Heterogeneous device plug-in unified access management method

Abstract

The application provides a heterogeneous device plug-in unified access management method, and in the interactive matching process of modern factories and plug-ins, a simple nearest principle is usually used for plug-in screening and matching, and a request is directly sent to all plug-ins, resulting in that the plug-in screening and matching is relatively blind; the application analyzes the movement information of a target heterogeneous device, avoids obstacles by combining the prediction time and obstacle information, determines the control position, and then according to the work area or the transfer area where the control position is located, different screening mechanisms are used to ensure that the heterogeneous device can still accurately and efficiently select interactive plug-ins when the direct communication coverage is missing, so as to better adapt to the complex environment of the factory, and the application realizes efficient matching and interaction of the heterogeneous device and the plug-in, and improves the cooperation efficiency and stability of the device and the plug-in.

Description

Technical Field

[0001] This invention relates to data processing technology, and more particularly to a method for unified access management of heterogeneous devices through plug-in architecture. Background Technology

[0002] With the rapid development of IoT technology, a large number of heterogeneous devices are widely used in complex scenarios such as smart factories and smart warehouses. These heterogeneous devices have different communication protocols. In order to achieve intelligent management and collaborative work of the devices, it is usually necessary to use a plug-in approach to provide the devices with corresponding instructions and functional support.

[0003] In the complex environments of existing factories, the impact of obstacles on equipment movement is often not fully considered. Simple position calculations based solely on initial equipment movement information fail to provide a reliable basis for subsequent plug-in interactions. Furthermore, traditional methods for filtering and matching equipment and plug-ins often rely on a simple proximity principle, resulting in a somewhat haphazard approach that cannot meet the demands for efficient interaction between heterogeneous devices in complex factory environments. This is especially problematic when equipment and plug-ins are outside their direct communication range, lacking effective indirect communication path planning.

[0004] Therefore, in the face of the complex environment of a factory, how to accurately and efficiently select interactive plugins for heterogeneous plugins has become an urgent problem to be solved. Summary of the Invention

[0005] This invention provides a unified access management method for heterogeneous devices through plug-in architecture. In the face of complex factory environments, heterogeneous plug-ins can accurately and efficiently select interactive plug-ins.

[0006] A first aspect of the present invention provides a method for unified access management of heterogeneous devices through plug-in architecture, applied to a control system for factory programs, comprising: Obstacle avoidance prediction is performed based on the movement information and prediction duration of the target heterogeneous device to obtain the control position corresponding to the target heterogeneous device; When the control position is determined to be in the work area, the adjustment interaction plugin of the target heterogeneous device is obtained by filtering and interactive prediction based on the control position and the plugin position of the work instruction plugin in the work area. When the control position is determined to be in the transfer area, regional interaction prediction is performed based on the control position and the plug-in position of the transfer instruction plug-in in the transfer area to obtain the transfer interaction plug-in of the target heterogeneous device. Based on the adjustment interaction plugin and the transfer interaction plugin, an interaction plugin corresponding to the target heterogeneous device is obtained.

[0007] Optionally, in one possible implementation of the first aspect, the step of performing obstacle avoidance prediction based on the movement information and prediction duration of the target heterogeneous device to obtain the control position corresponding to the target heterogeneous device includes: The movement information of the target heterogeneous device is analyzed to obtain the initial position, movement speed and movement direction of the target heterogeneous device; The predicted distance is obtained by multiplying the predicted duration and the moving speed. Starting from the initial position, the anchoring path and anchoring position are determined in the moving direction based on the predicted distance. When it is determined that the anchoring path does not pass through an obstacle area, the anchoring position is taken as the control position of the target heterogeneous device; When the anchoring path passes through an obstacle area, an obstacle avoidance path is determined based on the initial position, the regional outline of the obstacle area, and the anchoring position. The control position of the target heterogeneous device is then determined on the obstacle avoidance path based on the predicted distance.

[0008] Optionally, in one possible implementation of the first aspect, when determining that the anchoring path traverses an obstacle region, determining an obstacle avoidance path based on the initial position, the regional contour of the obstacle region, and the anchoring position, and determining the control position of the target heterogeneous device on the obstacle avoidance path based on the predicted distance, includes: When it is determined that the anchoring path passes through an obstacle area, the anchoring path is rotated to both sides based on the initial position until it is tangent to the contour of the area and does not pass through the obstacle area, thus obtaining the obstacle avoidance tangent point. Connect the obstacle avoidance tangent point with the anchoring position to obtain the reference path, and use the direction of the obstacle avoidance tangent point relative to the anchoring path as the rotation direction of the reference path. When it is determined that the reference path passes through an obstacle area, the reference path is rotated based on the obstacle avoidance tangent point and the corresponding rotation direction until it is tangent to the region contour and does not pass through the obstacle area, thus obtaining the current obstacle avoidance tangent point. Repeat the steps above to obtain the current obstacle avoidance tangent point until the reference path has not passed through the obstacle area. Then connect the initial position, obstacle avoidance tangent point and anchor position on one side of the anchor path to obtain the obstacle avoidance path. Starting from the initial position, the control position of the target heterogeneous device is determined on the obstacle avoidance path based on the predicted distance.

[0009] Optionally, in one possible implementation of the first aspect, when determining that the control position is in the work area, filtering and interactive prediction are performed based on the control position and the plug-in position of the work instruction plug-in within the work area to obtain the adjustment interaction plug-in of the target heterogeneous device, including: When the control position is determined to be within the work area, a target communication area for the target heterogeneous device is generated with the control position as the center and based on the device communication radius of the target heterogeneous device. Based on the device type of the target heterogeneous device, the corresponding operation instruction plugin in the operation area is retrieved as the interaction instruction plugin; Using the plugin position of the interactive instruction plugin as the center, an interactive communication area is generated based on the plugin communication radius of the interactive instruction plugin; When it is determined that the target communication area and the interactive communication area have an intersection, the interactive instruction plugin of the corresponding interactive communication area is used as the selection instruction plugin. Based on the control position and the plugin position of the selection instruction plugin, the interaction prediction is performed to obtain the adjustment interaction plugin of the target heterogeneous device. When it is determined that the target communication area and the interactive communication area do not intersect, the communication channel area is determined based on the common tangent between the target communication area and each interactive communication area. The interactive instruction plugins are then filtered and interactively predicted based on the communication channel area to obtain the adjustment interactive plugins for the target heterogeneous device.

[0010] Optionally, in one possible implementation of the first aspect, when it is determined that the target communication area and the interactive communication area have an intersection, the interactive instruction plugin of the corresponding interactive communication area is used as a selection instruction plugin, and interactive prediction is performed based on the control position and the plugin position of the selection instruction plugin to obtain the adjustment interactive plugin of the target heterogeneous device, including: When it is determined that the target communication area and the interactive communication area have an intersection, the interactive instruction plugin of the corresponding interactive communication area is used as the selection instruction plugin; The communication distance between the control position and the position of each selection instruction plugin is obtained, and the selection instruction plugin corresponding to the smallest communication distance is selected as the adjustment interaction plugin for the target heterogeneous device.

[0011] Optionally, in one possible implementation of the first aspect, when it is determined that the target communication area and the interactive communication area do not intersect, a communication channel area is determined based on the common external tangent of the target communication area and each interactive communication area, and interactive command plugins are screened and interactively predicted according to the communication channel area to obtain the adjustment interactive plugins for the target heterogeneous device, including: When it is determined that the target communication area and the interactive communication area do not intersect, the area between the target communication area and the common tangent of each interactive communication area is taken as the communication channel area corresponding to each interactive communication area. Based on the communication channel area, a first filtering and prediction of the interactive instruction plugin is performed to obtain the first filtering plugin; Based on the communication channel area, the first filtering plugin is subjected to secondary filtering and prediction to obtain the adjustment and interaction plugin for the target heterogeneous device.

[0012] Optionally, in one possible implementation of the first aspect, the step of performing a screening and prediction of the interactive instruction plugin based on the communication channel area to obtain the first screening plugin includes: The distance between the control position and each interactive command plugin is used as the channel length of each of the aforementioned communication channel areas; The first calculated length is obtained based on the difference between the channel length and the device communication radius; The second calculation length is obtained based on the difference between the first calculation length and the plugin communication radius of the interactive instruction plugin. The second calculation length is then halved to obtain the theoretical length. The theoretical quantity is obtained based on the ratio of the theoretical length to the device communication radius; Based on the device type of the target heterogeneous device, the same devices are retrieved as the same type of device, and the same type of communication area of ​​the same type of device is obtained. The number of the same type of communication area that intersects with each communication channel area is obtained. The interactive communication area with a number greater than the theoretical number is selected as the first filtering area, and the interactive instruction plugin of the first filtering area is used as the first filtering plugin.

[0013] Optionally, in one possible implementation of the first aspect, the step of performing secondary screening and prediction on the first screening plugin based on the communication channel area to obtain the adjustment and interaction plugin for the target heterogeneous device includes: Based on the common tangent between the target communication area and each first screening area, the communication channel area corresponding to each first screening area is determined as the first channel area; Select a communication area of ​​the same type that intersects with both the target communication area and the first channel area as the current target communication area. Repeat the above steps to obtain the current target communication area until the current target communication area intersects with the first screening area. Then, use the first screening plugin corresponding to the first screening area as the adjustment and interaction plugin for the target heterogeneous device.

[0014] Optionally, in one possible implementation of the first aspect, when determining that the control position is in the transfer area, regional interaction prediction is performed based on the control position and the plug-in position of the transfer instruction plug-in within the transfer area to obtain the transfer interaction plug-in of the target heterogeneous device, including: When the control position is determined to be in the transfer area, a target communication area for the target heterogeneous device is generated with the control position as the center and based on the device communication radius. Based on the device type of the target heterogeneous device, the corresponding transfer instruction plugin in the transfer area is retrieved as an interactive transfer plugin; An interactive transfer zone is generated with the location of the interactive transfer plugin as the center and based on the plugin communication radius of the interactive transfer plugin. When it is determined that the target communication area and the interactive transfer area have an intersection, the interactive transfer plug-in of the corresponding interactive transfer area is used as the selected transfer plug-in. The communication distance between the control position and the plug-in position of each selected transfer plug-in is obtained, and the selected transfer plug-in corresponding to the smallest communication distance is selected as the transfer interactive plug-in of the target heterogeneous device. When it is determined that the target communication area and the interactive transfer area do not intersect, the transfer interaction plug-in of the target heterogeneous device is determined based on the distance between the target communication area and the sub-transfer area of ​​the transfer area.

[0015] Optionally, in one possible implementation of the first aspect, when it is determined that the target communication area and the interaction transfer area do not intersect, determining the transfer interaction plug-in of the target heterogeneous device based on the distance between the target communication area and the sub-transfer area in the transfer area includes: When it is determined that the target communication area and the interactive transfer area do not intersect, the sub-region positions of multiple sub-transfer areas within the transfer area are obtained; Select the sub-transfer area corresponding to the sub-region location closest to the control position as the instruction receiving area; Any interactive transfer plugin within the instruction receiving area can be used as a transfer interactive plugin for the target heterogeneous device.

[0016] The beneficial effects of this invention are as follows: 1. The heterogeneous device plug-in unified access management method proposed in this invention analyzes the movement information of heterogeneous devices, combines prediction duration and obstacle information to predict obstacle avoidance, and determines their control positions. For the area where the control position is located, different filtering mechanisms are used to ensure that heterogeneous devices can accurately and efficiently select interactive plug-ins even when direct communication coverage is lacking, better adapting to the complex environment of the factory. This method achieves efficient matching and interaction between heterogeneous devices and plug-ins, improving the collaboration efficiency and stability of devices and plug-ins.

[0017] 2. This invention analyzes the movement information of the target heterogeneous device, calculates the anchoring path based on the predicted duration, and generates obstacle avoidance paths for obstacle areas. When the anchoring path passes through an obstacle area, it is rotated multiple times until it is tangent to the outline of the obstacle area, ultimately forming a continuous obstacle avoidance path. This ensures that the heterogeneous device avoids the obstacle area within the predicted duration, avoiding the collision risk caused by traditional methods that only estimate the position based on initial movement information. This guarantees the safety and continuity of the movement of heterogeneous devices and provides a reliable positional basis for subsequent plug-in interactions. It is especially suitable for complex environments in factories with obstacles such as clutter and equipment.

[0018] 3. For high-risk work areas, when the communication areas of heterogeneous devices and plug-ins overlap, the nearest plug-in is prioritized to ensure efficient direct communication. When there is no direct communication, a communication channel area is defined by an external common tangent. The minimum number of similar devices required for jump communication is first calculated, then plug-ins with a sufficient number of similar devices are selected. Finally, the target communication area is iteratively expanded to select plug-ins that execute command interactions. This method reduces unnecessary movement of heterogeneous devices in high-risk work areas, lowers the risk of damage to heterogeneous devices due to environmental factors (such as welding particles), and ensures the stability of device-plug-in interaction.

[0019] 4. Given that transfer areas are divided by product type, when heterogeneous devices and plug-ins can communicate directly, the nearest plug-in is selected for rapid interaction. When direct communication is not possible, the distance between the heterogeneous device and each sub-transfer area is calculated, and the device is prioritized to move to the nearest sub-transfer area and select a plug-in within that area. This method avoids blind movement of heterogeneous devices within the transfer area and plug-in mismatch, reduces invalid movement paths for heterogeneous devices, and is more efficient and accurate. Attached Figure Description

[0020] Figure 1 A flowchart of a heterogeneous device plug-in unified access management method provided by the present invention; Figure 2 A schematic diagram of an obstacle avoidance path provided by the present invention; Figure 3 A schematic diagram of a filtering interaction when the target communication area and the interactive communication area have an intersection, provided by the present invention; Figure 4 This is a schematic diagram illustrating a single screening prediction within a work area provided by the present invention; Figure 5 This is a schematic diagram of a secondary screening prediction within a work area provided by the present invention; Figure 6 This invention provides a schematic diagram of a filtering interaction when the target communication area and the interactive transfer area do not overlap. Figure 7 This is a schematic diagram of another type of screening prediction within a work area provided by the present invention. Detailed Implementation

[0021] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0022] like Figure 1 As shown, the present invention provides a method for unified access management of heterogeneous devices using plug-in architecture, comprising: S1, based on the movement information and prediction duration of the target heterogeneous device, performs obstacle avoidance prediction to obtain the control position corresponding to the target heterogeneous device.

[0023] It should be noted that modern factories and warehouses deploy a large number of heterogeneous devices, such as industrial robots and AGVs. These devices need to dynamically interact with various instruction modules during operation to achieve collaborative work and intelligent scheduling. However, existing technologies, when handling the management of heterogeneous device access, only consider the initial movement parameters of the devices, failing to account for the impact of environmental obstacles on the device's movement path, leading to significant deviations between control results and actual operating trajectories. Secondly, in the interaction and matching process between devices and modules, traditional methods often employ a simple proximity principle for module selection and matching, directly sending requests to all modules. This results in a somewhat blind selection and matching process, failing to adapt to the specific needs of different functional areas within the factory (such as welding areas and transfer areas). Furthermore, when devices and modules exceed the direct communication range, there is a lack of effective indirect communication path planning, affecting the continuity and stability of device operation.

[0024] Therefore, this invention analyzes the movement information of the target heterogeneous device, combines the prediction duration and obstacle information to predict obstacle avoidance, and determines its control position. For the work area or transfer area where the control position is located, different filtering mechanisms ensure that the heterogeneous device can accurately and efficiently select interactive plug-ins even when direct communication coverage is lacking, better adapting to the complex factory environment. This method achieves efficient matching and interaction between heterogeneous devices and plug-ins, improving the collaboration efficiency and stability of devices and plug-ins.

[0025] Among them, the target heterogeneous device is a specific device that needs to interact with the plug-in according to the server instructions, such as an AGV (Automated Guided Vehicle). Motion information refers to the initial position, speed, and direction of movement of the target heterogeneous device. The prediction duration is a pre-set time used to estimate the position of the target heterogeneous device after that time period. Obstacle avoidance prediction refers to planning feasible paths to avoid obstacle areas by analyzing the target heterogeneous device's motion information (such as initial position, speed, and direction) and the prediction duration, ultimately determining the corresponding control position of the target heterogeneous device. In other words, the control position is the expected location of the target heterogeneous device after the prediction duration.

[0026] Understandably, the initial position, speed, and direction of movement of the target heterogeneous device are first used to calculate the predicted distance and generate an anchoring path, combined with a predetermined prediction time. When the anchoring path does not pass through an obstacle area, the endpoint (i.e., the anchoring position) is directly used as the control position. When passing through an obstacle area, an obstacle avoidance path is generated along the area contour, and the control position is recalculated.

[0027] In some embodiments, step S1 (performing obstacle avoidance prediction based on the movement information and prediction duration of the target heterogeneous device to obtain the control position corresponding to the target heterogeneous device) includes S11-S14: S11, parse the movement information of the target heterogeneous device to obtain the initial position, movement speed and movement direction of the target heterogeneous device.

[0028] It is understandable that movement information includes initial position, movement speed, and movement direction.

[0029] The initial position refers to the starting position of the target heterogeneous device when it begins obstacle avoidance prediction.

[0030] S12, based on the product of the predicted duration and the moving speed, the predicted distance is obtained, and the anchoring path and anchoring position are determined in the moving direction based on the predicted distance, using the initial position as the starting point.

[0031] Understandably, the predicted distance is obtained by multiplying the prediction duration and the moving speed, representing the distance the target heterogeneous device can move after the predicted duration. For example, if the target heterogeneous device moves at a speed of 1 meter per second and the prediction duration is 10 seconds, the predicted distance is 10 meters. Starting from the initial position, the anchoring path is obtained by extending along the direction of movement according to the predicted distance, and the end point of the anchoring path is the anchoring position.

[0032] Anchor path and anchor position represent the movement trajectory and future location of the target heterogeneous device in unobstructed conditions. Anchor path can quickly identify whether the target heterogeneous device will encounter obstacle areas, thus enabling timely obstacle avoidance.

[0033] S13, when it is determined that the anchoring path does not pass through the obstacle area, the anchoring position is taken as the control position of the target heterogeneous device.

[0034] It is easy to understand that, based on the obtained anchoring path, when it is determined that the anchoring path does not pass through the obstacle area, it means that the target heterogeneous device will not encounter the obstacle area within the predicted time period according to the current moving speed and moving direction, and can successfully reach the anchoring position. Therefore, the anchoring position is directly determined as the control position of the target heterogeneous device.

[0035] Among them, the obstacle area refers to the area in the factory that hinders the movement of the target heterogeneous equipment, such as clutter in the factory or water accumulation on the ground.

[0036] S14, when it is determined that the anchoring path passes through an obstacle area, an obstacle avoidance path is determined based on the initial position, the regional outline of the obstacle area and the anchoring position, and the control position of the target heterogeneous device is determined on the obstacle avoidance path based on the predicted distance.

[0037] It is understandable that when the anchoring path passes through an obstacle area, if the anchoring position is still used as the control position, the target heterogeneous device will inevitably collide with the obstacle during actual movement, and subsequent plug-in matching will not be possible.

[0038] Therefore, the initial position and the anchor position are tangented to the contour of the obstacle area to generate a broken line path that bypasses the obstacle area as the obstacle avoidance path. In this way, the obstacle avoidance path generated with the initial position as the starting point and the anchor position as the ending point can more closely resemble the movement trajectory of the target heterogeneous device in the case of no obstruction (i.e., the anchor path). Finally, the control position is determined on the obstacle avoidance path according to the predicted distance.

[0039] Among them, the region contour refers to the boundary contour of the obstacle region, and the obstacle avoidance path refers to the movement path that is re-planned and generated based on the initial position, region contour and anchor position when the anchored path encounters the obstacle region, which enables the target heterogeneous device to avoid the obstacle region.

[0040] In some embodiments, step S14 (determining an obstacle avoidance path based on the initial position, the regional contour of the obstacle area, and the anchoring position when the anchoring path passes through an obstacle area, and determining the control position of the target heterogeneous device on the obstacle avoidance path based on the predicted distance) includes S141-S145: S141, when it is determined that the anchoring path passes through the obstacle area, the anchoring path is rotated to both sides based on the initial position until it is tangent to the contour of the area and does not pass through the obstacle area, thus obtaining the obstacle avoidance tangent point.

[0041] It should be noted that, as Figure 2 As shown, when the anchored path intersects with an obstacle area, simply detouring or randomly adjusting the path may lead to problems such as an excessively long path, sudden changes in direction, or encountering obstacles again. Furthermore, when the anchored path passes through an obstacle area, the obstacle area will be distributed on both sides of the anchored path, thus ultimately generating two obstacle avoidance paths located on either side of the anchored path.

[0042] It is understandable that when determining that the anchoring path passes through the obstacle area, the initial position is used as a reference, that is, the initial position is used as the rotation center, and the anchoring path is rotated to the left and right sides respectively until it is tangent to the regional outline of the obstacle area and does not pass through the obstacle area. At this point, the obstacle avoidance tangent point is obtained, and there will be obstacle avoidance tangent points on both the left and right sides of the obstacle area.

[0043] Among them, the obstacle avoidance tangent point is the tangent point between the path and the region contour.

[0044] S142, connect the obstacle avoidance tangent point with the anchoring position to obtain the reference path, and take the direction of the obstacle avoidance tangent point relative to the anchoring path as the rotation direction of the reference path.

[0045] It is easy to understand that after obtaining the obstacle avoidance tangent point, the obstacle avoidance tangent point is connected with the anchor position to form a baseline path.

[0046] It should be noted that, after the path from the initial position to the obstacle avoidance point has avoided the obstacle area, it is necessary to continue to determine whether the path from the obstacle avoidance point to the anchor position (i.e., the reference path) has also avoided the obstacle area. This is because the entire obstacle avoidance path is planned with the initial position as the starting point and the anchor position as the ending point. If the reference path still passes through the obstacle area, then it is necessary to continue to adjust the reference path according to the rotation direction until it completely avoids the obstacle area.

[0047] It is understandable that the direction of the obstacle avoidance tangent point relative to the anchored path is used as the rotation direction of the reference path. Specifically, the rotation direction refers to the offset direction of the obstacle avoidance tangent point relative to the original anchored path. For an obstacle avoidance tangent point on the left side of the anchored path, the corresponding reference path can only rotate to the left, and for an obstacle avoidance tangent point on the right side of the anchored path, the corresponding reference path can only rotate to the right. Determining this rotation direction ensures that each adjustment is made in a direction that can avoid the obstacle area.

[0048] The baseline path is the path obtained by connecting the obstacle avoidance tangent point and the anchor position.

[0049] S143, when it is determined that the reference path passes through the obstacle area, the reference path is rotated based on the corresponding rotation direction with the obstacle avoidance tangent point as the reference until it is tangent to the area contour and does not pass through the obstacle area, and the current obstacle avoidance tangent point is obtained.

[0050] It is understandable that when determining that the reference path passes through the obstacle area, the obstacle avoidance tangent point is used as the reference, that is, the obstacle avoidance tangent point is used as the rotation center. The reference path is rotated according to the rotation direction determined in step S142 until the reference path is tangent to the area contour and does not pass through the obstacle area, and the current obstacle avoidance tangent point is obtained.

[0051] The current obstacle avoidance tangent point refers to the tangent point between the baseline path and the region contour. The current obstacle avoidance tangent point serves as the new baseline point for subsequent baseline path adjustments.

[0052] S144, repeat the steps to obtain the current obstacle avoidance tangent point until the reference path does not pass through the obstacle area, then connect the initial position, obstacle avoidance tangent point and anchor position on one side of the anchor path to obtain the obstacle avoidance path.

[0053] It should be noted that the baseline path is the path obtained by connecting the obstacle avoidance tangent point and the anchor position. If the baseline path passes through an obstacle area, it is necessary to continuously rotate the baseline path and update the current obstacle avoidance tangent point until the baseline path no longer passes through the obstacle area. This process is iterative, with each rotation of the baseline path using the latest obstacle avoidance tangent point as the rotation center, ensuring that the path gradually moves away from the obstacle area, eventually forming a shorter, collision-free bypass path.

[0054] Specifically, it continuously checks whether the baseline path generated in each iteration still passes through the obstacle area. If it does, S142 and S143 are repeated. If the baseline path no longer passes through the obstacle area, the iteration stops. At this point, all obstacle avoidance tangents generated during the iteration process are collected (all located on the same side of the anchored path to ensure consistent path direction), and connected sequentially according to the initial position, the first obstacle avoidance tangent, the second obstacle avoidance tangent, and so on, to form a continuous, collision-free obstacle avoidance path on each side of the anchored path.

[0055] The obstacle avoidance paths on both sides of the anchor path are paths that avoid the obstacle area.

[0056] S145, starting from the initial position, determine the control position of the target heterogeneous device on the obstacle avoidance path based on the predicted distance.

[0057] It is understandable that, for the generated obstacle avoidance path, starting from the initial position, the movement distance of the target heterogeneous device on the obstacle avoidance path is found based on the predicted distance, thereby determining the movement endpoint of the target heterogeneous device under the predicted time, and using this movement endpoint as the control position (in the case of obstacle areas).

[0058] It should be noted that there are obstacle avoidance paths on both sides of the anchoring path. You can choose either obstacle avoidance path to determine the control position, because both of these obstacle avoidance paths are short paths that can avoid the obstacle area.

[0059] S2, when it is determined that the control position is in the work area, the adjustment interaction plug-in of the target heterogeneous device is obtained by filtering and interactive prediction based on the control position and the plug-in position of the work instruction plug-in in the work area.

[0060] It should be noted that a factory may contain multiple functional areas, such as welding areas and transfer areas. The environment of each work area has different impacts on the selection and matching of heterogeneous equipment and components. For example, in the welding area, molten metal particles or slag may scatter around, and the more frequently heterogeneous equipment is moved, the more likely it is to be damaged. At the same time, it may interfere with the signals of heterogeneous equipment and components. The transfer area may be divided according to the type of products being shipped, and heterogeneous equipment cannot be efficiently matched with components.

[0061] In existing factories, there is no differentiated plugin selection and matching based on different work areas. Traditional methods do not consider space and priority, and directly send requests to all plugins, resulting in a rather blind selection and matching of plugins.

[0062] This application employs different screening mechanisms for different functional areas to ensure the safe use of heterogeneous equipment. It also ensures that heterogeneous equipment can efficiently select plug-ins even when direct communication is lacking, avoiding operational interruptions due to communication blind spots and better adapting to the complex environment of a factory. For example, when the work area is for welding, if the target heterogeneous equipment cannot directly interact with the plug-in, to reduce potential damage from welding particles or sparks, the movement of the target heterogeneous equipment can be minimized. Instead, instructions from the plug-in can be relayed to the target heterogeneous equipment using a device of the same type and communication protocol (i.e., a device with the same communication protocol).

[0063] The term "work area" refers to the work area within a factory, which can be an area with high-risk work content that is not conducive to the movement of heterogeneous equipment, such as a welding area. "Work instruction plug-in" refers to a plug-in installed within the work area that enables command interaction. The plug-in's location indicates its specific position within the work area. "Filtering interaction prediction" means that when the control position is within the work area, by analyzing the communication relationship (whether the communication protocol is the same), spatial relationship (whether the communication areas of the device and the plug-in overlap), and distance relationship (the distance between the device and the plug-in) between the target heterogeneous equipment and the work instruction plug-in, a superior plug-in, i.e., an adjustment interaction plug-in, is selected from multiple work instruction plug-ins.

[0064] In some embodiments, step S2 (when it is determined that the control position is in the work area, filtering and interactive prediction are performed based on the control position and the plug-in position of the work instruction plug-in in the work area to obtain the adjustment interaction plug-in of the target heterogeneous device) includes S21-S25: S21, when it is determined that the control position is in the working area, the target communication area of ​​the target heterogeneous device is generated with the control position as the center and based on the device communication radius of the target heterogeneous device.

[0065] Understandably, the process involves first confirming that the control position falls within the work area, then determining the device communication radius based on the hardware parameters of the target heterogeneous device, and finally generating a circular target communication area with the control position as the center and the device communication radius as the radius.

[0066] Among them, the device communication radius represents the maximum effective communication distance of the target heterogeneous device, and the target communication area is a circular communication coverage area with the control position as the center and the device communication radius as the radius.

[0067] S22, based on the device type of the target heterogeneous device, retrieve the corresponding operation instruction plugin in the operation area as the interaction instruction plugin.

[0068] It should be noted that multiple communication protocol-based operation instruction plugins are typically deployed within the work area. To ensure efficient transmission of instruction data, each plugin contains only one communication protocol. Since heterogeneous devices can only connect to plugins whose communication protocols match theirs, a screening process is first performed. Based on the device type of the target heterogeneous device, the corresponding operation instruction plugin within the work area is retrieved as the interaction instruction plugin.

[0069] Among them, the equipment type refers to the communication protocol of the target heterogeneous equipment, and the interactive instruction plugin refers to the set of operation instruction plugins that are the same type as the target heterogeneous equipment (i.e., have the same communication protocol) after being filtered by type.

[0070] Specifically, first, the device type (communication protocol) of the target heterogeneous device is extracted. Then, among all the operation instruction plugins in the work area, the plugins with matching communication protocols are selected and defined as interactive instruction plugins.

[0071] S23, using the plugin position of the interactive instruction plugin as the center, and based on the plugin communication radius of the interactive instruction plugin, generate an interactive communication area.

[0072] Understandably, the location of the interactive command plugin is obtained, its communication radius is determined based on the hardware parameters of the interactive command plugin, and a circular interactive communication area is generated with the location of the interactive command plugin as the center and the communication radius as the radius.

[0073] Among them, the plugin position of the interactive command plugin indicates the specific location of the interactive command plugin in the work area, the plugin communication radius of the interactive command plugin indicates the maximum effective communication distance of the interactive command plugin, and the interactive communication area is a circular communication coverage area centered on the plugin position of the interactive command plugin and with the plugin communication radius of the interactive command plugin as its radius.

[0074] S24, when it is determined that the target communication area and the interactive communication area have an intersection, the interactive instruction plugin of the corresponding interactive communication area is used as the selection instruction plugin, and the interactive prediction is performed based on the control position and the plugin position of the selection instruction plugin to obtain the adjustment interactive plugin of the target heterogeneous device.

[0075] It is understandable that when the target communication area and the interactive communication area intersect, it indicates that the target communication area of ​​the heterogeneous device has an interactive command plugin that can communicate directly, and this plugin is used as the selection command plugin. Since the number of selection command plugins may be greater than one, a better selection command plugin needs to be chosen as the adjustment interactive plugin.

[0076] Among them, the selection instruction plugin refers to the interactive instruction plugin corresponding to the interactive communication area that intersects with the target communication area, and the adjustment interactive plugin is the plugin that performs instruction interaction with the target heterogeneous device.

[0077] In some embodiments, step S24 (when it is determined that the target communication area and the interactive communication area have an intersection, the interactive instruction plugin of the corresponding interactive communication area is used as the selection instruction plugin, and the interactive prediction is performed based on the control position and the plugin position of the selection instruction plugin to obtain the adjustment interactive plugin of the target heterogeneous device) includes S241-S242: S241, when it is determined that the target communication area and the interactive communication area have an intersection, the interactive instruction plugin of the corresponding interactive communication area is used as the selection instruction plugin.

[0078] It is not difficult to understand that, such as Figure 3 As shown, when the target communication area and the interactive communication area intersect, it indicates that the target communication area of ​​the heterogeneous device has an interactive command plugin that can communicate directly, and this plugin is used as the selection command plugin.

[0079] S242, obtain the communication distance between the control position and the plugin position of each selection instruction plugin, and select the selection instruction plugin corresponding to the smallest communication distance as the adjustment interaction plugin of the target heterogeneous device.

[0080] It is understandable that the distance between the control position and each selection instruction plug-in is used as the communication distance. Closer communication can ensure better communication signals. Therefore, the selection instruction plug-in corresponding to the smallest communication distance is selected as the adjustment and interaction plug-in of the target heterogeneous device.

[0081] The plugin location of the selection instruction plugin refers to the specific location of the selection instruction plugin in the work area.

[0082] S25, when it is determined that the target communication area and the interactive communication area do not intersect, the communication channel area is determined based on the common tangent of the target communication area and each interactive communication area, and the interactive instruction plug-in is screened and interactively predicted according to the communication channel area to obtain the adjustment interactive plug-in of the target heterogeneous device.

[0083] It should be noted that when the target communication area and the interactive communication area do not intersect, it means that the target communication area of ​​the heterogeneous device does not have an interactive command plugin for direct communication. Therefore, in the working area, in order to reduce the potential damage to the target heterogeneous device caused by welding particles or sparks, this invention reduces the movement of the target heterogeneous device, selects interactive command plugins that can achieve indirect communication with the target heterogeneous device through similar devices, and uses these as adjustment interactive plugins.

[0084] The communication channel area is the region enclosed by two external common tangents between the target communication area and the interactive communication area. The communication channel area is established to ensure that when selecting similar devices, the selection should be directed towards the interactive communication area, preventing blind switching.

[0085] In some embodiments, step S25 (when it is determined that the target communication area and the interactive communication area do not intersect, determining the communication channel area based on the common tangent between the target communication area and each interactive communication area, and performing interactive prediction on the interactive instruction plugins according to the communication channel area to obtain the adjustment interactive plugins of the target heterogeneous device) includes S251-S253: S251, when it is determined that the target communication area and the interactive communication area do not intersect, the area between the target communication area and the outer common tangent of each interactive communication area is taken as the communication channel area corresponding to each interactive communication area.

[0086] It is understandable that when the target communication area and the interactive communication area do not intersect, the area between the common tangent of the target communication area and each interactive communication area is taken as the communication channel area corresponding to each interactive communication area. That is, there will be a communication channel area between the target communication area and each interactive communication area.

[0087] S252, based on the communication channel area, perform a screening and prediction of the interactive instruction plugin to obtain the first screening plugin.

[0088] It should be noted that, in order to reduce the amount of computation and improve the selection efficiency, it is necessary to perform a screening and prediction on the interactive instruction plugin based on the communication channel area to obtain the first screening plugin.

[0089] The first screening prediction refers to obtaining the channel length of each communication channel area, determining the minimum number of similar devices required for the target heterogeneous device and the interactive instruction plugin to communicate via jump based on the channel length, obtaining the actual number of similar devices in each communication channel area, and using the interactive instruction plugins corresponding to the interactive communication area whose actual number is greater than the minimum number as the first screening plugins.

[0090] In some embodiments, step S252 (performing a screening prediction of the interactive instruction plugin based on the communication channel area to obtain the first screening plugin) includes A1-A5: A1, obtain the distance between the control position and each interactive instruction plugin as the channel length of each of the aforementioned communication channel areas.

[0091] It should be noted that jump communication can be achieved when the target communication area of ​​a heterogeneous device intersects with the same communication area of ​​a similar device, or when the same communication area of ​​a similar device intersects with the interactive communication area.

[0092] Among them, similar devices are devices of the same type as the target heterogeneous devices (same type means the same communication protocol). Therefore, the radius of the similar communication area is equal to the device communication radius of the target heterogeneous device. Thus, the similar communication area refers to the circular communication coverage area with the location of the similar device as the center and the device communication radius as the radius.

[0093] It is understandable that, such as Figure 4 As shown, to determine the minimum number of similar devices required for jump communication between the target heterogeneous device and the interactive command plugin, we first determine that the minimum number of similar devices is required when the similar communication areas are tangent to each other in the communication channel area, and the centers of the similar communication areas are on the same straight line as the control position and the interactive command plugin. Therefore, the distance between the control position and each interactive command plugin is obtained as the channel length of each communication channel area. Based on the channel length and the device communication radius, the minimum number of similar devices is determined. The channel length represents the straight-line distance between the control position and the interactive command plugin.

[0094] A2. The first calculated length is obtained based on the difference between the channel length and the device communication radius.

[0095] It is understandable that the channel length includes the device communication radius of the target heterogeneous device, and the first calculated length is obtained by the difference between the channel length and the device communication radius.

[0096] The first calculated length represents the remaining length after subtracting the device communication radius of the target heterogeneous device from the channel length.

[0097] A3. Based on the difference between the first calculated length and the plugin communication radius of the interactive instruction plugin, the second calculated length is obtained. The second calculated length is halved to obtain the theoretical length.

[0098] It is understandable that the channel length also includes the communication radius of the interactive instruction plugin. Therefore, the second calculated length is obtained by the difference between the first calculated length and the communication radius of the interactive instruction plugin. Since this invention calculates the quantity based on the device's communication radius, the second calculated length needs to be halved to obtain the theoretical length.

[0099] The second calculated length represents the remaining length after subtracting the plugin communication radius of the interactive instruction plugin from the first calculated length. The halving process means dividing the second calculated length by 2 to obtain a new length value, i.e., the theoretical length.

[0100] A4. The theoretical quantity is obtained based on the ratio of the theoretical length to the device communication radius.

[0101] It is easy to understand that the communication radius of a device is the maximum communication coverage capability of a single device of the same type. Therefore, the theoretical number is obtained by dividing the theoretical length by the communication radius of the device.

[0102] It should be noted that, since the number of similar devices must be an integer, the ratio of the theoretical length to the device's communication radius is rounded up to obtain the theoretical number. For example, if the theoretical length is 7 meters and the device's communication radius is 5 meters, the ratio is 1.4, and the theoretical number after rounding up is 2 units.

[0103] A5, based on the device type of the target heterogeneous device, retrieve the same devices as the same type of device, and the same type of communication area of ​​the same type of device, obtain the number of areas of the same type of communication area that intersect with each communication channel area, select the interactive communication area whose number of areas is greater than the theoretical number as the first filtering area, and use the interactive instruction plugin of the first filtering area as the first filtering plugin.

[0104] Understandably, devices with the same device type are retrieved based on the target heterogeneous devices as similar devices, and similar communication areas are selected based on the similar devices. After the theoretical number is determined, it is necessary to verify whether there are enough similar devices in each communication channel area. The number of similar communication areas that intersect with each communication channel area is obtained from the server. Interactive communication areas with a number greater than the theoretical number are selected as the first filtering area, and the interactive command plugins of the first filtering area are used as the first filtering plugins.

[0105] The number of regions refers to the number of similar communication regions that intersect with each communication channel region.

[0106] S253, perform secondary screening and prediction on the first screening plugin based on the communication channel area to obtain the adjustment and interaction plugin for the target heterogeneous device.

[0107] Understandably, the first screening plugin obtained after one screening prediction meets the requirement that "the number of regions is greater than the theoretical number". It is necessary to continue to perform a second screening prediction on the first screening plugin to obtain an adjustment and interaction plugin that can communicate and connect with the target heterogeneous device through similar devices.

[0108] In some embodiments, step S253 (performing secondary screening and prediction of the first screening plugin based on the communication channel area to obtain the adjustment interaction plugin for the target heterogeneous device) includes B1-B2: B1. Based on the common tangent between the target communication area and each first screening area, the communication channel area corresponding to each first screening area is determined as the first channel area.

[0109] It is understandable that, such as Figure 5 As shown, the area between the target communication area and the outer common tangent of each first screening area is taken as the first channel area corresponding to each first screening area.

[0110] The first channel area is the region enclosed by two outer common tangents between the target communication area and the first screening area. The first channel area is established to ensure that when selecting similar devices, selection is made in the direction of the first screening area, preventing blind switching and making the selection more efficient and accurate.

[0111] B2. Select a communication area of ​​the same type that intersects with both the target communication area and the first channel area as the current target communication area. Repeat the above steps to obtain the current target communication area until the current target communication area intersects with the first screening area. Then, use the first screening plugin corresponding to the first screening area as the adjustment and interaction plugin for the target heterogeneous device.

[0112] Understandably, if a similar communication area that intersects with both the target communication area and the first channel area is selected, and the selected similar communication area does not intersect with the first filtering area, then the selected similar communication area needs to be updated to the current target communication area, and steps B1 and B2 are repeated. The current first channel area is used to find a similar communication area that is close to the first filtering plug-in and intersects with it, until the current target communication area intersects with the first filtering area. Then, the first filtering plug-in corresponding to the first filtering area that intersects with the current target communication area is used as the adjustment interaction plug-in of the target heterogeneous device, thereby ensuring that communication from the target heterogeneous device to the adjustment interaction plug-in can be fully covered by similar devices.

[0113] It should be noted that if, after screening all the first channel areas in the work area, no similar communication area intersects with the first screened area or the target communication area, meaning communication coverage cannot be achieved, then it is necessary to manually add idle heterogeneous devices in the work area as communication relay devices to supplement the communication connection. In actual factory environments, there are a large number of heterogeneous devices, which can achieve jump communication coverage.

[0114] S3, When it is determined that the control position is in the transfer area, regional interaction prediction is performed based on the control position and the plug-in position of the transfer instruction plug-in in the transfer area to obtain the transfer interaction plug-in of the target heterogeneous device.

[0115] This application employs different screening mechanisms for different functional areas to ensure the safe use of heterogeneous devices. It also ensures efficient plug-in selection even when direct communication between heterogeneous devices is lacking, avoiding operational interruptions due to communication blind spots and better adapting to the complex environment of a factory. For example, in a transfer area where goods are transferred, the area may be divided according to the type of products being transported. If the target heterogeneous device cannot directly interact with the plug-in, then to reduce blind matching and movement of the target heterogeneous device, the transfer interaction plug-in for the target heterogeneous device is determined by its location relative to each sub-transfer area.

[0116] Here, the transfer area refers to the working area in the factory, which can be the area for loading and unloading goods. The transfer instruction plug-in refers to the plug-in installed in the transfer area that can perform command interaction. The plug-in position of the transfer instruction plug-in refers to the specific location of the transfer instruction plug-in in the transfer area. The area interaction prediction means that when the control position is in the transfer area, by analyzing the positional relationship between the target heterogeneous device and the transfer instruction plug-in, the better plug-in, i.e. the transfer interaction plug-in, is selected from multiple transfer instruction plug-ins.

[0117] In some embodiments, step S3 (when it is determined that the control position is in the transfer area, performing regional interaction prediction based on the control position and the plug-in position of the transfer instruction plug-in in the transfer area to obtain the transfer interaction plug-in of the target heterogeneous device) includes S31-S35: S31, when it is determined that the control position is in the transfer area, the target communication area of ​​the target heterogeneous device is generated with the control position as the center and based on the device communication radius.

[0118] It is easy to understand that when the control position is confirmed to fall into the transfer area, a circular target communication area is generated with the control position as the center and the device communication radius as the radius.

[0119] S32, based on the device type of the target heterogeneous device, retrieve the corresponding transfer instruction plugin in the transfer area as an interactive transfer plugin.

[0120] It should be noted that multiple communication protocol-based transfer instruction plugins are typically deployed within the transfer area. To ensure efficient transmission of instruction data, each plugin contains only one communication protocol. Since all heterogeneous devices can only connect to plugins whose communication protocols match, a screening process is first performed to retrieve the corresponding transfer instruction plugin within the transfer area based on the device type of the target heterogeneous device as the interactive transfer plugin.

[0121] Among them, device type refers to the communication protocol of the target heterogeneous device, and interactive transfer plug-in refers to the set of transfer instruction plug-ins that are the same type as the target heterogeneous device (i.e., the same communication protocol) after type filtering.

[0122] S33, with the plug-in position of the interactive transfer plug-in as the center, and based on the plug-in communication radius of the interactive transfer plug-in, generate an interactive transfer area.

[0123] It is not difficult to understand that the location of the interactive transfer plugin is obtained, its communication radius is determined according to the hardware parameters of the interactive transfer plugin, and a circular interactive communication area is generated with the location of the interactive transfer plugin as the center and the communication radius as the radius.

[0124] Among them, the plugin position of the interactive transfer plugin indicates the specific location of the interactive transfer plugin in the transfer area, the plugin communication radius of the interactive transfer plugin indicates the maximum effective communication distance of the interactive transfer plugin, and the interactive transfer area is a circular communication coverage area centered on the plugin position of the interactive transfer plugin and with the plugin communication radius of the interactive transfer plugin as its radius.

[0125] S34, when it is determined that the target communication area and the interactive transfer area have an intersection, the interactive transfer plug-in of the corresponding interactive transfer area is used as the selected transfer plug-in, the communication distance between the control position and the plug-in position of each selected transfer plug-in is obtained, and the selected transfer plug-in corresponding to the smallest communication distance is selected as the transfer interactive plug-in of the target heterogeneous device.

[0126] Understandably, when the target communication area and the interactive transfer area intersect, it indicates that the target communication area of ​​the heterogeneous device has an interactive transfer plugin that can communicate directly, and this plugin is selected as the transfer plugin. Since the number of selectable transfer plugins may be greater than one, a closer selectable transfer plugin needs to be chosen as the transfer interactive plugin.

[0127] Furthermore, the communication distance between the control position and the position of each selected transfer plugin is obtained, and the selected transfer plugin corresponding to the smallest communication distance is selected as the transfer interaction plugin for the target heterogeneous device.

[0128] The communication distance between the control position and the plug-in position of each selected transfer plug-in refers to the straight-line distance between the control position and the plug-in position of the selected transfer plug-in. The selected transfer plug-in refers to the interactive transfer plug-in corresponding to the interactive transfer area that intersects with the target communication area. The transfer interactive plug-in is a plug-in that interacts with the target heterogeneous device to exchange commands.

[0129] S35, when it is determined that the target communication area and the interactive transfer area do not intersect, the transfer interaction plug-in of the target heterogeneous device is determined based on the distance between the target communication area and the sub-transfer area in the transfer area.

[0130] It should be noted that when the target communication area and the interactive transfer area do not intersect, it means that the target communication area of ​​the target heterogeneous device does not have an interactive transfer plugin that can communicate directly. In this case, it is necessary to obtain the position of each sub-transfer area in the transfer area and move the target heterogeneous device according to the position of each sub-transfer area to achieve accurate and efficient command reception.

[0131] Sub-transfer areas refer to secondary areas of the transfer area that are divided according to specific rules (such as the type of products being shipped).

[0132] In some embodiments, step S35 (when it is determined that the target communication area and the interactive transfer area do not intersect, determining the transfer interaction plug-in of the target heterogeneous device based on the distance between the target communication area and the sub-transfer area in the transfer area) includes S351-S353: S351, when it is determined that the target communication area and the interactive transfer area do not intersect, the sub-region positions of multiple sub-transfer areas within the transfer area are obtained.

[0133] Understandably, if a communicable interactive transfer area cannot be found directly at the control location, the target heterogeneous device needs to move to a communicable area to receive instructions. If it is not clear which sub-transfer area to move to first, the target heterogeneous device may move blindly and increase the movement time. Therefore, it is necessary to obtain the sub-regional locations of multiple sub-transfer areas within the transfer area.

[0134] The sub-region location refers to the location of the sub-transfer area within the transfer area.

[0135] S352, select the sub-transfer area corresponding to the sub-region position closest to the control position as the instruction receiving area.

[0136] It is not difficult to understand that, such as Figure 6 As shown, based on the location of each sub-transfer area, the sub-transfer area closest to the control position is selected as the instruction receiving area.

[0137] S353, any interactive transfer plugin within the instruction receiving area is used as the transfer interactive plugin for the target heterogeneous device.

[0138] It should be noted that the instruction receiving area is a sub-transfer area within the transfer area, and the interactive transfer plugins set up in each sub-transfer area can cover the entire sub-transfer area.

[0139] It is understandable that when the target heterogeneous device enters the command receiving area, any interactive transfer plug-in within the command receiving area will be used as the transfer interactive plug-in for the target heterogeneous device.

[0140] S4. Based on the adjustment interaction plugin and the transfer interaction plugin, obtain the interaction plugin corresponding to the target heterogeneous device.

[0141] It is not difficult to understand that an interaction plugin refers to a plugin that ultimately provides instruction interaction services to the target heterogeneous device, and is one of the adjustment interaction plugins or transfer interaction plugins.

[0142] It should be noted that if there are obstacles between the target heterogeneous device and the interactive command plugin, the theoretical number of similar devices calculated based on pairwise tangent and collinear connections within the communication channel area has little practical reference value. This is because the presence of obstacles may prevent similar devices from being arranged in a straight line between the target heterogeneous device and the interactive command plugin. Therefore, in step S252 of this invention (performing a screening prediction of the interactive command plugin based on the communication channel area to obtain the first screened plugin), when there are obstacles between the target heterogeneous device and the interactive command plugin, it can also be achieved through steps C1-C8: C1, based on the device communication radius, constructs a limit communication zone tangent to the target communication zone and the interactive communication zone at the outer common tangent in each of the communication channel zones, with the center of the limit communication zone located on the outer common tangent.

[0143] It should be noted that the minimum number of similar devices in steps C1-C8 is determined by the tangent length of the external common tangent and the radius of the limiting communication area. When using the minimum number of similar devices to achieve jump communication between the target communication area and the interactive communication area, the similar communication area of ​​the similar devices serves as the limiting communication area. Since the similar devices are of the same type as the target heterogeneous device, the radius of the similar communication area is equal to the device communication radius of the target heterogeneous device. Therefore, the radius of the limiting communication area is equal to the device communication radius of the target heterogeneous device.

[0144] It is understandable that, such as Figure 7 As shown, in order to determine the minimum number of similar devices required for the target heterogeneous device to communicate with the interactive instruction plugin, the center of the limit communication area is located on the outer common tangent line, and at both ends of the communication channel area, the limit communication area is tangent to the target communication area and the interactive communication area, respectively.

[0145] C2, connect the center of the corresponding extreme communication zone with the control position to obtain the first connecting line, and construct the first perpendicular line perpendicular to the corresponding external common tangent based on the control position. Determine the first right triangle based on the first connecting line, the first perpendicular line and the corresponding external common tangent.

[0146] It is understandable that, such as Figure 7 Connect the control position and the center of the boundary communication zone to obtain the first connecting line. Draw a perpendicular line from the control position to the external common tangent, which is the first perpendicular line, with the foot of the first perpendicular line on the external common tangent. The first connecting line, the first perpendicular line, and the line segments on the external common tangent line that intersect the first connecting line and the first perpendicular line form a right triangle, which is the first right triangle.

[0147] C3, calculate the side length based on the first perpendicular line and the first connecting line in the first right triangle to obtain the first boundary length, and obtain the first residual length based on the difference between the first boundary length and the device communication radius.

[0148] Understandably, the length of the first boundary is obtained by calculating the side lengths of the first perpendicular line and the first connecting line in the first right-angled triangle based on the geometric relationships of right triangles and the Pythagorean theorem. The first residual length is then obtained by calculating the difference between the first boundary length and the device's communication radius.

[0149] It is easy to understand that in this embodiment, the tangent length of the external tangent and the radius of the limit communication area are used to determine the tangent length, which includes the first residual length, so it needs to be removed in subsequent steps.

[0150] C4. Connect the center of the corresponding limit communication area with the plug-in position of the interactive instruction plug-in to obtain the second line. Based on the plug-in position of the interactive instruction plug-in, construct a second perpendicular line that is perpendicular to the external common tangent. Determine the second right triangle based on the second line, the second perpendicular line and the corresponding external common tangent.

[0151] It is understandable that if the first residual length between the target communication area and the limit communication area is calculated in the above steps C2-C3, then C4-C5 will calculate the second residual length between the interactive communication area and the limit communication area.

[0152] For details, see Figure 7 Connect the plugin location of the interactive command plugin to the center of the circle in the limit communication area to obtain the second connecting line. Draw a perpendicular line from the plugin location of the interactive command plugin to the external common tangent, as the second perpendicular line, with the foot of the second perpendicular line on the external common tangent. The second right triangle is formed by the second connecting line, the second perpendicular line, and the line segments on the external common tangent that intersect the second connecting line and the second perpendicular line.

[0153] C5, calculate the side length based on the second perpendicular line and the second connecting line in the second right triangle to obtain the second boundary length, and obtain the second residual length based on the difference between the second boundary length and the device communication radius.

[0154] Understandably, the length of the second boundary is obtained by calculating the side lengths of the second perpendicular line and the second connecting line in the second right triangle based on the geometric relationships of right triangles and the Pythagorean theorem. The second residual length is then obtained by calculating the difference between the second boundary length and the device's communication radius.

[0155] It is easy to understand that in this embodiment, the tangent length of the outer common tangent and the radius of the limit communication area are used to determine the tangent length. The tangent length includes the second residual length, so it needs to be removed in subsequent steps.

[0156] C6, obtain the tangent length of the external tangent, and obtain the planned length based on the difference between the tangent length and the first residual length and the second residual length. Halve the planned length to obtain the reference length.

[0157] It is understandable that the tangent length of the external tangent is obtained, and the difference between the tangent length and the first residual length and the second residual length is calculated to obtain the planned length. In this embodiment, the quantity is calculated through the device communication radius, so the planned length needs to be halved to obtain the reference length.

[0158] C7. The reference quantity is obtained based on the ratio of the reference length to the communication radius of the device.

[0159] It is understandable that the device communication radius is the maximum communication coverage capability of a single device of the same type. Therefore, the reference length is divided by the device communication radius to obtain the reference quantity.

[0160] It should be noted that, since the number of similar devices must be an integer, the ratio of the reference length to the device communication radius is rounded up to obtain the reference number. For example, if the reference length is 7 meters and the device communication radius is 5 meters, the ratio is 1.4, and the reference number after rounding up is 2 units.

[0161] C8 retrieves devices of the same type based on the device type of the target heterogeneous device, as well as the same type of communication area of ​​the same type of device, obtains the number of areas of the same type of communication area that intersect with each communication channel area, selects the interactive communication area whose number of areas is greater than the theoretical number as the first filtering area, and uses the interactive instruction plugin of the first filtering area as the first filtering plugin.

[0162] Understandably, devices with the same device type are retrieved based on the target heterogeneous devices as similar devices, and similar communication areas are selected based on the similar devices. After the reference quantity is determined, it is necessary to verify whether there are enough similar devices in each communication channel area. The number of similar communication areas that intersect with each communication channel area is obtained from the server. Interactive communication areas with a number greater than the reference quantity are selected as the first filtering area, and the interactive command plugins of the first filtering area are used as the first filtering plugins.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for plug-in unified access management of heterogeneous devices, characterized in that, Control systems applied to factory processes include: Obstacle avoidance prediction is performed based on the movement information and prediction duration of the target heterogeneous device to obtain the control position corresponding to the target heterogeneous device, including: The movement information of the target heterogeneous device is analyzed to obtain the initial position, moving speed and moving direction of the target heterogeneous device; The predicted distance is obtained by multiplying the predicted duration and the moving speed. Starting from the initial position, the anchoring path and anchoring position are determined in the moving direction based on the predicted distance. When it is determined that the anchoring path does not pass through an obstacle area, the anchoring position is taken as the control position of the target heterogeneous device; When the anchoring path passes through an obstacle area, an obstacle avoidance path is determined based on the initial position, the regional outline of the obstacle area, and the anchoring position. The control position of the target heterogeneous device is then determined on the obstacle avoidance path based on the predicted distance. When the control position is determined to be in the work area, the adjustment interaction plugin of the target heterogeneous device is obtained by filtering and interactive prediction based on the control position and the plugin position of the work instruction plugin in the work area. When the control position is determined to be in the transfer area, regional interaction prediction is performed based on the control position and the plug-in position of the transfer instruction plug-in in the transfer area to obtain the transfer interaction plug-in of the target heterogeneous device. Based on the adjustment interaction plugin and the transfer interaction plugin, an interaction plugin corresponding to the target heterogeneous device is obtained.

2. The method according to claim 1, characterized in that, When determining that the anchoring path passes through an obstacle area, an obstacle avoidance path is determined based on the initial position, the regional outline of the obstacle area, and the anchoring position. The control position of the target heterogeneous device is then determined on the obstacle avoidance path based on the predicted distance, including: When it is determined that the anchoring path passes through an obstacle area, the anchoring path is rotated to both sides based on the initial position until it is tangent to the contour of the area and does not pass through the obstacle area, thus obtaining the obstacle avoidance tangent point. Connect the obstacle avoidance tangent point with the anchoring position to obtain the reference path, and take the direction of the obstacle avoidance tangent point relative to the anchoring path as the rotation direction of the reference path. When it is determined that the reference path passes through an obstacle area, the reference path is rotated based on the obstacle avoidance tangent point and the corresponding rotation direction until it is tangent to the region contour and does not pass through the obstacle area, thus obtaining the current obstacle avoidance tangent point. Repeat the steps above to obtain the current obstacle avoidance tangent point until the reference path has not passed through the obstacle area. Then connect the initial position, obstacle avoidance tangent point and anchor position on one side of the anchor path to obtain the obstacle avoidance path. Starting from the initial position, the control position of the target heterogeneous device is determined on the obstacle avoidance path based on the predicted distance.

3. The method according to claim 1, characterized in that, When the control position is determined to be within the work area, a filtering and interactive prediction is performed based on the control position and the plug-in position of the work instruction plug-in within the work area to obtain the adjustment interaction plug-in for the target heterogeneous device, including: When the control position is determined to be within the work area, a target communication area for the target heterogeneous device is generated with the control position as the center and based on the device communication radius of the target heterogeneous device. Based on the device type of the target heterogeneous device, the corresponding operation instruction plugin in the operation area is retrieved as the interaction instruction plugin; Using the plugin position of the interactive instruction plugin as the center, an interactive communication area is generated based on the plugin communication radius of the interactive instruction plugin; When it is determined that the target communication area and the interactive communication area have an intersection, the interactive instruction plugin of the corresponding interactive communication area is used as the selection instruction plugin. Based on the control position and the plugin position of the selection instruction plugin, the interaction prediction is performed to obtain the adjustment interaction plugin of the target heterogeneous device. When it is determined that the target communication area and the interactive communication area do not intersect, the communication channel area is determined based on the common tangent between the target communication area and each interactive communication area. The interactive instruction plugins are then filtered and interactively predicted based on the communication channel area to obtain the adjustment interactive plugins for the target heterogeneous device.

4. The method according to claim 3, characterized in that, When it is determined that the target communication area and the interactive communication area have an intersection, the interactive instruction plugin of the corresponding interactive communication area is used as the selection instruction plugin. Interactive prediction is performed based on the control position and the plugin position of the selection instruction plugin to obtain the adjustment interactive plugin for the target heterogeneous device, including: When it is determined that the target communication area and the interactive communication area have an intersection, the interactive instruction plugin of the corresponding interactive communication area is used as the selection instruction plugin; The communication distance between the control position and the position of each selection instruction plugin is obtained, and the selection instruction plugin corresponding to the smallest communication distance is selected as the adjustment interaction plugin for the target heterogeneous device.

5. The method according to claim 3, characterized in that, When it is determined that the target communication area and the interactive communication area do not intersect, a communication channel area is determined based on the common tangent between the target communication area and each interactive communication area. Interactive command plugins are then filtered and interactively predicted based on the communication channel area to obtain the adjustment interactive plugins for the target heterogeneous device, including: When it is determined that the target communication area and the interactive communication area do not intersect, the area between the target communication area and the common tangent of each interactive communication area is taken as the communication channel area corresponding to each interactive communication area. Based on the communication channel area, a first filtering and prediction of the interactive instruction plugin is performed to obtain the first filtering plugin; Based on the communication channel area, the first filtering plugin is subjected to secondary filtering and prediction to obtain the adjustment and interaction plugin for the target heterogeneous device.

6. The method according to claim 5, characterized in that, The first filtering plugin is obtained by performing a screening and prediction on the interactive instruction plugin based on the communication channel area, including: The distance between the control position and each interactive command plugin is used as the channel length of each of the aforementioned communication channel areas; The first calculated length is obtained based on the difference between the channel length and the device communication radius; The second calculation length is obtained based on the difference between the first calculation length and the plugin communication radius of the interactive instruction plugin. The second calculation length is then halved to obtain the theoretical length. The theoretical quantity is obtained based on the ratio of the theoretical length to the device communication radius; Based on the device type of the target heterogeneous device, the same devices are retrieved as the same type of device, and the same type of communication area of ​​the same type of device is obtained. The number of the same type of communication area that intersects with each communication channel area is obtained. The interactive communication area with a number greater than the theoretical number is selected as the first filtering area, and the interactive instruction plugin of the first filtering area is used as the first filtering plugin.

7. The method according to claim 6, characterized in that, The step of performing secondary screening and prediction on the first screening plugin based on the communication channel area to obtain the adjustment and interaction plugin for the target heterogeneous device includes: Based on the common tangent between the target communication area and each first screening area, the communication channel area corresponding to each first screening area is determined as the first channel area; Select a communication area of ​​the same type that intersects with both the target communication area and the first channel area as the current target communication area. Repeat the above steps to obtain the current target communication area until the current target communication area intersects with the first screening area. Then, use the first screening plugin corresponding to the first screening area as the adjustment and interaction plugin for the target heterogeneous device.

8. The method according to claim 1, characterized in that, When the control position is determined to be within the transfer area, regional interaction prediction is performed based on the control position and the plugin position of the transfer instruction plugin within the transfer area to obtain the transfer interaction plugin for the target heterogeneous device, including: When the control position is determined to be in the transfer area, a target communication area for the target heterogeneous device is generated with the control position as the center and based on the device communication radius. Based on the device type of the target heterogeneous device, the corresponding transfer instruction plugin in the transfer area is retrieved as an interactive transfer plugin; An interactive transfer zone is generated with the location of the interactive transfer plugin as the center and based on the plugin communication radius of the interactive transfer plugin. When it is determined that the target communication area and the interactive transfer area have an intersection, the interactive transfer plug-in of the corresponding interactive transfer area is used as the selected transfer plug-in. The communication distance between the control position and the plug-in position of each selected transfer plug-in is obtained, and the selected transfer plug-in corresponding to the smallest communication distance is selected as the transfer interactive plug-in of the target heterogeneous device. When it is determined that the target communication area and the interactive transfer area do not intersect, the transfer interaction plug-in of the target heterogeneous device is determined based on the distance between the target communication area and the sub-transfer area of ​​the transfer area.

9. The method according to claim 8, characterized in that, When it is determined that the target communication area and the interactive transfer area do not intersect, the transfer interaction plugin of the target heterogeneous device is determined based on the distance between the target communication area and the sub-transfer area in the transfer area, including: When it is determined that the target communication area and the interactive transfer area do not intersect, the sub-region positions of multiple sub-transfer areas within the transfer area are obtained; Select the sub-transfer area corresponding to the sub-region location closest to the control position as the instruction receiving area; Any interactive transfer plugin within the instruction receiving area can be used as a transfer interactive plugin for the target heterogeneous device.

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