An engineering machinery monitoring and dispatching system based on data acquisition control

Abstract

This application relates to the field of intelligent control technology for construction machinery and discloses a monitoring and scheduling system for construction machinery based on data acquisition and control. This invention first confines externally perceived events to the controlled resource node layer for carrying, and then forms a model write-back permission result based on scheduling instructions, instruction action windows, and equipment-side response relationships. This enables the scheduling execution module to distinguish between equipment model writing, write blocking, and resource node state constraints. Through this control chain, externally perceived events only participate in equipment capability model updates when they form a closed relationship with the control response of a specific construction machinery. Events that do not meet the attribution conditions are used to restrict entry, waiting, detour, or data supplementation and other scheduling actions, thereby reducing the risk of regional operation evidence misleading equipment capability evaluation and subsequent task assignment, and enhancing the control reliability of centralized scheduling of construction machinery.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology for construction machinery, and in particular to a monitoring and scheduling system for construction machinery based on data acquisition and control. Background Technology

[0002] As remote monitoring and centralized dispatching are gradually introduced into construction machinery operation sites, the dispatching platform begins to judge the operating status of equipment based on information collected on-site and arrange subsequent tasks accordingly. In earthwork construction, stockpile transportation, tunnel excavation, and temporary construction passages, multiple construction machines often operate continuously around the same loading and unloading point, meeting area, or waiting work surface. Fixed sensing nodes on site and equipment-side controllers jointly provide operating information to the dispatching platform. For example, in the stockpile loading area, the equipment actually performing the loading action may be blocked by the material pile or adjacent vehicles, while another piece of equipment is waiting to enter near the same resource node. Fixed cameras can still capture the bucket action, and on-site acoustic sensors can also collect the high-load operation noise continuously generated in the area. At this time, the external sensing results are more likely to spatially represent the operation event that is occurring in the operation area. However, whether the operation event corresponds to the specific equipment to be evaluated by the platform still needs to be further judged in combination with the equipment's own operating response and the status of dispatching instructions.

[0003] Existing construction machinery monitoring and dispatching systems typically identify equipment operating status using equipment identification, location fencing, timestamp matching, and multi-source sensing fusion. The identification results can be used for operational statistics, efficiency evaluation, and task assignment. These methods are well-suited for scenarios involving single-unit operation, large equipment spacing, or clear external sensing objects. However, in actual multi-machine close-range collaboration, operational events collected by external sensing nodes are sometimes closer to regional events. Equipment in close proximity or at similar times may not be the actual execution objects of the event. If the dispatching platform directly writes such external sensing events into the capability model or operation time model of a single piece of equipment without distinguishing between regional and equipment evidence, subsequent scheduling may inherit historical feedback that is not entirely consistent with the actual execution objects. This can lead to deviations in equipment capability evaluation, resource node queuing, and task priority adjustment. Therefore, during construction machinery monitoring and dispatching, it is still necessary to verify the attribution relationship of external sensing events before they enter the equipment dispatching model. Regional-level operational information should only participate in the model update and dispatching control of specific equipment when it matches the relationship between the equipment's operational response and control commands. Summary of the Invention

[0004] This application proposes a monitoring and scheduling system for engineering machinery based on data acquisition and control to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this application adopts the following technical solution: a monitoring and dispatching system for engineering machinery based on data acquisition and control, comprising:

[0006] The event access module acquires the field collection records and scheduling execution records of the construction machinery operation site, and uses resource node carrying processing to write the external sensing events in the field collection records into the resource node event records, so that the external sensing events form a continuous event interval with the controlled resource nodes as the carrying objects;

[0007] The response verification module narrows down the candidate device range based on the resource node event records, calls the scheduling execution records of the candidate devices, and uses the instruction action window processing to extract the device-side response records of the candidate devices during the control instruction action period.

[0008] The attribution control module performs causal closure verification on continuous event intervals in resource node event records and device-side response records, and generates model write-back permission results for externally perceived events.

[0009] The scheduling and execution module executes model write-back control according to the model write-back permission result. When generating a device model write-back permission, it writes external sensing events into the capability model of the corresponding device. When no device model write-back permission is generated, it blocks the writing of external sensing events into the model of a single device. Based on the currently valid device capability model and the resource node status formed by the resource node event record, it outputs engineering machinery scheduling and control instructions.

[0010] Furthermore, resource node-based processing is employed to write external sensing events from the field data collection records into the resource node event logs, specifically including:

[0011] Time base correction is performed on the field acquisition records and scheduling execution records. The topology of the active resource nodes is invoked according to the time of occurrence of the external sensing event. Node coverage verification and scheduling occupancy verification are used to process the external sensing event. When the external sensing event satisfies the node coverage relationship and there is an open task record on the corresponding controlled resource node, the external sensing event is written into the resource node event record. When there is no open task record on the corresponding controlled resource node and there is an unfinished task occupancy record in the scheduling execution record corresponding to the occurrence interval of the external sensing event, the external sensing event is written into the resource node event record. Field acquisition records that do not meet any of the time base correction conditions, node coverage conditions, or scheduling occupancy conditions are retained as event records to be observed.

[0012] Furthermore, a continuous event interval is formed, specifically including:

[0013] For adjacent external sensing events written to the same controlled resource node, continuous merging processing is performed. First, the consistency of the source labels of adjacent external sensing events is checked. If the source labels are inconsistent, the continuity of the coverage area is checked based on the intersection relationship of the coverage areas of adjacent external sensing events and the boundary distance between adjacent coverage areas. Then, the event interval and direction change of adjacent external sensing events are checked.

[0014] When the event interval is within the allowable range defined by the sampling period and communication delay, and the direction change is within the allowable range defined by the passage direction of the controlled resource node, adjacent external sensing events are merged into a continuous event interval; when adjacent external sensing events do not meet the continuity condition, the previous continuous event interval ends and a new continuous event interval begins; a candidate device search boundary is formed based on the continuous event interval and the corresponding controlled resource node, and the candidate device search boundary is used by the response verification module to converge the candidate device range.

[0015] Furthermore, based on the resource node event records, the range of candidate devices for convergence is specifically included:

[0016] Call the resource node event records that have formed the candidate equipment search boundary, convert the engineering machinery positioning records to the field coordinate system adopted by the resource node topology, and filter the engineering machinery whose trajectory points fall into the candidate equipment search boundary within the continuous event interval to form the candidate equipment range;

[0017] Retrieve the scheduling execution records of candidate devices and filter for valid control commands pointing to controlled resource nodes in the resource node event records; if the command path version has taken effect before the start of the continuous event interval and has passed through a controlled resource node, include the corresponding control command in the filtering results; candidate devices for which no corresponding control command is filtered out will not enter the command action window for processing.

[0018] Furthermore, the command action window processing is used to extract the device-side response records of candidate devices during the control command action, specifically including:

[0019] The selected control commands form a valid command interval. The time intersection of the continuous event interval and the valid command interval is taken to form the command action window. When the end time of the command action window is later than the start time and the window length meets the controller reporting cycle requirements, the device-side operating status of the candidate device within the command action window is extracted.

[0020] Extract response fields corresponding to the operating status of the equipment side according to the control command type, generate equipment side response records, and form record completeness based on the coverage of valid equipment side data within the command action window.

[0021] Furthermore, a causal closure check is performed on the continuous event intervals in the resource node event records and the device-side response records, specifically including:

[0022] For the same resource node event record, the candidate device response record and the candidate status record are associated to form a home candidate unit; the correspondence between the control command and the controlled resource node in the home candidate unit, the time overlap between the continuous event interval and the command action window, and the correspondence between the control command type and the response field of the device side response record are verified to generate a causal closure verification result.

[0023] Furthermore, the model write-back permission result for generating externally perceived events specifically includes:

[0024] Based on the causal closure verification result, perform regional residual verification and proximity competition verification on the attribution candidate units under the same resource node event record; when a single attribution candidate unit passes the causal closure verification and the candidate state record does not record the restriction state, generate a device model write-back permission.

[0025] When an externally sensed event in the same resource node event record continues for more than the regional residual determination time after the candidate device leaves the candidate device search boundary, a regional residual risk is generated; when two or more belonging candidate units pass the causal closure check, have no recorded restriction status, and are not marked as regional residual risks, a near-field competition freeze is generated; when the valid control command corresponding to an unverifiable candidate points to the same controlled resource node, and the valid command interval of the valid control command overlaps with the continuous event interval in time, a candidate missing test restriction is generated.

[0026] Furthermore, model write-back control is executed according to the model write-back permission result, specifically including:

[0027] When the model write-back permission result is a device model write-back permission, version verification and duplicate write verification are performed on the device capability model corresponding to the permitted device identifier. The external sensing event is associated with the resource node event record, control command and device-side response record and then written into the device capability model corresponding to the permitted device identifier. When no device model write-back permission is generated, the resource node event identifier corresponding to the external sensing event is written into the write-back blocking record and the external sensing event is prohibited from being used as an update sample for a single device capability model.

[0028] Furthermore, the resource node status is formed based on the resource node event records, specifically including:

[0029] Using the controlled resource node identifier as the object, the resource node status is formed based on the resource node event record and the model write-back license result; when generating a device model write-back license, the licensed device identifier and the corresponding resource node event identifier are written into the resource node status; when generating regional residual risk, near-field competition freeze, candidate missing test restriction, and resource node status update, the corresponding model write-back license result type is written into the resource node status.

[0030] Furthermore, based on the current effective equipment capacity model and resource node status, the engineering machinery scheduling and control instructions are output, specifically including:

[0031] The system invokes the device capability model that has been effective before the scheduling calculation starts, and that does not have a version freeze flag or a rollback flag; when there is residual risk in the resource node status record area, it restricts the issuance of entry and job execution scheduling control instructions to the corresponding controlled resource node; when the resource node status record shows near-distance contention freeze, it outputs any scheduling control instruction in the device interval separation class or the entry timing reallocation class; when the resource node status record shows candidate missing test restrictions, it generates data supplementation requests and data retransmission requests, and writes the data supplementation requests and data retransmission requests into the data request field of the scheduling execution record.

[0032] When the resource node status does not record regional residual risk, near-field competition freeze, and candidate missing test limitation, the engineering machinery scheduling control command is output according to the matching result of the equipment capability model and the task type of the controlled resource node, and the engineering machinery scheduling control command is written into the scheduling execution record.

[0033] The beneficial effects of this invention are as follows:

[0034] This invention addresses the problem of area perception results being easily miswritten into the model of a single device during multi-machine close-range collaborative operations. It first confines external perception events to the controlled resource node layer for transmission, then forms a model write-back permission result based on scheduling instructions, instruction action windows, and device-side response relationships. This allows the scheduling execution module to distinguish between device model writes, write blocking, and resource node state constraints. Through this control chain, external perception events only participate in equipment capability model updates when they form a closed relationship with the control response of a specific engineering machine. Events that do not meet the attribution conditions are used to restrict entry, waiting, detours, or data supplementation, thereby reducing the risk of area operation evidence misleading equipment capability evaluation and subsequent task assignment, and enhancing the control reliability of centralized scheduling of engineering machinery. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort:

[0036] Figure 1 This is a system framework diagram of the present invention. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figure 1 As shown, this invention discloses a monitoring and scheduling system for construction machinery based on data acquisition and control, comprising: an event access module, a response verification module, an attribution control module, and a scheduling execution module.

[0039] The event access module acquires the on-site collection records and scheduling execution records of the construction machinery operation site. It uses resource node carrying processing to write the external sensing events in the on-site collection records into the resource node event records, so that the external sensing events form a continuous event interval with the controlled resource nodes as the carrying objects, and generates the candidate equipment search boundary.

[0040] In this embodiment, the field acquisition record is formed by fixed sensing nodes and field edge nodes, which is used to provide the occurrence interval, coverage area, sensing direction and intensity changes of external sensing events. The scheduling execution record is formed by the scheduling platform. The edge control node is used to record forwarding and node status supplementation. The scheduling execution record is used to provide open task records, unfinished task occupation records and resource node access relationships of controlled resource nodes. The event access module outputs resource node event records and candidate device search boundaries as input to the response verification module. The load changes, working device posture changes, driving status changes and action status switching on the device controller side are recorded by the response verification module to form device-side response records.

[0041] Before encapsulating external sensing events, the event access module performs time base correction on the field acquisition records and scheduling execution records. The time base correction is based on the reporting time of the sensing node, the receiving time of the edge node, and the recording time of the scheduling platform, unifying the occurrence interval of external sensing events to the time base of the scheduling platform. The output period of the external sensing event segment used for resource node bearing judgment is preferably 0.2 seconds to 2 seconds. This output period is formed by the event recognition configuration of the fixed sensing node, the buffering period of the field edge node, and the refresh period of the scheduling platform. The upper limit of the communication delay for the field edge node to report the external sensing event segment to the scheduling platform is preferably 0.1 seconds to 3 seconds. This upper limit of the communication delay is calibrated by the stable communication records of the field and the heartbeat records of the scheduling platform. When the time offset of the field acquisition record relative to the scheduling execution record exceeds the sum of the output period of the external sensing event segment and the upper limit of the communication delay, the event access module writes the corresponding field acquisition record into the event record to be observed. This record does not participate in the resource node bearing contention.

[0042] The event log to be observed includes object type, reason for observation, fields to be supplemented, and reprocessing entry point. Object types include field acquisition records, external sensing events, and continuous event intervals. Reasons for observation include unmet time base, missing coverage, unconfirmed resource node topology version, missing scheduling execution records, invalid sensing direction, and failure to generate candidate device search boundaries. The reprocessing entry point is used to re-enter the corresponding object into the resource node for processing after the corresponding fields are supplemented. The event log to be observed is an isolated record and is not included in the continuous merging process as a carried event in the resource node event log.

[0043] The event access module performs event fragmentation processing on the time-base corrected field acquisition records. It encapsulates work activities originating from the same sensing source at adjacent acquisition times, with identical source tags and acquisition intervals not exceeding the fragment encapsulation interval, into external sensing events. The source tag is formed by the fixed sensing node number and the field edge node number. The fragment encapsulation interval is formed by the external sensing event fragment output period and the upper limit of communication delay. The event access module takes the sum of the external sensing event fragment output period and the upper limit of communication delay as the original value of the fragment encapsulation interval and limits the fragment encapsulation interval used for online encapsulation to within 1 to 5 seconds. If the original value is less than 1 second, it is processed as 1 second; if the original value is between 1 and 5 seconds, it is processed as the original value; if the original value is greater than 5 seconds, it is processed as 5 seconds. The corresponding external sensing event is written into the event record to be observed. When the adjacent acquisition interval exceeds the fragment encapsulation interval, the event access module terminates the current external sensing event and re-encapsulates a new external sensing event for the next work activity. After an external sensing event is formed, the event access module records the occurrence interval, coverage area, sensing direction, and intensity changes of the external sensing event. This information is used for resource node processing.

[0044] The event access module calls the effective resource node topology according to the time of occurrence of the externally perceived event. The resource node topology is used to represent loading and unloading points, waiting positions, passing sections, and temporary work surfaces in the construction machinery operation site as controlled resource nodes, and records the node coverage area, main passage direction, and node operation rhythm of each controlled resource node. The resource node topology is stored in a versioned manner, and each version has an effective time. When an externally perceived event occurs during the effective period of the corresponding topology version, the event access module uses the effective version to perform resource node carrying processing. When a topology version switch occurs during the duration of the externally perceived event, the event access module splits the externally perceived event according to the version switch time, and interprets the corresponding event fragments using the resource node topologies that have been effective before and after the switch.

[0045] The node operation cycle time is formed by the resource node event records that have been completed and whose ownership has been confirmed before the start time of the externally sensed event. The event access module selects the 10 to 100 most recent closed operation cycles under the same controlled resource node and the same resource node topology version as the cycle time sample. Unclosed events, events to be observed, and events that have not completed ownership clearance are removed. The cycle time sample is sorted by duration, and the duration interval corresponding to the 20th percentile to the 80th percentile is taken as the allowable interval of the node operation cycle time. When there are fewer than 10 cycle time samples, the event access module adopts the initial operation cycle time in the on-site scheduling configuration. When there are more than 100 cycle time samples, the 100 most recent closed operation cycles that have been completed before the start time of the externally sensed event are adopted. The current externally sensed event and events that have not yet completed ownership confirmation do not participate in the node operation cycle time update.

[0046] In the resource node carrying process, the event access module first performs node coverage verification. Node coverage verification is used to determine whether the coverage area of ​​the external sensing event forms an effective spatial overlap with the node coverage area of ​​the controlled resource node. The coordinate system is based on the field coordinate system adopted by the resource node topology. When the fixed sensing node outputs image coordinates, the field edge node calls the sensing node calibration parameters to convert the image coordinates into field coordinates. When the acoustic acquisition device outputs directional events, the field edge node forms a coverage area based on the direction of the sound source and the node coverage area of ​​the controlled resource node. Field acquisition records that cannot form a coverage area are written into the event record to be observed. When the coverage area of ​​the external sensing event overlaps with the node coverage area of ​​the controlled resource node, and the overlapping part is not only a boundary contact formed by the outward expansion of the positioning boundary margin, it is determined that the external sensing event and the controlled resource node form an effective spatial overlap. Controlled resource nodes that do not form an effective spatial overlap do not enter the carrying contention.

[0047] For controlled resource nodes that pass the node coverage verification, the event access module continues to perform scheduling occupancy verification. The scheduling occupancy verification is used to determine whether the controlled resource node has an interpretable scheduling state within the external sensing event occurrence interval. If the scheduling execution record shows that the corresponding controlled resource node has an open task record, and the open task record and the external sensing event occurrence interval form a time overlap relationship, the event access module allows the controlled resource node to carry the external sensing event. If the open task record does not form a time overlap relationship with the external sensing event occurrence interval, but there is an unfinished task occupancy record in the scheduling execution record, and the unfinished task occupancy record has been effective before the start of the external sensing event occurrence interval and has not ended within the external sensing event occurrence interval, the event access module allows the controlled resource node to carry the external sensing event. If the controlled resource node does not have an open task record, and there is no unfinished task occupancy record that satisfies the aforementioned time relationship, the event access module writes the external sensing event into the observation event record.

[0048] After node coverage verification and scheduling occupancy verification, the event access module performs direction exclusion and cycle time correction. Direction exclusion uses the bearing direction deviation range, which is used to determine whether the sensing direction of the external sensing event matches the main passage direction of the controlled resource node. The preferred bearing direction deviation range is 10 degrees to 45 degrees. The event access module prioritizes using the direction deviation range configured for the controlled resource node in the resource node topology. When the resource node topology does not configure a direction deviation range, an original value is formed based on the main passage direction of the controlled resource node, the installation direction error of the fixed sensing node, and the allowable direction deviation corresponding to the on-site passage width. The original value is limited to 10 degrees to 45 degrees. If the original value is lower than 10 degrees, it is treated as 10 degrees. If the original value is within 10 degrees to 45 degrees, it is treated as the original value. If the original value is higher than 45 degrees, it is treated as 45 degrees.

[0049] After resource node topology version updates, fixed sensing nodes are reinstalled, and calibration parameters are updated, the event access module re-establishes the bearer direction deviation range. If the bearer direction deviation range cannot be established, the corresponding external sensing event is written into the event record to be observed. If the external sensing event has a valid sensing direction and the direction deviation exceeds the bearer direction deviation range, the corresponding controlled resource node will not enter bearer contention. If the external sensing event lacks a valid sensing direction or the calibration status of the fixed sensing node is invalid, the event access module writes the external sensing event into the event record to be observed.

[0050] The cycle time correction is used to determine whether the duration of an externally sensed event falls within the allowable range of the node's operation cycle time. When the duration of an externally sensed event does not fall within the allowable range of the node's operation cycle time, the event access module generates an abnormal persistence flag. Externally sensed events with abnormal persistence flags are used to respond to the candidate range convergence and online risk warning of the verification module, but are not used as device-level permission evidence in causal closure verification. When the duration of an externally sensed event falls within the allowable range of the node's operation cycle time, the event access module retains the externally sensed event in the controlled resource node bearing contention.

[0051] When the same external sensing event simultaneously satisfies the carrying conditions of multiple controlled resource nodes, the event access module sorts them according to the order of node coverage, scheduling time overlap, carrying direction deviation, and node operation cycle deviation. The node coverage is formed by the actual overlap area between the coverage area of ​​the external sensing event and the node coverage area of ​​the controlled resource node; the scheduling time overlap is formed by the overlap duration between the open task record or the unfinished task occupation record and the occurrence interval of the external sensing event; the carrying direction deviation is formed by the angle between the sensing direction of the external sensing event and the main passage direction of the controlled resource node; and the node operation cycle deviation is formed by the deviation between the duration of the external sensing event and the allowable interval of the node operation cycle.

[0052] When the sorting result is unique, the event access module will use the controlled resource node that ranks first as the carrier of the external sensing event; when the sorting result cannot be distinguished, the event access module will write the external sensing event into the event record to be observed.

[0053] The event access module writes the external sensing event that has completed the selection of the bearing object into the corresponding resource node event record. The resource node event record first records the controlled resource node identifier, the start and end time of the external sensing event on the controlled resource node, and the regional bearing status. After the candidate device search boundary is formed and generated in the continuous event interval, the event access module supplements the resource node event record with the corresponding continuous event interval and candidate device search boundary. The regional bearing status is used as a status field in the resource node event record to record the processing status of the external sensing event at the controlled resource node level. The status field includes bearing, pending observation, abnormality continues, and search boundary not generated.

[0054] For adjacent external sensing events already written to the same controlled resource node, the event access module performs continuous merging processing to form continuous event intervals. This continuous merging process is performed within the same controlled resource node and does not merge events across controlled resource nodes. The event access module first verifies the consistency of the source tags of adjacent external sensing events. If the source tags are consistent, it further verifies the event interval and direction changes of adjacent external sensing events. If the source tags are inconsistent, it verifies the continuity of the coverage area based on the intersection relationship of the coverage areas of adjacent external sensing events and the boundary distance between adjacent coverage areas, and then verifies the event interval and direction changes. The boundary distance between adjacent coverage areas does not exceed the positioning edge. When determining the boundary margin, the coverage area is considered continuous. The positioning boundary margin is formed based on the nominal error of the on-site positioning equipment, the mapping error of the resource node boundary, and the coordinate transformation error of the edge node. The event access module takes the sum of the nominal error of the on-site positioning equipment, the mapping error of the resource node boundary, and the coordinate transformation error of the edge node as the original value of the positioning boundary margin, and limits the positioning boundary margin to within 2 meters to 10 meters. If the original value is lower than 2 meters, it is treated as 2 meters; if the original value is between 2 meters and 10 meters, it is treated as the original value; if the original value is higher than 10 meters, it is treated as 10 meters. If any error source is missing, the event access module writes the corresponding external sensing event or continuous event interval into the event record to be observed.

[0055] The continuous merging interval is formed by the output period of the external sensing event segment and the upper limit of the communication delay. The event access module takes the sum of the output period of the external sensing event segment and the upper limit of the communication delay as the original value of the continuous merging interval, and limits the continuous merging interval used for online merging to within 1 second to 5 seconds. If the original value is less than 1 second, it is processed as 1 second; if the original value is between 1 second and 5 seconds, it is processed as the original value; if the original value is greater than 5 seconds, it is processed as 5 seconds. If the event interval between adjacent external sensing events exceeds 5 seconds, continuous merging is not performed. The next external sensing event is used as the starting point of the new continuous event interval. The continuous merging process uses the continuous direction change range to determine whether the direction change of adjacent external sensing events is continuous. The continuous direction change range is formed by the passage direction of the controlled resource node, the installation direction of the fixed sensing node, and the coverage relationship of adjacent sensing nodes.

[0056] The event access module prioritizes the directional change range configured for adjacent sensing nodes in the resource node topology. If no configuration is made, it forms an original value based on the passage direction of the controlled resource node, the installation direction error of the fixed sensing node, and the directional difference of the coverage boundary of the adjacent sensing node, and limits the original value to within 10 degrees to 45 degrees. If the original value is lower than 10 degrees, it is treated as 10 degrees. If the original value is within 10 degrees to 45 degrees, it is treated as the original value. If the original value is higher than 45 degrees, it is treated as 45 degrees. If a continuous directional change range cannot be formed, adjacent external sensing events are not continuously merged.

[0057] When the event intervals of adjacent external sensing events are within a continuous merging interval and the direction changes are within a continuous direction change range, the event access module merges the adjacent external sensing events into a continuous event interval. The start time of the continuous event interval is taken as the start time of the first merged external sensing event, and the end time is taken as the end time of the last merged external sensing event. When adjacent external sensing events do not meet the continuity condition, the event access module ends the previous continuous event interval and starts a new continuous event interval with the next external sensing event. The continuous event interval serves as the time anchor point when the response verification module constructs the instruction action window.

[0058] After the continuous event interval is formed, the event access module forms a candidate device search boundary based on the continuous event interval and the corresponding controlled resource node. The candidate device search boundary serves as the spatial input for the response verification module to converge the candidate device range. The event access module takes the controlled resource node in the resource node event record as the center, calls the passable connection edge in the resource node topology, and generates a search corridor along the passable connection edge based on the node coverage area of ​​the controlled resource node. The length of the search corridor is formed according to the permitted passage speed, boundary expansion time margin, and positioning boundary margin.

[0059] The event access module first takes the product of the permitted passage speed and the boundary expansion time margin to obtain the reachable distance of the candidate device within the boundary expansion time margin. Then, it adds the positioning boundary margin to both ends of the reachable distance to form the search corridor length. The permitted passage speed is preferentially adopted from the passage speed in the on-site scheduling configuration. When the permitted passage speed is not recorded in the on-site scheduling configuration, the event access module selects the 10 to 50 most recent closed passage records of the same passable connection edge, forms the passage speed based on the passage distance and passage time in each closed passage record, and takes the median value of the passage speed as the permitted passage speed.

[0060] When there are fewer than 10 closed passage records and the on-site dispatch configuration does not record the permitted passage speed, the event access module does not generate candidate device search boundaries and converts the corresponding continuous event interval into an observation state. The boundary expansion time margin is preferably 5 to 30 seconds, and the event access module prioritizes the boundary expansion time margin in the on-site dispatch configuration. When the on-site dispatch configuration does not record the boundary expansion time margin, the sum of the dispatch instruction transmission time, the device positioning refresh cycle, and the observation time of the low-speed entry and exit of the controlled resource node by the engineering machinery is taken as the original value, and the original value is limited to 5 to 30 seconds. If the original value is less than 5 seconds, it is processed as 5 seconds. If the original value is between 5 and 30 seconds, it is processed as the original value. If the original value is greater than 30 seconds, the event access module retains the regional carrying status of the corresponding continuous event interval, does not generate candidate device search boundaries, and converts the continuous event interval into an observation state.

[0061] When any of the following sources are missing: scheduling instruction transmission time, equipment positioning refresh cycle, and observation time of construction machinery entering and leaving controlled resource nodes at low speed, the event access module will not generate candidate device search boundaries and will convert the corresponding continuous event interval into an observation state.

[0062] This step ultimately outputs resource node event records and event records to be observed. Resource node event records include controlled resource node identifiers, continuous event intervals, regional carrying status, and candidate device search boundaries, and serve as input to the response verification module. Event records to be observed are used to store field acquisition records that do not yet meet the carrying conditions, external sensing events, and continuous event intervals for which candidate device search boundaries have not yet been generated. Unclosed continuous event intervals can enter the response verification module to form candidate device ranges and online risk warnings. Device-level feedback attribution permission, device capability model write-back, and operation time consumption model correction are executed by the response verification module and the attribution control module after completing the device-side response verification. The event access module converts external sensing events from the original sensing layer into continuous event records at the controlled resource node layer, so that external sensing events first obtain regional carrying objects, and then the response verification module performs attribution verification in conjunction with the device-side response records.

[0063] The response verification module narrows down the candidate device range based on the resource node event records, calls the scheduling execution records of the candidate devices, and uses the instruction action window processing to extract the device-side response records of the candidate devices during the control instruction action.

[0064] In this embodiment, the response verification module receives resource node event records output by the event access module. The resource node event records include controlled resource node identifiers, continuous event intervals, regional bearer status, and candidate device search boundaries. The response verification module performs candidate device range convergence on resource node event records that have formed candidate device search boundaries. Resource node event records with regional bearer status of "to be observed" and no search boundary generated do not enter the device-side response record extraction link. When resource node event records with regional bearer status of "abnormal and continuous" enter this step, the response verification module writes the abnormal and continuous status into the restriction field of the resource node event record and transmits it to the home control module along with the resource node event identifier.

[0065] The response verification module calls the engineering machinery positioning record and converts it to the field coordinate system adopted by the resource node topology. The engineering machinery positioning record is formed by at least one of the vehicle-mounted positioning unit, the on-site positioning base station, and the edge control node. It is used to provide the trajectory points and positioning time of the engineering machinery in the continuous event interval. During the coordinate transformation, the response verification module calls the field coordinate reference, positioning base station coordinates, rotation angle, scale, and offset in the resource node topology to convert the trajectory points in the engineering machinery positioning record into a coordinate system consistent with the candidate device search boundary. Engineering machinery that cannot complete the coordinate transformation, lacks a valid positioning time, or has a positioning refresh interval that exceeds the upper limit of the positioning refresh cycle is retained as an unverifiable candidate in the candidate status record and does not enter the device-side response record extraction link.

[0066] The candidate status record is used to record the restriction status of candidate devices during the response verification phase, including candidate device identifier, resource node event identifier, restriction reason and processing entry. Restriction reasons include unverifiable candidate, no corresponding control instruction, no valid window, insufficient records, insufficient samples, insufficient delayed samples, delay exceeding limit, response field mismatch and instruction conflict. The candidate status record is output to the home control module for competition constraints in causal closure verification.

[0067] The upper limit of the positioning refresh cycle is formed based on the candidate device's positioning configuration, stable positioning records before the start of the continuous event interval, and the refresh cycle of the on-site positioning base station. Stable positioning records are selected from positioning segments that have been closed before the start of the continuous event interval for the same candidate device, and records with missing positioning times, failed coordinate transformations, and communication interruptions are removed. When there are no fewer than 10 stable positioning records, the response verification module uses the 90th percentile of the interval between adjacent positioning times in the stable positioning records as the original estimate of the upper limit of the positioning refresh cycle, and limits the upper limit of the positioning refresh cycle used for online judgment to within 0.5 seconds to 5 seconds. If the original estimate is less than 0.5 seconds, it is processed as 0.5 seconds; if the original estimate is between 0.5 seconds and 5 seconds, it is processed as the original estimate; if the original estimate is greater than 5 seconds, the corresponding construction machinery is marked as having insufficient records. When there are fewer than 10 stable positioning records, the response verification module uses the positioning refresh cycle in the candidate device's positioning configuration; if the candidate device's positioning configuration is missing or the configuration value exceeds 5 seconds, the corresponding construction machinery is marked as having insufficient records.

[0068] After the spatial coordinates are unified, the response verification module filters construction machinery whose trajectory points fall within the candidate equipment search boundary within the continuous event interval, forming a candidate equipment range. When the continuous event interval is closed, the start and end times of the continuous event interval are used as the retrieval time range; when the continuous event interval is not closed, the current start time and the latest end time of the continuous event interval are used as the temporary retrieval time range. When at least one valid trajectory point of the construction machinery falls within the candidate equipment search boundary, and the positioning time of the trajectory point is within the retrieval time range, the response verification module writes the construction machinery into the candidate equipment range. The single trajectory point falling within the candidate equipment search boundary is only used to form the candidate equipment range and is not used as the basis for judging the equipment-level feedback ownership permission.

[0069] After the candidate device range is formed, the response verification module retrieves the scheduling execution records of the candidate devices. The scheduling execution records are formed by the scheduling platform and the edge control nodes and are used to provide the control instructions, control instruction types, instruction target resource nodes, instruction path versions, and instruction status corresponding to the candidate devices. Based on the scheduling execution records already recorded before the current verification time, the response verification module determines whether the candidate devices have control instructions that can interpret the resource node event records.

[0070] The response verification module performs control instruction screening on the scheduling execution records of candidate devices. If the target resource node of the control instruction matches the controlled resource node identifier in the resource node event record, and the control instruction has not been revoked, timed out, or replaced by a mutually exclusive control instruction before the start of the continuous event interval, the control instruction is screened as a valid control instruction. If the target resource node of the control instruction is different, but its instruction path version has been effective and passed through the controlled resource node before the start of the continuous event interval, and the control instruction has not been revoked, timed out, or replaced by a mutually exclusive control instruction before the start of the continuous event interval, the control instruction is included in the screening results. Instruction path versions formed by supplementing, reassigning, or replanning after the start of the continuous event interval are not used for the online response verification of the current resource node event record. Candidate devices for which no corresponding control instruction is screened are not processed in the instruction action window and are marked as having no corresponding control instruction in the candidate status record.

[0071] The response verification module forms a valid instruction interval based on the selected control instructions. When the control instruction has a device reception confirmation time, the start time of the valid instruction interval is the device reception confirmation time. When the control instruction lacks a device reception confirmation time but has a scheduling issuance time, the start time of the valid instruction interval is formed by superimposing the scheduling issuance time with the instruction transmission delay calibration value. When both the scheduling issuance time and the device reception confirmation time are missing, the control instruction does not form a valid instruction interval.

[0072] The command transmission delay calibration value is formed based on the records of valid control commands completed before the start of the continuous event interval and the communication records of edge control nodes. The response verification module counts the duration from the time of scheduling issuance to the time of device receipt confirmation in the valid control commands completed by the same candidate device, and takes the 90th percentile of this duration as the original estimate of the command transmission delay calibration value. The command transmission delay calibration value used to form the valid command interval is limited to 0.1 seconds to 3 seconds. If the original estimate is less than 0.1 seconds, it is treated as 0.1 seconds; if the original estimate is between 0.1 seconds and 3 seconds, it is treated as the original estimate; if the original estimate is greater than 3 seconds, it is treated as 3 seconds, and the corresponding candidate device response record is marked as delay exceeding the limit. If the historical valid control command records of the same candidate device are less than 10, the delay value configured by the scheduling platform is used. If the delay value configured by the scheduling platform is less than 0.1 seconds, it is treated as 0.1 seconds; if it is greater than 3 seconds, it is treated as 3 seconds; if the scheduling platform does not configure a delay value, it is treated as 3 seconds, and marked as insufficient delay sample.

[0073] The end time of the instruction validity period is formed based on the closed state of the control instruction. When there are instruction completion time, instruction cancellation time, instruction timeout time, and the start time of the next mutual exclusion control instruction, the response verification module uses the earliest occurrence of these times as the end time of the instruction validity period. The start time of the next mutual exclusion control instruction only participates in online response verification if the start time is earlier than the current verification time. During online response verification, if the aforementioned end time has not yet occurred, the response verification module uses the current verification time as the temporary end time and marks the instruction validity period as an unclosed instruction period. After the resource node event record is closed, the response verification module updates the instruction validity period according to the closed scheduling execution record. The update result is used to form the closed state of the candidate device response record.

[0074] After the effective instruction interval is formed, the response verification module takes the time intersection of the continuous event interval and the effective instruction interval to form the instruction action window. When it is necessary to absorb the boundary differences between sensing reporting, positioning refresh, and scheduling refresh, the response verification module expands the continuous event interval according to the window alignment margin before taking the time intersection. The window alignment margin is formed based on the output period of the external sensing event segment, the candidate device positioning refresh period, and the scheduling platform refresh period. The response verification module takes the maximum value of the three as the original estimated value of the window alignment margin and limits the window alignment margin used for time boundary alignment to 0. Within 5 seconds; if the original estimated value is less than 0.5 seconds, it is processed as 0.5 seconds; if the original estimated value is between 0.5 seconds and 5 seconds, it is processed as the original estimated value; if the original estimated value is greater than 5 seconds, the response verification module takes the time intersection of the unexpanded continuous event interval and the instruction valid interval and marks it as insufficient recording. The window alignment margin is only used for the time boundary alignment between the continuous event interval and the instruction valid interval, and does not change the candidate device search boundary. The start time of the instruction action window is taken as the start boundary of the overlapping part of the continuous event interval and the instruction valid interval, and the end time is taken as the end boundary of the overlapping part.

[0075] The response verification module performs a validity check on the instruction action window. The candidate device controller configuration and the stable reporting records before the start of the continuous event interval are used to form the controller reporting cycle. The stable reporting records are selected from the controller reporting segments of the same candidate device that have been closed before the start of the continuous event interval, and records corresponding to missing reporting time, communication interruption, maintenance lock, pause and takeover status are removed.

[0076] When there are at least 10 stable reporting records, the response verification module uses the 90th percentile of the interval between adjacent reporting times in the stable reporting records as the original estimate of the controller reporting cycle, and limits the controller reporting cycle used for window validity checks to within 0.2 seconds to 2 seconds. If the original estimate is less than 0.2 seconds, it is processed as 0.2 seconds; if the original estimate is between 0.2 seconds and 2 seconds, it is processed as the original estimate; if the original estimate is greater than 2 seconds, the response verification module marks the corresponding candidate device as having insufficient records. When there are fewer than 10 stable reporting records, the response verification module uses the controller reporting cycle in the candidate device controller configuration. If the candidate device controller configuration is missing or the configuration value exceeds 2 seconds, the corresponding candidate device is marked as having insufficient records.

[0077] If the controller reporting cycle meets the aforementioned requirements, and the end time of the instruction action window is later than the start time, and the window length is not less than two controller reporting cycles of the candidate device, the instruction action window will enter the device-side running status extraction. If the end time of the instruction action window is not later than the start time, or the window length is less than two controller reporting cycles of the candidate device, the response verification module will retain the candidate device identity and mark it as having no valid window in the candidate status record.

[0078] When the command action window is valid, the response verification module extracts the device-side operating status of the candidate device within the command action window. The device-side operating status includes the motion status, operation status, and control mode status of the candidate device within the command action window. The motion status is formed by the candidate device's positioning point, speed, heading, and the state of entering the candidate device search boundary; the operation status is formed by the action of the working device, load changes, and the action of the actuator; the control mode status is formed by the automatic control, remote control, pause, maintenance lock, and takeover status recorded by the candidate device controller. When the candidate device is in a pause, maintenance lock, or takeover status within the command action window, the response verification module retains the device-side operating status and marks it as a restricted response.

[0079] The response verification module extracts response fields corresponding to the equipment's operating status according to the control command type. When the control command type is "arrival," it extracts the time when the candidate device enters the candidate device search boundary, the direction of movement within the search corridor, and speed changes, which are used to represent the operating status of the candidate device when it enters the vicinity of the controlled resource node during the control command's action. When the control command type is "job execution," it extracts the actions of the working device, load changes, and actuator actions, which are used to represent the job status generated by the candidate device during the control command's action. When the control command type is "waiting and queuing," it extracts the dwell status, queuing position changes, and control mode status, which are used to represent the waiting status of the candidate device during the control command's action. If the control command type and the equipment's operating status cannot form a corresponding response field, the response verification module marks it as a response field mismatch.

[0080] The response verification module generates device-side response records based on the selected response fields. The device-side response records use resource node event records, candidate devices, and control commands as a joint index, recording the candidate device identifier, resource node event identifier, control command identifier, command action window, device-side operating status, response fields, and control mode status. The device-side response records indicate that the candidate device has verifiable device-side data during the control command action. The device-level feedback attribution permission is further processed by the attribution control module based on the candidate device response records. The candidate device response records are based on the device-side response records, and supplemented with record completeness and response status markers. The device-side response records record the actual operating status and response fields of the candidate device within the command action window. The candidate device response records are used to output to the attribution control module whether the device-side response record can enter the causal closure verification.

[0081] The response verification module forms a record completeness based on the coverage of valid device-side data within the instruction action window. The record completeness is based on the number of controller reporting slots that should be received within the instruction action window, and is formed by the ratio between the number of slots covered by valid device-side data and the number of slots that should be received. Valid device-side data refers to data that simultaneously has candidate device identifier, reporting time, control mode status, and response fields corresponding to the control instruction type.

[0082] The record completeness threshold is formed based on the stable operating window of the candidate device before the start of the continuous event interval. The stable operating window is selected from the same candidate device, the same type of control command, and the already closed operating records, and records with maintenance lock, suspension, takeover, missing reporting time, and mismatched response fields are excluded. When there are no less than 10 stable operating windows, the response verification module first calculates the record completeness of each stable operating window, and then takes the 10th percentile of the record completeness distribution as the original estimate of the threshold, and limits the threshold to between 0.6 and 0.8. If the original estimate of the threshold is lower than 0.6, it is treated as 0.6; if the original estimate of the threshold is higher than 0.8, it is treated as 0.8. When there are fewer than 10 stable operating windows, the completeness threshold of no less than 0.8 in the field configuration is adopted; if the field configuration is lower than 0.8 or no completeness threshold is configured, it is treated as 0.8, and the response record of the candidate device is marked as insufficient sample.

[0083] When the record completeness is lower than the record completeness threshold, the response verification module marks the corresponding candidate device response record as incomplete. When the record completeness reaches the record completeness threshold, the control mode status does not show pause, maintenance lock, or takeover status, and the candidate device response record does not have delay exceeding limit, insufficient record, no valid window, response field mismatch, or command conflict status, the response verification module marks the candidate device response record as a verifiable response. The candidate device response record with the restricted status enters the home control module and serves as the restricted input in the causal closure verification.

[0084] The response verification module performs mutual exclusion checks on multiple control commands for the same candidate device within the same continuous event interval. The mutual exclusion relationship is determined by the control command mutual exclusion table of the scheduling platform, the types of control commands that cannot be executed in parallel by the same candidate device at the same time, and the target conflict records of different controlled resource nodes. When multiple control commands point to the same controlled resource node and their command action windows overlap, the response verification module determines whether there is a command conflict according to the aforementioned mutual exclusion relationship. If a mutual exclusion relationship exists, the corresponding candidate device response record is marked as a command conflict. If no mutual exclusion relationship exists, the response verification module first retains the candidate device response record with a clear command completion status. If multiple candidate device response records with clear command completion status exist, the candidate device response record with the higher record completeness value is retained. If the record completeness values ​​are the same, the candidate device response record with the earlier command action window end time is retained. If they still cannot be distinguished, the corresponding candidate device response record is marked as a command conflict. When multiple control commands point to different controlled resource nodes and overlap with the event records of the same resource node, the corresponding candidate device response record is marked as a command conflict.

[0085] This step ultimately outputs candidate device response records and candidate status records. The candidate device response records include resource node event identifiers, controlled resource node identifiers, candidate device identifiers, control command identifiers, command action windows, device-side response records, record integrity, and response status flags. The candidate status records record the limiting states generated by the candidate devices during the response verification phase. The candidate device response records and candidate status records are called in the home control module to perform causal closure verification on the continuous event intervals in the resource node event records and the device-side response records. The response verification module converts the continuous event intervals at the resource node layer output by the event access module into device-side response records limited by candidate devices and control commands, so that externally perceived events complete the verification of spatial boundaries, command boundaries, time boundaries, and data integrity boundaries before entering the device-level home determination.

[0086] The attribution control module performs causal closure verification on the continuous event intervals in the resource node event records and the device-side response records, and generates the model write-back permission result for externally perceived events.

[0087] In this embodiment, the home control module receives the resource node event records output by the event access module and calls the candidate device response records and candidate status records output by the response verification module. The resource node event records include the controlled resource node identifier, continuous event interval, regional carrying status, candidate device search boundary, and restriction fields. The candidate device response records include the resource node event identifier, candidate device identifier, control command identifier, command action window, device-side response record, record completeness, and response status flag. The candidate status records are used to record the restriction status formed by the candidate device during the response verification phase. When the regional carrying status of the resource node event record is abnormally persistent, the home control module writes the abnormally persistent status into the restriction fields of the resource node event record. This resource node event record only participates in the resource node status update.

[0088] The attribution control module associates candidate device response records with candidate status records for the same resource node event record to form an attribution candidate unit. The attribution candidate unit is used to represent a candidate device as a verification object formed based on the corresponding control command and device-side response record under a resource node event record. The attribution candidate unit uses the resource node event identifier, candidate device identifier and control command identifier as association keys. The time field adopts the scheduling platform time reference, and the spatial field adopts the field coordinate system adopted by the resource node topology.

[0089] The attribution control module groups candidate device response records according to resource node event identifiers and establishes an attribution candidate unit for each candidate device response record with a device-side response record. When a candidate status record can correspond to the resource node event identifier and candidate device identifier in the attribution candidate unit, it is written into the corresponding attribution candidate unit. When a candidate status record cannot correspond to an already formed attribution candidate unit, it does not form an attribution candidate unit separately and only participates in the output judgment of the model write-back permission result when the candidate missing test constraint condition is met.

[0090] The home control module sequentially performs control causality premise verification, time closure verification, and response consistency verification on the home candidate units, forming a causality closure verification result. The control causality premise verification is used to determine whether the control command of the candidate device forms a control association with the resource node event record. The home control module reads the control command identifier in the home candidate unit and calls the valid control command record filtered by the response verification module. When the target resource node of the valid control command is consistent with the controlled resource node identifier in the resource node event record, the control causality premise verification passes. If the target resource node of the valid control command is inconsistent with the controlled resource node identifier, but the command path version of the valid control command has been effective before the start of the continuous event interval and passes through the controlled resource node, the control causality premise verification passes. If this condition is not met, the home control module marks the corresponding home candidate unit as having insufficient control causality premise.

[0091] The time closure check is used to determine whether a continuous event interval and an instruction action window are on the same verifiable time link. The home control module reads the continuous event interval and the instruction action window, and takes the overlapping part between them as the verifiable overlapping interval. If the verifiable overlapping interval does not exist, the corresponding home candidate unit is marked as having insufficient time closure. If the verifiable overlapping interval exists, the valid device-side data within the verifiable overlapping interval is checked. The valid device-side data follows the definition in the response check module, that is, data that simultaneously has a candidate device identifier, reporting time, control mode status, and a response field corresponding to the control instruction type. If the verifiable overlapping interval contains valid device-side data for no less than two controller reporting cycles, the time closure check passes. If the length of the verifiable overlapping interval is less than two controller reporting cycles, or if there is insufficient valid device-side data, the corresponding home candidate unit is marked as having insufficient time closure.

[0092] Two controller reporting cycles are used as the minimum continuous observation length to exclude single controller reporting jitter and instantaneous state jumps. When the candidate device controller configuration requires more continuous reporting slots for state confirmation, the attribution control module executes according to the candidate device controller configuration. When the continuous confirmation length required by the candidate device controller configuration exceeds the length of the verifiable overlapping interval, the corresponding attribution candidate unit is marked as having no valid window. The controller reporting cycle adopts the value formed in the response verification module and not marked as insufficient recording. The attribution control module does not re-estimate the controller reporting cycle in this step.

[0093] The attribution control module uses a closed-loop time margin to check the deviation between the beginning and end of a continuous event interval and the response record on the device side. The closed-loop time margin is formed based on the window alignment margin that has been limited and not marked as insufficient recording in the response verification module and two controller reporting cycles, and the larger of the two values ​​is taken. The window alignment margin is limited to 0.5 seconds to 5 seconds, and the two controller reporting cycles are limited to 0.4 seconds to 4 seconds. The online value of the closed-loop time margin is within the range of 0.5 seconds to 5 seconds. When the window alignment margin or the controller reporting cycle used to form the closed-loop time margin in the response verification module has a state of insufficient recording, the attribution control module does not form a closed-loop time margin, marks the corresponding attribution candidate unit as insufficient recording, and only allows the corresponding resource node event record to participate in the resource node status update.

[0094] If a closed time margin can be formed, and the start time of a continuous event interval is earlier than the first valid response time in the device-side response record and exceeds the closed time margin, the corresponding candidate unit is marked as having insufficient time closure. If the deviation between the start time of the continuous event interval and the first valid response time does not exceed the closed time margin, and it can be verified that the overlapping interval meets the valid device-side data requirements, the time closure check passes.

[0095] The response consistency check is used to determine whether the control command type and the response fields of the equipment-side response record have an engineering correspondence. When the control command type is the travel arrival type, the home control module checks whether there is a candidate device entering the candidate device search boundary, the direction of movement and speed change in the search corridor in the equipment-side response record, and forms a travel arrival type response field. When the control command type is the operation execution type, the home control module checks whether there is valid data on the working device action, load change and actuator action of no less than two consecutive controllers reporting slots in the command action window, and forms an operation execution type response field. When the control command type is the waiting queue type, the home control module checks the dwell status, queue position change and control mode status in the equipment-side response record, and forms a waiting queue type response field. When the control command type and the equipment-side response record cannot form a corresponding response field, the corresponding home candidate unit is marked as having an inconsistent response. When any of the states of pause, maintenance lock, or takeover status exists in the equipment-side response record, the corresponding home candidate unit is marked as having a restricted response.

[0096] The attribution control module performs type exclusion processing during response consistency verification. Data that simply enters the candidate device search boundary is not used as the basis for the operation response of operation execution control instructions; stationary state is not used as the basis for the operation response of operation execution control instructions; load change is not used as the basis for the arrival response of travel arrival control instructions. This type exclusion processing is used to prevent the passage of adjacent devices, short-term stops, or load disturbances from being written into the capability model of a single device.

[0097] The attribution control module performs a region residue check on the attribution candidate units that have passed the control causal premise check, time closure check, and response consistency check. The region residue check is used to identify whether the externally sensed event is still carried by the controlled resource node after the candidate device leaves the candidate device search boundary or after the device-side response ends. The attribution control module calls the continuous event interval, the candidate device search boundary, and the candidate device positioning record to find the last valid trajectory point of the candidate device within the candidate device search boundary. If the valid trajectory point exists, and there is a first valid trajectory point outside the candidate device search boundary after the valid trajectory point, the positioning time of the second valid trajectory point is taken as the time when the candidate device leaves the candidate device search boundary. If the last valid trajectory point within the boundary is missing, the corresponding attribution candidate unit is marked as having insufficient records. If the first valid trajectory point outside the boundary is missing, the region residue judgment based on the candidate device's departure time is not triggered, and the region residue check is performed based on the last valid response time on the device side.

[0098] The attribution control module calls the device-side response record to extract the last valid response time from the device side. The last valid response time from the device side is the reporting time of the last valid device-side data corresponding to the control command type within the command action window. If the last valid response time from the device side is missing, the corresponding attribution candidate unit is marked as having insufficient records. If there is a time when a candidate device leaves the candidate device search boundary, the end time of the continuous event interval is compared with the time when the candidate device leaves the candidate device search boundary. If there is a last valid response time from the device side, the end time of the continuous event interval is compared with the last valid response time from the device side. If the continuous event interval continues to exceed the area residual judgment time after the candidate device leaves the candidate device search boundary, or continues to exceed the area residual judgment time after the last valid response time from the device side, the attribution control module marks the resource node event record as having area residual risk.

[0099] The region residual determination time adopts a closed time margin. This value comes from the window alignment margin that the response verification module has completed the amplitude limiting and has not been marked as insufficient recording, and the controller reporting cycle. It is used to cover the normal boundary deviation between the output of external sensing event segments, the refresh of candidate device positioning, and the reporting of device controller. When a closed time margin cannot be formed, the region residual timeout judgment that depends on the region residual determination time is not performed, and the corresponding candidate unit is not used as a candidate for device model write-back permission.

[0100] The attribution control module performs proximity competition verification. Proximity competition verification is used to determine whether there are multiple candidate devices that simultaneously form a causal closure relationship with external sensing events under the same resource node event record. Under the same resource node event record, the attribution control module counts the attribution candidate units that pass the causal closure verification, are not in a restricted state, and are not marked as having regional residual risk. When only one attribution candidate unit meets this condition, the attribution control module determines the attribution candidate unit as a device model write-back permission candidate. When two or more attribution candidate units meet this condition, the resource node event record is marked as proximity competition frozen, and resource node state updates are allowed.

[0101] The home control module performs candidate missing test restriction judgment on unverifiable candidates. The home control module reads the device marked as an unverifiable candidate in the candidate status record, calls the scheduling execution record recorded for the unverifiable candidate before the current verification time, checks whether there is a valid control instruction pointing to the same controlled resource node, and checks whether the instruction validity period of the valid control instruction overlaps with the continuous event period. If this situation exists, the home control module marks the resource node event record as a candidate missing test restriction; if this situation does not exist, the candidate missing test restriction is not triggered.

[0102] The attribution control module generates model write-back permission results for external sensing events based on the results of causal closure verification, regional residual verification, proximity competition verification, and candidate missing test restriction. The model write-back permission results include device model write-back permission, resource node status update, regional residual risk, proximity competition freeze, and candidate missing test restriction. When generating device model write-back permission, the model write-back permission results record the resource node event identifier, controlled resource node identifier, permitted device identifier, control command identifier, continuous event interval, command action window, and the verified status.

[0103] When there is one device model write-back permission candidate, and the restriction fields of the resource node event record do not record abnormal persistence, regional residual risk, near-field contention freeze, and candidate missing test restriction, the attribution control module generates a device model write-back permission. When there is no device model write-back permission candidate, but the regional carrying status of the resource node event record is carried, the continuous event interval has a valid start time and end time, and the continuous event interval is not written to the observation state, the attribution control module generates a resource node status update. When the continuous event interval continues to exceed the regional residual judgment time after the candidate device leaves the candidate device search boundary, or continues to exceed the regional residual judgment time after the last valid response time on the device side, the attribution control module generates a regional residual risk. When there are two or more attribution candidate units that pass the causal closure check, do not have a restriction state, and are not marked as regional residual risk, the attribution control module generates a near-field contention freeze. When the valid control instruction corresponding to the unverifiable candidate points to the same controlled resource node, and the instruction validity interval of the valid control instruction overlaps with the continuous event interval in time, the attribution control module generates a candidate missing test restriction.

[0104] When the attribution control module outputs a device model write-back permission, the scheduling execution module allows externally perceived events to be written into the device capability model corresponding to the permitted device identifier. When the attribution control module outputs any of the following results: resource node status update, regional residual risk, proximity competition freeze, and candidate missing test restriction, the scheduling execution module only allows updating the resource node status and does not allow externally perceived events to be written into the capability model of a single device. Thus, the attribution control module transforms externally perceived events from evidence at the resource node level into controllable model write-back permission results, making device model write-back subject to the joint constraints of control commands, time closure, device-side response, regional residual, and proximity competition.

[0105] The scheduling execution module executes model write-back control according to the model write-back permission result. When generating a device model write-back permission, it writes external sensing events into the capability model of the corresponding device. When no device model write-back permission is generated, it blocks the writing of external sensing events into the model of a single device. Based on the currently valid device capability model and the resource node status formed by the resource node event record, it outputs engineering machinery scheduling control instructions.

[0106] In this embodiment, the scheduling execution module receives the model write-back permission result output by the home control module. The model write-back permission result includes device model write-back permission, resource node status update, regional residual risk, near-field competition freeze, and candidate missing test restriction. The scheduling execution module uses the model write-back permission result as the basis for model write-back admission and does not re-determine device homeness for external perceived events. This allows the causal closure verification result formed by the home control module to control the write channel of the device capability model.

[0107] The scheduling execution module establishes a write-back control record. The write-back control record uses the resource node event identifier, controlled resource node identifier, model write-back permission result type, processing time, and device capability model baseline version number as basic fields. The device capability model baseline version number comes from the device capability model version management record and is used to identify the device capability model version that has taken effect before the scheduling calculation starts. It is not used as a numerical calculation parameter. When the model write-back permission result is a device model write-back permission, the write-back control record writes the permission device identifier, control command identifier, continuous event interval, command application window, and passed verification status. When no device model write-back permission is generated, the write-back control record writes the controlled resource node identifier, continuous event interval, restriction field, and restriction source, and marks the device capability model baseline version number as inapplicable.

[0108] When the model write-back permission result is a device model write-back permission, the scheduling execution module performs version verification and duplicate write verification on the device capability model corresponding to the permitted device identifier. During version verification, the scheduling execution module reads the device capability model version number corresponding to the permitted device identifier and compares the device capability model version number with the device capability model baseline version number in the write-back control record. If they match, the write process continues. If they do not match, the module rereads the device capability model version that was effective before the scheduling calculation started, without a version freeze mark or a rollback mark, updates the device capability model baseline version number in the write-back control record to the reread version number, and then performs duplicate write verification.

[0109] When the current valid device capability model version cannot be read, the scheduling execution module does not perform device capability model writing, writes the resource node event identifier corresponding to the external sensing event into the write-back blocking record, and records the blocking reason as the device capability model version is unavailable. This write-back blocking belongs to the runtime write control of the scheduling execution phase, does not change the model write-back permission result type already output by the home control module, and does not write the external sensing event into the device capability model of other candidate devices.

[0110] During duplicate write verification, the scheduling execution module uses the licensed device identifier and resource node event identifier as search conditions to check whether a write-back record for the same resource node event identifier already exists in the device capability model corresponding to the licensed device identifier. If it already exists, it will not write again; if it does not exist, it will perform write-back sample writing processing.

[0111] During the write-back sample processing, the scheduling execution module uses the permitted device identifier, resource node event identifier, and control command identifier as write indexes. It associates externally perceived events with resource node event records, control commands, and device-side response records, and then writes them into the device capability model corresponding to the permitted device identifier. The write-back sample includes the permitted device identifier, resource node event identifier, controlled resource node identifier, continuous event interval, control command identifier, command action window, device-side response record, and model write-back permission result type. The permitted device identifier is used to limit the write objects of the device capability model; the resource node event identifier and controlled resource node identifier are used to limit the source of externally perceived events; the continuous event interval and command action window are used to limit the time boundaries between events and control commands; and the device-side response record is used to limit the correspondence between externally perceived events and device-side responses. This write-back sample only writes the device capability model corresponding to the permitted device identifier and does not write the device capability models of other candidate devices under the same resource node event record.

[0112] After the write operation is completed, the scheduling execution module generates an equipment capability model update record. The equipment capability model update record records the permitted equipment identifier, resource node event identifier, write time, write version number, and write-back sample source. The equipment capability model update record is used in subsequent scheduling to call the corresponding equipment's working capability, passage capability, and waiting queue status on the controlled resource node. It does not change the equipment capability model of other equipment. The write-back sample formed by the same resource node event record does not participate in the online scheduling confirmation corresponding to that resource node event record. The updated equipment capability model participates in scheduling calculations from the subsequent scheduling calculations after the current engineering machinery scheduling control instruction is written into the scheduling execution record.

[0113] When no device model write-back permission is generated, the scheduling execution module executes a single device model write blocking. The scheduling execution module writes the resource node event identifier corresponding to the external sensing event into the write-back blocking record, and writes the source of the restriction formed in the model write-back permission result type and restriction field into the blocking reason field. External sensing events that have not generated device model write-back permission only participate in scheduling constraints as resource node status, and are not used as update samples, evaluation samples, or capability enhancement basis for the single device capability model.

[0114] The scheduling execution module forms the resource node status based on the resource node event records. The resource node status is based on the controlled resource node identifier and is formed according to the resource node event records and model write-back permission results. When generating a device model write-back permission, the scheduling execution module writes the permitted device identifier and the corresponding resource node event identifier into the resource node status, so that the resource node status records that the controlled resource node has an event inheritance relationship with the permitted device. When generating regional residual risk, near-field competition freeze, and candidate missing test restriction, the scheduling execution module writes the corresponding model write-back permission result type into the resource node status. When generating a resource node status update, the resource node status records that the controlled resource node has external perception events that have not been allocated to a single device capability model. The resource node status is used to constrain the scheduling target and entry action, and does not directly change the device capability model version status.

[0115] The scheduling execution module calls the currently valid device capability model. The currently valid device capability model refers to the device capability model version that has been effective before the scheduling calculation starts, and does not have a version freeze flag or a rollback flag. The version freeze flag and the rollback flag are both status fields in the device capability model version management record. Their values ​​are written and not written. The version freeze flag is applicable to any state of the device capability model in the verification, migration, or abnormal rollback preparation state. The rollback flag is applicable to the state where the device capability model has been replaced by an old version. Device capability models with either the version freeze flag or the rollback flag will not enter the scheduling calculation. When the device capability model version management record is missing, the scheduling execution module will not use the corresponding device capability model as the currently valid device capability model. The restriction fields in the resource node event record are used to constrain the scheduling target and entry action of the controlled resource node, and are not used as the basis for judging the validity of the device capability model version.

[0116] The scheduling execution module outputs engineering machinery scheduling control instructions based on the currently valid equipment capability model and resource node status. The scheduling execution module reads the task type field corresponding to the controlled resource node and reads the effective capability items in the currently valid equipment capability model. The task type field comes from the task configuration of the controlled resource node, and the capability items come from the effective capability records in the equipment capability model. The two are matched according to the task configuration table of the scheduling platform. The task configuration table at least records the controlled resource node identifier, task type field, access capability items, entry conditions, available alternative paths, and task waiting permission status. If the task configuration table is missing, the capability items are not effective, or the capability items do not match the task type field, the scheduling execution module will not include the corresponding engineering machinery in the entry and operation execution scheduling candidate range. During the filtering, the scheduling execution module does not use the equipment capability model update results formed by the current resource node event records, but only uses the equipment capability model version that has been effective before the scheduling calculation started.

[0117] Construction machinery dispatch and control instructions include entry, waiting, work execution, detour, exit, equipment interval separation, and entry timing reallocation instructions. Data supplementation requests and data retransmission requests are data supplementation actions and are not considered construction machinery operation dispatch instructions.

[0118] When there is residual risk in the resource node status record area, the scheduling execution module restricts the issuance of entry and job execution scheduling control commands to the corresponding controlled resource node. When there is an available alternative path for the controlled resource node, a detour-type engineering machinery scheduling control command is output. When there is no available alternative path for the controlled resource node and the task waiting permission status is "allowed to wait", a waiting-type engineering machinery scheduling control command is output. When any of the following restriction statuses are present: continuous event interval not closed, restriction source field missing, candidate status record containing unverifiable candidate, insufficient records, or insufficient samples, a data supplementation request is output. Available alternative paths and task waiting permission status are derived from the resource node topology and the controlled resource node task configuration. When the corresponding configuration is missing, no entry or job execution scheduling control commands are output.

[0119] When the resource node status records a near-field competition freeze, the scheduling execution module reads the current entry plan of candidate devices from the scheduling execution record. The current entry plan of candidate devices includes the candidate device identifier, the target controlled resource node identifier, the queuing position, the instruction issuance time, and the instruction status. When a current entry plan of candidate devices exists, the candidate devices that have not yet entered the controlled resource node are adjusted to a waiting state according to the queuing order constraints in the task configuration of the controlled resource node, and a scheduling control instruction for engineering machinery with a device spacing gap is output. When any of the following situations exists: queuing position conflict or instruction issuance time conflict among multiple candidate devices, the entry order is adjusted according to the queuing position, instruction issuance time, and candidate device registration order in the equipment ledger record, and a scheduling control instruction for engineering machinery with an entry time reassignment is output. When a current entry plan of candidate devices is missing, the entry time reassignment is not executed, and the near-field competition freeze in the resource node status is retained.

[0120] When a candidate missing test limit is recorded in the resource node status, the scheduling execution module outputs a data supplementation request and a data retransmission request. The data supplementation request is directed to the missing test candidate device corresponding to the candidate missing test limit, requiring it to re-report the positioning data, controller status, and device-side response data corresponding to the control command type. The data retransmission request is directed to the edge control node, requiring it to retransmit the scheduling execution record and device-side operating status that have been cached within the continuous event interval.

[0121] When the resource node status does not record regional residual risk, near-field competition freeze, or candidate missing test restrictions, the scheduling execution module outputs engineering machinery scheduling control instructions according to the matching result between the equipment capability model and the task type of the controlled resource node. When the equipment capability model records that the engineering machinery meets the task type and entry conditions of the controlled resource node, at least one engineering machinery scheduling control instruction of the entry type and the operation execution type is output; when the engineering machinery does not meet the entry conditions but can continue to wait, a waiting type engineering machinery scheduling control instruction is output; when the current status of the controlled resource node does not meet the operation entry conditions, at least one engineering machinery scheduling control instruction of the detour type and the exit type is output. The entry conditions are derived from the task configuration of the controlled resource node, the resource node status, and the current scheduling status of the engineering machinery; when the entry condition configuration is missing, no entry type or operation execution type scheduling control instructions are output.

[0122] When the model write-back permission result is a resource node status update, and the resource node status does not record regional residual risk, near-field competition freeze, or candidate missing test restrictions, the scheduling execution module further checks the continuous event interval corresponding to the resource node status update. If the continuous event interval is not closed at the processing time, the scheduling execution module does not output entry or job execution scheduling control instructions, and outputs at least one engineering machinery scheduling control instruction from waiting or detour categories according to the controlled resource node task configuration. If there is missing data, a data supplementation request is output. If the continuous event interval has been closed, the scheduling execution module only outputs engineering machinery scheduling control instructions based on the controlled resource node task configuration, resource node status, and the equipment capability model that has been effective before the scheduling calculation starts. External perception events that are not assigned to a single equipment capability model are not used as the capability basis of the equipment capability model.

[0123] After the scheduling execution module outputs the engineering machinery scheduling control command, it writes the engineering machinery scheduling control command into the scheduling execution record. The scheduling execution record includes the scheduling control command identifier, the target engineering machinery identifier, the target controlled resource node identifier, the command type, the command issuance time, and the command status. Data supplementation requests and data retransmission requests are written into the data request field of the scheduling execution record. This scheduling execution record is used by the next round of event access module and response verification module, so that subsequent externally perceived events continue to be processed in a closed loop according to the resource node event record, candidate device response record, and model write-back permission result.

[0124] Therefore, the scheduling execution module converts the model write-back permission result into controlled writing of the equipment capability model, controlled updating of the resource node status, and controlled output of the engineering machinery scheduling control command. External sensing events are only written into the equipment capability model corresponding to the permitted equipment identifier when the home control module generates the equipment model write-back permission. When generating regional residual risk, near-field competition freeze, candidate missing test restriction, and resource node status update, external sensing events are restricted to participating in scheduling control in the resource node status and do not enter the single equipment capability model.

[0125] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A monitoring and scheduling system for engineering machinery based on data acquisition and control, characterized in that, include: The event access module acquires the field collection records and scheduling execution records of the construction machinery operation site, and uses resource node carrying processing to write the external sensing events in the field collection records into the resource node event records, so that the external sensing events form a continuous event interval with the controlled resource nodes as the carrying objects; The response verification module narrows down the candidate device range based on the resource node event records, calls the scheduling execution records of the candidate devices, and uses the instruction action window processing to extract the device-side response records of the candidate devices during the control instruction action period. The attribution control module performs causal closure verification on continuous event intervals in resource node event records and device-side response records, and generates model write-back permission results for externally perceived events. The scheduling and execution module executes model write-back control according to the model write-back permission result. When generating a device model write-back permission, it writes external sensing events into the capability model of the corresponding device. When no device model write-back permission is generated, it blocks the writing of external sensing events into the model of a single device. Based on the currently valid device capability model and the resource node status formed by the resource node event record, it outputs engineering machinery scheduling and control instructions.

2. The engineering machinery monitoring and scheduling system based on data acquisition and control according to claim 1, characterized in that, The resource node-based processing method writes external sensing events from field data collection and recording into the resource node event log, specifically including: Time base correction is performed on the field acquisition records and scheduling execution records. The topology of the active resource nodes is invoked according to the time of occurrence of the external sensing event. Node coverage verification and scheduling occupancy verification are used to process the external sensing event. When the external sensing event satisfies the node coverage relationship and there is an open task record on the corresponding controlled resource node, the external sensing event is written into the resource node event record. When there is no open task record on the corresponding controlled resource node and there is an unfinished task occupancy record in the scheduling execution record corresponding to the occurrence interval of the external sensing event, the external sensing event is written into the resource node event record. Field acquisition records that do not meet any of the time base correction conditions, node coverage conditions, or scheduling occupancy conditions are retained as event records to be observed.

3. The engineering machinery monitoring and scheduling system based on data acquisition and control according to claim 2, characterized in that, Forming a continuous event interval, specifically including: For adjacent external sensing events written to the same controlled resource node, continuous merging processing is performed. First, the consistency of the source labels of adjacent external sensing events is checked. If the source labels are inconsistent, the continuity of the coverage area is checked based on the intersection relationship of the coverage areas of adjacent external sensing events and the boundary distance between adjacent coverage areas. Then, the event interval and direction change of adjacent external sensing events are checked. When the event interval is within the allowable range defined by the sampling period and communication delay, and the direction change is within the allowable range defined by the passage direction of the controlled resource node, adjacent external sensing events are merged into a continuous event interval; when adjacent external sensing events do not meet the continuity condition, the previous continuous event interval ends and a new continuous event interval begins; a candidate device search boundary is formed based on the continuous event interval and the corresponding controlled resource node, and the candidate device search boundary is used by the response verification module to converge the candidate device range.

4. The engineering machinery monitoring and scheduling system based on data acquisition and control according to claim 1, characterized in that, The range of candidate devices is narrowed down based on resource node event records, specifically including: Call the resource node event records that have formed the candidate equipment search boundary, convert the engineering machinery positioning records to the field coordinate system adopted by the resource node topology, and filter the engineering machinery whose trajectory points fall into the candidate equipment search boundary within the continuous event interval to form the candidate equipment range; Retrieve the scheduling execution records of candidate devices and filter for valid control commands pointing to controlled resource nodes in the resource node event records; if the command path version has taken effect before the start of the continuous event interval and has passed through a controlled resource node, include the corresponding control command in the filtering results; candidate devices for which no corresponding control command is filtered out will not enter the command action window for processing.

5. The engineering machinery monitoring and scheduling system based on data acquisition and control according to claim 4, characterized in that, The command action window process is used to extract the device-side response records of candidate devices during the execution of control commands, specifically including: The selected control commands form a valid command interval. The time intersection of the continuous event interval and the valid command interval is taken to form the command action window. When the end time of the command action window is later than the start time and the window length meets the controller reporting cycle requirements, the device-side operating status of the candidate device within the command action window is extracted. Extract response fields corresponding to the operating status of the equipment side according to the control command type, generate equipment side response records, and form record completeness based on the coverage of valid equipment side data within the command action window.

6. The engineering machinery monitoring and scheduling system based on data acquisition and control according to claim 5, characterized in that, Perform causal closure checks on continuous event intervals in resource node event records and device-side response records, specifically including: For the same resource node event record, the candidate device response record and the candidate status record are associated to form a home candidate unit; the correspondence between the control command and the controlled resource node in the home candidate unit, the time overlap between the continuous event interval and the command action window, and the correspondence between the control command type and the response field of the device side response record are verified to generate a causal closure verification result.

7. The engineering machinery monitoring and scheduling system based on data acquisition and control according to claim 6, characterized in that, The model write-back permission result for generating externally perceived events specifically includes: Based on the causal closure verification result, perform regional residual verification and proximity competition verification on the attribution candidate units under the same resource node event record; when a single attribution candidate unit passes the causal closure verification and the candidate state record does not record the restriction state, generate a device model write-back permission. When an externally sensed event in the same resource node event record continues for more than the regional residual determination time after the candidate device leaves the candidate device search boundary, a regional residual risk is generated; when two or more belonging candidate units pass the causal closure check, have no recorded restriction status, and are not marked as regional residual risks, a near-field competition freeze is generated; when the valid control command corresponding to an unverifiable candidate points to the same controlled resource node, and the valid command interval of the valid control command overlaps with the continuous event interval in time, a candidate missing test restriction is generated.

8. The engineering machinery monitoring and scheduling system based on data acquisition and control according to claim 7, characterized in that, Model write-back control is executed according to the model write-back permission result, specifically including: When the model write-back permission result is a device model write-back permission, version verification and duplicate write verification are performed on the device capability model corresponding to the permitted device identifier. The external sensing event is associated with the resource node event record, control command and device-side response record and then written into the device capability model corresponding to the permitted device identifier. When no device model write-back permission is generated, the resource node event identifier corresponding to the external sensing event is written into the write-back blocking record and the external sensing event is prohibited from being used as an update sample for a single device capability model.

9. A monitoring and scheduling system for engineering machinery based on data acquisition and control according to claim 8, characterized in that, The resource node status is formed based on the resource node event records, specifically including: Using the controlled resource node identifier as the object, the resource node status is formed based on the resource node event record and the model write-back license result; when generating a device model write-back license, the licensed device identifier and the corresponding resource node event identifier are written into the resource node status; when generating regional residual risk, near-field competition freeze, candidate missing test restriction, and resource node status update, the corresponding model write-back license result type is written into the resource node status.

10. A monitoring and scheduling system for engineering machinery based on data acquisition and control according to claim 9, characterized in that, Based on the current effective equipment capacity model and resource node status, output engineering machinery scheduling and control instructions, specifically including: The system invokes the device capability model that has been effective before the scheduling calculation starts, and that does not have a version freeze flag or a rollback flag; when there is residual risk in the resource node status record area, it restricts the issuance of entry and job execution scheduling control instructions to the corresponding controlled resource node; when the resource node status record shows near-distance contention freeze, it outputs any scheduling control instruction in the device interval separation class or the entry timing reallocation class; when the resource node status record shows candidate missing test restrictions, it generates data supplementation requests and data retransmission requests, and writes the data supplementation requests and data retransmission requests into the data request field of the scheduling execution record. When the resource node status does not record regional residual risk, near-field competition freeze, and candidate missing test limitation, the engineering machinery scheduling control command is output according to the matching result of the equipment capability model and the task type of the controlled resource node, and the engineering machinery scheduling control command is written into the scheduling execution record.

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