Edge computing based new energy production line equipment collaborative control and scheduling system

Abstract

The application discloses a new energy production line equipment collaborative control and scheduling system based on edge computing, relates to the technical field of new energy production line equipment control, and is used for solving the problems of unstable control signals in the equipment action handover stage, early release of scheduling instructions and conflict of multi-source control instructions; the application collects and screens operation control signals of production, transfer, detection, sorting, buffering and safety interlocking devices, determines an action handover window of a control action to be executed, continuously confirms action completion, receiving preparation, mechanism reset, station occupation, detection confirmation and interlocking permission state in the window, and generates an execution result of allowing, temporarily suspending or prohibiting; meanwhile, priority arbitration is performed on multi-source control instructions, and instructions that do not meet permission conditions are buffered, shielded, cancelled or delayed in release, and the handover result is confirmed and the control boundary is updated in combination with execution feedback, so that the stability, continuity and reliability of equipment collaborative control and scheduling are improved.

Description

Technical Field

[0001] This invention relates to the field of control technology for new energy production line equipment, and more specifically, to a collaborative control and scheduling system for new energy production line equipment based on edge computing. Background Technology

[0002] In the field of collaborative control of equipment in new energy production lines, automated production lines such as battery cell processing, cell assembly, photovoltaic module manufacturing, and energy storage module assembly have widely adopted collaborative operation of production equipment, transfer equipment, testing equipment, sorting equipment, buffer equipment, and safety interlock devices. These production lines are usually connected to the control units of each equipment by edge controllers or field control nodes. Based on the control tasks such as feeding, picking, releasing, detection confirmation, sorting switching, buffer release, and cycle adjustment issued by the production line scheduling terminal, combined with the equipment operating status, workstation occupancy status, material arrival status, detection results, and safety interlock signals, corresponding equipment start, pause, release, isolation, lock, or reset control commands are generated to achieve continuous production between upstream and downstream processes.

[0003] However, in the high-speed, continuous operation scenario of new energy production lines, the truly error-prone stages between equipment are not the stable operation phase, but rather the handover phases involving actions such as material feeding completion, pick-and-place completion, inspection and release, channel switching, buffer release, and workstation reception. Existing systems often use single signals such as equipment idleness, action completion, or inspection and release as the basis for subsequent instruction releases, lacking judgment on the handover window regarding target equipment reception preparation, actuator reset, workstation occupancy changes, material transfer results, and interlock permission status. This leads to scheduling instructions being issued prematurely when the preceding action has just been completed but the following action has not yet been stably received. At the same time, production scheduling instructions, quality isolation instructions, equipment protection instructions, safety interlock instructions, and manual intervention instructions may occur simultaneously during the handover phase of the same equipment or the same workstation. Existing solutions lack a buffer arbitration mechanism that combines the action permission results, easily leading to conflicts between continuing material feeding and pausing material feeding, normal release and quality isolation, and resumption of operation and safety interlock conflicts. This results in problems such as premature material feeding, repeated pick-and-place, erroneous release, buffer blockage, partial shutdown, and repeated fluctuations in cycle time, making it difficult to achieve a stable, continuous, and traceable collaborative control process for new energy production line equipment. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the following solution is proposed to solve the problems of unstable control signals, premature release of scheduling instructions, and conflict of multi-source control instructions in the equipment operation handover stage of the above-mentioned background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The edge computing-based collaborative control and scheduling system for new energy production line equipment includes a signal access module, a handover window determination module, an action permission determination module, an instruction buffer arbitration module, a collaborative control output module, and a feedback closed-loop correction module, with each module connected for data communication. The signal access module is used to access the operation control signals of production equipment, transfer equipment, testing equipment and safety interlock devices in the new energy production line, and aggregate them to the edge computing node; The handover window determination module is used to determine the action handover window corresponding to the current control action based on the device object, action type, and upstream and downstream cooperation relationship corresponding to the control action to be executed; The action permission determination module is used to determine the consistency of action completion status, reception preparation status, mechanism reset status, workstation occupancy status, detection confirmation status and interlock permission status within the action handover window, and generate an execution permission result, a deferred execution result or a prohibition execution result. The instruction buffer arbitration module is used to prioritize scheduling instructions, protection instructions, isolation instructions, interlock instructions, and manual intervention instructions acting on the same equipment or workstation based on the action permission determination result, and to buffer, shield, or delay the release of control instructions that do not meet the permission conditions. The collaborative control output module is used to generate collaborative control actions for the equipment based on the arbitrated target control instructions, and send them to the corresponding equipment control unit for execution. The feedback closed-loop correction module is used to collect the position feedback, transfer feedback, occupation change feedback and abnormal return feedback after the execution of the coordinated control action, confirm the action handover result, and trigger re-judgment, partial pause, command lock or rollback control when the handover is abnormal.

[0006] Furthermore, the signal access module is used to collect operation control signals according to equipment identifier, workstation identifier, and action identifier, and to perform time stamping, source stamping, and validity screening on operation control signals from different equipment control units; The validity screening includes removing lagging signals that exceed the current control cycle, shielding invalid signals that do not match the current operating mode of the equipment, and associating action feedback, workstation feedback, material feedback, detection feedback and interlock feedback related to the same control action to be executed as a set of control signals for edge computing nodes to call.

[0007] Furthermore, the handover window determination module is used to determine the start boundary, release boundary, and timeout boundary of the action handover window based on the triggering conditions of the control action to be executed, the feedback of the completion of the previous action, the reception feedback of the target equipment, the reset feedback of the actuator, the feedback of the change in workstation occupancy, and the interlock recovery feedback. The initial boundary is formed by the control action to be executed or the completion of the previous action. The release boundary is formed by the necessary feedback items in the target device receiving state, actuator reset state, workstation occupancy state and interlock permission state corresponding to the current control action reaching the release requirement. The timeout boundary is used to limit the duration of the action handover window.

[0008] Furthermore, the action permission determination module is used to call the control signal set within the action handover window to continuously confirm the action completion status, reception preparation status, mechanism reset status, workstation occupancy status, detection confirmation status, and interlock permission status corresponding to the control action to be executed. When the status of the judgment remains consistent within the preset confirmation time, and there is no occupation conflict, detection prohibition, interlock prohibition or device protection trigger, an execution permission result is generated; When there is a short-term inconsistency, delayed recovery, or lack of feedback in the status of the involved judgment, a result of temporarily suspending execution is generated; When there is a conflict of use, detection is prohibited, interlock is prohibited, or device protection is triggered, a prohibition result is generated.

[0009] Furthermore, the action permission determination module is also used to generate corresponding permission disposal identifiers based on the results of allowed execution, suspended execution, and prohibited execution. The permission handling flag corresponding to the execution result is used to trigger the target control instruction to enter the release process. The permission handling flag corresponding to the execution result is used to keep the control action to be executed in the waiting review state and continue to monitor the state changes in the action handover window. The permission handling flag corresponding to the execution result is used to prevent the issuance of the corresponding control instruction and generate a local lock flag or an abnormal handling flag.

[0010] Furthermore, the instruction buffer arbitration module is used to identify multiple control instructions that exist simultaneously in the same equipment, the same workstation, or the same action handover window, and to determine the target control instruction based on the instruction source, the controlled object, the direction of the action, the action permission judgment result, and the mutual exclusion relationship. When there are mutually exclusive actions among multiple source control commands, priority arbitration is performed in the order of safety interlock commands, equipment protection commands, quality isolation commands, manual intervention commands, and production scheduling commands. The control command with the highest priority that meets the action permission determination result is retained as the target control command, and the remaining control commands are buffered, shielded, or canceled.

[0011] Furthermore, the instruction buffer arbitration module is also used to keep the production scheduling instruction or low-priority control instruction in a buffered state when the action permission determination result is a postponement result, and to continuously detect the release boundary within the action handover window; When the release boundary is established and no higher-priority control instruction appears, release the control instruction in the buffer state; When the buffer duration reaches the preset buffer boundary, or when the result of the suspended execution changes to the result of the prohibited execution, the control command in the buffer state is canceled, and a re-permission determination, partial pause, or abnormal handling is triggered.

[0012] Furthermore, the collaborative control output module is used to generate corresponding collaborative control actions based on the target control command, the action permission determination result, and the response status of adjacent devices; When the target control command meets the action permission judgment result and release boundary, the collaborative control output module converts the target control command into a control action that can be executed by the corresponding equipment control unit, and issues it according to the equipment object, workstation object and action sequence; When the target control command involves the cooperation of adjacent devices, the collaborative control output module synchronously generates the collaborative control actions corresponding to the front-end device holding, the target device executing, and the back-end device receiving and preparing, and generates the target handover result corresponding to the target control command.

[0013] Furthermore, the feedback closed-loop correction module is used to collect action arrival feedback, material transfer feedback, workstation occupancy change feedback, reception completion feedback and abnormal return feedback from the target equipment and adjacent equipment after the collaborative control action is issued, and to match the collected results with the expected handover results corresponding to the target control command. When the collected results are consistent with the expected handover results, a handover completion flag is generated; when the collected results are inconsistent with the expected handover results, feedback times out, or feedback is missing, a handover exception flag is generated, and instruction locking, re-permission determination, partial pause, or rollback control are triggered.

[0014] Furthermore, the feedback closed-loop correction module is also used to update the confirmation duration, release boundary, timeout boundary, buffer boundary, and abnormal triggering conditions of the action handover window based on the handover anomaly identifier; If the same equipment or workstation experiences feedback timeout, missing feedback, or handover anomaly within a continuous control cycle, the confirmation time for the corresponding action will be extended, the necessary feedback items corresponding to the release boundary will be added, or the release priority of the control command in the buffer state will be reduced. The updated confirmation time, release boundary, timeout boundary, buffer boundary, and anomaly triggering conditions will be used for subsequent action permission determination and command buffer arbitration.

[0015] The technical effects and advantages of the edge computing-based collaborative control and scheduling system for new energy production line equipment in this invention are as follows: This invention accesses and aggregates the operational control signals of production equipment, transfer equipment, testing equipment, buffering equipment, sorting equipment, and safety interlock devices in a new energy production line at the edge computing node side. This allows action feedback, workstation feedback, material feedback, detection feedback, and interlock feedback related to the same control action to be executed to correspond to the same control judgment process, avoiding the mixing of signals from different equipment, different workstations, or different action stages. By filtering out lagging signals, invalid signals, and signals that do not match the current control action, the impact of historical signal residue, equipment mode switching delays, and short-term sensor jitter on the release of control commands can be reduced.

[0016] Based on this, the present invention establishes a start boundary, release boundary, and timeout boundary through a handover window determination module. This enables the system to identify transitional phases where the preceding action has been completed but the subsequent receiving conditions have not yet been formed, the actuator has not yet been reset, the workstation occupancy status has not yet stabilized, or the interlock permission status has not yet been restored. This avoids prematurely releasing subsequent control commands based solely on a single completion signal. The action permission determination module continuously confirms multiple feedback states within the action handover window and generates results indicating permission to execute, deferred execution, or prohibition of execution. This ensures that scheduling commands complete on-site execution condition judgment before entering the equipment control unit, thereby avoiding directly equating task schedulability with equipment executability.

[0017] Meanwhile, this invention uses an instruction buffer arbitration module to prioritize and arbitrate multi-source control instructions such as production scheduling, quality isolation, equipment protection, safety interlocking, and manual intervention. It also buffers, shields, cancels, or delays the release of instructions that do not meet the permission conditions, based on the action permission results. This reduces instruction conflicts and repeated switching during the action handover phase. The collaborative control output module converts target control instructions into collaborative control actions such as front-end equipment holding, target equipment execution, and back-end equipment receiving preparation. The feedback closed-loop correction module then confirms the handover results based on action completion, material transfer, workstation changes, and abnormal return feedback. In case of an abnormality, it triggers re-judgment, partial pause, instruction locking, or rollback control, thereby forming a closed-loop control process on the field side, improving the stability, continuity, and reliability of collaborative control and scheduling of equipment in new energy production lines. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the collaborative control and scheduling system for new energy production line equipment based on edge computing, as described in this invention.

[0019] Figure 2 This is a schematic diagram of the control flow of the new energy production line equipment collaborative control and scheduling system based on edge computing of the present invention. Detailed Implementation

[0020] 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.

[0021] In order to achieve the above objectives, Figure 1 A schematic diagram of the collaborative control and scheduling system for new energy production line equipment based on edge computing of the present invention is given, which specifically includes a signal access module, a handover window determination module, an action permission determination module, an instruction buffer arbitration module, a collaborative control output module, and a feedback closed-loop correction module, and the data communication connection of each module is provided. The signal access module is used to access the operation control signals of production equipment, transfer equipment, testing equipment and safety interlock devices in the new energy production line, and aggregate them to the edge computing node; The handover window determination module is used to determine the action handover window corresponding to the current control action based on the device object, action type, and upstream and downstream cooperation relationship corresponding to the control action to be executed; The action permission determination module is used to determine the consistency of action completion status, reception preparation status, mechanism reset status, workstation occupancy status, detection confirmation status and interlock permission status within the action handover window, and generate an execution permission result, a deferred execution result or a prohibition execution result. The instruction buffer arbitration module is used to prioritize scheduling instructions, protection instructions, isolation instructions, interlock instructions, and manual intervention instructions acting on the same equipment or workstation based on the action permission determination result, and to buffer, shield, or delay the release of control instructions that do not meet the permission conditions. The collaborative control output module is used to generate collaborative control actions for the equipment based on the arbitrated target control instructions, and send them to the corresponding equipment control unit for execution. The feedback closed-loop correction module is used to collect the position feedback, transfer feedback, occupation change feedback and abnormal return feedback after the execution of the coordinated control action, confirm the action handover result, and trigger re-judgment, partial pause, command lock or rollback control when the handover is abnormal.

[0022] In this embodiment, edge computing nodes can be connected to various device control units via industrial Ethernet, fieldbus, industrial wireless communication, or input / output acquisition interfaces.

[0023] Production equipment is used to perform processing, assembly, or technological operations; transfer equipment is used to perform material conveying, picking, or transposition operations; testing equipment is used to output test confirmation, release, or isolation results; buffer equipment is used to provide temporary storage and receiving space between upstream and downstream processes; safety interlock devices are used to output control and restriction signals related to equipment protection, personnel safety, access control status, emergency stop status, or area interlocking.

[0024] After receiving the operation control signals from the aforementioned devices, the edge computing node does not directly send the scheduling instructions to the devices for execution. Instead, it combines the device object corresponding to the control action to be executed, the action type, and the upstream and downstream cooperation relationships to determine whether the current action is in a handover process. Based on the various feedback states during the handover process, it determines whether to allow the release of the control instruction. The above edge computing-based control flow is as follows: Figure 2 As shown.

[0025] In this embodiment, the system can receive control commands from the production line scheduling terminal, the equipment control unit, the detection unit, the safety interlock unit, and the manual operation terminal. The production line scheduling terminal is used to provide the source of the control actions to be executed, the equipment control unit is used to provide equipment operation and action feedback, the detection unit is used to provide quality confirmation or isolation results, the safety interlock unit is used to provide prohibition signals or restoration permission signals, and the manual operation terminal is used to provide reset, pause, confirmation, or intervention commands. Edge computing nodes perform on-site processing of instructions from the aforementioned different sources, ensuring that scheduling instructions are released only after the action permission conditions are met, and that protection instructions, isolation instructions, and interlocking instructions can participate in arbitration first when conflicts occur, thereby avoiding the disconnect between the upper-level scheduling instructions and the actual execution conditions of the equipment.

[0026] In this embodiment, the equipment, workstations, and actions in the new energy production line can be configured with equipment identifiers, workstation identifiers, and action identifiers, respectively. Equipment identifiers are used to distinguish the equipment objects participating in collaborative control, workstation identifiers are used to distinguish the material handover, buffering, detection, sorting, or receiving positions, and action identifiers are used to distinguish the actions to be performed, such as feeding, picking, releasing, detection confirmation, sorting switching, buffer release, mechanism reset, pausing, or resuming.

[0027] Through the aforementioned identifiers, edge computing nodes can aggregate operational control signals related to the same control action and associate the feedback status before and after the action handover with the corresponding control commands, providing a data foundation for subsequent action handover window determination, action permission judgment, and feedback loop correction.

[0028] Furthermore, in this embodiment, the signal access module is used to access, collect, and preprocess the operation control signals at the new energy production line site, so that the edge computing node can obtain the control basis directly related to the control action to be executed. The signal access module can communicate with the production equipment control unit, transfer equipment control unit, detection equipment control unit, buffer equipment control unit, sorting equipment control unit, and safety interlock unit respectively, and classify and manage the accessed operation control signals according to equipment object, workstation object, and action object.

[0029] Specifically, the signal access module configures a device identifier for each device object, a workstation identifier for each material handover position, detection position, buffer position, sorting position or receiving position, and an action identifier for each control action to be executed. After the operation control signal enters the edge computing node, the signal access module first reads the signal source, acquisition time, device, workstation and corresponding action, and then writes them into the corresponding device identifier, workstation identifier and action identifier respectively.

[0030] In this way, edge computing nodes can distinguish feedback signals generated by the same device at different workstations, and can also distinguish occupancy, arrival, reception or interlock feedback generated by the same workstation at different action stages, thus avoiding mixing signals from different action stages.

[0031] In this embodiment, the operation control signals include equipment operation feedback, action feedback, workstation feedback, material feedback, detection feedback, interlock feedback, anomaly feedback, and manual intervention feedback. Equipment operation feedback indicates the current operating mode and status of the equipment; action feedback indicates whether an equipment action has been triggered, executed, reached its destination, or reset; workstation feedback indicates whether the corresponding workstation is occupied, released, or has the conditions for receiving materials; material feedback indicates whether materials have arrived, been transferred, or completed the handover; detection feedback indicates whether the detection result has been confirmed and whether release is permitted; interlock feedback indicates whether safety protection, equipment protection, or area interlocks allow action; anomaly feedback indicates equipment failure, execution timeout, or missing feedback; and manual intervention feedback indicates pause, reset, confirmation, or intervention commands input by the operator.

[0032] The above signals are not limited to a fixed type and can be expanded according to the equipment layout and control requirements of the new energy production line.

[0033] The signal access module timestamps and sources of the operation control signals from different equipment control units. The timestamp is used to determine the order in which the operation control signals enter the current control cycle, and the source mark is used to determine whether the operation control signals come from production equipment, transfer equipment, testing equipment, safety interlock unit, manual operation terminal or production line scheduling terminal.

[0034] For the same control action to be executed, the edge computing node prioritizes calling the running control signals within the current control cycle; for historical signals that have exceeded the current control cycle but are still retained by the device control unit, the signal access module marks them as lagging signals and does not use them as a direct basis for judging the handover of the current action.

[0035] Specifically, in this embodiment, the current control cycle can be determined by the edge computing node according to a fixed sampling period, equipment action trigger time, or production line cycle synchronization signal. The fixed sampling period can be configured according to the production line control requirements, for example, 20ms, 50ms, or 100ms. When the current control cycle is determined by the equipment action trigger time, the trigger time of the control action to be executed is taken as the starting point of the current control cycle, and the end of the action handover window, the release of the target control command, or the arrival of the timeout boundary are taken as the end criteria of the current control cycle. When the current control cycle is determined by the production line cycle synchronization signal, the time range between two adjacent cycle synchronization signals is taken as the current control cycle. When the acquisition time of the running control signal falls within the current control cycle, and the equipment identifier, workstation identifier, and action identifier all correspond to the control action to be executed, it is taken as the current valid signal. Although the running control signal is within the current control cycle, if its source equipment, corresponding workstation, or action object is inconsistent with the control action to be executed, it is not taken as the direct basis for the current action handover judgment.

[0036] Furthermore, the signal access module performs validity screening on the operation control signals. Validity screening includes: When the acquisition time of the operation control signal is earlier than the start time of the current control cycle, or does not correspond to the current control action to be executed, the operation control signal is marked as a lagging signal; when the equipment operation mode corresponding to the operation control signal does not match the requirements of the current control action, the operation control signal is marked as an invalid signal; when the same equipment object has contradictory feedback signals in the same control cycle, the corresponding signals are submitted to the subsequent action permission determination module for continuous confirmation, rather than being directly used as the basis for permission to execute.

[0037] In one specific implementation, when the current control action to be executed is the target transfer equipment releasing material to the downstream detection station, the signal access module uses the transfer equipment identifier, downstream detection station identifier, and material release action identifier corresponding to the control action as the basis for aggregation. It then aggregates the transfer equipment action feedback, downstream detection station occupancy feedback, material placement feedback, detection equipment receiving feedback, and interlock permission feedback into the same control signal set. If the downstream detection station was still shown as occupied in the previous control cycle, but a release feedback has already appeared in the current control cycle, the signal access module does not directly determine the station's availability based on a single release feedback. Instead, it marks the previous cycle's occupancy feedback as a delayed signal and provides the current release feedback, receiving feedback, and interlock feedback to the action permission determination module for subsequent confirmation.

[0038] In another specific implementation, when the current control action to be performed is the release of material to the sorting equipment after the detection equipment completes the detection, the signal access module uses the detection equipment identifier, the sorting entrance station identifier, and the release action identifier as the collection basis, and includes the detection confirmation feedback, sorting channel arrival feedback, entrance station occupancy feedback, material arrival feedback, and interlock feedback into the same control signal set. When the detection confirmation feedback has been generated, but the sorting channel arrival feedback has not yet entered the current control cycle, the signal access module does not directly determine the control action as executable. Instead, it outputs the detection confirmation feedback and the missing sorting channel feedback status to the edge computing node together, providing a basis for determining the subsequent action handover window and deciding on the postponement of execution.

[0039] Therefore, the signal access module does not simply collect and forward field signals, but rather collects operation control signals based on equipment identifiers, workstation identifiers, and action identifiers. It then combines time stamps, source stamps, and validity filtering to form a set of control signals corresponding to the current control action to be executed. This set of control signals serves as the input to the subsequent handover window determination module, enabling the handover window determination module to determine the starting boundary, release boundary, and timeout boundary of the current control action based on feedback from the completion of the previous action, the target equipment receiving feedback, the actuator reset feedback, the workstation occupancy change feedback, and the interlock recovery feedback.

[0040] Furthermore, in this embodiment, the handover window determination module is used to determine the action handover window corresponding to the current control action based on the triggering conditions of the control action to be executed, the feedback of the completion of the previous action, the reception feedback of the target device, the reset feedback of the actuator, the feedback of the change in workstation occupancy, and the feedback of the interlock recovery. The action handover window is used to limit the effective time range for the edge computing node to make handover judgments on the current control action, so that the system can make centralized judgments on whether the target device has the reception conditions, whether the actuator has completed the reset, whether the workstation occupancy status has been updated, and whether the interlock permission status has been restored between the end of the previous action and the release of the subsequent action, avoiding the direct release of subsequent control commands based solely on a single action completion signal.

[0041] In this embodiment, the action handover window is not a fixed, ordinary waiting time, but is jointly defined by a start boundary, a release boundary, and a timeout boundary. The start boundary indicates that the current control action has entered the handover judgment stage; the release boundary indicates that the current control action meets the instruction release requirements; and the timeout boundary limits the duration of the action handover window to prevent the control action to be executed from remaining in a waiting state for an extended period.

[0042] Through the above three boundaries, edge computing nodes can distinguish between three control stages: an action has been triggered but has not yet met the release conditions, an action is in a releaseable state, and an action handover timeout exception.

[0043] Specifically, the starting boundary is formed by the triggering of the control action to be executed or the completion of the preceding action. When the production line scheduling terminal, equipment control unit, or manual operation terminal generates a control action to be executed, the handover window determination module can use the triggering time of the control action as the starting boundary; when the control action to be executed needs to take over the action of the preceding equipment, the handover window determination module can use the time when the preceding action completes feedback, enters the current control cycle, and passes the validity screening as the starting boundary.

[0044] For example, if the target station needs to receive materials after the front-end conveying equipment completes feeding, the feedback from the completion of feeding can serve as the starting boundary for subsequent receiving actions; similarly, if the sorting equipment needs to switch channels and receive materials after the testing equipment completes testing and confirmation, the testing and confirmation feedback can serve as the starting boundary for sorting and releasing actions.

[0045] When determining the starting boundary, the handover window determination module can also confirm the correspondence by combining the action identifier of the control action to be executed and the feedback of the completion of the previous action. When the received feedback of the completion of the previous action does not belong to the same equipment object, workstation object or action object as the current control action to be executed, the feedback will not be used as the starting basis for the current action handover window. When multiple preceding actions complete feedback exists simultaneously, the handover window determination module prioritizes the feedback that has a direct upstream and downstream cooperation relationship with the current control action to be executed as the starting point. This can avoid mistakenly taking the completion signals of other workstations or other action stages as the starting point of the current action handover window.

[0046] Furthermore, the release boundary is formed by the necessary feedback items corresponding to the current control action reaching the release requirement. The necessary feedback items can be determined according to the action type of the control action to be executed, the equipment object, and the upstream and downstream cooperation relationship, including one or more of the target equipment receiving status, actuator reset status, workstation occupancy status, and interlock permission status.

[0047] For feeding control actions, necessary feedback items may include the target station having the receiving conditions, the target equipment not being in a prohibited receiving state, and the interlock being valid; for pick-up and place control actions, necessary feedback items may include the material status of the pick-up position being valid, the occupancy status of the place-up position being updated, the actuator being reset, and the interlock being valid in the action area. For control actions involving detection and release, necessary feedback items may include the detection confirmation status being valid, the sorting or receiving equipment being in a receiving ready state, the relevant channels being in place, and the interlock permission status being valid.

[0048] It should be noted that necessary feedback items can be determined by the edge computing node based on the action type configuration table. The action type configuration table includes at least the action type, the front-end device object, the target device object, the back-end device object, the target workstation object, the feedback categories that must be confirmed, and the feedback categories that can be ignored. After receiving the control action to be executed, the edge computing node first determines the action type based on the action identifier, then reads the corresponding feedback categories that must be confirmed based on the device object and workstation object, and uses the feedback status corresponding to the feedback categories that must be confirmed as the necessary feedback items for the release boundary. For the same action type, different workstation objects can be configured with different necessary feedback items; for the same workstation object, different action types can also be configured with different necessary feedback items. If the control action to be executed involves safety interlocks, quality isolation, or equipment protection, the corresponding interlock feedback, detection confirmation feedback, or protection feedback is automatically added to the necessary feedback items, unaffected by the simplified configuration of ordinary production scheduling instructions.

[0049] In this embodiment, the release requirement of necessary feedback items means that the feedback states related to the current control action meet the state combination required for the action release, rather than the release being achieved simply by the appearance of any single feedback signal.

[0050] For example, if the target equipment receiving status meets the release requirement, it means that the target equipment has entered the receiving preparation state and has not returned feedback of prohibition of receiving or abnormal occupancy; if the actuator reset status meets the release requirement, it means that the actuator has completed the reset or reached the allowed start position; if the workstation occupancy status meets the release requirement, it means that the workstation to be received has completed the release or the target material has been stably placed in place; if the interlock allowed status meets the release requirement, it means that the safety interlock, equipment protection or area interlock has not output a prohibition action signal.

[0051] The handover window determination module determines the release boundary based on the status changes of the aforementioned necessary feedback items, and provides the release boundary to the action permission determination module and the instruction buffer arbitration module.

[0052] In one specific implementation, the current control action is for the transfer equipment to release material to the subsequent inspection station. The handover window determination module takes the feedback from the previous transfer equipment completing the material picking action as the starting boundary, and determines the receiving preparation feedback from the subsequent inspection station, the inspection station occupancy status update feedback, the material release position arrival feedback from the transfer actuator, and the safety interlock permission feedback as necessary feedback items; When the above necessary feedback items meet the release requirements, a release boundary is formed, and the subsequent action permission determination module can generate an execution permission result within the action handover window; if the occupancy status of the subsequent detection station has not been updated, or the interlock permission feedback has not been restored, the release boundary is not established, and subsequent control commands are not directly issued.

[0053] In another specific implementation, the current control action is for the detection equipment to release material to the sorting equipment after completing the detection. The handover window determination module uses the detection confirmation feedback as the starting boundary and determines the sorting equipment receiving preparation feedback, sorting channel positioning feedback, entrance station occupancy status, and interlock permission feedback as necessary feedback items. If the detection confirmation feedback has been generated, but the sorting channel arrival feedback has not yet entered the current control cycle, the handover window determination module only determines the starting boundary, does not form a release boundary, and keeps the control action within the action handover window, waiting for the subsequent action permission determination module to make a decision on postponement.

[0054] Furthermore, the timeout boundary is used to limit the duration of the action handover window. The timeout boundary can be pre-configured according to the equipment action type, workstation distance, actuator response time, communication cycle, and production line cycle time requirements, or it can be updated based on historical execution feedback. After the initial boundary is formed, if the release boundary is established before the timeout boundary is reached, the action handover window enters the releaseable stage; if the release boundary is not established when the timeout boundary is reached, the handover window determination module outputs the handover timeout status, which is used by the action permission determination module to generate a deferred execution result or a prohibited execution result, or by the feedback closed-loop correction module to trigger a partial pause, re-determination, or abnormal handling.

[0055] In this embodiment, the handover window determination module can also identify the valid order of feedback signals based on the time stamp and source stamp in the control signal set. When the target device receives feedback earlier than the previous action completion feedback, or the interlock recovery feedback is earlier than the current control action trigger time and has not been updated within the current control cycle, the handover window determination module can use the corresponding feedback as a reference signal instead of directly using it to form the release boundary. This avoids the release boundary being incorrectly established due to historical feedback residue or signal update delays.

[0056] Therefore, the handover window determination module limits the handover process of the control action to be executed by the start boundary, release boundary and timeout boundary, so that the edge computing node can identify situations such as short-term signal instability, failure to form reception conditions, failure to complete mechanism reset or failure to restore interlock permission during the action handover stage. This action handover window serves as the judgment range of the subsequent action permission determination module, so that the action permission determination module can continuously confirm the action completion status, reception preparation status, mechanism reset status, workstation occupancy status, detection confirmation status and interlock permission status within the window, and generate the execution permission result, the execution postponement result or the execution prohibition result.

[0057] Furthermore, in this embodiment, the action permission determination module is used to call a set of control signals within the action handover window to determine whether the control action to be executed meets the execution conditions. This module does not use a single device idle signal or a single action completion signal as the basis for releasing the control command. Instead, based on the handover window determination module having already determined the start boundary, release boundary, and timeout boundary, it continuously confirms multiple feedback states related to the current control action, thereby determining whether the current control action should be allowed to execute, postponed, or prohibited.

[0058] Specifically, the action permission determination module extracts the action completion status, reception preparation status, mechanism reset status, workstation occupancy status, detection confirmation status, and interlock permission status corresponding to the control action to be executed from the control signal set. The action completion status indicates whether the preceding action or the current preparation action has been completed; the reception preparation status indicates whether the target equipment or the subsequent workstation has the conditions to receive; the mechanism reset status indicates whether the actuator involved in the action is in a position that allows start-up or re-action; the workstation occupancy status indicates whether the target workstation is idle, released, or stably occupied; the detection confirmation status indicates whether the detection result has been confirmed and whether release is allowed; and the interlock permission status indicates whether safety interlocks, equipment protection, or area restrictions allow the current action to be executed.

[0059] In this embodiment, the action permission determination module continuously confirms the aforementioned states according to the time sequence within the current action handover window. Continuous confirmation means repeatedly reading or periodically reviewing the states involved in the determination at least once within a preset confirmation duration. When the states involved in the determination remain consistent within the confirmation duration, and there are no state bounces, missing feedback, or contradictions, the state is deemed to meet the stability requirements. The preset confirmation duration can be configured according to the equipment control cycle, sensor response time, and action rhythm. For example, it can be set to two to five consecutive sampling cycles, or a confirmation time within the range of thirty milliseconds to three hundred milliseconds. Different confirmation durations can be configured for different equipment objects, workstation objects, and action objects.

[0060] When the action permission determination module determines that the status of the actions involved in the determination remains consistent within a preset confirmation time, and there are no conflicts, detection prohibitions, interlock prohibitions, or equipment protection triggers, it generates an execution permission result. An execution permission result indicates that the control action to be executed has passed the stability confirmation within the handover window and can proceed to subsequent instruction release processing. For example, after the upstream transfer equipment completes the unloading action, the target detection station's receiving preparation status is valid, the station's occupancy status has been updated, the transfer actuator has completed its reset, the interlock permission status is valid, and the detection unit has not output a prohibition release result, then the action permission determination module generates an execution permission result.

[0061] When there is a brief inconsistency, delayed recovery, or missing feedback in the status of the action being judged, the action permission judgment module generates a deferred execution result. The deferred execution result indicates that the current action has not yet met the conditions for directly releasing the control command, but there is also no serious anomaly that necessitates prohibition of execution. For example, a deferred execution result can be generated if the target workstation's occupancy status is changing from occupied to idle, the actuator reset feedback is not yet stable, the interlock permission status has just recovered but has not reached the confirmation duration, or a feedback signal is missing within the current control cycle but has not exceeded the timeout boundary. After generating the deferred execution result, the action permission judgment module keeps the pending control action in a waiting-for-review state and continues to monitor relevant feedback status within the action handover window.

[0062] When the action permission determination module determines that there is an occupation conflict, detection prohibition, interlock prohibition, or equipment protection trigger, it generates a prohibition execution result. The prohibition execution result indicates that the current control action should not be released to the equipment control unit. For example, if the target workstation is already occupied by other materials, the detection unit outputs an isolation or prohibition release result, the safety interlock unit outputs a prohibition action signal, and the equipment protection unit outputs an overload, fault, or protection shutdown signal; all of these can trigger a prohibition execution result. After generating the prohibition execution result, the action permission determination module prevents the issuance of the corresponding control command and outputs a partial lockout indicator or an abnormal handling indicator.

[0063] Furthermore, the action permission determination module is also used to generate corresponding permission disposal identifiers based on the allowed execution result, deferred execution result, and prohibited execution result. The permission disposal identifier corresponding to the allowed execution result is used to trigger the target control instruction to enter the release process; the permission disposal identifier corresponding to the deferred execution result is used to keep the control action to be executed in a waiting-for-review state and instruct the subsequent instruction buffer arbitration module to buffer or delay the release of the relevant control instruction; the permission disposal identifier corresponding to the prohibited execution result is used to prevent the issuance of control instructions and instruct the subsequent module to generate partial locking, abnormal prompts, or disposal actions.

[0064] In one specific implementation, the current control action to be executed is for the transfer equipment to release material to the subsequent inspection station. The action permission determination module calls the control signal set within the corresponding action handover window and continuously confirms the completion status of the material release action of the transfer equipment, the receiving preparation status of the subsequent inspection station, the reset status of the transfer actuator, the occupancy status of the inspection station, and the interlock permission status. When the receiving preparation status and the interlock permission status of the inspection station are valid, but the occupancy status of the inspection station changes from occupied to idle within two sampling periods and has not yet stabilized, the action permission determination module generates a deferred execution result and keeps the material release control command in a pending review state. When the occupancy status of the inspection station remains idle during subsequent confirmation periods, and all other statuses meet the requirements, the action permission determination module updates the deferred execution result to an allowed execution result.

[0065] In another specific implementation, the current control action to be executed is the release of material from the sorting equipment after the detection equipment completes the detection. The action permission determination module calls the detection confirmation feedback, sorting equipment preparation feedback, sorting channel arrival feedback, entrance station occupancy feedback, and interlock permission feedback within the action handover window. When the detection confirmation feedback is "allowed to proceed," the sorting channel arrival feedback is valid, the entrance station is not occupied, and the interlock permission status remains consistent within the confirmation duration, the action permission determination module generates an "allowed execution" result. When the detection confirmation feedback is an "isolation" result, or the sorting channel is not in place and exceeds the timeout boundary of the action handover window, the action permission determination module generates a "prohibited execution" result and outputs an abnormal handling flag or a partial lock flag.

[0066] In this embodiment, the action permission determination module can also record the change process of the permission result. When the same control action to be executed changes from a deferred execution result to a permitted execution result, the edge computing node records this change as the basis for delayed release; when the same control action to be executed changes from a deferred execution result to a prohibited execution result, the edge computing node records this change as the basis for abnormal handling; when the same equipment object or the same workstation object frequently has a deferred execution result in multiple control cycles, the subsequent feedback closed-loop correction module can adjust the confirmation time, release boundary or abnormal triggering condition according to the record.

[0067] Therefore, the action permission determination module continuously confirms multiple feedback states within the action handover window and classifies control actions into three results: allowed execution, deferred execution, and prohibited execution, avoiding the direct equation of equipment scheduling instructions with equipment executable instructions. The action permission determination result and its corresponding permission handling identifier serve as input to the subsequent instruction buffer arbitration module, enabling the instruction buffer arbitration module to prioritize, buffer, shield, or delay the release of control instructions when multiple source control instructions exist within the same equipment, the same workstation, or the same action handover window, based on the permission result.

[0068] The instruction buffer arbitration module receives the execution permission result, execution suspension result, execution prohibition result, and corresponding permission disposal identifier output by the action permission determination module. It identifies, buffers, shields, cancels, or releases multiple source control instructions that exist simultaneously in the same equipment, the same workstation, or the same action handover window. This module does not directly issue control instructions according to the order in which the control instructions arrive at the edge computing node. Instead, it determines the target control instruction by combining the source of the instruction, the controlled object, the direction of the action, the action permission determination result, and the mutual exclusion relationship. This avoids conflicts between control actions such as start-up, pause, release, isolation, and reset in the action handover stage of the new energy production line equipment.

[0069] In this embodiment, multi-source control commands may include safety interlock commands, equipment protection commands, quality isolation commands, manual intervention commands, and production scheduling commands. Safety interlock commands are used to indicate prohibition of action or restoration of permission requirements output by safety doors, emergency stops, area interlocks, or safety protection devices; equipment protection commands are used to indicate equipment failure, overload, execution abnormality, or protection shutdown requirements; quality isolation commands are used to indicate isolation, prohibition of release, or abnormal diversion requirements output by detection equipment or quality judgment units; manual intervention commands are used to indicate pause, reset, confirmation, jogging, or release requirements input by operators; and production scheduling commands are used to indicate feeding, picking, unloading, buffer release, sorting switching, or cycle time adjustment requirements output by the production line scheduling terminal.

[0070] After the aforementioned control commands enter the edge computing node, the command buffer arbitration module identifies the affiliation based on the device object, workstation object, action object, and action handover window.

[0071] Specifically, the instruction buffer arbitration module first determines whether multiple control instructions act on the same equipment object, the same workstation object, or the same action handover window. If multiple control instructions act on different objects and there is no mutual exclusion between the actions, they can proceed to subsequent permission processing separately. If multiple control instructions act on the same equipment object, the same workstation object, or the same action handover window, the instruction buffer arbitration module further determines whether their action directions are consistent. Consistent action directions mean that multiple control instructions all point to the same type of control result, such as all requiring pause, lock, isolation, or resumption. Mutually exclusive action directions mean that there are control results among multiple control instructions that cannot be executed simultaneously, such as continue feeding and pause feeding being mutually exclusive, normal release and quality isolation being mutually exclusive, start conveying and safety prohibition being mutually exclusive, and resume cycle time and equipment protection speed reduction being mutually exclusive.

[0072] When there are mutually exclusive actions among multi-source control commands, the command buffer arbitration module arbitrates priorities in the following order: safety interlock commands, equipment protection commands, quality isolation commands, manual intervention commands, and production scheduling commands. Safety interlock commands have the highest priority; when a safety interlock command prohibits an action, production scheduling commands, manual recovery commands, or other lower-priority action release commands are not issued. Equipment protection commands are used to prevent equipment damage or abnormal execution; when an equipment protection command requires pausing, slowing down, or locking, lower-priority continue-run commands are masked or buffered. Quality isolation commands are used to prevent unqualified materials from entering subsequent processes; when a quality isolation command conflicts with a normal release command, the normal release command is masked, and the isolation or diversion command enters the target control command candidate. Manual intervention commands participate in arbitration based on configured permissions; when a manual intervention command is used for safety confirmation, fault reset, or forced pause, it can override a production scheduling command. Production scheduling commands can only be released as target control commands when there are no higher priority restrictions and the action permission judgment result is met.

[0073] Furthermore, the instruction buffer arbitration module also determines the target control instruction based on the action permission determination result. When the action permission determination result is an execution allowed result, if the control instruction is not overridden by a higher priority instruction and there is no action mutual exclusion, the corresponding control instruction is determined as the target control instruction and enters the release process. When the action permission determination result is a deferred execution result, the instruction buffer arbitration module does not immediately cancel the production scheduling instruction or low-priority control instruction, but keeps it in a buffer state and continuously detects the release boundary within the action handover window; When the action permission determination result is a prohibition result, the instruction buffer arbitration module blocks the corresponding control instruction. If the control instruction is already in a buffered state, the buffer is canceled and a local lock, exception handling, or re-permission determination request is output.

[0074] In this embodiment, the buffer state indicates that the control command has arrived at the edge computing node, but will not be sent to the equipment control unit because the action permission conditions have not yet been met. The control command entering the buffer state can carry the buffer start time, equipment object, workstation object, action object, command source, original priority, current permission result, and buffer boundary. The buffer boundary is used to limit the maximum duration of the control command in the buffer state, and can be configured according to the equipment action type, production line cycle time, equipment response cycle, and workstation handover requirements.

[0075] For example, for ordinary feeding or discharging actions, the buffer boundary can be configured to one to three control cycles; for actions involving sorting channel switching, detection confirmation, or safety interlock recovery, the buffer boundary can be appropriately extended; for actions involving equipment protection or safety interlock prohibition, no release waiting is set, and low-priority control commands are directly blocked or canceled.

[0076] When the action permission determination result is a postponement result, the instruction buffer arbitration module continuously detects the release boundary determined by the handover window determination module within the action handover window. If the release boundary is established and no higher priority control instruction appears during the buffer period, the control instruction in the buffer state is released and determined as the target control instruction.

[0077] For example, the production scheduler requires the transfer equipment to release material to the inspection station, but the occupancy status of the inspection station is not yet stable. The action permission determination module generates a postponement result, and the instruction buffer arbitration module keeps the material release instruction in a buffered state. When the occupancy status of the inspection station is updated, the receiving preparation status is stable, and the interlock permission status is valid, the release boundary is established, the instruction buffer arbitration module releases the material release instruction, and enters the collaborative control output processing.

[0078] When the buffer duration reaches the preset buffer boundary, or when the result of the temporary execution is changed to the result of the execution being prohibited, the instruction buffer arbitration module cancels the control instructions in the buffer state and triggers a re-permission determination, partial pause, or abnormal handling.

[0079] For example, if the detection equipment has already output a release permission result, but the sorting equipment channel positioning feedback has not been restored within the buffer boundary, the normal release instruction will no longer wait. Instead, the instruction buffer arbitration module will cancel the release instruction and trigger a re-permission judgment or partial pause. Alternatively, if the material to be released is updated to an isolation result by the detection unit during the buffer period, the normal release instruction will change from the buffer state to the cancellation state, and the quality isolation instruction will enter the arbitration process as a higher priority control instruction.

[0080] In one specific implementation, the current action handover window simultaneously contains a continue feeding instruction output by the production scheduler, a quality isolation instruction output by the detection equipment, and an interlock permission signal output by the safety interlock unit. If the action permission determination module determines that the target station's receiving preparation status is valid, but the detection confirmation status is prohibited from release, the instruction buffer arbitration module prioritizes the quality isolation instruction over the continue feeding instruction and blocks the continue feeding instruction, generating a target control instruction related to material isolation. If the subsequent detection confirmation status is verified as allowed to release, and the release boundary is established within the action handover window, the instruction buffer arbitration module can re-receive subsequent production schedule instructions, but will not restore the previously blocked historical continue feeding instructions to avoid the old instructions being mistakenly released after the status change.

[0081] In another specific implementation, both a manual reset command and a device protection pause command exist simultaneously within the current action handover window. If the device protection command remains valid, the command buffer arbitration module does not directly issue the manual reset command, but instead keeps it in a buffered state or submits it for review based on the manual command's permissions and protection status. When the device protection command is released and the action permission determination result changes to an allowed execution result, the manual reset command can be released as a target control command. When the device protection command remains valid and reaches the buffer boundary, the manual reset command is canceled, and the system triggers a partial pause or abnormal handling.

[0082] Furthermore, the instruction buffer arbitration module can record the arbitration process of each control instruction, including the instruction source, entry buffer time, release time, cancellation reason, shielding reason, high-priority instructions participating in the arbitration, and corresponding action permission determination results. This arbitration record can be subsequently called by the feedback closed-loop correction module to determine whether a certain equipment object or workstation object frequently experiences delays, shielding, or cancellations, and to correct the confirmation duration, release boundary, buffer boundary, or abnormal triggering conditions accordingly.

[0083] Therefore, the instruction buffer arbitration module combines the action permission determination result with the multi-source control instruction arbitration, so that the production scheduling instruction is released only when the action permission condition is met and there is no higher priority restriction, and low-priority control instructions can be buffered and waited in the suspended state, and canceled or blocked in the prohibited state or when the buffer timeout occurs. The target control instruction determined after buffer arbitration will be used as the input of the collaborative control output module, which will further convert it into a collaborative control action that can be executed by the corresponding equipment control unit, and generate corresponding control outputs for the front-end equipment to hold, the target equipment to execute, and the back-end equipment to receive and prepare according to the response status of adjacent equipment.

[0084] Furthermore, in this embodiment, the collaborative control output module is used to receive the target control command determined by the command buffer arbitration module, and generate the corresponding collaborative control action according to the target control command, the action permission determination result and the response status of adjacent devices; The collaborative control output module does not simply forward the target control command to a single equipment control unit. Instead, it combines the equipment objects, workstation objects, action sequence and upstream and downstream cooperation relationships involved in the current control action to convert the target control command into a control action that can be executed by the field equipment control unit, and synchronously generates the corresponding collaborative control output when the cooperation of adjacent equipment is required.

[0085] In this embodiment, the target control command can originate from production scheduling commands, quality isolation commands, equipment protection commands, safety interlock commands, or manual intervention commands, after arbitration by the command buffer arbitration module. The collaborative control output module first reads the equipment object, workstation object, action object, action permission determination result, release boundary, and arbitration result corresponding to the target control command; When the target control command meets the action permission determination result and release boundary, the cooperative control output module converts the target control command into a control action that can be executed by the corresponding device control unit; When the target control command does not meet the action permission determination result or release boundary, the cooperative control output module does not issue the corresponding control action, and returns the target control command to the command buffer arbitration module to continue waiting, canceling or re-arbitrating.

[0086] Specifically, the collaborative control output module can generate corresponding equipment control actions based on the action type of the target control command. For target control commands such as feeding, unloading, or buffer release, the collaborative control output module can generate control actions corresponding to starting the target equipment, holding the upstream equipment, preparing the downstream equipment for receiving, or releasing the buffer position. For target control commands such as picking, handling or placing, the collaborative control output module can generate corresponding control actions for the transfer equipment to execute, the picking station to maintain, the placing station to prepare for receiving, and the action area interlock confirmation. For control commands related to inspection release or quality isolation, the collaborative control output module can generate corresponding control actions such as normal release, release prohibition, isolation diversion, sorting channel switching, or material locking. For control commands related to equipment protection or safety interlock, the collaborative control output module can generate corresponding control actions such as pause, speed reduction, partial shutdown, workstation locking, or prohibition of start-up.

[0087] The above control actions can be configured according to the type of equipment and process layout of the new energy production line, and are not limited to fixed action types.

[0088] In this embodiment, when the target control command involves only a single device object, the collaborative control output module sends the control action to the corresponding device control unit according to the device object and the action object. For example, when the target control command is to pause feeding of a certain conveyor, the collaborative control output module sends the pause control action to the conveyor control unit and sets the target handover result corresponding to the control action as conveying action stopped, feeding output closed, and workstation status maintained. If the target control command is to reset an actuator, the collaborative control output module sends the reset control action to the corresponding actuator control unit and sets the target handover result as actuator reaching reset position, reset feedback valid, and related interlock status allowed.

[0089] When the target control command involves the coordination of adjacent equipment, the collaborative control output module synchronously generates collaborative control actions corresponding to the preceding equipment holding, the target equipment execution, and the subsequent equipment receiving preparation. The preceding equipment holding is used to prevent the preceding equipment from continuing to output materials or repeatedly triggering actions before the target action is completed; the target equipment execution is used to drive the equipment corresponding to the current control action to complete picking, placing, conveying, detection and release, channel switching, or buffer release; the subsequent equipment receiving preparation is used to put the subsequent equipment into a waiting to receive, receiving confirmation, or prohibited malfunction state. Through the above collaborative control output, the misalignment of actions caused by only controlling the target equipment and ignoring the coordination relationship between the preceding and following equipment can be avoided.

[0090] In one specific implementation, the current target control command is for the transfer equipment to release material to the subsequent detection station, and the action permission determination result is an execution permission result, the release boundary has been established, the collaborative control output module converts the target control command into the material release action of the transfer equipment, and at the same time generates the holding action of the front-end conveying equipment and the receiving preparation action of the subsequent detection station.

[0091] The upstream conveying equipment maintains its operation so that it stops feeding material before the material handover is completed; the transfer equipment's material feeding action causes the transfer actuator to place the material at the target inspection station; the downstream inspection station's receiving preparation action keeps the inspection equipment in a receiving state and waits for material placement feedback.

[0092] The collaborative control output module simultaneously generates the target handover result corresponding to the target control command. The target handover result includes the material being unloaded by the transfer equipment, the material being placed effectively, the target detection station occupancy status being updated, the transfer actuator being reset, and the subsequent detection equipment receiving the material.

[0093] In another specific implementation, the current target control command is to release the material to the sorting equipment after the detection equipment completes the detection; If the target control command is a normal release command, the collaborative control output module generates the detection equipment release action, the sorting channel holding action, and the subsequent receiving confirmation action based on the sorting equipment receiving preparation status and the sorting channel arrival status. The target handover result is set as material entering the corresponding sorting channel, the sorting entrance station occupancy status change, and the sorting equipment receiving completion. If the target control command is a quality isolation command, the collaborative control output module will not generate a normal release action, but will instead generate collaborative control actions corresponding to material locking, isolation channel switching, and prohibition of normal reception of subsequent stages, and set the target handover result as material entering the isolation position, normal release channel remaining closed, and isolation in place feedback valid.

[0094] Furthermore, in this embodiment, when the target control command involves cycle time adjustment or partial shutdown, the collaborative control output module can generate segmented control actions based on the response status of adjacent devices. For example, if the receiving capacity of the downstream buffer device is insufficient but the conditions for a complete line shutdown have not been met, the collaborative control output module can generate collaborative control actions such as slowing down the upstream device, maintaining reception of the target buffer device, and prioritizing the release of the downstream device. When the safety interlock command is a prohibition action, the collaborative control output module can generate collaborative control actions such as prohibiting the target device from starting, maintaining the reception of adjacent devices, and locking the relevant workstations. This achieves localized control, rather than directly escalating to a complete line shutdown when a single handover anomaly occurs.

[0095] In this embodiment, when the collaborative control output module sends the collaborative control action to the corresponding equipment control unit, it can simultaneously record the sending time of the control action, the equipment object, the workstation object, the action object, the source of the target control instruction, the action permission determination result, and the arbitration result.

[0096] For collaborative control actions that need to be executed sequentially, the collaborative control output module can issue them one by one according to the order of the actions; for collaborative control actions that need to be synchronized, the collaborative control output module can issue them to the front-end device, the target device and the back-end device respectively within the same control cycle. If any device control unit returns a rejection, execution error, or interlock prohibition feedback, the collaborative control output module stops issuing subsequent actions and submits the abnormal feedback to the feedback closed-loop correction module.

[0097] Furthermore, the collaborative control output module is used to generate the target handover result corresponding to the target control command. The target handover result is used to represent the equipment feedback state and workstation handover state that should be achieved after the current control action is executed. It can include the target equipment action in place, material transfer completed, target workstation occupancy status change, downstream equipment receiving completed, actuator reset completed, channel switching in place or interlock status remaining allowed, etc.

[0098] Therefore, after the target control command satisfies the action permission judgment result and release boundary, the collaborative control output module converts the arbitrated command into a collaborative control action for the equipment control unit. When upstream and downstream cooperation is involved, it synchronously generates control outputs corresponding to the front-end equipment holding, the target equipment execution, and the downstream equipment receiving preparation. At the same time, it forms a target handover result, which will serve as the matching benchmark for the feedback closed-loop correction module. This enables the feedback closed-loop correction module to collect action arrival feedback, material transfer feedback, workstation occupancy change feedback, reception completion feedback, and abnormal return feedback after the collaborative control action is issued, and to determine whether the action handover is completed or abnormal.

[0099] Furthermore, in this embodiment, the feedback closed-loop correction module is used to collect feedback from the target equipment and adjacent equipment after the collaborative control output module issues a collaborative control action. This feedback includes action completion feedback, material transfer feedback, workstation occupancy change feedback, reception completion feedback, and abnormal return feedback. The collected results are then matched with the target handover results generated by the collaborative control output module to confirm whether the action handover has been completed. The feedback closed-loop correction module uses the actual action status, material status, workstation status, and abnormal status returned by the equipment as the basis for closed-loop judgment, thereby preventing subsequent scheduling from continuing when the equipment has not acted, the action has not been completed, the material has not been transferred, or the feedback signal is missing.

[0100] In this embodiment, the action arrival feedback is used to indicate whether the target device or actuator has reached the target action position; the material transfer feedback is used to indicate whether the material has been transferred from the previous position to the target workstation or target channel; the workstation occupancy change feedback is used to indicate whether the target workstation has changed from idle to occupied, from occupied to idle, or remains in the expected state; the reception completion feedback is used to indicate whether the downstream device has completed the reception confirmation; and the abnormal return feedback is used to indicate that the device refuses to execute, the action times out, the interlock is prohibited, the protection is triggered, the feedback is missing, or the signal bounces back.

[0101] The feedback closed-loop correction module matches the above feedback with the target handover results item by item. When the collected results are consistent with the target handover results, a handover completion mark is generated; when the collected results are inconsistent with the target handover results, feedback timeout occurs, or feedback is missing, a handover anomaly mark is generated.

[0102] Specifically, when the target handover results include the target equipment action in place, the material transfer completed, the target workstation occupancy status updated, and the subsequent equipment receiving completed, the feedback closed-loop correction module determines whether the corresponding feedback is formed and consistent within the handover confirmation time. If the target equipment's action is in place and the material transfer feedback is valid, the target workstation's occupancy status is consistent with the expected change, and the downstream equipment returns to receive the completion feedback, then the handover of this action is confirmed to be complete, and the edge computing node is allowed to release subsequent control actions. If the target equipment action is in place and the feedback is valid, but the material transfer feedback is missing, or the target workstation occupancy status does not change as expected, it indicates that the equipment action and the material handover result are inconsistent. The feedback closed-loop correction module generates a handover anomaly flag and prevents subsequent related control actions from being released.

[0103] In this embodiment, after generating a handover anomaly identifier, the feedback closed-loop correction module triggers the corresponding closed-loop processing according to the anomaly type. If the abnormality is manifested as a feedback timeout but no interlock prohibition or equipment protection trigger, the feedback closed-loop correction module can trigger a re-permission determination, causing the action permission determination module to re-call the current control signal set and reconfirm the action completion status, reception preparation status, mechanism reset status, workstation occupancy status, detection confirmation status, and interlock permission status. If the abnormality is manifested as the target equipment not moving properly, materials not being transferred, or the workstation status not being updated, the feedback closed-loop correction module can trigger instruction locking or partial pause to prevent the same equipment object or the same workstation object from continuing to receive new production scheduling instructions. If the abnormality manifests as interlock prohibition, equipment protection triggering, or quality isolation requirements, the feedback closed-loop correction module can trigger rollback control or abnormal handling to keep the relevant equipment in a safe state or restore it to a state that allows for reassessment.

[0104] Furthermore, the feedback closed-loop correction module is also used to update the confirmation duration, release boundary, timeout boundary, buffer boundary, and abnormal triggering conditions of the action handover window based on the handover anomaly identifier. If the same equipment object or the same workstation object experiences feedback timeout, feedback missing, or handover anomaly within a continuous control cycle, it indicates that the equipment object or workstation object has an unstable handover situation under the current control cycle. The feedback closed-loop correction module can extend the confirmation duration of the corresponding action, allowing the action permission determination module to perform continuous confirmation for a longer period in subsequent control cycles; it can also add necessary feedback items corresponding to the release boundary, so that subsequent control commands must be allowed to be released only after more feedback states meet the requirements; it can also reduce the release priority of control commands in the buffer state, so that actions with historical handover anomalies are not released prematurely in subsequent arbitration.

[0105] In this embodiment, the confirmation duration, release boundary, timeout boundary, buffer boundary, and abnormal triggering conditions can be updated according to the equipment object, workstation object, and action object respectively. For example, if a certain transfer equipment continuously experiences material placement feedback delay when discharging material to the detection workstation, the feedback closed-loop correction module can only adjust the confirmation duration and release boundary of the transfer equipment under the material discharging action at the detection workstation, without affecting the material picking or reset actions of the transfer equipment at other workstations. For example, if a sorting channel is prone to delays in arrival feedback after switching, the feedback closed-loop correction module can add channel arrival feedback as a necessary feedback item for the release boundary for that sorting channel, and appropriately extend the buffer boundary to prevent the normal release command from being released prematurely before the channel has stabilized.

[0106] Furthermore, the feedback closed-loop correction module can adopt a hierarchical update method when updating the confirmation duration, release boundary, timeout boundary, buffer boundary, and abnormal triggering conditions; If the same equipment object, workstation object, and action object experience feedback loss or feedback timeout in two consecutive control cycles, the confirmation time of the corresponding action will be extended by one sampling cycle. If a handover anomaly occurs within three consecutive control cycles, the feedback category that caused the anomaly will be added to the necessary feedback item of the release boundary. If control commands in the buffer state are cancelled due to failure to reach the release boundary within multiple consecutive control cycles, the timeout boundary of the corresponding action is extended or the release priority of the action in the buffer state is reduced. The updated parameters can be set with upper limits: the confirmation time cannot exceed half of the standard execution time of the corresponding action, the buffer boundary cannot exceed the allowed waiting time of the corresponding workstation, and the timeout boundary cannot exceed the maximum waiting time allowed by the equipment protection. When the same equipment object, workstation object, and action object generate handover completion flags in multiple consecutive control cycles, the feedback closed-loop correction module can restore the confirmation duration, release boundary, and buffer boundary to the state before the update, or reduce the abnormal trigger level.

[0107] In a specific operational example, the new energy production line includes upstream conveying equipment, transfer equipment, inspection stations, sorting equipment, buffer stations, and safety interlock devices. The current production line scheduling terminal generates a control action to be executed, requiring the transfer equipment to transfer the material output from the upstream conveying equipment to the downstream inspection station. The signal access module receives feedback from the upstream conveying equipment (feeding completion), the transfer equipment (material retrieval in place), the inspection station (receiving preparation), the inspection station (occupancy), the transfer actuator (reset), and the safety interlock, and aggregates the relevant signals into a control signal set according to equipment identifiers, station identifiers, and action identifiers.

[0108] The handover window determination module uses the feedback from the previous conveying equipment to complete the feeding as the starting boundary of the action handover window, and determines the detection station receiving preparation status, detection station occupancy status, transfer actuator reset status, and safety interlock permission status as the necessary feedback items corresponding to the release boundary. At the same time, a timeout boundary is set to limit the duration of the feeding handover process. The action permission determination module calls the control signal set in the action handover window to continuously confirm whether the detection station has the receiving conditions, whether the transfer actuator has completed the reset, whether the station occupancy status has been updated, and whether the safety interlock allows the action.

[0109] In this example, if the detection station receives a valid preparation feedback and the safety interlock allows a valid feedback, but the occupancy status of the detection station changes from occupied to idle within the current control cycle and has not yet stabilized, the action permission determination module generates a postponed execution result. At this time, the material release instruction from the production scheduling end will not be directly sent to the transfer equipment control unit, but will be kept in a buffered state by the instruction buffer arbitration module, and the release boundary will be continuously detected within the action handover window. If the occupancy status of the subsequent inspection station remains idle within the confirmation period, the reset feedback of the transfer actuator is effective, and no higher priority safety interlock command, equipment protection command, or quality isolation command appears, then the release boundary is established, the command buffer arbitration module releases the material release command in the buffer state, and determines it as the target control command.

[0110] After receiving the target control command, the collaborative control output module generates collaborative control actions corresponding to the front-end conveying equipment holding, the transfer equipment discharging, and the rear-end inspection station receiving preparation. The front-end conveying equipment holding is used to prevent the front-end equipment from continuing to feed material and causing congestion at the station; the transfer equipment discharging is used to drive the material into the rear-end inspection station; and the rear-end inspection station receiving preparation is used to keep the inspection equipment in the receiving confirmation state.

[0111] The collaborative control output module simultaneously generates the target handover result, which includes the material being placed in place by the transfer equipment, the material being placed effectively, the occupancy status of the detection station changing from idle to occupied, the transfer actuator completing its reset, and the detection equipment completing its reception.

[0112] After the collaborative control action is issued, the feedback closed-loop correction module collects feedback on the material placement of the transfer equipment, the material placement, the change in the occupancy of the detection station, the completion of the detection equipment's reception, and the return of abnormalities, and matches them with the target handover result; If all the above feedbacks are generated and remain consistent within the handover confirmation time, the feedback closed-loop correction module generates a handover completion flag, and the edge computing node allows subsequent detection and confirmation actions to enter the next control cycle. If the transfer equipment has returned material placement feedback, but material placement feedback is missing, or the occupancy status of the detection station has not changed from idle to occupied, the feedback closed-loop correction module generates a handover anomaly flag, triggers instruction locking and re-permission determination, suspends subsequent material placement instructions for that detection station, and prevents upstream conveying equipment from continuing to output materials to that transfer path.

[0113] In another specific operational example, after the detection equipment completes the detection, the material needs to be released to the sorting equipment. After the detection equipment outputs the release permission result, the signal access module collects the detection confirmation feedback, sorting channel arrival feedback, sorting entrance station occupancy feedback, material arrival feedback and interlock permission feedback. The handover window determination module takes the detection and confirmation feedback as the starting boundary and determines the sorting equipment receiving preparation status, sorting channel in place status, entrance station occupancy status and interlock permission status as the necessary feedback items corresponding to the release boundary. If the detection confirms that the passage is allowed, but the sorting channel is not yet stable, the action permission determination module generates a temporary execution result, and the instruction buffer arbitration module keeps the normal passage instruction in a buffered state.

[0114] If the sorting channel returns to its position and stabilizes within the buffer boundary, and no quality isolation command or safety interlock prohibition command appears, then the command buffer arbitration module releases the normal release command, the collaborative control output module generates the collaborative control actions corresponding to the release of the detection equipment, the maintenance of the sorting channel, and the confirmation of the sorting entrance reception, and generates the target handover result; If the detection equipment updates the detection result of the material to the isolation result during the buffer period, the quality isolation command takes precedence over the normal release command. The command buffer arbitration module cancels the normal release command in the buffer state and determines the quality isolation command as the target control command. The collaborative control output module then generates collaborative control actions corresponding to material locking, isolation channel switching, and prohibition of normal channel passage. The feedback closed-loop correction module confirms whether the isolation handover is completed based on the isolation in place feedback, normal channel closure feedback, and material position feedback.

[0115] Through the above-described operational process, edge computing nodes complete signal collection, action handover window determination, action permission judgment, instruction buffer arbitration, collaborative control output, and feedback closed-loop correction on the new energy production line site. This ensures that production scheduling instructions are no longer directly equivalent to equipment executable instructions, but are released only after stability confirmation and multi-source instruction arbitration during the action handover phase. This reduces problems such as premature feeding, incorrect release, repeated actions, buffer blockage, and partial shutdown caused by short-term signal instability, failure to form receiving conditions, mechanism reset delay, changes in detection results, or delayed recovery of interlock status, thereby improving the stability of collaborative control and scheduling of equipment on the new energy production line.

[0116] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0117] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0118] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0119] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0120] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A collaborative control and scheduling system for new energy production line equipment based on edge computing, characterized in that: It includes a signal access module, a handover window determination module, an action permission determination module, an instruction buffer arbitration module, a collaborative control output module, and a feedback closed-loop correction module, with each module connected for data communication. The signal access module is used to access the operation control signals of production equipment, transfer equipment, testing equipment and safety interlock devices in the new energy production line, and aggregate them to the edge computing node; The handover window determination module is used to determine the action handover window corresponding to the current control action based on the device object, action type, and upstream and downstream cooperation relationship corresponding to the control action to be executed; The action permission determination module is used to determine the consistency of action completion status, reception preparation status, mechanism reset status, workstation occupancy status, detection confirmation status and interlock permission status within the action handover window, and generate an execution permission result, a deferred execution result or a prohibition execution result. The instruction buffer arbitration module is used to prioritize scheduling instructions, protection instructions, isolation instructions, interlock instructions, and manual intervention instructions acting on the same equipment or workstation based on the action permission determination result, and to buffer, shield, or delay the release of control instructions that do not meet the permission conditions. The collaborative control output module is used to generate collaborative control actions for the equipment based on the arbitrated target control instructions, and send them to the corresponding equipment control unit for execution. The feedback closed-loop correction module is used to collect the position feedback, transfer feedback, occupation change feedback and abnormal return feedback after the execution of the coordinated control action, confirm the action handover result, and trigger re-judgment, partial pause, command lock or rollback control when the handover is abnormal.

2. The edge computing-based collaborative control and scheduling system for new energy production line equipment according to claim 1, characterized in that: The signal access module is used to collect operation control signals according to equipment identifier, workstation identifier and action identifier, and to perform time stamping, source marking and validity screening on operation control signals from different equipment control units; The validity screening includes removing lagging signals that exceed the current control cycle, shielding invalid signals that do not match the current operating mode of the equipment, and associating action feedback, workstation feedback, material feedback, detection feedback and interlock feedback related to the same control action to be executed as a set of control signals for edge computing nodes to call.

3. The edge computing-based collaborative control and scheduling system for new energy production line equipment according to claim 2, characterized in that: The handover window determination module is used to determine the start boundary, release boundary, and timeout boundary of the action handover window based on the triggering conditions of the control action to be executed, the feedback of the completion of the previous action, the reception feedback of the target equipment, the reset feedback of the actuator, the feedback of the change in workstation occupancy, and the feedback of the interlock recovery. The initial boundary is formed by the control action to be executed or the completion of the previous action. The release boundary is formed by the necessary feedback items in the target device receiving state, actuator reset state, workstation occupancy state and interlock permission state corresponding to the current control action reaching the release requirement. The timeout boundary is used to limit the duration of the action handover window.

4. The edge computing-based collaborative control and scheduling system for new energy production line equipment according to claim 3, characterized in that: The action permission determination module is used to call the control signal set within the action handover window to continuously confirm the action completion status, reception preparation status, mechanism reset status, workstation occupancy status, detection confirmation status, and interlock permission status corresponding to the control action to be executed. When the status of the judgment remains consistent within the preset confirmation time, and there is no occupation conflict, detection prohibition, interlock prohibition or device protection trigger, an execution permission result is generated; When there is a short-term inconsistency, delayed recovery, or lack of feedback in the status of the involved judgment, a result of temporarily suspending execution is generated; When there is a conflict of use, detection is prohibited, interlock is prohibited, or device protection is triggered, a prohibition result is generated.

5. The edge computing-based collaborative control and scheduling system for new energy production line equipment according to claim 4, characterized in that: The action permission determination module is also used to generate corresponding permission disposal identifiers based on the results of allowed execution, suspended execution, and prohibited execution. The permission handling flag corresponding to the execution result is used to trigger the target control instruction to enter the release process. The permission handling flag corresponding to the execution result is used to keep the control action to be executed in the waiting review state and continue to monitor the state changes in the action handover window. The permission handling flag corresponding to the execution result is used to prevent the issuance of the corresponding control instruction and generate a local lock flag or an abnormal handling flag.

6. The edge computing-based collaborative control and scheduling system for new energy production line equipment according to claim 5, characterized in that: The instruction buffer arbitration module is used to identify multiple control instructions that exist simultaneously in the same equipment, the same workstation, or the same action handover window, and to determine the target control instruction based on the instruction source, the controlled object, the direction of the action, the action permission judgment result, and the mutual exclusion relationship. When there are mutually exclusive actions among multiple source control commands, priority arbitration is performed in the order of safety interlock commands, equipment protection commands, quality isolation commands, manual intervention commands, and production scheduling commands. The control command with the highest priority that meets the action permission determination result is retained as the target control command, and the remaining control commands are buffered, shielded, or canceled.

7. The edge computing-based collaborative control and scheduling system for new energy production line equipment according to claim 6, characterized in that: The instruction buffer arbitration module is also used to keep production scheduling instructions or low-priority control instructions in a buffered state when the action permission determination result is a postponement result, and to continuously detect the release boundary within the action handover window; When the release boundary is established and no higher-priority control instruction appears, release the control instruction in the buffer state; When the buffer duration reaches the preset buffer boundary, or when the result of the suspended execution changes to the result of the prohibited execution, the control command in the buffer state is canceled, and a re-permission determination, partial pause, or abnormal handling is triggered.

8. The edge computing-based collaborative control and scheduling system for new energy production line equipment according to claim 7, characterized in that: The collaborative control output module is used to generate corresponding collaborative control actions based on the target control command, the action permission determination result, and the response status of adjacent devices. When the target control command meets the action permission judgment result and release boundary, the collaborative control output module converts the target control command into a control action that can be executed by the corresponding equipment control unit, and issues it according to the equipment object, workstation object and action sequence; When the target control command involves the cooperation of adjacent devices, the collaborative control output module synchronously generates the collaborative control actions corresponding to the front-end device holding, the target device executing, and the back-end device receiving and preparing, and generates the target handover result corresponding to the target control command.

9. The edge computing-based collaborative control and scheduling system for new energy production line equipment according to claim 8, characterized in that: The feedback closed-loop correction module is used to collect action arrival feedback, material transfer feedback, workstation occupancy change feedback, reception completion feedback and abnormal return feedback from the target equipment and adjacent equipment after the collaborative control action is issued, and match the collected results with the expected handover results corresponding to the target control command; When the collected results are consistent with the expected handover results, a handover completion flag is generated; when the collected results are inconsistent with the expected handover results, feedback times out, or feedback is missing, a handover exception flag is generated, and instruction locking, re-permission determination, partial pause, or rollback control are triggered.

10. The edge computing-based collaborative control and scheduling system for new energy production line equipment according to claim 9, characterized in that: The feedback closed-loop correction module is also used to update the confirmation duration, release boundary, timeout boundary, buffer boundary and abnormal triggering conditions of the action handover window based on the handover anomaly identifier; If the same equipment or workstation experiences feedback timeout, missing feedback, or handover anomaly within a continuous control cycle, the confirmation time for the corresponding action will be extended, the necessary feedback items corresponding to the release boundary will be added, or the release priority of the control command in the buffer state will be reduced. The updated confirmation time, release boundary, timeout boundary, buffer boundary, and anomaly triggering conditions will be used for subsequent action permission determination and command buffer arbitration.

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