A wireless remote control method for a concrete wet spraying machine based on an industrial control system

Abstract

The application discloses a kind of concrete wet spraying machine wireless remote control methods based on industrial control system, it is related to industrial control system technical field, including: collection industrial running state data and remote injection target state, extract state change from industrial running state data and carry out two-way closed anchoring with remote injection target state, state change not forming closed corresponding relation is marked as coupling residual error, constructs industrial control state frame;Response closed check is executed to industrial control state frame, and coupling residual error is carried out reverse attribution backfilling, constructs wet spraying machine real-time twin response chain, executes trans-institutional response phase stripping and master-slave coupling orientation to wet spraying machine real-time twin response chain, generates actuator coupling phase diagram;The application is realized accurate association of remote target state and actual execution response by constructing industrial control state frame and wet spraying machine real-time twin response chain, improves the synchronism and stability of industrial control system.

Description

Technical Field

[0001] This invention relates to the field of industrial control system technology, and in particular to a wireless remote control method for a wet concrete spraying machine based on an industrial control system. Background Technology

[0002] With the continuous development of intelligent manufacturing, the Industrial Internet, and intelligent construction equipment technologies, industrial control systems are gradually evolving from traditional on-site single-machine control modes to networked, remote, and intelligent collaborative control modes. In the field of construction machinery, to improve the operating efficiency and safety of equipment in complex construction environments, data acquisition, status monitoring, and remote control technologies based on industrial control systems are gradually being applied to intelligent construction equipment such as concrete wet spraying machines. With the development of wireless communication, edge computing, and digital twin technologies, some industrial control systems are further incorporating equipment state models. Simultaneously, multi-actuator collaborative control technology is also gradually being applied to complex equipment control scenarios. By analyzing the action correlations between different actuators, coordinated operation among multiple actuators is achieved, improving equipment control accuracy and operational stability.

[0003] However, existing remote control technologies for wet concrete spraying machines based on industrial control systems still have certain shortcomings. On the one hand, existing remote control methods often struggle to identify time offsets, response residuals, and cross-mechanism coupling relationships between changes in the remote target and the actual actuator response. This makes it easy for problems such as asynchronous command responses and lag in adjustments of local actuators to occur during remote control. On the other hand, existing multi-actuator collaborative control methods typically coordinate each actuator based on preset control logic or fixed parameter models. They struggle to dynamically determine the master-slave response relationship and generate adaptive collaborative control strategies based on the actual operating state, resulting in insufficient equipment control accuracy and response stability in complex construction environments. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a wireless remote control method for concrete wet spraying machines based on industrial control systems to solve the problems of insufficient closed-loop correlation of state response and insufficient accuracy of multi-actuator collaborative control during remote control.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention provides a wireless remote control method for a wet concrete spraying machine based on an industrial control system. The method includes: collecting industrial operating status data and the remote spraying target status; extracting state changes from the industrial operating status data and performing bidirectional closed-loop anchoring with the remote spraying target status; marking state changes that do not form a closed-loop correspondence as coupling residuals; constructing an industrial control status frame; performing response closure verification on the industrial control status frame and performing reverse attribution backfeeding on the coupling residuals; constructing a real-time twin response chain for the wet spraying machine; performing cross-mechanism response phase stripping and master-slave coupling orientation on the real-time twin response chain to generate an actuator coupling phase diagram; and employing a twin state deviation embedding layer, a coupling phase back projection layer, and a collaborative... The instruction decoding layer constructs a twin back-projection control model. Based on the twin back-projection control model, the remote spraying target state is back-projected along the actuator coupling phase diagram to the wet spraying machine's real-time twin response chain to obtain the master-slave net adjustment chain. Coupled occupancy cancellation and response phase reconstruction are performed on the master-slave net adjustment chain to generate wireless remote cooperative control commands. According to the wireless remote cooperative control commands, phase-separated cooperative control is performed on the master and slave response mechanisms in the actuator coupling phase diagram. Phase mirror verification is performed with the wet spraying machine's real-time twin response chain to obtain the phase mismatch response relationship. Misalignment extraction and reverse reconstruction are performed on the phase mismatch response relationship to generate a calibrated wet spraying machine real-time twin response chain and actuator coupling phase diagram.

[0007] As a preferred embodiment of the wireless remote control method for a concrete wet spraying machine based on an industrial control system according to the present invention, the industrial operation status data includes actuator identifier, status parameter identifier, control cycle identifier, and status value. The remote spray target status includes the target actuator identifier, target parameter identifier, target value, and command issuance cycle.

[0008] As a preferred embodiment of the wireless remote control method for a wet concrete spraying machine based on an industrial control system according to the present invention, the specific steps for constructing the industrial control status frame are as follows: Compare the state values ​​in adjacent control cycles according to the actuator identifier and state parameter identifier, fold the state changes that exceed the change threshold and are continuous in the same direction into state change segments, and fold the continuous target value changes in the remote injection target state into target change segments, generating a set of state change segments and a set of target change segments. Based on the target change fragment set, mutual exclusion of target values ​​is performed on adjacent target change fragments with the same target actuator identifier and target parameter identifier to obtain the replacement target fragment. The state change fragment set is then subjected to bidirectional closure verification using the target change fragment and the replacement target fragment respectively. The state change fragments that form a unique closure with only the target change fragment but lose the closure with the replacement target fragment are retained as response candidate fragments, thus generating a response candidate fragment set. Based on the response candidate fragment set, the starting command issuance cycle of the target change fragment is used as the target anchor point. The response candidate fragment is searched along the subsequent control cycle. Then, the response candidate fragment is traced back to the target change fragment along the control cycle. The target change fragment and the response candidate fragment that point to each other are encapsulated into closed anchor data. The remaining response candidate fragments that can be traced back to the target anchor point are identified as unclosed state change fragments and marked as coupling residuals. Using the target anchor point with the smallest control cycle interval obtained by reverse backtracking of the coupled residual as the mirror reference, the control cycle phase foldback mapping is performed to generate residual phase markers. Then, based on the residual phase markers, the coupled residuals are coupled with the closed anchoring data corresponding to the target anchor point to construct an industrial control state frame.

[0009] As a preferred embodiment of the wireless remote control method for a wet concrete spraying machine based on an industrial control system described in this invention, the specific steps for performing response closure verification on the industrial control status frame and backfeeding the coupled residuals to construct a real-time twin response chain for the wet spraying machine are as follows: Based on the industrial control state frame, the target anchor point corresponding to the closed anchor data is used as the return reference. The coupling residual is mapped in reverse to the control cycle range of the corresponding state change segment according to the residual phase mark. The coupled residual that falls into the control cycle range after mapping is used to establish a residual belonging index with the corresponding closed anchor data to generate response closure verification data. Based on the response closure verification data, the coupled residuals are back-injected to the corresponding closure anchor data according to the residual attribution index, and phase mirror weaving is performed on the state change segments in the closure anchor data and the back-injected coupled residuals according to the residual phase markers to form a real-time twin response chain for the wet spraying machine.

[0010] As a preferred embodiment of the wireless remote control method for a concrete wet spraying machine based on an industrial control system according to the present invention, the specific steps for performing cross-mechanism response phase stripping and master-slave coupling orientation on the real-time twin response chain of the wet spraying machine to generate an actuator coupling phase diagram are as follows: Based on the real-time twin response chain of the wet spraying machine, the closed response segment and the coupled response segment are split according to the actuator identifier to form the mechanism response sub-chain. The cross-mechanism phase coupling strength is calculated by performing cross-mechanism phase transposition verification on the mechanism response sub-chain according to the residual phase mark. The common changes that meet the coupling threshold are stripped, and the response segments that lose coupling after transposition are retained to generate a set of cross-mechanism coupled response segments. Based on the cross-mechanism coupled response fragment set, the master response mechanism is determined by the execution mechanism where the corresponding closed response segment is located, and phase backtracking is performed from the closed response segment to the retained coupled response segment along the residual phase mark. The execution mechanism pointed to by the tracking is determined as the slave response mechanism. At the same time, the master-slave coupling direction is determined according to the backtracking direction, and master-slave coupling orientation data is generated. Based on master-slave coupling directional data, the master response mechanism and slave response mechanism are used as mechanism nodes, the master-slave coupling direction is used as the directional connection, and the corresponding residual phase mark is written into the directional connection to generate the actuator coupling phase diagram.

[0011] As a preferred embodiment of the wireless remote control method for a wet concrete spraying machine based on an industrial control system according to the present invention, the specific steps for constructing a twin back-projection control model using a twin state deviation embedding layer, a coupled phase back-projection layer, and a cooperative command decoding layer are as follows: The twin state deviation embedding layer is based on the remote spraying target state in the industrial control state frame and the closed response segment in the real-time twin response chain of the wet sprayer. It uses the remote spraying target state as the terminal anchor point to perform reverse embedding along the closed response segment, and folds the difference between the target value and the current state of the closed response segment into positive deviation bits and reverse compensation bits to generate a twin deviation shadow chain. The coupled phase back-projection layer is based on the twin bias shadow chain and the coupled phase map of the actuator. It performs coupling path occupancy on the reverse compensation position in the opposite direction of the master-slave coupling direction, and returns the occupancy content to the corresponding master response mechanism according to the residual phase mark. It performs phase blanking on the overlapping occupancy formed by different coupling paths in the same closed response segment to generate the back-projection residual chain. The collaborative instruction decoding layer is based on the back-projection residual chain. According to the master-slave coupling direction in the actuator coupling phase diagram, the branch cancellation verification is performed on the adjustment amount of the master response mechanism and the adjustment amount of the slave response mechanism. The adjustment amount of the slave response mechanism that can be covered by the traction of the master response mechanism along the directional connection is stripped off, and the adjustment amount that cannot be covered by the traction is embedded into the corresponding execution phase according to the residual phase mark to generate a phase-splitting collaborative control sequence. A twin back-projection control model is constructed by directional cascading mapping of the twin state bias embedding layer, the coupled phase back-projection layer, and the cooperative instruction decoding layer.

[0012] As a preferred embodiment of the wireless remote control method for a concrete wet spraying machine based on an industrial control system according to the present invention, the step of using a twin back-projection control model to reversely project the remote spraying target state along the coupled phase diagram of the actuator to the real-time twin response chain of the wet spraying machine to obtain the master-slave net adjustment chain is as follows: Based on the twin back projection control model, the remote spraying target state is reverse-projected back to the wet spraying machine's real-time twin response chain along the master-slave coupling direction of the actuator coupling phase diagram. The target state projected back to the closed response segment and the coupled response segment is subjected to master-slave branch shadow copying and reverse folding to generate a master-slave adjustment shadow chain. Based on the master-slave adjustment shadow chain, the master response mechanism adjustment amount is mapped to the corresponding slave response mechanism adjustment amount according to the directional connection and residual phase mark in the execution mechanism coupling phase diagram. The phase cancellation of the repeatedly mapped adjustment amount is performed according to the master-slave coupling direction. The retained non-repeating adjustment amount is re-associated according to the corresponding execution phase to generate the master-slave net adjustment chain.

[0013] As a preferred embodiment of the wireless remote control method for concrete wet spraying machine based on industrial control system described in this invention, the wireless remote collaborative control command is based on master-slave net adjustment chain, which folds the adjustment amount of the master response mechanism that is continuously in the same direction into the master control phase segment according to the residual phase mark, and embeds the adjustment amount of the slave response mechanism that is not covered by the master control phase segment into the corresponding phase gap, and performs reverse conflict verification and control cycle compression on adjacent phase segments.

[0014] As a preferred embodiment of the wireless remote control method for a concrete wet spraying machine based on an industrial control system according to the present invention, the step of performing phase-separated collaborative control on the master response mechanism and slave response mechanism in the coupled phase diagram of the actuator according to the wireless remote collaborative control command, and performing phase mirror verification with the real-time twin response chain of the wet spraying machine to obtain the phase mismatch response relationship, is as follows: According to the master-slave coupling direction and residual phase marking in the actuator coupling phase diagram, the wireless remote collaborative control command is divided into master control phase segment and slave control phase segment, and phase control is performed according to the execution order of the master response mechanism and the slave response mechanism. The actual state change after the execution of the control command is associated and encapsulated with the corresponding control phase to generate execution feedback. Based on the execution feedback and the real-time twin response chain of the wet spraying machine, the actual state changes are backfilled into the corresponding response segments. Based on the residual phase mark, a bidirectional phase backtracking verification is performed on the instruction execution cycle of the main response mechanism and the actual response cycle of the slave response mechanism. When the instruction execution cycle obtained by backtracking does not uniquely correspond to the original instruction execution cycle, the corresponding instruction and the actual state change are determined to be a phase mismatch response relationship.

[0015] As a preferred embodiment of the wireless remote control method for a wet concrete spraying machine based on an industrial control system according to the present invention, the specific steps for generating the calibrated real-time twin response chain and actuator coupling phase diagram of the wet spraying machine are as follows: The phase mismatch response relationship is extracted from the original master-slave directional connection by performing a misaligned branch extraction, and the actual response phase offset relative to the control cycle offset formed by the residual phase mark is reversed and returned to the original master response mechanism. Shadow playback is performed on the original master-slave directional connection and the master-slave transposition connection respectively, and the data with the highest degree of closure of the actual state change sequence in the execution feedback is determined as the master-slave coupling reconstruction data. The response slots of the original closed response segment and coupled response segment in the real-time twin response chain of the wet spraying machine are dewoven, and the actual state changes are rewoven according to the master-slave coupling reconstruction data. The control cycle offset is re-anchored as the residual phase mark and the original directional connection in the actuator coupling phase diagram is replaced to generate the calibrated real-time twin response chain and actuator coupling phase diagram of the wet spraying machine.

[0016] The beneficial effects of this invention are as follows: by constructing an industrial control state frame and a real-time twin response chain for a wet spraying machine, the precise correlation between the remote target state and the actual execution response is achieved. Furthermore, through master-slave coupling orientation and twin back-projection control, the coordinated adjustment of multiple actuators is realized. Combined with phase mirror verification to optimize the control process, the synchronization and stability of the industrial control system are improved. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a wireless remote control method for a wet concrete spraying machine based on an industrial control system.

[0019] Figure 2 A flowchart for constructing a state frame.

[0020] Figure 3 A flowchart generated for the instructions.

[0021] Figure 4 A flowchart for updating the results.

[0022] Figure 5 This is a graph showing the changes in control error. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0026] Reference Figures 1-5 This is one embodiment of the present invention, which provides a wireless remote control method for a concrete wet spraying machine based on an industrial control system, comprising the following steps: S1: Collect industrial operation status data and remote injection target status, extract status changes from industrial operation status data and perform bidirectional closed anchoring with remote injection target status, mark status changes that do not form a closed correspondence as coupling residuals, and construct industrial control status frames.

[0027] S1.1: Industrial operation status data includes actuator identifier, status parameter identifier, control cycle identifier, and status value.

[0028] Specifically, data acquisition channels are established for the spraying robotic arm, nozzle attitude adjustment mechanism, concrete pumping mechanism, and hydraulic drive mechanism in the wet spraying machine. During the acquisition process, the equipment number, control address, or communication address information corresponding to each actuator is read, and the read equipment number, control address, or communication address information is used as the actuator identifier.

[0029] Read the operating parameter number currently controlled by each actuator, and associate the operating parameter number with the corresponding actuator identifier to form a status parameter identifier.

[0030] The industrial controller records the sequence of each state acquisition by using a periodic timing signal inside the controller, and uses the period number corresponding to each sampling moment as the control period identifier.

[0031] Collect the sensor detection values, driver feedback values, and controller feedback values ​​corresponding to each actuator, and use the collected actual detection values ​​as status values.

[0032] S1.2: The remote spray target status includes the target actuator identifier, target parameter identifier, target value, and command issuance cycle.

[0033] Specifically, the remote control terminal drives the concrete wet spraying machine to generate control commands based on the spraying task parameters and the current spraying task requirements. During the command generation process, it reads the equipment number, communication address or control channel identifier corresponding to the target actuator and records the corresponding information as the target actuator identifier.

[0034] Read the types of operating parameters that need to be adjusted in the remote control command, and record the parameter number, parameter name, or control variable identifier as the target parameter identifier.

[0035] Read the target adjustment amount or target operating status value set in the remote control command, and record the target control quantities such as injection angle, injection flow rate, pumping pressure, and robotic arm position set by the remote control terminal as target values.

[0036] The clock is generated by the remote control terminal to record the time sequence of the control commands, and the time stamp or cycle number corresponding to the command is recorded as the command issuance cycle.

[0037] S1.3: Compare the state values ​​in adjacent control cycles according to the actuator identifier and state parameter identifier, fold the state changes that exceed the change threshold and are continuous in the same direction into state change segments, and fold the continuous target value changes in the remote injection target state into target change segments, generating a set of state change segments and a set of target change segments.

[0038] Specifically, the industrial operation status data are grouped according to the actuator identifier and the status parameter identifier. The industrial operation status data with the same actuator identifier and status parameter identifier are sorted according to the control cycle identifier, and the change in status value within adjacent control cycles is compared in turn.

[0039] When the change in state value within an adjacent control cycle exceeds the change threshold (the operating fluctuation range of the actuator's corresponding state, sensor sampling accuracy, and control accuracy requirements are calibrated and determined, with a value range of: When the state change direction is recorded, the state value change direction in subsequent control cycles is compared. When the state value change direction is consistent in multiple consecutive control cycles, the consecutive state changes in the same direction are merged according to the start control cycle and the end control cycle to form a state change segment.

[0040] In the same manner, the remote spray target status is grouped according to the target actuator identifier and target parameter identifier, and the target values ​​are sorted according to the command issuance cycle. The direction of target value change within adjacent command issuance cycles is compared. When the direction of target value change within multiple consecutive command issuance cycles is consistent, the consecutive target value changes in the same direction are merged to form a target change segment.

[0041] Multiple state change fragments are encapsulated into a set to generate a state change fragment set, and multiple target change fragments are encapsulated into a set to generate a target change fragment set.

[0042] S1.4: Based on the target change fragment set, perform mutual exclusion permutation of target values ​​on adjacent target change fragments with the same target actuator identifier and target parameter identifier to obtain the permutation target fragment. Then, perform bidirectional closure verification on the state change fragment set with the target change fragment and the permutation target fragment respectively. The state change fragments that form a unique closure with the target change fragment but lose the closure with the permutation target fragment are retained as response candidate fragments, and a response candidate fragment set is generated.

[0043] Specifically, based on the target change fragment set, the target change fragments in the target change fragment set are matched according to the target execution mechanism identifier and the target parameter identifier, and the target change fragments with the same and adjacent target execution mechanism identifier and target parameter identifier are identified as mutually exclusive replacement objects.

[0044] The mutual exclusion object is reversed according to the direction of the target value change in the target change fragment, replacing the target value increase change with the target value decrease change or the target value decrease change with the target value increase change, thus generating the target replacement fragment.

[0045] Using the target change segment and the replacement target segment as the closure matching benchmarks respectively, the state change segments in the state change segment set are subjected to bidirectional closure verification. According to the target actuator identifier, target parameter identifier, change direction and time correspondence of the target change segment or the replacement target segment, the state change segment is subjected to forward matching search. The matched state change segment is then backtracked to the corresponding target change segment or the replacement target segment according to the control cycle.

[0046] When a unique forward match and a backward backtracking relationship can be formed between a state change fragment and a target change fragment, and a corresponding closed relationship cannot be formed between a state change fragment and a replacement target fragment, the state change fragment is retained as a response candidate fragment and encapsulated into a set to generate a response candidate fragment set.

[0047] S1.5: Based on the response candidate fragment set, the starting instruction issuance cycle of the target change fragment is used as the target anchor point. The response candidate fragment is searched along the subsequent control cycle. Then, the response candidate fragment is traced back to the target change fragment along the control cycle. The target change fragment and the response candidate fragment that point to each other are encapsulated into closed anchor data. The remaining response candidate fragments that can be traced back to the target anchor point are identified as unclosed state change fragments and marked as coupling residuals.

[0048] Specifically, based on the response candidate fragment set, the starting instruction issuance cycle in the target change fragment is determined as the target anchor point. The response candidate fragments in the response candidate fragment set are traversed backward according to the control cycle order corresponding to the target anchor point. The correspondence between the actuator identifier, status parameter identifier, and change direction in the response candidate fragment and the target change fragment is matched. The response candidate fragments that satisfy the correspondence are determined as forward search fragments.

[0049] The forward search segments are traversed in reverse order according to the control cycle. The target change segments corresponding to the forward search segments are searched. When the target change segments obtained by the reverse traversal are consistent with the target change segments corresponding to the target anchor points, a reverse backtracking relationship is formed.

[0050] When the target change fragment and the response candidate fragment simultaneously satisfy both the forward search relationship and the backward backtracking relationship, and the target change fragment and the response candidate fragment uniquely point to each other, the target change fragment and the response candidate fragment are associated and encapsulated to generate closed anchoring data.

[0051] When a response candidate segment can be traced back to the target anchor point along the control cycle, but cannot form a unique pointing relationship with the target change segment, the response candidate segment is identified as an unclosed state change segment, and the unclosed state change segment is marked as a coupling residual.

[0052] S1.6: Using the target anchor point with the smallest control cycle interval obtained by reverse backtracking of the coupled residual as the mirror reference, perform control cycle phase foldback mapping to generate residual phase markers. Then, based on the residual phase markers, connect the coupled residuals with the closed anchoring data corresponding to the target anchor point to construct an industrial control state frame.

[0053] Specifically, the target change segment is traced back along the control cycle using the response candidate segment corresponding to the coupling residual, the target anchor point that can be traced back is obtained, and the control cycle interval between the coupling residual and each target anchor point is compared. The target anchor point with the smallest control cycle interval is determined as the mirror reference.

[0054] Using the control period corresponding to the mirror reference as the phase reversal point, the position of the control period in the coupled residual is reversed and mapped according to the time direction relative to the mirror reference to obtain the period offset relationship of the coupled residual relative to the target anchor point, and the period offset relationship is marked as the residual phase marker.

[0055] Based on the residual phase marker, the corresponding coupled residuals are associated with the closed anchoring data corresponding to the target anchor point. The target change segment, response candidate segment and associated coupled residual in the closed anchoring data are encapsulated in the order of the control cycle to construct the industrial control state frame.

[0056] S2: Perform response closure verification on the industrial control status frame, and perform reverse attribution backfeeding on the coupling residual to construct the real-time twin response chain of the wet spraying machine. Perform cross-mechanism response phase stripping and master-slave coupling orientation on the real-time twin response chain of the wet spraying machine to generate the coupling phase diagram of the actuator.

[0057] S2.1: Based on the industrial control state frame, using the target anchor point corresponding to the closed anchor data as the return reference, the coupling residual is back-mapped to the control cycle range of the corresponding state change segment according to the residual phase mark, and the mapped residual falls into the control cycle range. For example, the coupling residual of 5 to 50 consecutive control cycles and the corresponding closed anchor data are used to establish a residual belonging index and generate response closure verification data.

[0058] Specifically, based on the closed anchoring data and coupling residual in the industrial control status frame, the target anchor point in the closed anchoring data is obtained, and the control cycle corresponding to the target anchor point is determined as the return reference for the reverse mapping of the coupling residual.

[0059] According to the residual phase marker corresponding to the coupling residual, obtain the control cycle offset direction and offset amount of the coupling residual relative to the target anchor point, and then map the coupling residual in reverse according to the control cycle offset direction to the control cycle range corresponding to the state change segment in the closed anchoring data.

[0060] After the reverse mapping is completed, the periodic position matching is performed on the coupled residual. When the control period position of the coupled residual falls within the control period range corresponding to the state change segment, the coupled residual is associated with the state change segment in the corresponding closed anchor data, and a residual attribution index is generated.

[0061] The closed anchor data, coupled residuals, and residual attribution index are associated and encapsulated to generate response closure verification data.

[0062] S2.2: Based on the response closure verification data, the coupled residuals are back-injected to the corresponding closure anchoring data according to the residual attribution index, and the state change segments in the closure anchoring data and the back-injected coupled residuals are phase mirrored and woven according to the residual phase markers to form a real-time twin response chain for the wet spraying machine.

[0063] Specifically, the closed anchoring data corresponding to the coupling residual is determined according to the residual attribution index in the response closure verification data, and the coupling residual is back-injected into the closed anchoring data according to the position of the state change segment in the residual attribution index.

[0064] The control cycle correspondence between the coupled residual and the closed anchoring data is obtained based on the residual phase marker. The state change segments in the closed anchoring data and the coupled residual after recharge are phase aligned according to the control cycle position.

[0065] When the state change segment and the coupling residual have the same control cycle position, the corresponding state change is phase-correlated. When the state change segment and the coupling residual have a control cycle offset, a phase connection is established according to the offset direction recorded by the residual phase mark. The closed response segment and the coupling response segment after phase correlation are combined in the order of control cycle to form a real-time twin response chain for the wet spraying machine.

[0066] It should be noted that the real-time twin response chain of the wet spraying machine is used to characterize the temporal correspondence between the target state, actual state changes, and execution responses of each actuator of the wet spraying machine during remote control. The real-time twin response chain of the wet spraying machine consists of a closed response segment and a coupled response segment. The closed response segment records the response process in which the remote spraying target state and the actual state changes form a closed correspondence. The coupled response segment records the response changes that do not form a direct closed correspondence but have phase correlation. The control cycle offset relationship between different actuators is recorded through residual phase marking, realizing the continuous correlation and dynamic mapping of the execution state changes of the wet spraying machine.

[0067] S2.3: Based on the real-time twin response chain of the wet spraying machine, the closed response segment and the coupled response segment are split according to the actuator identifier to form the mechanism response sub-chain. The cross-mechanism phase coupling strength is calculated by performing cross-mechanism phase transposition verification on the mechanism response sub-chain according to the residual phase mark. The common changes that meet the coupling threshold are stripped, and the response segments that lose coupling after transposition are retained to generate a cross-mechanism coupled response segment set.

[0068] Specifically, closed response segments and coupled response segments are classified according to the actuator identifier in the real-time twin response chain of the wet spraying machine, and closed response segments and coupled response segments with the same actuator identifier are combined to form a mechanism response sub-chain.

[0069] Based on the residual phase markers in the mechanism response subchain, the coupled response segments corresponding to different actuators are transposed across mechanisms according to the control cycle offset direction recorded by the residual phase markers. The transposed coupled response segments are then compared with their corresponding closed response segments for phase synchronization. The ratio of the state change of the first actuator to the maximum state change in the corresponding response segment of the first actuator is taken as the normalized state change of the first actuator. The ratio of the state change of the second actuator to the maximum state change in the corresponding response segment of the second actuator is taken as the normalized state change of the second actuator. The ratio of the response phase position of the first actuator to the maximum control cycle position in the corresponding coupled response segment is taken as the normalized response phase position of the first actuator. The ratio of the response phase position of the second actuator to the maximum control cycle position in the corresponding coupled response segment is taken as the normalized response phase position of the second actuator. The cross-mechanism phase coupling strength is calculated, and the expression is: ; in, For cross-mechanism phase coupling strength, To control the number of cycles, To control the cycle number, For the first Normalized state change of the first actuator within each control cycle For the first Normalized state change of the second actuator within each control cycle For the first The normalized response phase position of the first actuator within each control cycle. For the first The normalized response phase position of the second actuator within each control cycle This represents the maximum permissible phase offset range.

[0070] It should be noted that the maximum permissible phase offset range is determined by calibration based on the response delay of the wet spraying machine actuator and the synchronization accuracy of the control cycle, for example, 5 to 50 control cycles.

[0071] When phase synchronization is maintained before and after the transposition and the cross-mechanism phase coupling strength is greater than or equal to the coupling threshold (by normalizing and comparing the cross-mechanism phase coupling strength with the consistency of response changes before and after the transposition, the value range is...), the following conditions must be met. The response changes of the cross-mechanism phase coupling strength before the transposition reach the coupling threshold and the cross-mechanism phase coupling strength after the transposition is lower than the coupling threshold are identified as coupled response segments and retained; the retained coupled response segments are encapsulated into a set to generate a cross-mechanism coupled response segment set.

[0072] S2.4: Based on the cross-mechanism coupled response fragment set, the master response mechanism is determined by the execution mechanism where the corresponding closed response segment is located, and phase backtracking is performed from the closed response segment to the reserved coupled response segment along the residual phase mark. The execution mechanism pointed to by the tracking is determined as the slave response mechanism. At the same time, the master-slave coupling direction is determined according to the backtracking direction, and master-slave coupling orientation data is generated.

[0073] Specifically, based on the closed response segments corresponding to the coupled response segments retained in the cross-mechanism coupled response segment set, and by reading the actuator identifier corresponding to the closed response segment, the actuator where the closed response segment is located is determined as the main response actuator.

[0074] Based on the residual phase markers in the cross-mechanism coupled response segment set, starting from the closed response segment corresponding to the main response mechanism, phase back tracking is performed towards the retained coupled response segment according to the control cycle offset direction recorded by the residual phase markers to obtain the actuator identifier corresponding to the retained coupled response segment.

[0075] The actuator obtained by phase back tracking is identified as the slave response mechanism; based on the phase change direction from the closed response segment to the coupled response segment during phase back tracking, the connection direction between the master response mechanism and the slave response mechanism is identified as the master-slave coupling direction; the master response mechanism, the slave response mechanism, and the master-slave coupling direction are associated and encapsulated to generate master-slave coupling orientation data.

[0076] S2.5: Based on master-slave coupling directional data, the master response mechanism and slave response mechanism are used as mechanism nodes, the master-slave coupling direction is used as the directional connection, and the corresponding residual phase mark is written into the directional connection to generate the actuator coupling phase diagram.

[0077] Specifically, the master response mechanism, slave response mechanism, master-slave coupling direction, and corresponding residual phase markers are extracted from the master-slave coupling directional data. The master response mechanism and slave response mechanism are respectively used as mechanism nodes, and the connection path from the master response mechanism to the slave response mechanism is determined according to the master-slave coupling direction. The connection path is then defined as a directional connection.

[0078] The control cycle offset relationship corresponding to the residual phase mark is associated with the directional connection, so that the directional connection simultaneously records the response transmission direction and phase correspondence between the master response mechanism and the slave response mechanism; all mechanism nodes, directional connections and associated residual phase marks are encapsulated to generate the actuator coupling phase diagram.

[0079] It should be noted that the actuator coupling phase diagram is a phase-related data structure established according to the state changes, coupling residuals, and master-slave coupling directions of each actuator of the wet spraying machine in different control cycles. It is used to record the coupling path, response sequence, and residual phase position between the master and slave response mechanisms. Based on the actuator coupling phase diagram, the remote spraying target state can be reversed along the master-slave coupling direction, and the repetitive response quantities and coupling occupancy of different actuators can be canceled, thereby improving the synchronization of multi-actuator collaborative control and reducing mutual interference and response deviation between control commands.

[0080] S3: A twin back-projection control model is constructed using a twin state deviation embedding layer, a coupled phase back-projection layer, and a cooperative instruction decoding layer. Based on the twin back-projection control model, the remote spraying target state is back-projected along the coupled phase diagram of the actuator to the real-time twin response chain of the wet spraying machine to obtain the master-slave net adjustment chain. Coupled occupancy cancellation and response phase reorganization are performed on the master-slave net adjustment chain to generate wireless remote cooperative control instructions.

[0081] S3.1: The twin state deviation embedding layer is based on the remote spraying target state in the industrial control state frame and the closed response segment in the real-time twin response chain of the wet spraying machine. It uses the remote spraying target state as the terminal anchor point to perform reverse embedding along the closed response segment, and folds the difference between the target value and the current state of the closed response segment into positive deviation bits and reverse compensation bits to generate a twin deviation shadow chain.

[0082] Specifically, the twin state deviation embedding layer matches the target actuator identifier and target parameter identifier in the remote injection target state with the actuator identifier and state parameter identifier corresponding to the closed response segment to determine the correspondence between the remote injection target state and the closed response segment.

[0083] Using the command issuance cycle in the remote injection target state as the terminal anchor point, the system performs a reverse traversal along the control cycle direction of the closed response segment. The state change segments corresponding to the terminal anchor point in the closed response segment are arranged in the order of the control cycle. The target value in the remote injection target state is compared with the state value of the corresponding control cycle in the closed response segment. When the target value is higher than the current state value of the closed response segment, the difference between the target value and the current state value of the closed response segment is recorded as a positive deviation bit. When the target value is lower than the current state value of the closed response segment, the difference between the target value and the current state value of the closed response segment is recorded as a negative compensation bit.

[0084] The remote injection target status, closed response segment, positive deviation position, and reverse compensation position are associated and encapsulated according to the control cycle sequence to generate a twin deviation shadow chain.

[0085] S3.2: The coupled phase back-projection layer is based on the twin bias shadow chain and the coupled phase map of the actuator. It performs coupling path occupancy on the reverse compensation position in the opposite direction of the master-slave coupling direction, and returns the occupancy content to the corresponding master response mechanism according to the residual phase mark. It performs phase blanking on the overlapping occupancy formed by different coupling paths in the same closed response segment to generate the back-projection residual chain.

[0086] Specifically, based on the remote injection target state in the industrial control state frame and the closed response segment in the real-time twin response chain of the wet sprayer, the correspondence between the remote injection target state and the closed response segment is determined by matching the target actuator identifier and target parameter identifier in the remote injection target state with the actuator identifier and state parameter identifier corresponding to the closed response segment.

[0087] Using the command issuance cycle in the remote injection target state as the terminal anchor point, the system performs a reverse traversal along the control cycle direction of the closed response segment. The state change segments corresponding to the terminal anchor point in the closed response segment are arranged in the order of the control cycle, and the target value in the remote injection target state is compared with the state value of the corresponding control cycle in the closed response segment.

[0088] When the target value is higher than the current state value of the closed response segment, the difference between the target value and the current state value of the closed response segment is recorded as a positive deviation bit. When the target value is lower than the current state value of the closed response segment, the difference between the target value and the current state value of the closed response segment is recorded as a reverse compensation bit.

[0089] The remote injection target status, closed response segment, positive deviation position, and reverse compensation position are associated and encapsulated according to the control cycle sequence to generate a twin deviation shadow chain.

[0090] S3.3: The cooperative instruction decoding layer is based on the back-projection residual chain. According to the master-slave coupling direction in the actuator coupling phase diagram, the branch cancellation verification is performed on the adjustment amount of the master response mechanism and the adjustment amount of the slave response mechanism. The adjustment amount of the slave response mechanism that can be covered by the traction of the master response mechanism along the directional connection is stripped off, and the adjustment amount that cannot be covered by the traction is embedded into the corresponding execution phase according to the residual phase mark, generating a phase-sequence cooperative control sequence.

[0091] Specifically, based on the back-projection residual chain, the master response mechanism adjustment amount and the slave response mechanism adjustment amount are extracted according to the master-slave coupling direction in the actuator coupling phase diagram. Then, according to the execution phase order corresponding to the slave response mechanism adjustment amount, the slave response mechanism adjustment amount is removed from the back-projection residual chain in sequence, and the back-projection residual chain after removal is obtained again.

[0092] Compare the state deviations of the corresponding closed response segments in the back-projection residual chain before and after removal. When the state deviation after removal is consistent with the state deviation before removal, the corresponding adjustment amount of the response mechanism is determined as the adjustment amount that can be covered by the main response mechanism along the directional connection and stripped. When the state deviation after removal changes, the corresponding adjustment amount of the response mechanism is retained, and the execution phase corresponding to the adjustment amount of the response mechanism is determined according to the residual phase mark.

[0093] The adjustment amounts of the stripped master response mechanism and the adjustment amounts of the retained slave response mechanism are rearranged according to the execution phase corresponding to the residual phase mark to generate a phase-separated collaborative control sequence.

[0094] S3.4: Construct a twin back-projection control model by performing directional cascade mapping of the twin state deviation embedding layer, coupled phase back-projection layer, and cooperative instruction decoding layer.

[0095] Specifically, based on the twin bias shadow chain, the back-projection residual chain, and the phase-separated cooperative control sequence, the input-output relationship of the twin state bias embedding layer, the coupled phase back-projection layer, and the cooperative command decoding layer is correlated and mapped. The twin bias shadow chain output by the twin state bias embedding layer is used as the input of the coupled phase back-projection layer and is transmitted in reverse according to the master-slave coupling direction in the coupled phase diagram of the actuator. The back-projection residual chain output by the coupled phase back-projection layer is used as the input of the cooperative command decoding layer and is used for phase decoding according to the residual phase mark and the directional connection relationship in the coupled phase diagram of the actuator.

[0096] The output and input data between the twin state bias embedding layer, the coupled phase back projection layer, and the cooperative instruction decoding layer are cascaded and correlated to form a continuous data transmission relationship between the twin bias shadow chain, the back projection residual chain, and the phase-separated cooperative control sequence, thus constructing a twin back projection control model.

[0097] S3.5: Based on the twin back projection control model, the remote spraying target state is reverse-projected back to the wet spraying machine's real-time twin response chain along the master-slave coupling direction of the actuator coupling phase diagram, and the master-slave branch shadow copying and reverse folding are performed on the target state projected back to the closed response segment and the coupled response segment to generate a master-slave adjustment shadow chain.

[0098] Specifically, training samples are constructed based on the industrial control state frame, the real-time twin response chain of the wet sprayer, and the coupled phase diagram of the actuator. The remote spraying target state in the industrial control state frame is used as input, and the actual state changes in the corresponding closed anchoring data are used as response verification data.

[0099] The training samples are input into the twin backprojection control model. The state deviation between the remote injection target state and the closed response segment is embedded through the twin state deviation embedding layer to generate a twin deviation shadow chain. The twin deviation shadow chain is backprojected through the coupled phase backprojection layer according to the master-slave coupling direction in the coupled phase diagram of the actuator to generate a backprojection residual chain. The adjustment amount of the backprojection residual chain is decoded through the cooperative command decoding layer to generate a phase-separated cooperative control sequence. The predicted state change corresponding to the phase-separated cooperative control sequence is compared with the actual state change in the closed anchoring data. The data mapping relationship between the twin state deviation embedding layer, the coupled phase backprojection layer and the cooperative command decoding layer is adjusted according to the deviation between the predicted state change and the actual state change until the phase-separated cooperative control sequence output by the twin backprojection control model maintains a correspondence with the actual state change, thus obtaining the trained twin backprojection control model.

[0100] Based on the trained twin back-projection control model, the target actuator identifier, target parameter identifier and target value in the remote spraying target state are matched with the master response mechanism and slave response mechanism in the actuator coupling phase diagram. According to the master-slave coupling direction in the actuator coupling phase diagram, the remote spraying target state is reverse-mapped along the directional connection direction to the closed response segment and coupled response segment in the real-time twin response chain of the wet spraying machine.

[0101] The target state fed back to the closed response segment is associated with the state change segment of the corresponding master response mechanism. The target state fed back to the coupled response segment is copied to the response position of the corresponding slave response mechanism according to the residual phase mark, forming the adjustment amount of the master response mechanism and the adjustment amount of the slave response mechanism.

[0102] Compare the phase correspondence between the master response mechanism adjustment amount and the slave response mechanism adjustment amount according to the master-slave coupling direction. Fold the slave response mechanism adjustment amount that is in the same direction as the master response mechanism adjustment amount and is located at the same residual phase mark position in the opposite direction. This will rearrange the master response mechanism adjustment amount and the slave response mechanism adjustment amount according to the execution phase, and generate a master-slave adjustment shadow chain.

[0103] S3.6: Based on the master-slave adjustment shadow chain, according to the directional connection and residual phase mark in the actuator coupling phase diagram, the master response mechanism adjustment amount is mapped to the corresponding slave response mechanism adjustment amount, and phase cancellation is performed on the repeatedly mapped adjustment amount according to the master-slave coupling direction. The retained non-repeating adjustment amount is re-associated according to the corresponding execution phase to generate the master-slave net adjustment chain.

[0104] Specifically, based on the master-slave adjustment shadow chain, the adjustment amount correspondence between the master response mechanism and the slave response mechanism is determined according to the directional connection in the execution mechanism coupling phase diagram, and the adjustment amount of the master response mechanism is mapped to the corresponding execution phase position of the slave response mechanism according to the residual phase mark.

[0105] Compare the direction of change and content of the adjustment amount of the master response mechanism and the adjustment amount of the slave response mechanism at the same execution phase position. When the adjustment amount of the master response mechanism and the adjustment amount of the slave response mechanism have the same adjustment direction and correspond to the same residual phase mark, the corresponding adjustment amount of the slave response mechanism is determined as the adjustment amount of repeated mapping, and phase cancellation is performed according to the master-slave coupling direction.

[0106] When the adjustment amount of the master response mechanism and the adjustment amount of the slave response mechanism correspond to different execution phases or have inconsistent adjustment directions, the corresponding adjustment amount is determined as a non-repeating adjustment amount and retained; the master response mechanism adjustment amount after phase cancellation and the retained non-repeating adjustment amount are re-associated to the corresponding execution phase according to the residual phase mark to form a master-slave net adjustment chain.

[0107] S3.7: Based on the master-slave net adjustment chain, the adjustment amount of the master response mechanism that is continuously in the same direction is folded into the master control phase segment according to the residual phase mark, and the adjustment amount of the slave response mechanism that is not covered by the master control phase segment is embedded into the corresponding phase gap. The reverse conflict verification and control cycle compression are performed on the adjacent phase segments to generate wireless remote cooperative control commands.

[0108] Specifically, the adjustment amount of the main response mechanism is sorted according to the control cycle based on the residual phase mark. The change direction of the adjustment amount of the main response mechanism in adjacent control cycles is compared. The adjustment amounts of the main response mechanism with the same change direction and continuous connection are merged to form a continuous main response mechanism adjustment segment, and the continuous main response mechanism adjustment segment is marked as the main control phase segment.

[0109] Based on the directional connection relationship in the actuator coupling phase diagram, the adjustment range corresponding to the master control phase segment is matched with the adjustment amount of the slave response mechanism. It is determined whether the adjustment amount of the slave response mechanism is within the coverage range of the master control phase segment. The adjustment amounts of the slave response mechanism within the coverage range of the master control phase segment are correlated and canceled. The adjustment amounts of the slave response mechanism not covered by the master control phase segment are inserted into the phase gap between the corresponding master control phase segments according to the residual phase mark.

[0110] According to the execution order of adjacent phase segments, the adjustment direction between the master control phase segment and the slave control phase segment is compared. When there is a conflict in the execution direction of adjacent phase segments, the phase segment arrangement order is adjusted according to the residual phase mark and the execution relationship between adjacent phase segments is re-verified. Idle control cycles that do not carry adjustment amounts are deleted, and the residual phase interval between the master control phase segment and the slave control phase segment is maintained. The control cycle arrangement is compressed to generate wireless remote collaborative control commands.

[0111] S4: According to the wireless remote collaborative control command, perform phase-separated collaborative control on the master response mechanism and slave response mechanism in the actuator coupling phase diagram, and perform phase mirror verification with the real-time twin response chain of the wet spraying machine to obtain the phase mismatch response relationship. Perform misalignment extraction and reverse reconstruction on the phase mismatch response relationship to generate the calibrated real-time twin response chain of the wet spraying machine and the actuator coupling phase diagram.

[0112] S4.1: According to the master-slave coupling direction and residual phase marking in the actuator coupling phase diagram, the wireless remote collaborative control command is divided into master control phase segment and slave control phase segment, and phase control is performed according to the execution order of the master response mechanism and the slave response mechanism. The actual state change after the execution of the control command is associated and encapsulated with the corresponding control phase to generate execution feedback.

[0113] Specifically, the execution order of the master response mechanism and the slave response mechanism is determined according to the master-slave coupling direction in the actuator coupling phase diagram, and the phase position of the control content in the wireless remote collaborative control command is matched according to the residual phase mark.

[0114] Based on the execution phase position corresponding to the main response mechanism, the continuous main response mechanism adjustment amount in the wireless remote cooperative control command is extracted, and the continuous main response mechanism adjustment amount is divided into the main control phase segment; based on the execution phase position corresponding to the slave response mechanism, the slave response mechanism adjustment amount associated with the residual phase mark in the wireless remote cooperative control command is extracted, and the slave response mechanism adjustment amount is divided into the slave control phase segment.

[0115] Following the execution order of the primary response mechanism first and the secondary response mechanism second, the primary control phase segment is sent to the primary response mechanism and the actual state changes after the primary response mechanism's execution are collected. Then, the secondary control phase segment is sent to the secondary response mechanism and the actual state changes after the secondary response mechanism's execution are collected. The actual state changes after the primary response mechanism's execution and the actual state changes after the secondary response mechanism's execution are matched with the residual phase markers corresponding to the primary control phase segment and the secondary control phase segment, respectively. The results are then associated and encapsulated according to the execution mechanism identifier, control phase, and actual state changes to generate an execution feedback certificate.

[0116] S4.2: Based on the execution feedback and the real-time twin response chain of the wet spraying machine, the actual state change is backfilled to the corresponding response segment, and bidirectional phase backtracking verification is performed on the instruction execution cycle of the main response mechanism and the actual response cycle of the slave response mechanism according to the residual phase mark. When the instruction execution cycle obtained by backtracking does not uniquely correspond to the original instruction execution cycle, the corresponding instruction and the actual state change are determined as a phase mismatch response relationship.

[0117] Specifically, the actual state changes in the execution feedback are matched to the closed response segment and coupled response segment in the real-time twin response chain of the wet spraying machine according to the actuator identifier, state parameter identifier and control phase, and the actual state changes are written to the corresponding response positions.

[0118] Based on the residual phase marker, the phase correspondence between the command execution cycle of the master response mechanism and the actual response cycle of the slave response mechanism is determined. The command execution cycle of the master response mechanism is used as the forward positioning reference, and the actual response cycle of the slave response mechanism corresponding to the residual phase marker is found along the control cycle direction. The actual response cycle of the slave response mechanism is used as the starting point for reverse backtracking, and the corresponding command execution cycle is matched in reverse according to the residual phase marker. The command execution cycle obtained by reverse backtracking is compared with the original command execution cycle used for forward positioning to see if they are consistent.

[0119] When the instruction execution cycle obtained by reverse backtracking corresponds to only one original instruction execution cycle, the instruction execution cycle of the main response mechanism, the actual response cycle of the slave response mechanism, and the actual state change are kept in a closed correspondence. When the instruction execution cycle obtained by reverse backtracking cannot uniquely correspond to the original instruction execution cycle, the corresponding wireless remote collaborative control instruction and the actual state change are determined to be a phase mismatch response relationship.

[0120] S4.3: Extract the phase mismatch response relationship from the original master-slave directional connection by performing a misaligned branch extraction, and reverse the control cycle offset formed by the actual response phase relative to the residual phase mark back to the original master response mechanism. Perform shadow playback on the original master-slave directional connection and the master-slave transposition connection respectively, and determine the master-slave coupling reconstruction data with the highest degree of closure of the actual state change sequence in the execution feedback.

[0121] Specifically, the actual state change corresponding to the phase mismatch response relationship is matched to the original master-slave directional connection in the actuator coupling phase diagram according to the actuator identifier, and the misaligned branch corresponding to the phase mismatch response relationship is determined along the master-slave coupling direction in the original master-slave directional connection, and the misaligned branch is separated from the original master-slave directional connection.

[0122] Based on the control cycle position corresponding to the actual response cycle and the residual phase mark in the phase mismatch response relationship, the control cycle offset generated by the actual response phase relative to the residual phase mark is calculated, and the control cycle offset is reversed and returned to the control cycle position corresponding to the original main response mechanism in the direction of the control cycle offset.

[0123] Based on the control cycle position after the reverse foldback, the original master-slave directional connection and the connection direction of the exchanged master response mechanism and slave response mechanism are maintained respectively to generate a master-slave transposition connection. The actual state changes in the phase mismatch response relationship are replayed in the cycle sequence according to the original master-slave directional connection and the master-slave transposition connection respectively, and the original master-slave playback sequence and the transposition playback sequence are obtained respectively. The degree of closure of the original master-slave playback sequence and the transposition playback sequence are determined respectively. The degree of closure is determined according to the state change matching relationship, the cycle sequence consistency relationship and the playback deviation relationship in sequence.

[0124] The state change matching relationship is whether the actual state change in the playback sequence matches the real-time twin response chain of the wet spraying machine in terms of the same mechanism, parameters, and direction of change. The cycle sequence consistency relationship is whether the actual state change in the playback sequence conforms to the order of the control cycle. The playback deviation relationship is the absolute value of the deviation between the playback state value and the corresponding state value in the real-time twin response chain of the wet spraying machine. When both playback sequences satisfy the state change matching relationship and the cycle sequence consistency relationship, the playback sequence with the smaller absolute value of the playback deviation is determined as the playback sequence with the highest degree of closure.

[0125] When only one replay sequence satisfies the state change matching relationship and the period order consistency relationship, the replay sequence that satisfies the state change matching relationship and the period order consistency relationship is determined as the replay sequence with the highest degree of closure; the master-slave coupling reconstruction direction is determined according to the replay sequence with the highest degree of closure.

[0126] S4.4: Perform response slot deweaving on the original closed response segment and coupled response segment in the real-time twin response chain of the wet spraying machine, and reweave the actual state changes according to the master-slave coupling reconstruction data. Re-anchor the control cycle offset as the residual phase mark and replace the original directional connection in the actuator coupling phase diagram to generate the calibrated real-time twin response chain and actuator coupling phase diagram of the wet spraying machine.

[0127] Specifically, the state changes, control cycle positions, and corresponding residual phase markers in the original closed response segment and coupled response segment are extracted according to the actuator identifier. The state changes in the original closed response segment and coupled response segment that correspond to the phase mismatch response relationship are separated from the original response position, thus completing the response slot deweaving.

[0128] Based on the master response mechanism, slave response mechanism, and master-slave coupling direction in the master-slave coupling reconstructed data, the separated state changes are rearranged according to the connection direction from the master response mechanism to the slave response mechanism, and the actual state changes are rewritten into the corresponding positions of the original closed response segment and coupled response segment according to the control cycle order, thus completing the reweaving of the actual state changes.

[0129] Based on the control cycle offset determined in the master-slave coupling reconstruction data, the cycle position corresponding to the control cycle offset is re-associated with the residual phase marker, and the control cycle offset is updated to the corresponding residual phase marker. Based on the updated residual phase marker, the directional connection relationship in the original master-slave directional connection in the actuator coupling phase diagram is replaced, and the master response mechanism, slave response mechanism and residual phase marker are rewritten into the corresponding directional connection to generate the calibrated wet spraying machine real-time twin response chain and actuator coupling phase diagram.

[0130] It should be noted that the calibrated wet spraying machine real-time twin response chain serves as the benchmark for the response correlation and closure verification between the industrial operating status data and the remote spraying target status in the next control cycle. It is used to update the state succession relationship and coupling residual in the industrial control status frame. The calibrated actuator coupling phase diagram serves as the phase relationship reference for the multi-actuator collaborative control in the next control cycle. It is used to determine the master-slave coupling direction, response sequence, and control quantity feedback path, and is used for subsequent wireless remote collaborative control command generation, operating status display, and historical control record storage.

[0131] like Figure 5The horizontal axis represents the wireless communication delay time, and the vertical axis represents the control deviation between the actual state of the wet spraying machine actuator and the remote target state. During the experiment, network fluctuations in a real remote control environment were simulated under different wireless communication delay conditions, and the actuator state tracking process was recorded under different delay conditions.

[0132] In traditional wireless control methods, after the remote control terminal generates the target state, it directly sends control commands to the industrial control system of the wet spraying machine via a wireless communication link. The industrial control system then drives the actuators to move according to the received control commands. In the method of this invention, after receiving the remote spraying target state, the industrial control state frame records the correspondence between the target state, actuator state, and control cycle. A dynamic mapping relationship between the remote target state and the actuator response state is established based on the real-time twin response chain of the wet spraying machine. During multi-actuator collaborative control, the correlation of state changes between different actuators is analyzed through actuator coupling phase diagrams, and the corresponding collaborative control quantity is generated based on the direction of target state change using a twin back-projection control model. When wireless communication delay causes a deviation between the actual response state and the target state, phase mirror verification is used to match and analyze the target state change process with the actual response process, identify the state offset position, and perform corresponding state corrections.

[0133] As wireless communication delay increases, control errors change. However, the method of this invention, by introducing a real-time twin response chain and phase mirror verification mechanism for wet spraying machines, can compensate for the state deviation caused by communication delay, so that the actual state of the actuator is continuously kept within the target state constraint range. This can improve the anti-delay capability and control stability of the wet spraying machine in the process of wireless remote control.

[0134] In summary, this invention achieves precise correlation between remote target state and actual execution response by constructing an industrial control state frame and a real-time twin response chain for the wet spraying machine. It also enables coordinated adjustment of multiple actuators through master-slave coupling orientation and twin back projection control, and optimizes the control process by combining phase mirror verification, thereby improving the synchronization and stability of the industrial control system.

[0135] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A wireless remote control method for a wet concrete spraying machine based on an industrial control system, characterized in that, include: Collect industrial operation status data and remote injection target status, extract status changes from industrial operation status data and perform bidirectional closed anchoring with remote injection target status, mark status changes that do not form a closed correspondence as coupling residuals, and construct industrial control status frames. Perform response closure verification on the industrial control status frame and backfeed the coupling residuals to construct a real-time twin response chain for the wet spraying machine. Perform cross-mechanism response phase stripping and master-slave coupling orientation on the real-time twin response chain of the wet spraying machine to generate a coupling phase diagram of the actuator. A twin back-projection control model is constructed by employing a twin state deviation embedding layer, a coupled phase back-projection layer, and a cooperative command decoding layer. Based on the twin back-projection control model, the remote spraying target state is back-projected along the coupled phase diagram of the actuator to the real-time twin response chain of the wet spraying machine to obtain the master-slave net adjustment chain. Coupled occupancy cancellation and response phase reorganization are performed on the master-slave net adjustment chain to generate wireless remote cooperative control commands. According to the wireless remote collaborative control command, the master response mechanism and slave response mechanism in the coupled phase diagram of the actuator are subjected to phase-separated collaborative control, and phase mirror verification is performed with the real-time twin response chain of the wet spraying machine to obtain the phase mismatch response relationship. The phase mismatch response relationship is then subjected to misalignment extraction and reverse reconstruction to generate the calibrated real-time twin response chain of the wet spraying machine and the coupled phase diagram of the actuator.

2. The wireless remote control method for a wet concrete spraying machine based on an industrial control system as described in claim 1, characterized in that, The industrial operation status data includes actuator identifier, status parameter identifier, control cycle identifier, and status value; The remote spray target status includes the target actuator identifier, target parameter identifier, target value, and command issuance cycle.

3. The wireless remote control method for a wet concrete spraying machine based on an industrial control system as described in claim 1, characterized in that, The specific steps for constructing the industrial control status frame are as follows: Compare the state values ​​in adjacent control cycles according to the actuator identifier and state parameter identifier, fold the state changes that exceed the change threshold and are continuous in the same direction into state change segments, and fold the continuous target value changes in the remote injection target state into target change segments, generating a set of state change segments and a set of target change segments. Based on the target change fragment set, mutual exclusion of target values ​​is performed on adjacent target change fragments with the same target actuator identifier and target parameter identifier to obtain the replacement target fragment. The state change fragment set is then subjected to bidirectional closure verification using the target change fragment and the replacement target fragment respectively. The state change fragments that form a unique closure with only the target change fragment but lose the closure with the replacement target fragment are retained as response candidate fragments, thus generating a response candidate fragment set. Based on the response candidate fragment set, the starting command issuance cycle of the target change fragment is used as the target anchor point. The response candidate fragment is searched along the subsequent control cycle. Then, the response candidate fragment is traced back to the target change fragment along the control cycle. The target change fragment and the response candidate fragment that point to each other are encapsulated into closed anchor data. The remaining response candidate fragments that can be traced back to the target anchor point are identified as unclosed state change fragments and marked as coupling residuals. Using the target anchor point with the smallest control cycle interval obtained by reverse backtracking of the coupled residual as the mirror reference, the control cycle phase foldback mapping is performed to generate residual phase markers. Then, based on the residual phase markers, the coupled residuals are coupled with the closed anchoring data corresponding to the target anchor point to construct an industrial control state frame.

4. The wireless remote control method for a wet concrete spraying machine based on an industrial control system as described in claim 3, characterized in that, The specific steps for performing response closure verification on the industrial control status frame and re-attributing the coupled residuals to construct a real-time twin response chain for the wet spraying machine are as follows: Based on the industrial control state frame, the target anchor point corresponding to the closed anchor data is used as the return reference. The coupling residual is mapped in reverse to the control cycle range of the corresponding state change segment according to the residual phase mark. The coupled residual that falls into the control cycle range after mapping is used to establish a residual belonging index with the corresponding closed anchor data to generate response closure verification data. Based on the response closure verification data, the coupled residuals are back-injected to the corresponding closure anchor data according to the residual attribution index, and phase mirror weaving is performed on the state change segments in the closure anchor data and the back-injected coupled residuals according to the residual phase markers to form a real-time twin response chain for the wet spraying machine.

5. The wireless remote control method for a wet concrete spraying machine based on an industrial control system as described in claim 4, characterized in that, The specific steps for performing cross-mechanism response phase stripping and master-slave coupling orientation on the real-time twin response chain of the wet spraying machine to generate an actuator coupling phase diagram are as follows: Based on the real-time twin response chain of the wet spraying machine, the closed response segment and the coupled response segment are split according to the actuator identifier to form the mechanism response sub-chain. The cross-mechanism phase coupling strength is calculated by performing cross-mechanism phase transposition verification on the mechanism response sub-chain according to the residual phase mark. The common changes that meet the coupling threshold are stripped, and the response segments that lose coupling after transposition are retained to generate a set of cross-mechanism coupled response segments. Based on the cross-mechanism coupled response fragment set, the master response mechanism is determined by the execution mechanism where the corresponding closed response segment is located, and phase backtracking is performed from the closed response segment to the retained coupled response segment along the residual phase mark. The execution mechanism pointed to by the tracking is determined as the slave response mechanism. At the same time, the master-slave coupling direction is determined according to the backtracking direction, and master-slave coupling orientation data is generated. Based on master-slave coupling directional data, the master response mechanism and slave response mechanism are used as mechanism nodes, the master-slave coupling direction is used as the directional connection, and the corresponding residual phase mark is written into the directional connection to generate the actuator coupling phase diagram.

6. The wireless remote control method for a wet concrete spraying machine based on an industrial control system as described in claim 5, characterized in that, The twin back-projection control model is constructed using a twin state bias embedding layer, a coupled phase back-projection layer, and a cooperative instruction decoding layer. The specific steps are as follows: The twin state deviation embedding layer is based on the remote spraying target state in the industrial control state frame and the closed response segment in the real-time twin response chain of the wet sprayer. It uses the remote spraying target state as the terminal anchor point to perform reverse embedding along the closed response segment, and folds the difference between the target value and the current state of the closed response segment into positive deviation bits and reverse compensation bits to generate a twin deviation shadow chain. The coupled phase back-projection layer is based on the twin bias shadow chain and the coupled phase map of the actuator. It performs coupling path occupancy on the reverse compensation position in the opposite direction of the master-slave coupling direction, and returns the occupancy content to the corresponding master response mechanism according to the residual phase mark. It performs phase blanking on the overlapping occupancy formed by different coupling paths in the same closed response segment to generate the back-projection residual chain. The collaborative instruction decoding layer is based on the back-projection residual chain. According to the master-slave coupling direction in the actuator coupling phase diagram, the branch cancellation verification is performed on the adjustment amount of the master response mechanism and the adjustment amount of the slave response mechanism. The adjustment amount of the slave response mechanism that can be covered by the traction of the master response mechanism along the directional connection is stripped off, and the adjustment amount that cannot be covered by the traction is embedded into the corresponding execution phase according to the residual phase mark to generate a phase-splitting collaborative control sequence. A twin back-projection control model is constructed by directional cascading mapping of the twin state bias embedding layer, the coupled phase back-projection layer, and the cooperative instruction decoding layer.

7. The wireless remote control method for a wet concrete spraying machine based on an industrial control system as described in claim 6, characterized in that, The twin-based back-projection control model reverse-projects the remote spraying target state along the actuator coupling phase diagram back to the real-time twin response chain of the wet spraying machine to obtain the master-slave net adjustment chain. The specific steps are as follows: Based on the twin back projection control model, the remote spraying target state is reverse-projected back to the wet spraying machine's real-time twin response chain along the master-slave coupling direction of the actuator coupling phase diagram. The target state projected back to the closed response segment and the coupled response segment is subjected to master-slave branch shadow copying and reverse folding to generate a master-slave adjustment shadow chain. Based on the master-slave adjustment shadow chain, the master response mechanism adjustment amount is mapped to the corresponding slave response mechanism adjustment amount according to the directional connection and residual phase mark in the execution mechanism coupling phase diagram. The phase cancellation of the repeatedly mapped adjustment amount is performed according to the master-slave coupling direction. The retained non-repeating adjustment amount is re-associated according to the corresponding execution phase to generate the master-slave net adjustment chain.

8. The wireless remote control method for a wet concrete spraying machine based on an industrial control system as described in claim 7, characterized in that, The wireless remote collaborative control command is based on the master-slave net adjustment chain. According to the residual phase mark, the adjustment amount of the master response mechanism that is continuously in the same direction is folded into the master control phase segment, and the adjustment amount of the slave response mechanism that is not covered by the master control phase segment is embedded into the corresponding phase gap. The reverse conflict verification and control cycle compression are performed on the adjacent phase segments.

9. The wireless remote control method for a wet concrete spraying machine based on an industrial control system as described in claim 1 or 8, characterized in that, The steps are as follows: Following the wireless remote collaborative control command, phase-separated collaborative control is performed on the master and slave response mechanisms in the coupled phase diagram of the actuator, and phase mirror verification is performed with the real-time twin response chain of the wet spraying machine to obtain the phase mismatch response relationship. According to the master-slave coupling direction and residual phase marking in the actuator coupling phase diagram, the wireless remote collaborative control command is divided into master control phase segment and slave control phase segment, and phase control is performed according to the execution order of the master response mechanism and the slave response mechanism. The actual state change after the execution of the control command is associated and encapsulated with the corresponding control phase to generate execution feedback. Based on the execution feedback and the real-time twin response chain of the wet spraying machine, the actual state changes are backfilled into the corresponding response segments. Based on the residual phase mark, a bidirectional phase backtracking verification is performed on the instruction execution cycle of the main response mechanism and the actual response cycle of the slave response mechanism. When the instruction execution cycle obtained by backtracking does not uniquely correspond to the original instruction execution cycle, the corresponding instruction and the actual state change are determined to be a phase mismatch response relationship.

10. The wireless remote control method for a wet concrete spraying machine based on an industrial control system as described in claim 9, characterized in that, The specific steps for generating the calibrated real-time twin response chain and actuator coupled phase diagram of the wet spraying machine are as follows: The phase mismatch response relationship is extracted from the original master-slave directional connection by performing a misaligned branch extraction, and the actual response phase offset relative to the control cycle offset formed by the residual phase mark is reversed and returned to the original master response mechanism. Shadow playback is performed on the original master-slave directional connection and the master-slave transposition connection respectively, and the data with the highest degree of closure of the actual state change sequence in the execution feedback is determined as the master-slave coupling reconstruction data. The response slots of the original closed response segment and coupled response segment in the real-time twin response chain of the wet spraying machine are dewoven, and the actual state changes are rewoven according to the master-slave coupling reconstruction data. The control cycle offset is re-anchored as the residual phase mark and the original directional connection in the actuator coupling phase diagram is replaced to generate the calibrated real-time twin response chain and actuator coupling phase diagram of the wet spraying machine.

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