Multi-device cooperative control error compensation method based on on-site general control system

Abstract

The present application relates to the technical field of error compensation, and discloses a multi-device cooperative control error compensation method based on a field general control system, comprising the following steps: step 1, taking a station, a warehouse area and a device position as a node, building a node flow, a relationship and communication; step 2, generating a token to a node, judging a process phase and a downstream task; step 3, taking a real-time deviation from a planned deviation, combining a time window and a phase to determine a release; step 4, when a release is a bottom or a first preferred unusable, sequentially trying a standby, and when all are unusable, detecting a material to determine a scheduling direction; step 5, avoiding and returning of a main task, obtaining an execution permission and a blocking body position; step 6, correcting according to a reference position, a tolerance and a step amount, and reaching a tolerance or changing a schedule; and step 7, integrating parameter hierarchical exceptions, executing relay control and outputting a result. The present application realizes global unified scheduling and error compensation of multiple devices in a complex operation environment, and guarantees the continuity and stability of system operation.

Description

Technical Field

[0001] This invention belongs to the field of error compensation technology, specifically relating to a method for error compensation in multi-device collaborative control based on a field central control system. Background Technology

[0002] In the development of intelligent manufacturing and smart logistics, production lines and warehousing processes typically involve the collaborative operation of multiple types of automated equipment, such as automated guided vehicles (AGVs), conveyors, elevators, and various workstation devices. As the scale of equipment expands and the complexity of tasks increases, relying solely on the local control of individual devices is insufficient to guarantee the overall system's coordination. Therefore, a comprehensive on-site control system is needed for global scheduling and unified management. However, existing technologies still have significant shortcomings in multi-device collaborative control, particularly in error accumulation and anomaly handling.

[0003] Currently, most common systems employ a plan-driven scheduling model. However, in actual operation, the actual arrival time of equipment often deviates from the planned arrival time, causing phase misalignment between upstream and downstream tasks and affecting the continuity of processes. Simultaneously, at docking nodes, issues such as positional errors, path congestion, or uneven resource allocation frequently occur, further weakening the efficiency of collaborative control. Due to the lack of a robust error compensation mechanism, systems often have to resort to manual intervention or shutdown to resolve these problems, easily leading to production rhythm disruptions and impacting the overall stability and reliability of operation. Furthermore, existing scheduling strategies, when encountering resource unavailability, mostly rely on static switching or fixed rule allocation, lacking a dynamic chain-like fallback mechanism, making it difficult to maintain continuous task execution under abnormal operating conditions. Summary of the Invention

[0004] This invention provides a method for error compensation in multi-device collaborative control based on a field central control system, which solves the technical problems in related technologies such as lack of unified scheduling during multi-device operation, error accumulation leading to process misalignment, lack of fallback mechanism for unavailable resources, and imperfect anomaly handling.

[0005] This invention provides a method for error compensation in multi-device collaborative control based on a field central control system, comprising the following steps:

[0006] Step 1: Establish node flow, node relationship and communication channel by taking the workstation, warehouse area and equipment location as nodes;

[0007] Step 2: Generate an in token when the device arrives at the node and an out token when the device leaves the node. Determine the process phase deviation status and the downstream device task status based on the token status of the upstream and downstream devices.

[0008] Step 3: Calculate the time deviation based on the actual arrival time and planned arrival time of the equipment, and determine the equipment release status by combining the normal release window threshold, the fallback window threshold, and the process phase deviation status.

[0009] Step 4: When the equipment release status is switched to chain resource fallback or the preferred resource is unavailable, try backup resources in sequence according to the chain resource candidate set; when all backup resources are unavailable, determine the equipment scheduling direction based on the material detection results.

[0010] Step 5: Based on the node flow, generate a pre-avoidance task before the main task is executed, and generate a post-return task after the main task is completed, so as to obtain the main task execution permission and the position status of the blocking body.

[0011] Step 6: Based on the reference position, alignment tolerance, single step size, and maximum number of retries of the key docking nodes, determine the spatial deviation and perform step adjustment until the alignment tolerance is met; otherwise, adjust the equipment scheduling direction.

[0012] Step 7: Integrate process phase deviation status, time deviation, equipment release status, resource allocation results, main task execution permission, blockage position status and spatial deviation, perform relay control and anomaly handling according to the anomaly classification standard, and output collaborative execution results and anomaly handling records.

[0013] Furthermore, workstations, warehouse areas, and equipment are treated as nodes, and node flows, node relationships, and communication channels are established, including:

[0014] Step 11: Abstract the workstations, warehouse areas, and equipment locations into nodes to obtain a set of nodes, and define the location coordinates, function type, and available status for each node; where the function type includes caching, detection, storage, or docking, and the available status includes available, occupied, or locked.

[0015] Step 12: Establish node flows between the node sets according to business flow requirements to obtain a node flow set, and configure flow direction attributes and business conditions for each node flow. The flow direction attributes include: one-way and two-way, and the business conditions include: detection qualified, detection unqualified, task completed and task not completed.

[0016] Step 13: Establish node relationships based on the node set and node flow set to obtain a node relationship set, and set direction attribute, occupation attribute and trigger attribute for each node relationship; wherein, the occupation attribute includes: mutual exclusion occupation and concurrent occupation, and the trigger attribute includes: arrival trigger and departure trigger;

[0017] Step 14: Establish a set of communication channels, including communication channels with the warehouse management system, warehouse control system, automated guided vehicles, conveyors, elevators and workstation equipment, and set protocol parameters, status parameters and reconnection strategy parameters for each communication channel.

[0018] Furthermore, the determination of the process phase deviation state and the downstream equipment task state includes:

[0019] Step 21: When the physical device arrives at the corresponding node, an in token is generated, and the node identifier and arrival time are recorded; when the physical device leaves the corresponding node, an out token is generated, and the node identifier and departure time are recorded.

[0020] Step 22: Determine the process phase deviation state based on the generation status of the upstream node's outgoing token and the downstream node's incoming token. When both the upstream node's outgoing token and the downstream node's incoming token have been generated and the time difference is within a preset time difference threshold range, it is determined to be synchronized. When the downstream node's incoming token has been generated but the upstream node's outgoing token has not been generated, it is determined that the downstream node arrived first. When the upstream node's outgoing token has been generated but the downstream node's incoming token has not been generated, it is determined that the upstream node has not released the token. The generation status includes: generated and not generated.

[0021] Step 23: Determine the downstream device task status based on the process phase deviation status. When the process phase deviation status is synchronized, a downstream device task is generated. When the process phase deviation status is downstream arrives first, the downstream device task is suspended. When the process phase deviation status is upstream not released, no downstream device task is generated.

[0022] Furthermore, the determination of time deviation and equipment release status includes:

[0023] Step 31: Calculate the time deviation based on the difference between the actual arrival time and the planned arrival time of the equipment. A positive time deviation indicates lateness, zero indicates on-time, and a negative time deviation indicates early arrival.

[0024] Step 32: Compare the time deviation with the normal release window threshold and the fallback window threshold, and make a judgment based on the process phase deviation status. If the process phase deviation status is not synchronized, then even if the time deviation is less than or equal to the normal release window threshold, it will not be judged as direct release.

[0025] Step 33: When the time deviation is less than or equal to the normal release window threshold and the process phase deviation status is synchronized, the equipment release status is determined to be direct release; when the time deviation is greater than the normal release window threshold but not exceeding the fallback window threshold, the equipment release status is determined to be buffer waiting, and the downstream equipment task is put into the waiting queue; when the time deviation is greater than the fallback window threshold, the equipment release status is determined to be transferred to chain resource fallback; the equipment release status includes: direct release, buffer waiting, and transferred to chain resource fallback.

[0026] Furthermore, step 4 specifically includes:

[0027] Step 41: When the device release status is switched to chain resource fallback or the preferred resource is unavailable, the chain resource fallback logic is triggered. The preferred resource is the target resource set by the main task scheduling. The triggering method is to trigger it immediately during the release determination stage.

[0028] Step 42: Based on the chained resource candidate set, the availability of backup resources is detected in sequence according to a preset priority order. When a backup resource is online, idle, or has normal communication, it is determined to be available. If the backup resource with the highest priority is detected to be available, the backup resource is selected and a resource allocation result is generated.

[0029] Step 43: When all backup resources in the candidate set are unavailable, obtain the material detection results. When the material detection results are qualified, determine the equipment scheduling direction as the preset buffer area and select according to the availability priority of the buffer area. When the material detection results are unqualified or uncertain, determine the equipment scheduling direction as the abnormal workstation and output the equipment scheduling direction as the final resource allocation result. The material detection results include: qualified, unqualified and uncertain.

[0030] Furthermore, the process of generating the main task execution permission and the blocking body position state includes:

[0031] Step 51: Based on the node flow and occupancy status, use a graph search algorithm to identify the blockages on the main task path and generate a prior avoidance task for each blockage. The occupancy status includes: occupied and unoccupied. The graph search algorithm is used to find the path segment containing the blockage in the node flow.

[0032] Step 52: When the obstruction body completes the preliminary avoidance task and the process phase deviation state is synchronized, and the main task path is confirmed to have a feasible path based on the graph search algorithm, the main task execution permission is output. The main task execution permission includes: allowed and not allowed, which is transmitted in the form of task execution identifier.

[0033] Step 53: After the main task is completed, a follow-up return task is generated for the blocked body, and the position status of the blocked body is output during the return process. The position status of the blocked body is stored and transmitted in the form of a triple. The triple includes the initial position, the avoidance position, and the return position of the blocked body. The avoidance position is determined by a graph search algorithm as the optimal avoidance node in the feasible path.

[0034] Furthermore, step 6 specifically includes:

[0035] Step 61: Obtain the reference position and actual position of the key docking node. Calculate the Euclidean distance between the two in the three-dimensional coordinate system as the spatial deviation. Set the deviation threshold as the alignment tolerance. Compare the spatial deviation with the alignment tolerance. When the spatial deviation is less than or equal to the alignment tolerance, the alignment is determined to be complete.

[0036] Step 62: When the spatial deviation is greater than the alignment tolerance, perform position adjustment in the direction of the reference position according to the single step amount, and recalculate the spatial deviation after adjustment until the spatial deviation is less than or equal to the alignment tolerance or the number of executions reaches the maximum number of retries.

[0037] Step 63: When the number of executions reaches the maximum number of retries and the spatial deviation is still greater than the alignment tolerance, determine the equipment scheduling direction according to the rule of prioritizing the selection of the preset buffer and selecting the abnormal workstation when the buffer is unavailable.

[0038] Furthermore, step 7 specifically includes:

[0039] Step 71: In the node flow, the relay link is split into independent link segments, and before each link segment is connected, the process phase deviation status and time deviation are checked, spatial deviation calibration and step adjustment are performed, and release is performed or backup resources are tried according to the equipment release status and resource allocation results.

[0040] Step 72: Classify the anomaly level into mild anomaly, moderate anomaly and severe anomaly. When there is a mild anomaly, retry is performed. When there is a moderate anomaly, chained resource allocation is performed. When there is a severe anomaly, the current path is terminated.

[0041] Step 73: Observe the running status in real time through task monitoring, instruction monitoring, line monitoring and interface monitoring, record the handling actions and results and output the collaborative execution results.

[0042] Furthermore, the triggering conditions for the anomaly classification include:

[0043] A severe anomaly is defined as follows: the main task execution permission is not allowed; the equipment release status is transferred to the chain resource fallback and the resource allocation result is transferred to an abnormal workstation or not allocated; the spatial deviation is greater than the alignment tolerance and the maximum number of retries has been reached.

[0044] A moderate anomaly is defined as any of the following: the time deviation is greater than the fallback window threshold; the preferred resource is unavailable, causing a switch to the preset cache; or there is an unreturned block.

[0045] The following conditions are considered minor anomalies: time deviation is between the normal release window threshold and the fallback window threshold; process phase deviation is in synchronization status; main task execution permission is allowed; spatial deviation is within the alignment tolerance.

[0046] When multiple level conditions are met, the abnormality level is determined in the order of severe over moderate, and moderate over mild.

[0047] The beneficial effects of this invention are as follows: It enables comprehensive management of the operational status of multiple types of automated equipment within a unified scheduling framework; it effectively avoids process misalignment by implementing phase verification of upstream and downstream equipment tasks through node flow and token mechanisms; it ensures task cycle consistency through dynamic determination of time deviation and release status; it ensures continuous operation even when the primary resource is unavailable through chained resource backup and priority allocation of backup resources; it improves the flexibility and robustness of path scheduling by identifying blockages and generating avoidance and return tasks through graph search algorithms; it enhances the reliability of key docking links by achieving alignment accuracy compensation through spatial deviation calibration and step adjustment; and it significantly reduces the impact of anomaly propagation on the overall system by establishing a differentiated handling mechanism through anomaly classification and relay control. Overall, this invention enables efficient collaborative operation of multiple devices based on a field control system and possesses a comprehensive error compensation mechanism, thereby improving system stability and task completion rate. Attached Figure Description

[0048] Figure 1 This is a flowchart of the multi-device collaborative control error compensation method based on the field master control system of the present invention. Detailed Implementation

[0049] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0050] like Figure 1 As shown, the multi-device collaborative control error compensation method based on the field master control system includes the following steps:

[0051] Step 1: Establish node flow, node relationship and communication channel by taking the workstation, warehouse area and equipment location as nodes;

[0052] Step 2: Generate an in token when the device arrives at the node and an out token when the device leaves the node. Determine the process phase deviation status and the downstream device task status based on the token status of the upstream and downstream devices.

[0053] Step 3: Calculate the time deviation based on the actual arrival time and planned arrival time of the equipment, and determine the equipment release status by combining the normal release window threshold, the fallback window threshold, and the process phase deviation status.

[0054] Step 4: When the equipment release status is switched to chain resource fallback or the preferred resource is unavailable, try backup resources in sequence according to the chain resource candidate set; when all backup resources are unavailable, determine the equipment scheduling direction based on the material detection results.

[0055] Step 5: Based on the node flow, generate a pre-avoidance task before the main task is executed, and generate a post-return task after the main task is completed, so as to obtain the main task execution permission and the position status of the blocking body.

[0056] Step 6: Based on the reference position, alignment tolerance, single step size, and maximum number of retries of the key docking nodes, determine the spatial deviation and perform step adjustment until the alignment tolerance is met; otherwise, adjust the equipment scheduling direction.

[0057] Step 7: Integrate process phase deviation status, time deviation, equipment release status, resource allocation results, main task execution permission, blockage position status and spatial deviation, perform relay control and anomaly handling according to the anomaly classification standard, and output collaborative execution results and anomaly handling records.

[0058] In one embodiment of the present invention, workstations, warehouse areas, and equipment are treated as nodes, and node flows, node relationships, and communication channels are established, including:

[0059] Step 11: Abstract workstations, storage areas, and equipment locations into nodes, resulting in a node set. Define the location coordinates, function type, and occupancy status for each node. The function type distinguishes the node's role in the business process, including caching, detection, storage, or docking. The occupancy status includes available, occupied, or locked. Specifically, a node is a logical point in the business process that can be identified, triggered, or its status recorded. It is not limited to physical location but is a logical abstraction of the actual work location. A workstation node can represent a processing or operation location, a storage area node can represent a material storage or caching area, and an equipment location node can represent the docking point of equipment such as automated guided vehicles, conveyors, or elevators.

[0060] Step 12: Establish node flows between the node sets according to business flow requirements to obtain a node flow set. Configure flow direction attributes and business conditions for each node flow. Here, a node flow refers to the logical connection relationship from one node to another, used to represent the transfer direction of materials, equipment, or tasks. Flow direction attributes include: unidirectional and bidirectional. Unidirectional means that flow is only allowed from the starting node to the target node, and bidirectional means that bidirectional round trip is allowed. Business conditions are used to describe the triggering conditions when node flow occurs, including: inspection passed, inspection failed, task completed, and task not completed.

[0061] Step 13: Establish node relationships based on the node set and node flow set to obtain a node relationship set, which is used to describe more complex constraint logic between nodes. Set direction attributes, occupancy attributes, and trigger attributes for each node relationship. Occupancy attributes include: mutual exclusion occupancy and concurrent occupancy. Mutual exclusion occupancy means that only one task or device is allowed to occupy the node at a time, while concurrent occupancy means that multiple tasks or devices are allowed to use the node simultaneously. Trigger attributes include: arrival trigger and departure trigger. Arrival trigger means that an event is triggered when a device arrives at the node, and departure trigger means that an event is triggered when a device leaves the node. Through the configuration of the above node relationships, complex business scenarios can be modeled and constrained, ensuring logical consistency and security during operation.

[0062] Step 14: Establish a set of communication channels to enable nodes to interact with external systems and equipment. These communication channels include those with the warehouse management system, warehouse control system, automated guided vehicles, conveyors, elevators, and workstation equipment. Protocol parameters, status parameters, and reconnection strategy parameters are set for each communication channel. The protocol parameters define the protocol type used for communication; the status parameters describe the current state of the channel, such as enabled, disabled, or abnormal; and the reconnection strategy parameters specify the recovery method when communication is interrupted, such as immediate retries or an exponential backoff reconnection mechanism. By establishing these communication channels, real-time data exchange and task distribution between nodes and various devices and control systems are achieved, ensuring overall interoperability and controllability.

[0063] In one embodiment of the present invention, the determination of the process phase deviation state and the downstream device task state includes:

[0064] Step 21: When a physical device arrives at a corresponding node, an incoming token is generated, recording the node identifier and arrival time; when a physical device leaves a corresponding node, an outgoing token is generated, recording the node identifier and departure time. Specifically, a token is a logical identifier generated by the system during device operation, used to mark the time when the device arrives at or leaves a node. An incoming token indicates the event of a device arriving at a node, and an outgoing token indicates the event of a device leaving a node. By generating incoming and outgoing tokens, a complete set of time stamps can be formed to characterize the movement process of the device between nodes.

[0065] Step 22: Determine the process phase deviation state based on the generation status of the upstream node's outgoing token and the downstream node's incoming token. When both the upstream node's outgoing token and the downstream node's incoming token have been generated and the time difference is within a preset time difference threshold, it is determined to be synchronized, indicating that the upstream and downstream devices have achieved time coordination. When the downstream node's incoming token has been generated but the upstream node's outgoing token has not been generated, it is determined that the downstream has arrived first. When the upstream node's outgoing token has been generated but the downstream node's incoming token has not been generated, it is determined that the upstream has not released the token, indicating that the upstream device has released the token but the downstream device has not continued, and there is a process breakpoint. The generation status refers to whether the token has been generated, including: generated and not generated.

[0066] Step 23: Determine the downstream device task status based on the process phase deviation state. The downstream device task status refers to the system's control logic for whether to assign tasks to downstream devices. When the process phase deviation state is synchronized, a downstream device task is generated to ensure task continuity. When the process phase deviation state is that the downstream arrives first, the downstream device task is suspended and placed in a waiting queue to avoid resource conflicts caused by premature execution. When the process phase deviation state is that the upstream has not released the task, no downstream device task is generated to ensure that unfinished upstream tasks are not preempted by downstream tasks. In this way, the task triggering logic of downstream devices and the phase deviation state achieve a strict correspondence, ensuring the coordinated operation of the overall process.

[0067] This embodiment, by introducing a token mechanism and phase determination logic, can precisely control the timing relationship between devices at nodes, avoiding task misalignment or resource conflicts between upstream and downstream devices. Simultaneously, through dynamic control of the downstream task status, this invention can adopt differentiated processing measures under different phase states, thereby improving the robustness and controllability of multi-device collaborative scheduling.

[0068] In one embodiment of the present invention, the determination of time deviation and equipment release status includes:

[0069] Step 31: Calculate the time deviation based on the difference between the actual arrival time and the planned arrival time of the equipment. The actual arrival time of the equipment is the actual timestamp when the equipment arrives at the corresponding node, and the planned arrival time of the equipment is the planned timestamp preset by the system. A positive time deviation indicates lateness, zero indicates on-time, and a negative time deviation indicates early arrival.

[0070] Step 32: Compare the time deviation with the normal release window threshold and the fallback window threshold, and make a judgment based on the process phase deviation status. If the process phase deviation status is not synchronized, then even if the time deviation is less than or equal to the normal release window threshold, it will not be judged as direct release. The normal release window threshold and the fallback window threshold are parameters preset by the system and loaded during the scheduling configuration phase. The normal release window threshold is used to determine the maximum time difference that can be directly released, and the fallback window threshold is used to determine the maximum tolerable time difference that can still be handled by the buffer mechanism or backup path when the normal release conditions are exceeded.

[0071] Step 33: When the time deviation is less than or equal to the normal release window threshold and the process phase deviation status is synchronized, the equipment release status is determined to be direct release, and the equipment can immediately enter the next node to execute the task; when the time deviation is greater than the normal release window threshold but not exceeding the fallback window threshold, the equipment release status is determined to be buffer waiting, and the downstream equipment task is put into the waiting queue, while recording the maximum waiting time parameter; when the time deviation is greater than the fallback window threshold or the process phase deviation status is downstream first or upstream not released, the equipment release status is determined to be transferred to chain-based resource fallback, and the system scheduling logic reallocates spare resources or adjusts the equipment flow path; the equipment release status includes: direct release, buffer waiting, and transfer to chain-based resource fallback; the transfer to chain-based resource fallback refers to a spare resource allocation mechanism, which attempts spare resources in a priority chain, and then determines the final scheduling direction in combination with the material detection results, thereby avoiding task failure or resource waste.

[0072] Through the above implementation process, the present invention can dynamically adjust the release strategy of the equipment according to the time deviation while ensuring the consistency of the process phase, thereby avoiding task conflicts and resource waste caused by the early or late arrival of the equipment; through the joint judgment mechanism of time deviation and time window threshold, the control logic of equipment release is made more refined and controllable, and the stability of multi-equipment collaborative operation is improved.

[0073] In one embodiment of the present invention, step 4 specifically includes:

[0074] Step 41: When the device release status is switched to chain resource fallback or the preferred resource is unavailable, the chain resource fallback logic is triggered. The preferred resource is the target resource set by the main task scheduling. The triggering method is to trigger it immediately in the release determination stage to avoid the device waiting for a long time and causing task blockage.

[0075] Step 42: Based on the chained resource candidate set, the availability of backup resources is detected sequentially according to a preset priority order. When a backup resource is online, idle, or has normal communication, it is determined to be available. If the backup resource with the highest priority is detected to be available, the backup resource is selected and a resource allocation result is generated. Specifically, the backup resource candidate set is a set of alternative resources defined by the system during the configuration phase, such as multiple unloading ports or buffer areas.

[0076] Step 43: When all backup resources in the candidate set are unavailable, obtain the material detection results to further determine the scheduling direction of the equipment. When the material detection results are qualified, the equipment scheduling direction is determined as the preset buffer area, and selection is made according to the availability priority of the buffer area. When the material detection results are unqualified or uncertain, the equipment scheduling direction is determined as the abnormal workstation to ensure that abnormal materials can be isolated and processed, and the equipment scheduling direction is output as the final resource allocation result. The material detection results include: qualified, unqualified, and uncertain.

[0077] Through the above steps, this embodiment realizes a multi-level fallback compensation mechanism for equipment release and resource scheduling, which can dynamically adjust the execution path under complex working conditions; through unified coordination by the on-site central control system, real-time error compensation in multi-device collaborative control is realized, avoiding global interruption caused by single-point resource failure, thereby improving the stability and task completion rate of multi-device collaborative scheduling.

[0078] In one embodiment of the present invention, the process of generating the main task execution permission and the blocking body position state includes:

[0079] Step 51: Based on the node flow and occupancy status, a graph search algorithm is used to identify the blockages on the main task path and generate a preliminary avoidance task for each blockage. The occupancy status includes: occupied and unoccupied. The graph search algorithm is used to find the path segment containing the blockage in the node flow. The preliminary avoidance task is to move the blockage to a temporary buffer, release the node, or suspend the current job. The blockage refers to the equipment, workstation, or buffer in the node flow that is in an occupied state and whose existence will hinder the smooth execution of the main task path.

[0080] The preferred graph search algorithm is... The search algorithm takes the starting and target nodes of the main task path as input and finds feasible paths by performing heuristic search on the node flow. During the search process, if a node is occupied or an edge is temporarily blocked, the node or edge is marked as a blockage. A comprehensive cost framework is constructed based on a weighted sum of path length, communication link packet loss rate, and historical queuing length. The search algorithm can converge to a high-quality path with fewer traversal steps and identify the relevant nodes as blockages when the path is found to be unreachable or the cost is abnormally high.

[0081] The pre-emptive avoidance task includes three forms: temporarily moving the blocking body to the buffer area to release the main path node; directly releasing the occupied node; when the blocking body is a device, suspending the current job of the device to wait for the condition to be met;

[0082] Step 52: When the obstruction body completes the preliminary avoidance task and the process phase deviation state is synchronized, and a feasible path for the main task is confirmed based on the graph search algorithm, the main task execution permission is output. The main task execution permission is a task control signal generated by the system, including: allow and disallow, which is transmitted in the form of a task execution identifier to trigger the start of the main task. This step ensures that the main task can only start under the condition that the path is unobstructed and the upstream and downstream timings are synchronized, thereby maintaining the coordination and consistency of multiple devices globally and avoiding erroneous execution caused by uncleared paths or misaligned timings.

[0083] Step 53: After the main task is completed, a follow-up return task is generated for the blocked body, and the position status of the blocked body is output during the return process. The position status of the blocked body is stored and transmitted in the form of triples. The triples include the initial position of the blocked body, the avoidance position, and the return position. The avoidance position is determined by a graph search algorithm as the optimal avoidance node in the feasible path to ensure that the return path is the shortest or optimal. This step avoids path disorder caused by the blocked body failing to return or returning incorrectly, further compensates for the deviation generated during the execution process, and ensures the stability and consistency of multi-device collaborative operation.

[0084] Through the above process, under the unified scheduling of the on-site central control system, this embodiment realizes the active identification and dynamic processing of the main task path blockage, and ensures the smooth path and controllability of the task in the multi-device collaborative control by precisely controlling the execution permission and location status.

[0085] In one embodiment of the present invention, step 6 specifically includes:

[0086] Step 61: Obtain the reference position and actual position of the key docking node. Calculate the Euclidean distance between them in a three-dimensional coordinate system as the spatial deviation. Set a deviation threshold as the alignment tolerance. Compare the spatial deviation with the alignment tolerance. When the spatial deviation is less than or equal to the alignment tolerance, the alignment is considered complete. The reference position is a pre-set target coordinate point, usually determined by process requirements or docking point design. The key docking node refers to the location node where task handover, material transfer, or action alignment must occur between devices or between devices and workstations during multi-device collaborative operation. Key docking nodes are typically located at the junctions of process flows, such as the junction of an automated guided vehicle and a conveyor, the interface between a conveyor and a hoist, or the docking interface between equipment and a workstation. This step effectively avoids collaboration failure caused by excessive alignment errors.

[0087] Step 62: When the spatial deviation is greater than the alignment tolerance, perform position adjustment in the direction of the reference position according to the single step amount, and recalculate the spatial deviation after adjustment until the spatial deviation is less than or equal to the alignment tolerance or the number of executions reaches the maximum number of retries; the single step amount is the maximum controllable displacement that the equipment can complete in one control cycle.

[0088] Step 63: When the number of executions reaches the maximum number of retries and the spatial deviation is still greater than the alignment tolerance, the device scheduling direction is determined according to the rule of prioritizing the selection of the preset buffer and selecting the abnormal workstation when the buffer is unavailable. In this way, it is ensured that the device can still exit the main task path according to the preset logic when the alignment fails, so as to avoid affecting the execution of other device tasks.

[0089] Through the above steps, the present invention can achieve high-precision alignment compensation for key docking nodes under the field control system, and provide a reasonable backup scheduling path when the equipment cannot meet the alignment conditions; it ensures the robustness and continuity of the system in complex scenarios, thereby realizing the organic combination of error compensation and collaborative control.

[0090] In one embodiment of the present invention, step 7 specifically includes:

[0091] Step 71: In the node flow, the relay link is split into independent link segments. Before each link segment is connected, the process phase deviation status and time deviation are checked, spatial deviation calibration and step adjustment are performed, and the connection is made based on the device release status and resource allocation results, or backup resources are tried according to the chained resource candidate set. Each link segment consists of consecutive nodes and their communication relationships, serving as a relay link segment. The process phase deviation status and time deviation are checked to ensure consistency of upstream and downstream devices in time and sequence. Spatial deviation calibration and step adjustment are performed to ensure that the connection position is within the allowable alignment tolerance range. The decision on whether to directly release the connection is made based on the device release status and resource allocation results. If the preferred resource is unavailable, backup resources are tried sequentially according to the chained resource candidate set. By independently checking each link segment, the executability of the task flow can be guaranteed segment by segment during the relay process, thereby avoiding the complete interruption of the overall task due to a single point of failure.

[0092] Step 72: The anomaly level is divided into mild anomaly, moderate anomaly, and severe anomaly. When a mild anomaly occurs, a retry is performed, and the task is rescheduled or recalibrated. When a moderate anomaly occurs, a chained resource allocation is performed, and the task execution is maintained through backup resources or fallback logic. When a severe anomaly occurs, the current path is terminated to prevent the anomaly from spreading globally. By combining anomaly classification with corresponding handling measures, an orderly response to different anomalies can be achieved, improving the robustness and flexibility of the system.

[0093] Step 73 involves real-time monitoring of the operational status through task monitoring, instruction monitoring, line monitoring, and interface monitoring. Actions and results are recorded, and collaborative execution results are output. The monitoring results include not only the task scheduling status and execution identifier, but also communication link status, interface response status, and line availability.

[0094] Through the above steps, this embodiment can realize relay-style segmented verification during the execution of node flow, and realize the graded handling and recording of anomalies through an anomaly classification and multi-dimensional monitoring mechanism; it ensures the stable execution of multi-device collaborative tasks under complex working conditions, and even if some anomalies occur, they can be resolved through reasonable classification strategies and relay control, thereby improving the error compensation capability and overall execution efficiency of the field control system.

[0095] In one embodiment of the present invention, the triggering conditions for the anomaly classification include:

[0096] The following conditions are considered a severe anomaly: The main task execution permission is not allowed, meaning the main task cannot start because the obstruction failed to avoid it or the path is infeasible; the device release status is switched to chain resource fallback and the resource allocation result is switched to an abnormal workstation or not allocated, indicating that the system can no longer find normal execution resources for the device; the spatial deviation is greater than the alignment tolerance and the maximum number of retries has been reached, indicating that the device cannot complete alignment within the limited number of adjustments, posing a serious risk of docking failure.

[0097] The following situations are considered moderate anomalies: 1) Time deviation exceeds the fallback window threshold, indicating that the equipment arrival time has significantly exceeded the allowable range, potentially affecting the overall task cycle time; 2) The primary resource is unavailable, causing a switch to the preset buffer. Although the task can be executed, it requires a backup path; 3) There are unreturned blockages, indicating that previously avoided equipment or materials have not yet returned to their original positions, resulting in the failure to restore path resources. These situations indicate that the system still has a certain task execution capability, but it needs to rely on chained resource allocation or a fallback mechanism to maintain operation, and are therefore classified as moderate anomalies.

[0098] The following conditions are considered as a minor anomaly: the time deviation is between the normal release window threshold and the fallback window threshold; the process phase deviation status is synchronized, indicating that the upstream and downstream timing relationship between devices has not been disrupted; the main task execution permission is allowed, indicating that the main task logically has the conditions to execute; the spatial deviation is within the alignment tolerance.

[0099] When multiple level conditions are met, the abnormality level is determined in the order of severe over moderate, and moderate over mild.

[0100] By setting the above-mentioned abnormality classification trigger conditions, this embodiment achieves full-link abnormality coverage from slight cycle deviation to severe resource unavailability, and can implement targeted processing according to the level difference; it ensures the rapid identification and reasonable classification of abnormal situations during multi-device collaborative control, thereby providing a clear basis for subsequent relay control and abnormal handling, and improving the intelligence and robustness of the field master control system.

[0101] It should be noted that the interval and threshold sizes are set for ease of comparison. The size of the threshold depends on the amount of sample data and the base number set by those skilled in the art for each set of sample data, as long as it does not affect the proportional relationship between the parameter and the quantized value. Furthermore, the above formulas are all dimensionless calculations, and the formulas are derived from software simulations using a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0102] The embodiments of the present invention have been described above, but the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms based on the guidance of the present embodiments, all of which are within the protection scope of the present embodiments.

Claims

1. A method for error compensation in multi-device collaborative control based on a field central control system, characterized in that, Includes the following steps: Step 1: Establish node flow, node relationship and communication channel by taking the workstation, warehouse area and equipment location as nodes; Step 2: Generate an inbound token when the device arrives at the node and an outbound token when the device leaves the node. Determine the process phase deviation status and downstream device task status based on the token statuses of upstream and downstream devices, including: Step 21: When the physical device arrives at the corresponding node, an in token is generated, and the node identifier and arrival time are recorded; when the physical device leaves the corresponding node, an out token is generated, and the node identifier and departure time are recorded. Step 22: Determine the process phase deviation state based on the generation status of the upstream node's outgoing token and the downstream node's incoming token. When both the upstream node's outgoing token and the downstream node's incoming token have been generated and the time difference is within a preset time difference threshold range, it is determined to be synchronized. When the downstream node's incoming token has been generated but the upstream node's outgoing token has not been generated, it is determined that the downstream node arrived first. When the upstream node's outgoing token has been generated but the downstream node's incoming token has not been generated, it is determined that the upstream node has not released the token. The generation status includes: generated and not generated. Step 23: Determine the downstream device task status based on the process phase deviation status. When the process phase deviation status is synchronized, a downstream device task is generated. When the process phase deviation status is downstream arrives first, the downstream device task is suspended. When the process phase deviation status is upstream not released, no downstream device task is generated. Step 3: Calculate the time deviation based on the actual arrival time and planned arrival time of the equipment. Combine this with the normal release window threshold, the fallback window threshold, and the process phase deviation status to determine the equipment release status, including: Step 31: Calculate the time deviation based on the difference between the actual arrival time and the planned arrival time of the equipment. A positive time deviation indicates lateness, zero indicates on-time, and a negative time deviation indicates early arrival. Step 32: Compare the time deviation with the normal release window threshold and the fallback window threshold, and make a judgment based on the process phase deviation status. If the process phase deviation status is not synchronized, then even if the time deviation is less than or equal to the normal release window threshold, it will not be judged as direct release. Step 33: When the time deviation is less than or equal to the normal release window threshold and the process phase deviation status is synchronized, the equipment release status is determined to be direct release; when the time deviation is greater than the normal release window threshold but not greater than the fallback window threshold, the equipment release status is determined to be buffer waiting, and the downstream equipment task is put into the waiting queue; when the time deviation is greater than the fallback window threshold, the equipment release status is determined to be transferred to chain resource fallback; the equipment release status includes: direct release, buffer waiting, and transferred to chain resource fallback. Step 4: When the equipment release status is switched to chain resource fallback or the preferred resource is unavailable, try backup resources in sequence according to the chain resource candidate set; when all backup resources are unavailable, determine the equipment scheduling direction based on the material detection results. Step 5: Based on the node flow, generate a pre-avoidance task and a post-return task before and after the main task is executed, respectively, to obtain the main task execution permission and the position status of the blocking body. Step 6: Based on the reference position, alignment tolerance, and single step size of the key docking nodes, determine the spatial deviation and perform step adjustments until the alignment tolerance is met; otherwise, adjust the equipment scheduling direction, including: Step 61: Obtain the reference position and actual position of the key docking node. Calculate the Euclidean distance between the two in the three-dimensional coordinate system as the spatial deviation. Set the deviation threshold as the alignment tolerance. Compare the spatial deviation with the alignment tolerance. When the spatial deviation is less than or equal to the alignment tolerance, the alignment is determined to be complete. Step 62: When the spatial deviation is greater than the alignment tolerance, perform position adjustment in the direction of the reference position according to the single step amount, and recalculate the spatial deviation after adjustment until the spatial deviation is less than or equal to the alignment tolerance or the number of executions reaches the maximum number of retries. Step 63: When the number of executions reaches the maximum number of retries and the spatial deviation is still greater than the alignment tolerance, determine the equipment scheduling direction according to the rule of prioritizing the selection of the preset buffer and selecting the abnormal workstation when the buffer is unavailable. Step 7: Integrate process phase deviation status, time deviation, equipment release status, resource allocation results, main task execution permission, blockage position status and spatial deviation, determine the anomaly level, and perform relay control and anomaly handling according to the anomaly classification standard, and output collaborative execution results and anomaly handling records.

2. The multi-device collaborative control error compensation method based on a field control system according to claim 1, characterized in that, Workstations, warehouse areas, and equipment are treated as nodes, and node flows, node relationships, and communication channels are established, including: Step 11: Abstract the workstations, warehouse areas, and equipment locations into nodes to obtain a set of nodes, and define the location coordinates, function type, and available status for each node; where the function type includes caching, detection, storage, or docking, and the available status includes available, occupied, or locked. Step 12: Establish node flows between the node sets according to business flow requirements to obtain a node flow set, and configure flow direction attributes and business conditions for each node flow. The flow direction attributes include: one-way and two-way, and the business conditions include: detection qualified, detection unqualified, task completed and task not completed. Step 13: Establish node relationships based on the node set and node flow set to obtain a node relationship set, and set direction attribute, occupation attribute and trigger attribute for each node relationship; wherein, the occupation attribute includes: mutual exclusion occupation and concurrent occupation, and the trigger attribute includes: arrival trigger and departure trigger; Step 14: Establish a set of communication channels, including communication channels with the warehouse management system, warehouse control system, automated guided vehicles, conveyors, elevators and workstation equipment, and set protocol parameters, status parameters and reconnection strategy parameters for each communication channel.

3. The multi-device collaborative control error compensation method based on a field central control system according to claim 1, characterized in that, Step 4 specifically includes: Step 41: When the device release status is switched to chain resource fallback or the preferred resource is unavailable, the chain resource fallback logic is triggered. The preferred resource is the target resource set by the main task scheduling. The triggering method is to trigger it immediately during the release determination stage. Step 42: Based on the chained resource candidate set, the availability of backup resources is detected in sequence according to a preset priority order. When a backup resource is online, idle, or has normal communication, it is determined to be available. If the backup resource with the highest priority is detected to be available, the backup resource is selected and a resource allocation result is generated. Step 43: When all backup resources in the candidate set are unavailable, obtain the material detection results. When the material detection results are qualified, determine the equipment scheduling direction as the preset buffer area and select according to the availability priority of the buffer area. When the material detection results are unqualified or uncertain, determine the equipment scheduling direction as the abnormal workstation and output the equipment scheduling direction as the final resource allocation result. The material detection results include: qualified, unqualified and uncertain.

4. The multi-device collaborative control error compensation method based on a field control system according to claim 1, characterized in that, The process of generating the main task execution permission and blocking body position state includes: Step 51: Based on the node flow and occupancy status, use a graph search algorithm to identify the blockages on the main task path and generate a prior avoidance task for each blockage. The occupancy status includes: occupied and unoccupied. The graph search algorithm is used to find the path segment containing the blockage in the node flow. Step 52: When the obstruction body completes the preliminary avoidance task and the process phase deviation state is synchronized, and the main task path is confirmed to have a feasible path based on the graph search algorithm, the main task execution permission is output. The main task execution permission includes: allowed and not allowed, which is transmitted in the form of task execution identifier. Step 53: After the main task is completed, a follow-up return task is generated for the blocked body, and the position status of the blocked body is output during the return process. The position status of the blocked body is stored and transmitted in the form of a triple. The triple includes the initial position, the avoidance position, and the return position of the blocked body. The avoidance position is determined by a graph search algorithm as the optimal avoidance node in the feasible path.

5. The multi-device collaborative control error compensation method based on a field central control system according to claim 1, characterized in that, Step 7 specifically includes: Step 71: In the node flow, the relay link is split into independent link segments, and before each link segment is connected, the process phase deviation status and time deviation are checked, spatial deviation calibration and step adjustment are performed, and release is performed or backup resources are tried according to the equipment release status and resource allocation results. Step 72: Classify the anomaly level into mild anomaly, moderate anomaly and severe anomaly. When there is a mild anomaly, retry is performed. When there is a moderate anomaly, chained resource allocation is performed. When there is a severe anomaly, the current path is terminated. Step 73: Observe the running status in real time through task monitoring, instruction monitoring, line monitoring and interface monitoring, record the handling actions and results and output the collaborative execution results.

6. The multi-device collaborative control error compensation method based on a field control system according to claim 1, characterized in that, The triggering conditions for the anomaly classification include: A severe anomaly is defined as follows: the main task execution permission is not allowed; the equipment release status is transferred to the chain resource fallback and the resource allocation result is transferred to an abnormal workstation or not allocated; the spatial deviation is greater than the alignment tolerance and the maximum number of retries has been reached. A moderate anomaly is defined as any of the following: the time deviation is greater than the fallback window threshold; the preferred resource is unavailable, causing a switch to the preset cache; or there is an unreturned block. The following conditions are considered minor anomalies: time deviation is between the normal release window threshold and the fallback window threshold; process phase deviation is in synchronization status; main task execution permission is allowed; spatial deviation is within the alignment tolerance. When multiple level conditions are met, the abnormality level is determined in the order of severe over moderate, and moderate over mild.

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