborative control of road construction machinery, characterized in that, Includes the following steps: S1: Obtain the sequence of control commands received by the construction machinery in the synchronous construction area, detect the task code information of each control command, arrange them in the order of timestamps to form a continuous control link, record the position node of each control command in the continuous control link, extract the task code set corresponding to the rhythm change segment, and generate the control rhythm interference number group. S2: Based on the position nodes corresponding to the control rhythm interference number group, compare the spatial distribution position with the path coordinates of the preceding control command, mark the overlapping path segments and associate them with the task control number, classify the path segment position numbers where control conflicts occur, and generate a path intersection segment sequence number set. S3: Based on the overlapping path segments marked by the path intersection segment sequence number set, perform a compensation path replacement operation on the current working path of the construction machinery, extract non-intersecting segments from adjacent passable sections to establish an optional path node sequence, and reassign scheduling rhythm labels to distinguish the current control chain position, and generate a rhythm insertion path identifier group. S4: Insert path identifier groups according to the rhythm, check whether the path segment has a coverage conflict with the construction machinery control nodes in the work area, perform path node position exchange operation on the path segment with conflict, and reorganize the path execution sequence identifier to generate a path sequence rearrangement number set. S5: Rearrange the number set according to the path sequence, check and confirm the rhythm coordination and path integrity of the current control status of all construction machinery, and generate the collaborative control result of road construction machinery.

2. The method for coordinated control of road construction machinery according to claim 1, characterized in that, The control rhythm interference numbering group includes rhythm fluctuation type, rhythm instability frequency, and task scheduling correlation. The path intersection segment sequence number set includes path overlap density, task number conflict group, and spatial coordinate coincidence. The rhythm insertion path identifier group includes path node replacement rate, scheduling rhythm reorganization label, and path segment feasibility level. The path sequence rearrangement numbering set includes path sequence number mapping relationship, node exchange index, and operation rhythm priority. The road construction machinery collaborative control results include rhythm balance evaluation index, path clarity structure, instruction interval coordination record, and path intersection status.

3. The method for coordinated control of road construction machinery according to claim 1, characterized in that, The rhythm change segment refers to the section where the frequency of time interval changes exceeds a set baseline value.

4. The method for coordinated control of road construction machinery according to claim 1, characterized in that, The specific steps for obtaining the control rhythm interference number group are as follows: S111: Obtain the sequence of control commands received by the construction machinery in the synchronous construction area, monitor the control timestamp and task code information corresponding to each control command, and perform an ascending sorting operation on all control commands according to the control timestamp to form a control link with temporal continuity. Perform segment identification operation on the path node sequence associated with each command in the control link in sequence, and after the identification is completed, map and record the corresponding node position of each command in the control link to generate a command node mapping matrix. S112: Based on the instruction node mapping matrix, calculate the difference between the control timestamps of any two adjacent instructions in the continuous control link, monitor whether the difference between adjacent times exceeds the set rhythm change frequency benchmark value in terms of time interval frequency, and perform interval aggregation processing on the change segments that meet the conditions to obtain the task code set corresponding to each rhythm change segment and generate a rhythm task code list. S113: Based on the rhythm task code list, perform number aggregation operation on each task code in the list according to the position order of the corresponding rhythm change segment, construct a number group with the rhythm change segment as the main index, and perform statistical sorting on the frequency of the task code in each rhythm change segment to generate a control rhythm interference number group.

5. The method for coordinated control of road construction machinery according to claim 1, characterized in that, The specific steps for obtaining the path intersection segment sequence number set are as follows: S211: Based on the position nodes corresponding to the control rhythm interference number group, extract the path segment information associated with each task control number, obtain the starting path number and ending path number of each path segment, aggregate the path segment number sequence according to the task control number, and normalize each group of path segment number sets. Construct a standardized number set using the continuous path segment numbering method, complete the mapping record from task number to path segment number, and generate a task path segment mapping table. S212: Based on the task path segment mapping table, according to the start and end number range of the path segment number set, compare whether the current task path segment number has consecutive number overlap with the previous task path segment number, perform path segment overlap determination operation according to the intersection of path segment numbers, calculate and obtain the path segment overlap ratio value, filter the path segment pairs with the overlap ratio value greater than the number overlap threshold ratio, classify and determine them as overlapping segments, construct the path conflict matching relationship between task control numbers, and obtain the path overlap ratio matching matrix; S213: Based on the path overlap ratio matching matrix, extract the path segment number combination, locate the path segment number index position corresponding to all tasks in the combination, perform grouping and clustering processing on the path segment numbers and sort them in ascending order, summarize and construct the inter-path segment intersection number set, establish a unified sequence index structure, and generate the path intersection segment sequence number set.

6. The method for coordinated control of road construction machinery according to claim 5, characterized in that, The formula for calculating the overlap ratio of the path segments is as follows: ； in, Indicates task With the task The overlap ratio between corresponding path segment sets. , Representing tasks ,Task The set of path segment numbers, Indicates the number of elements in the set. The path number is a floating tolerance constant.

7. The method for coordinated control of road construction machinery according to claim 1, characterized in that, The specific steps for obtaining the rhythm insertion path identifier group are as follows: S311: Based on the overlapping path segments marked by the path intersection segment sequence number set, extract the construction machinery number and current operation path coordinate sequence corresponding to each overlapping segment, detect the node coordinate interval of the path where the overlapping segment is located, perform interval trimming and alternative path pre-selection operations, retrieve the set of passable segment numbers adjacent to the overlapping segment, and generate an alternative path segment set. S312: Based on the set of alternative path segments, extract non-intersecting path nodes that do not appear in the path intersection segment number set in each alternative segment, perform path node continuity judgment according to node order, aggregate and sort all nodes that meet the conditions according to segment number, establish a non-intersecting path node linked list, construct a non-intersecting segment path node index structure, and generate an optional path node sequence. S313: Based on the optional path node sequence, recalculate the control instruction timestamp interval on the scheduling time axis for each optional path segment, allocate new scheduling rhythm identifier labels according to the original control rhythm time distribution benchmark value, remap the node sequence number corresponding to each rhythm label, and use the control chain position index as the mapping primary key to perform rhythm label number association on all nodes to generate a rhythm insertion path identifier group.

8. The method for coordinated control of road construction machinery according to claim 1, characterized in that, The specific steps for obtaining the path sequence rearrangement number set are as follows: S411: Based on the path number and path node position of the rhythm insertion path identifier group, extract the spatial position index data of the path segment, and simultaneously retrieve the current control node number and corresponding coordinate value of all construction machinery in the work area. Perform node position coverage judgment operation on each path segment, determine the coverage conflict situation, and perform aggregation record on all path numbers and conflict node numbers detected as conflicting to generate a path node conflict mapping table. S412: According to the path node conflict mapping table, perform position exchange operation on the nodes in each group of conflicting path segments. The exchange principle is set as follows: conflicting nodes in the path segment should be exchanged with adjacent non-conflicting nodes first. If there are no nodes to exchange with, non-conflicting nodes are borrowed from downstream path segments for replacement. The node numbers and coordinate index values ​​in the path segment are reordered to maintain the continuity of the path topology. After the exchange is completed, an updated path node sequence table is constructed, and a path node replacement sequence is generated. S413: Based on the path node replacement sequence, extract all updated path segment numbers and node numbers, perform a reorganization sorting operation on the path segments in ascending order of node timestamps, establish a path segment execution sequence linked list, construct a time path association index table structure with node time as the main index and path number as the secondary index, generate a unified number identifier structure according to the linked list order, and generate a path sequence rearranged number set.

9. The method for coordinated control of road construction machinery according to claim 1, characterized in that, The specific steps for obtaining the collaborative control results of the road construction machinery are as follows: S511: Based on the node execution number and path number mapping table in the path sequence rearrangement number set, extract the path segment number and scheduling control node number bound to all current construction machinery, construct a three-dimensional scheduling structure of machinery-path-time, perform sorting judgment on the time interval of adjacent instructions in the same machinery control path, mark it as a segment with uneven rhythm, filter path segments with discontinuous or overlapping path numbers, and generate a set of control coordination structure factors. S512: Based on the control coordination structure factor set, perform number aggregation processing on all construction machinery numbers, cluster and identify path segments with the same status code type, mark the structural stability of each machinery corresponding to the state group after clustering, assign a joint state code to each state combination, establish a number and rhythm-structure dual state mapping record, and generate a machinery state coordination coding matrix. S513: Based on the mechanical state coordination coding matrix, arrange the joint state codes of all machines in ascending order of number, perform logical judgment operations on the rhythm continuity and path consistency state combinations in each coding group, output all mechanical state coordination results according to path segment number and timestamp, and generate the road construction machinery coordination control results.

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