Closed scene patrol chassis motion and carrier collaborative operation system and method
By constructing a collaborative operating system for the chassis motion and vehicle in closed-scene patrols, the problem of poor coordination between traditional patrol chassis and vehicles has been solved, achieving efficient and precise collaborative operation between the chassis and vehicles, and improving the efficiency and safety of automated operations in closed scenes.
Patent Information
- Application Number
- CN202511545465.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-28
- Publication Date
- 2026-02-10
AI Technical Summary
Traditional patrol chassis and vehicles suffer from problems such as independent motion control, high communication latency, and poor environmental adaptability in closed environments, resulting in low operational accuracy and poor safety, which affects the efficiency and safety of automated operations in closed environments.
By employing a collaborative control module, a multi-dimensional state perception module, a chassis motion control module, a vehicle operation control module, a real-time communication module, and an emergency response module, a closed-scene patrol chassis motion and vehicle collaborative operating system is constructed. Precise collaborative operation between the chassis and the vehicle is achieved through real-time data transmission and dynamic collaborative algorithms.
It enables high-precision collaborative operation between the patrol chassis and the vehicle in closed environments, improving operational efficiency and safety, reducing manpower and time costs, and possessing rapid response and adaptive capabilities, ensuring stable operation in complex environments.
Smart Images
Figure CN121492985A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of intelligent robot and automation control technology, and relates to a closed-scene patrol chassis motion and vehicle cooperative operating system and method. Background Technology
[0002] In automated operations within closed environments, patrol chassis, acting as mobile platforms, often carry various vehicles to complete specific tasks. Traditional collaborative operation methods between patrol chassis and vehicles have several shortcomings. Firstly, the motion control of the patrol chassis and the operational control of the vehicle are often independent, lacking an effective coordination mechanism. This leads to problems such as vehicle swaying and inaccurate positioning during chassis movement in complex environments, affecting operational accuracy. For example, in a factory workshop, poor coordination between the patrol chassis and the inspection equipment during movement can result in distorted inspection data.
[0003] On the other hand, existing technologies suffer from high communication latency between the chassis and the vehicle, resulting in untimely information exchange. When obstacles or path changes occur in a closed environment, the vehicle cannot respond quickly after the chassis adjusts its movement, which can easily lead to collisions or operational errors. Furthermore, traditional cooperative control algorithms have poor adaptability to closed environments, making it difficult to guarantee the coordination accuracy between the chassis and the vehicle in situations such as uneven ground or confined spaces.
[0004] In practical applications, these problems severely restrict the efficiency and safety of automated operations in closed environments. For example, during warehouse patrols, when the chassis carrying the transport containers turns, poor coordination can cause the containers to sway, potentially causing the goods to fall off. During underground utility tunnel inspections, when the chassis carrying the robotic arm moves, the arm cannot accurately align with the inspection points, affecting the inspection results.
[0005] Therefore, developing a technology that enables precise coordinated operation of patrol chassis movement and vehicles in closed environments has become an urgent need to improve the level of automated operations in closed environments. Summary of the Invention
[0006] To overcome at least one deficiency of existing technologies and address issues such as poor coordination between patrol chassis and vehicles in enclosed environments, low operational precision, and weak environmental adaptability, this invention provides a coordinated operating system and method for patrol chassis movement and vehicles in enclosed environments.
[0007] To achieve the above objectives, the present invention adopts the following technical solution: a closed-scene patrol chassis motion and vehicle cooperative operating system, including...
[0008] Coordinated Control Module: Used for the coordinated control of patrol chassis movement and vehicle operation;
[0009] Multi-dimensional state perception module: used to collect state information of chassis, vehicle and environment;
[0010] Chassis motion control module: Receives chassis motion control commands from the collaborative control module, controls the actual movements of the patrol chassis through the execution components, and feeds back the actual motion status of the chassis to the collaborative control module through the multi-dimensional state perception module;
[0011] Vehicle Operation Control Module: Receives vehicle operation control commands from the Cooperative Control Module, controls the vehicle's actions, and feeds back the vehicle's operation status to the Cooperative Control Module in real time through the multi-dimensional status perception module;
[0012] Real-time communication module: Used for high-speed data transmission between various modules of the system;
[0013] Emergency Response Module: Monitors the operating status of each module in the system, receives abnormal signals, and triggers emergency measures.
[0014] Furthermore, the multi-dimensional state perception module is connected to the collaborative control module via a real-time communication module; the collaborative control module is connected to the chassis motion control module and the vehicle operation control module via a real-time communication module; the chassis motion control module and the vehicle operation control module are connected to the multi-dimensional state perception module via a real-time communication module; and the emergency response module is connected to the multi-dimensional state perception module, the collaborative control module, and the remote control center via a real-time communication module.
[0015] Furthermore, the multi-dimensional state perception module consists of several sensors, including a chassis state sensor, a vehicle state sensor, and an environmental sensor. The chassis state sensor acquires the motion parameters of the chassis, the vehicle state sensor detects the operating state of the vehicle, and the environmental sensor perceives the environmental characteristics of the enclosed scene.
[0016] A method for creating a patrol chassis motion and vehicle cooperative operating system in a closed scene includes the following steps:
[0017] Step 1: Construct a motion and operation collaborative control architecture. Through this architecture, the motion control of the patrol chassis and the operation control of the vehicle are deeply integrated to achieve collaborative control.
[0018] Step 2: Establish a motion-operation coordination model, which dynamically adjusts the coordinated control of the chassis and vehicle when receiving real-time status and environmental information of the chassis and vehicle.
[0019] Step 3: Construct a multi-dimensional state perception and feedback system to perceive the state data of the patrol chassis, vehicle, and environment in real time through the multi-dimensional state perception and feedback system;
[0020] Step 4: Establish a real-time communication link to enable real-time transmission of control commands and status information between the chassis and the vehicle;
[0021] Step 5: Establish an emergency response mechanism to trigger emergency measures when an abnormality in coordination is detected.
[0022] Furthermore, the collaborative control architecture includes a chassis motion control unit and a vehicle operation control unit. The two interact with each other in real time via a high-speed internal bus. The chassis motion control unit controls the speed, steering, and attitude of the chassis based on a preset path and environmental information. The vehicle operation control unit controls the vehicle's actions according to mission requirements.
[0023] Furthermore, the motion-operation cooperative model models the relationship between the chassis's motion parameters and the vehicle's operating parameters. When the chassis's motion state changes, a dynamic cooperative control algorithm is used to calculate the required adjustment amount for the vehicle.
[0024] A method for using a closed-scene patrol chassis motion and vehicle cooperative operating system includes the following steps:
[0025] Step S1: The collaborative control module receives the job task instruction;
[0026] Step S2: The multi-dimensional state perception module collects real-time state data of the chassis, vehicle and environment. After preprocessing and fusion, the collected real-time state data is transmitted to the collaborative control module.
[0027] Step S3: Based on the state data provided by the multi-dimensional state perception module, the collaborative control module generates initial control commands for chassis motion and initial control commands for vehicle operation, and sends them to the chassis motion control module and the vehicle operation control module respectively.
[0028] Step S4: The chassis motion control module receives and executes the initial control command for chassis motion from the collaborative control module. At the same time, the actual motion state of the chassis is fed back to the collaborative control module through the multi-dimensional state perception module.
[0029] Step S5: The vehicle operation control module receives and executes the initial control command for vehicle operation from the collaborative control module. At the same time, the actual motion state of the vehicle is fed back to the collaborative control module through the multi-dimensional state perception module.
[0030] Step S6: The collaborative control module dynamically adjusts the commands based on the actual motion status data fed back by the chassis motion control module and the vehicle operation control module to ensure accurate execution of collaborative operations;
[0031] Step S7: Determine whether the emergency handling module has received a coordination anomaly signal. If yes, execute emergency measures; otherwise, repeat steps S2-S7 until the task instruction is completed.
[0032] In summary, the advantages of this invention are:
[0033] 1) This invention integrates motion control technology, sensor fusion technology, precise collaborative algorithms, and real-time communication technology to construct a system that enables the patrol chassis to move precisely in closed environments and to perform efficient and precise collaborative operations with the vehicles it carries. This system overcomes the limitations of poor chassis-vehicle coordination and low operational precision in traditional patrol equipment and can be widely applied in fields such as intelligent inspection, automated handling, and security monitoring, providing core technical support for intelligent management and efficient operation in closed environments.
[0034] 2) The present invention has high coordination accuracy. Through a high-precision coordination control architecture and dynamic coordination control algorithm, it achieves precise matching between the movement of the patrol chassis and the operation of the vehicle.
[0035] 3) The present invention has strong operational stability, and the multi-dimensional state perception and feedback mechanism ensures the stable operation of the chassis and vehicle in complex environments.
[0036] 4) This invention features a fast response speed. Through the combination of a real-time communication module and a dynamic collaborative algorithm, the response delay between the chassis and the vehicle is controlled within 50ms. When a sudden obstacle appears in a closed scene, the vehicle can respond in a very short time after the chassis adjusts its movement state, thus avoiding collision accidents.
[0037] 5) The present invention has good environmental adaptability. Through the adaptive capability of the dynamic collaborative control algorithm, it automatically optimizes the collaborative parameters according to the environmental changes of the closed scene.
[0038] 6) The present invention significantly improves work efficiency. Through precise collaborative operation, it reduces repetitive work and operational errors, and greatly reduces labor and time costs. Attached Figure Description
[0039] Figure 1 This is a diagram of the closed-scene patrol chassis movement and vehicle cooperative operation architecture of the present invention. Detailed Implementation
[0040] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.
[0041] Example 1:
[0042] like Figure 1 As shown, a closed-scene patrol chassis motion and vehicle cooperative operating system includes a cooperative control module, a multi-dimensional state perception module, a chassis motion control module, a vehicle operation control module, a real-time communication module, and an emergency handling module. The multi-dimensional state perception module collects state data of the chassis, vehicle, and environment, and transmits it to the cooperative control module via the real-time communication module. The cooperative control module generates control commands through a dynamic cooperative algorithm and sends them to the chassis motion control module and the vehicle operation control module, respectively. The chassis motion control module and the vehicle operation control module execute the commands and feed back the actual state to the multi-dimensional state perception module. The emergency handling module receives abnormal signals and activates emergency measures.
[0043] Coordinated Control Module: Used for the coordinated control of patrol chassis movement and vehicle operation;
[0044] The collaborative control module receives status data and task instructions from the multi-dimensional status perception module, and generates chassis motion control instructions and vehicle operation control instructions through its built-in dynamic collaborative control algorithm, which are then sent to the chassis motion control module and the vehicle operation control module, respectively. This module is crucial for achieving precise coordination between the chassis and the vehicle; the real-time performance and accuracy of its algorithm significantly improve the collaborative control effect.
[0045] Multi-dimensional state perception module: Used to collect state information of the chassis, vehicle, and environment; after preprocessing and fusion, the state information data is transmitted to the collaborative control module to provide a basis for collaborative control. This module is the "sensing center" of the system, providing real-time and accurate state data for collaborative control.
[0046] The multi-dimensional state perception module consists of various sensors, including chassis state sensors, vehicle state sensors, and environmental sensors. The chassis state sensors acquire the motion parameters of the chassis, the vehicle state sensors detect the operating status of the vehicle, and the environmental sensors perceive the environmental characteristics of the enclosed scene.
[0047] Chassis motion control module: Receives chassis motion control commands from the collaborative control module, controls the actual movements of the patrol chassis through actuators, and feeds back the actual motion status of the chassis to the collaborative control module via a multi-dimensional state perception module, forming a closed-loop control. This module is the "actuator" for the patrol chassis's motion, ensuring that the chassis moves precisely according to commands.
[0048] The actuators include drive structures such as drive motors and steering mechanisms, and the actual actions include moving, steering, accelerating, and decelerating.
[0049] Vehicle Operation Control Module: This module receives vehicle operation control commands from the collaborative control module, controls the vehicle's actions, and feeds back the vehicle's operational status to the collaborative control module in real time through a multi-dimensional status perception module, achieving precise control of the vehicle's operation. This module is the "execution core" for the vehicle to complete its operational tasks.
[0050] The vehicle's actions include the extension and rotation of the robotic arm, and the starting, stopping, and angle adjustment of the detection equipment.
[0051] Real-time communication module: Used for high-speed data transmission between various modules of the system;
[0052] The real-time communication module employs industrial Ethernet or high-speed wireless communication technology to ensure the real-time transmission of collaborative control commands, status data, and other information, reducing communication latency. This module serves as an "information bridge" for the collaborative work of all modules, guaranteeing the system's real-time performance and reliability.
[0053] Emergency Response Module: Monitors the operating status of each module in the system, receives abnormal signals, and triggers emergency measures.
[0054] When the emergency response module receives abnormal signals (such as collision risk or operational malfunction) from the collaborative control module or the multi-dimensional status perception module, it immediately activates the emergency response mechanism, controls the chassis and vehicle to take emergency measures, and sends alarm information to the remote monitoring center. This module serves as a "protective barrier" for the safe operation of the system.
[0055] This application also provides a method for creating a closed-scene patrol chassis motion and vehicle cooperative operating system, including the following steps:
[0056] Step 1: Construct a motion and operation collaborative control architecture. Through this architecture, the motion control of the patrol chassis and the operation control of the vehicle are deeply integrated to achieve collaborative control.
[0057] The collaborative control architecture comprises a chassis motion control unit and a vehicle operation control unit, which exchange data in real time via a high-speed internal bus. The chassis motion control unit precisely controls the chassis's speed, steering, and attitude based on a preset path and environmental information; the vehicle operation control unit controls the vehicle's (such as a robotic arm or inspection equipment) movements according to task requirements. This collaborative control architecture ensures real-time matching between the chassis motion state and the vehicle operation state. For example, when the chassis decelerates, the vehicle adjusts its operating rhythm in advance to avoid operational deviations caused by inertia.
[0058] Step 2: Establish a motion-operation coordination model. When receiving real-time status and environmental information of the chassis and vehicle, the motion-operation coordination model dynamically adjusts the coordinated control of the chassis and vehicle.
[0059] The motion-operation coordination model models the relationship between chassis motion parameters (such as displacement and velocity) and vehicle operation parameters (such as amplitude of movement and speed). When the chassis motion state changes, a dynamic coordination control algorithm quickly calculates the necessary adjustments for the vehicle, ensuring that vehicle operation is not affected by chassis motion. For example, when the chassis encounters a ground protrusion causing a change in attitude, the algorithm adjusts the vehicle's operating angle in real time to ensure that the vehicle remains aligned with the target work point. Furthermore, the algorithm has adaptive capabilities, automatically optimizing coordination parameters based on different vehicle types and work tasks.
[0060] Step 3: Construct a multi-dimensional state perception and feedback system to perceive the state data of the patrol chassis, vehicle, and environment in real time through the multi-dimensional state perception and feedback system;
[0061] The multi-dimensional state perception and feedback system consists of chassis state sensors, vehicle state sensors, and environmental sensors. The chassis state sensors include lidar, odometers, and gyroscopes mounted on the chassis, used to acquire motion parameters such as chassis position, velocity, acceleration, and attitude angles. The vehicle state sensors include force sensors, position sensors, and vision sensors mounted on the vehicle, used to detect the vehicle's operating position, force conditions, and working status. The environmental sensors perceive environmental information such as ground flatness and obstacle distribution in enclosed environments. After fusion processing, the above state data is fed back to the collaborative control architecture in real time, providing data support for precise collaborative control.
[0062] Step 4: Establish a low-latency, high-reliability real-time communication link to ensure that control commands and status information between the chassis and the vehicle can be transmitted in real time;
[0063] Step 5: Establish an emergency response mechanism to trigger emergency measures when an abnormality in coordination is detected.
[0064] Collaboration anomalies include situations such as excessive deviation in vehicle operation or the chassis being about to collide with an obstacle; emergency measures include emergency braking of the chassis, suspending vehicle operation, and issuing alarm signals to ensure operational safety.
[0065] This application also provides a method for using a closed-scene patrol chassis motion and vehicle cooperative operating system, specifically including:
[0066] Step S1: The collaborative control module receives the job task instruction;
[0067] Step S2: The multi-dimensional state perception module collects real-time state data of the chassis, vehicle and environment. After preprocessing and fusion, the collected real-time state data is transmitted to the collaborative control module.
[0068] Step S3: Based on the state data provided by the multi-dimensional state perception module, the collaborative control module generates initial control commands for chassis motion and initial control commands for vehicle operation, and sends them to the chassis motion control module and the vehicle operation control module respectively.
[0069] Step S4: The chassis motion control module receives and executes the initial control command for chassis motion from the collaborative control module. At the same time, the actual motion state of the chassis is fed back to the collaborative control module through the multi-dimensional state perception module.
[0070] Step S5: The vehicle operation control module receives and executes the initial control command for vehicle operation from the collaborative control module. At the same time, the actual motion state of the vehicle is fed back to the collaborative control module through the multi-dimensional state perception module.
[0071] Step S6: The collaborative control module dynamically adjusts the commands based on the actual motion status data fed back by the chassis motion control module and the vehicle operation control module to ensure accurate execution of collaborative operations;
[0072] Step S7: Determine whether the emergency handling module has received a coordination anomaly signal. If yes, execute emergency measures; otherwise, repeat steps S2-S7 until the task instruction is completed.
[0073] The embodiment uses a large automated warehouse as a closed scenario, with numerous internal shelves and narrow aisles. A patrol chassis equipped with a robotic arm is required to complete the tasks of inventory counting and handling abnormal goods. The embodiment uses both the traditional patrol chassis and vehicle collaborative operation method and the collaborative operating system of this application to detect indicators such as the efficiency of warehouse inventory counting and the accuracy of handling abnormal goods when performing handling tasks.
[0074] The patrol chassis employs a four-wheel drive structure and is equipped with LiDAR, gyroscope, and odometer to perceive its own position, speed, and attitude. The mounted vehicle is a 6-DOF robotic arm, equipped with force sensors and vision sensors to detect gripping force and cargo position. The real-time communication module uses industrial Ethernet to ensure data transmission latency between modules is less than 30ms. In actual operation, after receiving an inventory task, the collaborative control module plans the patrol route based on the warehouse map and sends motion commands to the chassis motion control module. The chassis moves within the aisle according to the commands, while the multi-dimensional status perception module collects the chassis's motion parameters (e.g., speed 0.5m / s, steering angle 10°) and the robotic arm's status data (e.g., current joint angle, gripping force 0N) in real time.
[0075] As the robot approaches the target shelf, the collaborative control module dynamically adjusts the coordination strategy of the chassis movement and robotic arm operation based on the goods position information transmitted by the vision sensors. The chassis gradually decelerates to 0.1 m / s, while the robotic arm begins to extend, adjusting its extension speed according to the chassis's deceleration rhythm. When the chassis stops in front of the shelf, the robotic arm precisely aligns with the goods, and the force sensor provides real-time feedback on the gripping force, ensuring stable gripping of goods without damaging the packaging, achieving a 100% gripping success rate.
[0076] When encountering temporarily stacked goods (obstacles) in the passageway, the lidar detects the obstacle, and the multi-dimensional state perception module feeds the information back to the collaborative control module. The collaborative control module immediately instructs the chassis to decelerate and steer around the obstacle, while simultaneously controlling the robotic arm to retract to a safe position to avoid a collision. During the obstacle avoidance process, the chassis and robotic arm coordinate their movements in real time, with the robotic arm always remaining within a safe range. The entire obstacle avoidance process is smooth, without any shaking or operational errors.
[0077] After practical application testing, compared with the traditional collaborative operation method of patrol chassis and vehicles, the collaborative control of this application has improved the efficiency of warehouse inventory by 45%, the accuracy of abnormal cargo handling has reached 99%, and significantly reduced manual intervention. This fully demonstrates the practicality and superiority of this invention in achieving precise collaborative operation of patrol chassis and vehicles in closed scenarios.
[0078] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.
Claims
1. A closed-scene patrol chassis motion and vehicle cooperative operating system, characterized in that: Includes a collaborative control module: used for the coordinated control of patrol chassis movement and vehicle operation; Multi-dimensional state perception module: used to collect state information of chassis, vehicle and environment; Chassis motion control module: Receives chassis motion control commands from the collaborative control module, controls the actual movements of the patrol chassis through the execution components, and feeds back the actual motion status of the chassis to the collaborative control module through the multi-dimensional state perception module; Vehicle Operation Control Module: Receives vehicle operation control commands from the Cooperative Control Module, controls the vehicle's actions, and feeds back the vehicle's operation status to the Cooperative Control Module in real time through the multi-dimensional status perception module; Real-time communication module: used for high-speed data transmission between various modules of the system; Emergency Response Module: Monitors the operating status of each module in the system, receives abnormal signals, and triggers emergency measures.
2. The closed-scene patrol chassis motion and vehicle cooperative operating system according to claim 1, characterized in that: The multi-dimensional state perception module communicates with the collaborative control module through the real-time communication module; the collaborative control module communicates with the chassis motion control module and the vehicle operation control module through the real-time communication module; the chassis motion control module and the vehicle operation control module communicate with the multi-dimensional state perception module through the real-time communication module; the emergency response module communicates with the multi-dimensional state perception module, the collaborative control module, and the remote control center through the real-time communication module.
3. The closed-scene patrol chassis motion and vehicle cooperative operating system according to claim 1, characterized in that: The multi-dimensional state perception module consists of several sensors, including a chassis state sensor, a vehicle state sensor, and an environmental sensor. The chassis state sensor acquires the motion parameters of the chassis, the vehicle state sensor detects the operating state of the vehicle, and the environmental sensor perceives the environmental characteristics of the enclosed scene.
4. A method for creating a cooperative operating system for a patrol chassis and vehicle in a closed scene, characterized in that: Includes the following steps: Step 1: Construct a motion and operation collaborative control architecture. Through this architecture, the motion control of the patrol chassis and the operation control of the vehicle are deeply integrated to achieve collaborative control. Step 2: Establish a motion-operation coordination model, which dynamically adjusts the coordinated control of the chassis and vehicle when receiving real-time status and environmental information of the chassis and vehicle. Step 3: Construct a multi-dimensional state perception and feedback system to perceive the state data of the patrol chassis, vehicle, and environment in real time through the multi-dimensional state perception and feedback system; Step 4: Establish a real-time communication link to enable real-time transmission of control commands and status information between the chassis and the vehicle; Step 5: Establish an emergency response mechanism to trigger emergency measures when an abnormality in coordination is detected.
5. The method for creating a closed-scene patrol chassis motion and vehicle cooperative operating system according to claim 4, characterized in that: The collaborative control architecture includes a chassis motion control unit and a vehicle operation control unit. The two interact with each other in real time via a high-speed internal bus. The chassis motion control unit controls the speed, steering and attitude of the chassis according to the preset path and environmental information. The vehicle operation control unit controls the vehicle's movements according to mission requirements.
6. The method for creating a closed-scene patrol chassis motion and vehicle cooperative operating system according to claim 4, characterized in that: The motion-operation cooperative model models the relationship between the chassis motion parameters and the vehicle operation parameters. When the chassis motion state changes, a dynamic cooperative control algorithm is used to calculate the required adjustment amount for the vehicle.
7. A method for using a closed-scene patrol chassis motion and vehicle cooperative operating system, characterized in that: Includes the following steps: Step S1: The collaborative control module receives the job task instruction; Step S2: The multi-dimensional state perception module collects real-time state data of the chassis, vehicle and environment. After preprocessing and fusion, the collected real-time state data is transmitted to the collaborative control module. Step S3: Based on the state data provided by the multi-dimensional state perception module, the collaborative control module generates initial control commands for chassis motion and initial control commands for vehicle operation, and sends them to the chassis motion control module and the vehicle operation control module respectively. Step S4: The chassis motion control module receives and executes the initial control command for chassis motion from the collaborative control module. At the same time, the actual motion state of the chassis is fed back to the collaborative control module through the multi-dimensional state perception module. Step S5: The vehicle operation control module receives and executes the initial control command for vehicle operation from the collaborative control module. At the same time, the actual motion state of the vehicle is fed back to the collaborative control module through the multi-dimensional state perception module. Step S6: The collaborative control module dynamically adjusts the commands based on the actual motion status data fed back by the chassis motion control module and the vehicle operation control module to ensure accurate execution of collaborative operations; Step S7: Determine whether the emergency handling module has received a coordination anomaly signal. If yes, execute emergency measures; otherwise, repeat steps S2-S7 until the task instruction is completed.