Cross-brand device mcp layer space-time interlocking and concurrent security control method

Abstract

The application provides a cross-brand device MCP layer space-time interlocking and concurrent safety control method, and belongs to the technical field of device Internet of Things; the method comprises the following steps: acquiring the position uncertainty parameters of each device, at least including the tangential uncertainty composed of the instruction execution time jitter and the trajectory tracking error, and the normal uncertainty; for any two devices with space-time overlap, projecting the tangential and normal uncertainty to the connecting line direction according to the direction and synthesizing the connecting line direction synthetic uncertainty, taking the ratio of the interval distance to the synthetic uncertainty as the normalized probability interlocking margin; when the margin is lower than the safety threshold, applying instruction time elastic stretching to the low-priority device to flexibly increase the interval distance, and when the stretching is not feasible, degrading to emergency freezing; the interval distance can adopt the center-of-mass distance or the remaining profile gap after introducing the equivalent enclosing radius; the application replaces the fixed safety distance with the dynamic probability protection zone, replaces the rigid cut-off with the elastic stretching, and takes into account the high safety and high parallel efficiency of the cross-brand heterogeneous device cooperation.

Description

Technical Field

[0001] This invention relates to the field of Internet of Things (IoT) technology, and in particular to a spatiotemporal interlocking and concurrent security control method for cross-brand devices at the MCP layer. Background Technology

[0002] In scenarios involving collaborative operations of multi-brand industrial equipment (such as robots, automated guided vehicles, and production units controlled by programmable logic controllers), a middleware layer is typically used to uniformly orchestrate tasks and issue instructions to equipment from different brands. To prevent physical collisions between devices, existing technologies generally configure rule-based safety interlocking mechanisms in the middleware layer.

[0003] The common practice of this mechanism is as follows: before the collaborative task is executed, engineers pre-set several constraints based on equipment type, work area and movement path. For example, they may define the exclusive work area of ​​each equipment, set the minimum distance threshold that must be maintained between equipment, or arrange a fixed execution order for equipment instructions that may overlap.

[0004] During task execution, the middleware parses motion commands from different devices and makes matching judgments based on the preset conditions mentioned above: when it detects that the execution of a command will cause the distance between devices to be less than the set minimum distance threshold, or that a device is about to enter the exclusive area currently occupied by another device, the middleware will either queue the command or directly truncate it.

[0005] The aforementioned scheme, based on manually preset rules, relies heavily on engineers' experience and judgment of on-site conditions for its safety effectiveness. To improve safety, it is often necessary to set conservative limits, such as increasing the exclusive area, widening the minimum spacing threshold, and increasing the time window for serialization processing.

[0006] This conservative approach directly limits the parallelism of multi-device collaboration, with the actual allowable working distance between devices being much greater than the safety clearance required by the physical dimensions of the devices, resulting in low collaboration efficiency.

[0007] However, if the margin of the limiting conditions is reduced in pursuit of efficiency, the preset conditions may fail due to fluctuations in the actual operating state of the equipment, and the safety redundancy will be significantly reduced. Therefore, the existing safety interlocking methods based on fixed rules and manual configuration are difficult to balance high efficiency and high safety and reliability. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a spatiotemporal interlocking and concurrent safety control method for cross-brand devices at the MCP layer. The aim is to construct a flexible safety gate with normalized probability interlocking margin as the core in the middleware layer, project the position uncertainty of each device along the connecting line direction for directional perception and combine it with the remaining contour gap of the device to quantitatively assess the collision risk. When the risk exceeds the limit, priority is given to applying instruction time elastic stretching to low-priority devices to flexibly resolve the conflict, and only degenerates into emergency freezing when stretching is not feasible. Thus, without the need for manually preset fixed rules, it takes into account both high safety and reliability and high parallel efficiency of heterogeneous device collaborative operation.

[0009] To achieve the above objectives, this application proposes a spatiotemporal interlocking and concurrent safety control method for cross-brand devices at the MCP layer. This method parses motion commands from different brand devices and generates spatiotemporal trajectories at the MCP middleware layer, including the following steps: The position uncertainty parameters of each device during the movement process are obtained. The position uncertainty parameters include at least tangential uncertainty, which is a position uncertainty component along the tangential direction of the trajectory obtained by synthesizing command execution time jitter and trajectory tracking error. For any two devices that have spatiotemporal overlap, the normalized probability interlocking margin between them is calculated in real time. The normalized probability interlocking margin is the ratio of the expected distance between the two devices to the composite position uncertainty. When it is predicted that the normalized probability interlock margin is lower than the preset safety threshold at a certain moment, an instruction time elastic stretching is initiated for the device with lower priority. The instruction time elastic stretching refers to stretching the time axis of the device's motion instruction to increase the expected spacing, so that the normalized probability interlock margin after stretching is restored to above the safety threshold.

[0010] As a further solution, the standard deviation of the tangential uncertainty... The calculation formula is as follows: ; in, It is the standard deviation of the tangential uncertainty. It is the standard deviation of instruction execution delay jitter. It is the instantaneous speed of the device along the trajectory. It is the standard deviation of the tangential trajectory tracking error, which is the deviation between the actual position of the device and the commanded position in the tangential direction of the trajectory.

[0011] As a further solution, the position uncertainty parameter also includes a normal uncertainty, which is a position uncertainty component perpendicular to the trajectory tangent; The combined position uncertainty is the combined uncertainty in the connecting direction, which is the combined amount of the position uncertainties of the two devices in the direction of the connecting line. Its calculation method is as follows: For each device, calculate the projected standard deviation of the device's position uncertainty along the connecting direction. This projected standard deviation is the standard deviation of the device's position uncertainty projected along the connecting direction from this device to another device, and is determined by the following formula: ; in, It is the projection standard deviation, It is a unit vector pointing from one device to another. It is the tangential unit vector of the instantaneous motion of the device. It is the dot product of two vectors; It is the standard deviation of the normal uncertainty; The combined projection standard deviations of the two devices are used to form the combined uncertainty of the connecting line direction, and its value is... ,in, It is the projection standard deviation of the first device. It is the projection standard deviation of the second device.

[0012] As a further solution, the normalized probability interlocking margin, using the centroid spacing as the expected spacing, is calculated using the following formula: ; in, This is the normalized probability interlocking margin. Let be the Euclidean distance between the centroids of the two devices.

[0013] As a further solution, the normalized probability interlock margin, using the remaining contour gap as the expected spacing, is calculated using the following formula: ; in, This is the normalized probability interlocking margin. For the remaining contour gap, It is the equivalent enclosing radius of the first device. It is the equivalent enclosing radius of the second device, which is the minimum circumscribed circle radius of the physical outline of the device. The Euclidean distance between the centroids of the two devices; when When this happens, an emergency freeze is triggered directly. The emergency freeze is an emergency interlock freeze operation performed directly on low-priority devices, and elastic stretching is no longer performed.

[0014] As a further solution, the command time elastic stretching refers to applying a stretching factor to the motion commands of lower-priority devices. Wherein, the stretching factor This indicates the stretch factor of the motion command time axis, which affects the original time variable of the motion command. Transform into And there are Restrictions.

[0015] As a further solution, the stretching factor The value of is determined by solving the following formula: ; in, It is about predicting the moment of conflict. The low-priority device is in The projection of the velocity at any given time onto the direction of the line connecting the two devices, where the direction of the line connecting the centers of mass is the same as the direction of the velocity at any given time. It is the expected increase in spacing required to raise the normalized probability interlock margin from its current value to the safety threshold.

[0016] As a further solution, when the calculated stretching factor Exceeding the maximum stretch ratio allowed by the equipment task At that time, the elastic stretching is abandoned, and an emergency interlock freeze operation is performed on the low-priority device instead.

[0017] As a further solution, the safety threshold is set based on the actual acceptable probability of collision.

[0018] As a further solution, the standard deviation of the instruction execution delay jitter The standard deviation of the tangential trajectory tracking error is obtained through online statistical calibration of the instruction response timestamp using the MCP middleware. Obtained from the device capability registry, which is a database that pre-stores the performance parameters of devices from various brands.

[0019] Compared with related technologies, the spatiotemporal interlocking and concurrent security control method for cross-brand devices provided by this invention has the following advantages: 1. This invention defines a normalized probabilistic interlocking margin, using the composite position uncertainty of the connection direction as the unit of measurement to normalize the expected spacing. This transforms the safety assessment benchmark from a fixed distance threshold into a probabilistic protection zone that dynamically expands and contracts with the actual level of uncertainty. When equipment accuracy is high and communication jitter is low, the combined uncertainty is small, allowing equipment to operate safely in parallel with smaller spacing, freeing up workspace to increase collaboration density. As uncertainty increases, safety conditions automatically become more stringent. The safety protection boundary adapts to changes in operating conditions without manual intervention.

[0020] 2. This invention utilizes a directional projection mechanism, leveraging the dot product relationship between the connecting direction and the tangent, to precisely map the tangential and normal uncertainties to the connecting direction of the two devices according to projection geometry. This accurately reflects the actual risk level in the direction of proximity, avoiding misjudgments caused by uncertainty anisotropy. Simultaneously, by introducing an equivalent enclosing radius to define the remaining profile gap as the expected spacing, the physical benchmark for interlocking evaluation is elevated from the centroid distance to the actual gap between the device housings, eliminating the profile interference risk caused by the mass point assumption.

[0021] 3. This invention prioritizes applying time-elastic stretching commands to low-priority equipment. By adjusting the time axis of the stretching motion commands, the equipment is delayed near the conflict point, sacrificing a small cycle time to gain sufficient safety clearance. The equipment does not interrupt its movement during conflict resolution, and the path geometry remains unchanged, maximizing the smoothness of the production cycle and the stability of process quality. When the stretching factor exceeds the maximum allowable stretching ratio for the task, it automatically degenerates into an emergency interlock freeze operation, forming a tiered resolution strategy of "elastic stretching priority, ultimate freeze as a fallback," ensuring safety coverage under all operating conditions.

[0022] 4. The standard deviation of instruction execution delay jitter required by this invention is obtained through online statistical calibration of instruction response timestamps using the MCP middleware. The standard deviation of trajectory tracking error and the equivalent enclosing radius are obtained from the device capability registry. Each parameter describes the personalized characteristics of different brand devices in a unified format, and the core interlocking logic is completely decoupled from the brand. After deployment, the system can adapt to mixed-mode operation of devices of different brands and accuracy levels, eliminating the need for engineers to preset safety rules for each device combination, significantly reducing the deployment and maintenance costs of multi-brand collaborative systems. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0025] Figure 1 This invention provides a schematic diagram of the steps for a cross-brand device MCP layer spatiotemporal interlocking and concurrent security control method. The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0027] Please see Figure 1 This embodiment provides a method for spatiotemporal interlocking and concurrent safety control of cross-brand devices at the MCP layer. It parses motion commands from different brand devices and generates spatiotemporal trajectories at the MCP middleware layer. The method is characterized by the following steps: The position uncertainty parameters of each device during the movement process are obtained. The position uncertainty parameters include at least tangential uncertainty, which is a position uncertainty component along the tangential direction of the trajectory obtained by synthesizing command execution time jitter and trajectory tracking error. For any two devices that have spatiotemporal overlap, the normalized probability interlocking margin between them is calculated in real time. The normalized probability interlocking margin is the ratio of the expected distance between the two devices to the composite position uncertainty. When it is predicted that the normalized probability interlock margin is lower than the preset safety threshold at a certain moment, an instruction time elastic stretching is initiated for the device with lower priority. The instruction time elastic stretching refers to stretching the time axis of the device's motion instruction to increase the expected spacing, so that the normalized probability interlock margin after stretching is restored to above the safety threshold.

[0028] It should be noted that MCP (Middleware Control Protocol Layer) refers to a middleware layer deployed on top of controllers of devices from different brands, responsible for parsing the motion commands of various heterogeneous devices into a unified spatiotemporal trajectory description. The method described in this application is deployed as a software module in this MCP middleware layer, providing a secure scheduling interface to the upper-layer task orchestration system and issuing control commands to lower-layer devices from various brands through a standardized command channel.

[0029] In industrial scenarios involving multi-brand equipment collaboration, existing technologies typically rely on manually pre-setting fixed safety distance thresholds or exclusive work areas. The middleware layer then processes equipment commands based solely on these pre-defined rules, allowing, queuing, or directly truncating them. This rigid, one-size-fits-all approach faces a dilemma: if the pre-set margin is increased to ensure safety, the actual allowable working distance between devices will be far greater than physically required, significantly reducing the efficiency of multi-device parallel collaboration; if the margin is reduced to pursue efficiency, the pre-set conditions may instantly fail in the event of command delays or tracking deviations, resulting in severe safety redundancy. The root of this dilemma lies in the fact that existing technologies treat equipment movement as a completely deterministic ideal trajectory, failing to grasp the unavoidable execution uncertainties in real industrial environments, thus failing to achieve a dynamic balance between safety and efficiency. This application addresses this technological status quo by proposing a method that proactively quantifies uncertainties at the middleware layer and performs flexible scheduling accordingly, overcoming the inherent contradiction of the existing "pre-set rules-rigid response" model.

[0030] Example 1 This embodiment describes the complete execution flow of the method when the expected spacing is the Euclidean distance between the centroids of the two devices. In this embodiment, the uncertainty in the prediction of the device position is decomposed along the motion tangential and normal directions, and a direction-aware projection synthesis is performed along the direction connecting the two devices to obtain a normalized interlock margin that truly reflects the actual closeness of the two devices in the direction connecting them. This margin serves as a unified basis for safety assessment and flexible scheduling.

[0031] Step S1: Trajectory Prediction The trajectory prediction module in the MCP middleware layer receives standardized motion instructions from the upper-layer task orchestration system. These instructions are in a unified description format independent of device brand and include information such as target pose, velocity profile, and execution start and end times. Based on rigid body kinematics extrapolation, the trajectory prediction module generates a spatiotemporal trajectory for each device over a future period. , where the subscript i is the device number and t is the time variable.

[0032] It should be noted that existing collision detection technologies are based on the aforementioned deterministic trajectory, implicitly assuming that the equipment will move strictly according to the predicted trajectory. However, in actual industrial settings, communication delays, jitter, and trajectory tracking errors are common when equipment executes commands, resulting in a significant deviation between the actual trajectory and the predicted trajectory.

[0033] The subsequent steps of this application explicitly characterize this deviation by introducing a position uncertainty parameter, thereby elevating the safety assessment from "deterministic" to "probabilistic".

[0034] Step S2: Obtaining Uncertainty Parameters The uncertainty calculation module acquires position uncertainty parameters for each device, specifically including tangential and normal uncertainties. The tangential uncertainty is the standard deviation of the position uncertainty along the trajectory tangent direction, synthesized from command execution time jitter and trajectory tracking error. It is obtained through online statistical calibration of command response timestamps by the MCP middleware. Specifically, the MCP middleware records the command issuance time each time a command is issued and the response time upon receiving the device's execution confirmation. It continuously calculates the fluctuation between the response time and the issuance time, and uses the standard deviation of this fluctuation as the basis for its calculation. ; This is the standard deviation of the tangential trajectory tracking error, obtained from the equipment capability registry. This registry is a database that pre-stores the performance parameters of various brands of equipment, provided by the equipment manufacturer or entered through offline testing and calibration. The normal uncertainty is the position uncertainty component perpendicular to the trajectory tangential direction, and its standard deviation... It is also obtained from the device capability registry.

[0035] Standard deviation of tangential uncertainty Calculate using the following formula: Where v is the instantaneous speed of the device along the trajectory, which can be obtained from the velocity profile of the motion command; It is the instruction execution delay jitter component.

[0036] The physical meaning of the above formula is that the uncertainty in the time domain (communication delay jitter) multiplied by the instantaneous rate is equivalently converted into the tangential position uncertainty in the spatial domain, and then orthogonally synthesized with the inherent tangential tracking error of the equipment. Thus, uncertainties from different sources and with different dimensions are uniformly expressed as a spatial uncertainty metric along the trajectory direction, laying a unified benchmark for subsequent directional projection and interlocking evaluation.

[0037] It should be noted that the above parameter acquisition method enables this solution to adaptively reflect the respective accuracy levels of different brands of equipment in mixed scenarios: high-precision equipment and The parameters of low-precision equipment are relatively large, and the same set of evaluation logic can be seamlessly adapted to heterogeneous equipment.

[0038] Step S3: Calculation of the combined uncertainty of the connection direction For any two devices that have spatiotemporal overlap, the uncertainty calculation module calculates the combined uncertainty of the connection direction between the two devices.

[0039] In real-world operational scenarios, the risk of a collision between two devices essentially depends on their relative positional relationship along the line connecting them, and has no direct correlation with the uncertainty in the tangential direction. For example, when two devices move along parallel trajectories, the tangential uncertainty is much greater than the normal uncertainty, but the actual collision risk is mainly determined by small deviations in the normal direction. If scalar uncertainties are used indiscriminately for interlocking assessments, it will inevitably lead to a systematic overestimation or underestimation of the collision risk. Based on this understanding, this step introduces a direction projection mechanism to accurately map anisotropic uncertainties to the connecting direction.

[0040] Specifically, for each device, calculate the projected standard deviation of the device's positional uncertainty along the line connecting the device to another device. : Where e is the unit vector from the device to the other device, determined by the centroid positions of the two devices at the current prediction time; t is the tangential unit vector of the device's instantaneous motion, obtained by normalizing the first derivative of the trajectory at that time. The dot product of two vectors represents the cosine of the angle between the direction of the connecting line and the tangent.

[0041] This formula is derived from the square of the dot product. and its complementary value As a weighting coefficient, continuous interpolation is performed between tangential and normal uncertainties. When the connecting line is parallel to the tangent, the projection standard deviation degenerates into tangential uncertainty; when the connecting line is perpendicular to the tangent, it degenerates into normal uncertainty; intermediate directions are smoothly transitioned according to projection geometry. Due to the use of complementary square relations, this formula holds strictly in both two-dimensional and three-dimensional spaces, and there is no underestimation problem caused by arbitrary selection of the normal vector.

[0042] The combined projection standard deviations of the two devices are used to form the combined uncertainty of the connecting line direction: ,in It is the projection standard deviation of the first device. This is the projected standard deviation of the second device. The sum of squares and square roots is used for the composite, based on the reasonable engineering assumption that the positional errors of the two devices are independent of each other.

[0043] Step S4: Calculation of normalized probability interlocking margin The probabilistic interlock evaluation module calculates the normalized probabilistic interlock margin. In this embodiment, the expected distance is the Euclidean distance d between the centroids of the two devices, i.e., the distance between the centroids of the two devices.

[0044] Normalized probability interlocking residual is denoted as Calculate using the following formula: The core idea of ​​this definition is to normalize the spatial distance between two devices using the combined uncertainty along the connecting line as the unit of measurement. This allows safety assessments to move away from arbitrarily set fixed distance thresholds and instead dynamically correlate the protective zone with the actual uncertainty level of the equipment. When the uncertainty is large (e.g., poor equipment accuracy or severe communication jitter), the combined uncertainty increases, and under the same centroid spacing... Smaller distances make it easier to trigger safety conditions; conversely, when uncertainty is low, devices are allowed to work collaboratively with smaller centroid spacing, thereby freeing up workspace unnecessarily occupied by fixed safety distances and increasing collaboration density. This effect cannot be achieved by existing fixed threshold solutions.

[0045] Step S5: Safety threshold comparison and conflict determination The probability interlock evaluation module will calculate the... Compare with a preset safety threshold. The safety threshold is set based on an acceptable collision probability, typically 3.

[0046] Under the assumption that the position error follows a Gaussian distribution, The corresponding single-collision probability is less than approximately 0.13%, meaning that the expected number of collisions in every thousand similar operating conditions will not exceed one, which meets the safety requirements of the vast majority of industrial applications. The threshold is a single value of not less than 3, which facilitates uniform adjustment according to the safety level requirements of specific production lines during engineering deployment, and has universal applicability to cross-brand equipment.

[0047] When predicting a certain future moment Appear If a collision risk is detected, proceed to step S6. If all predicted times meet the conditions... If so, the current instruction will be granted, and periodic monitoring will continue.

[0048] Step S6: Conflict Resolution: Command Time Elastic Stretching When step S5 determines that there is a collision risk, the conflict resolution module initiates a time elastic stretching of instructions for devices with lower priority.

[0049] In existing technologies, conflict resolution methods typically involve queuing low-priority instructions or directly halting them. While these "rigid" methods can eliminate conflicts, queuing leaves equipment completely idle until the conflict is resolved, and halting introduces mechanical shock and interrupts process continuity; both negatively impact collaborative efficiency and product quality. This embodiment employs flexible instruction time stretching as a priority resolution method. The basic idea is that conflicts essentially stem from excessive spatial and temporal congestion between two pieces of equipment. Rather than completely halting the movement of one piece of equipment, it is better to slightly adjust its speed, allowing it to pass slightly later near the conflict point, thus achieving sufficient safety clearance with minimal cycle time loss.

[0050] Command time elastic stretching refers to applying a stretching factor α to the motion commands of low-priority devices, transforming their original time law t into... , where α>1. This operation is equivalent to proportionally and uniformly slowing down the speed curve of the device, but the geometry of the motion path remains unchanged, thus avoiding the additional risks of path deviation.

[0051] The value of the stretching factor α is determined by solving the following formula: in, It is about predicting the moment of conflict; The low-priority device is in The projection of the velocity at any given moment onto the direction of the line connecting the two devices; This is the expected increase in spacing, which is the value of the expected increase in spacing required to raise the normalized probability interlock margin from its current value to the safety threshold. Specifically, it is calculated as follows: The physical meaning of the above formula is: the current centroid distance d and the target safe distance. The difference between these values ​​represents the additional spatial distance that the stretching operation needs to "create." Since stretching only changes the speed of low-priority devices along their own trajectories, at the moment of conflict... For a short period of time nearby, the additional displacement of the device along the line of connection is approximately equal to its projected velocity. Multiply by the time lag caused by stretching This establishes a quantitative relationship between the stretching factor and the required spacing increment.

[0052] Therefore, the minimum value of the stretching factor α can be obtained: The conflict resolution module takes the minimum α value that satisfies the above conditions (with appropriate precision upwards) and sends the stretched motion command to the low-priority device through the MCP command channel.

[0053] Step S7: Determining the feasibility of stretching and emergency freezing The conflict resolution module determines whether the calculated stretching factor α exceeds the maximum stretching ratio allowed by the device task. The maximum stretch ratio is set by the upper-level task scheduling system according to the production line cycle time requirements. It represents the maximum multiple of the longest possible completion time of the equipment's motion command relative to the original command time.

[0054] when In this mode, the execution time of instructions is flexibly stretched. Under this mode, conflicts are flexibly resolved without interrupting equipment operation, avoiding equipment idleness caused by queuing and mechanical shock caused by sudden stops, and is suitable for most common conflict scenarios.

[0055] when When this occurs, it indicates that simply relying on stretching is insufficient to eliminate the conflict within the cycle time tolerance range. In this case, elastic stretching is abandoned, and instead, an emergency interlock freeze operation is performed on low-priority equipment. This involves issuing an emergency stop command to immediately decelerate it to a stop. Once the conflict conditions are resolved, the upper-level system determines when to resume operation. This forms a tiered conflict resolution strategy of "elastic stretching as a priority, and ultimate freeze as a fallback," ensuring that there are corresponding safety measures in place for any operating condition.

[0056] The method in this embodiment achieves the following technical effects through the coordinated use of uncertainty quantification, direction-aware projection, normalized interlocking margin, and elastic stretching: First, the safety protection boundary is no longer determined by a fixed distance preset by humans, but dynamically expands and contracts according to the actual uncertainty level of the equipment: high-precision, low-jitter equipment can safely run in parallel with smaller spacing, and the collaborative efficiency is fully released; Second, conflict resolution is mainly based on flexible speed regulation, and emergency stops are only executed when necessary, which significantly reduces the disruption to production cycle and process continuity; Third, all parameters can be automatically obtained through the equipment capability registry or online statistics, avoiding the dependence on experience for manually preset rules, and enabling the solution to adapt to the quality differences of different brands of equipment.

[0057] Example 2 Based on the overall framework of Example 1, this embodiment replaces the expected spacing with the remaining contour gap instead of the centroid spacing, thereby incorporating the physical geometry of the equipment into the interlocking evaluation.

[0058] Example 1 treats the devices as point masses with no volume, using the centroid distance as the expected distance. This approach is approximately reasonable for small devices whose external dimensions are much smaller than the movement distance. However, for devices with significant physical envelopes, such as automated guided vehicles and large robots, the outer shells of the two devices may already be in contact or interfering when the centroid distance is still greater than zero. Existing technologies based on preset rules often rely on a rough estimate of the device size when setting the safety distance, which cannot accurately match the actual envelope of devices of different sizes. This example introduces a configurable equivalent enclosure radius, elevating the benchmark for safety assessment from "centroid distance" to "remaining contour gap," ensuring that the normalized interlocking margin truly reflects the safety margin between the device shells.

[0059] The following describes only the steps that differ from those in Example 1; the remaining steps are the same as in Example 1 and will not be repeated.

[0060] Step S4: Calculation of remaining contour gap and definition of normalized probability interlocking margin The probabilistic interlocking evaluation module first calculates the remaining profile gap g between the two devices: in, It is the equivalent enclosing radius of the first device. This is the equivalent bounding radius of the second device. The equivalent bounding radius is the minimum circumscribed circle radius of the device's physical outline, obtained from the device's capability registry. For multi-joint robots whose posture changes significantly during operation, the bounding radius under the current posture can be calculated in real time at the device end and reported through the MCP interface. The middleware layer uses this real-time value for updates. For non-circular devices with a large aspect ratio, using the minimum circumscribed circle radius as the equivalent bounding radius is a conservative approximation, ensuring that no contour omissions occur under any relative orientation.

[0061] The normalized probabilistic interlocking margin is defined as: The physical meaning of this definition is clear: the numerator *g* is the actual remaining usable clearance between the two device housings, and the denominator is the combined positional uncertainty of the connecting direction. This ratio directly reflects how many standard deviations of safety protection the remaining clearance can provide at the current level of uncertainty, compared to Example 1. They have the same interpretation in a statistical sense: This also corresponds to a single collision probability of approximately 0.13%.

[0062] Step S5: Safety Threshold Comparison and Special Handling when When the two devices have made contact or penetrated each other, regardless of the uncertainty value, the collision has already occurred or is about to become unavoidable. Therefore, an emergency freeze is triggered directly, an emergency stop command is issued to the low-priority device, and elastic stretching is no longer performed.

[0063] when At that time, Compare with the safety threshold of 3. If... Then proceed to the conflict resolution step.

[0064] Step S6: Conflict Resolution calculate In this embodiment, the required increase in the expected spacing The calculation is adjusted to be based on the remaining contour gap: The formula for calculating the stretching factor α is the same as in Example 1, only... The value depends on the variation. The effect of stretching is to increase the remaining contour gap between the two devices, making... Restored to above the safe threshold.

[0065] This embodiment achieves the following effect by incorporating the physical dimensions of the equipment into the probabilistic interlocking model: when The system automatically degrades to Example 1 to ensure backward compatibility; for large equipment, the remaining clearance g is less than the centroid spacing d, and under the same conditions, this example... Smaller than Example 1 Safety conditions are triggered earlier, ensuring that large equipment receives additional protection space commensurate with its size; for mixed-flow scenarios with equipment of different sizes, the encirclement radius of each equipment can be configured independently, and the safety gate adapts to all size combinations with unified logic, without the need to preset safety distances for each equipment combination separately.

[0066] Example 3 This embodiment provides a probabilistic elastic interlocking safety control system that implements the methods of the above embodiments, deployed in the MCP middleware layer, and includes the following modules: The trajectory prediction module is used to parse motion commands from different brands of equipment and generate spatiotemporal trajectories.

[0067] The uncertainty calculation module is used to obtain the position uncertainty parameters of each device, including at least tangential and normal uncertainties, and to calculate the combined position uncertainty of the connection direction between two devices. The uncertainty calculation module calculates the combined uncertainty of the connection direction through direction projection, wherein the standard deviation of the direction projection is... Determine by the following formula: in, is the standard deviation of the directional projection, e is the unit vector from this device to another device, and t is the tangential unit vector of the instantaneous motion of this device. It is the standard deviation of the tangential uncertainty. It is the standard deviation of the normal uncertainty.

[0068] The probabilistic interlocking evaluation module is used to calculate the normalized probabilistic interlocking margin of any two devices in real time. This margin is the ratio of the expected spacing to the combined positional uncertainty of the connecting direction. The expected spacing can be the centroid spacing between the two devices (corresponding to Embodiment 1) or the remaining contour gap (corresponding to Embodiment 2). The remaining contour gap is obtained by subtracting the sum of the equivalent enclosing radii from the centroid spacing between the two devices.

[0069] The conflict resolution module is used to apply instruction time elastic stretching to lower priority devices to increase the expected gap when the predicted normalized probability interlock margin is lower than the safety threshold, so that the margin is restored to above the safety threshold; when stretching is not feasible, an emergency interlock freeze operation is performed.

[0070] The modules mentioned above exchange data via the message bus within the MCP middleware, sequentially executing trajectory prediction, uncertainty calculation, interlock margin assessment, and conflict resolution decisions within a control cycle (typically tens of milliseconds). Each module can be upgraded or replaced independently; for example, the projection method in the uncertainty calculation module can be extended from two-dimensional to three-dimensional without affecting the interfaces of other modules. The entire system is embedded in the MCP middleware layer as pure software, requiring no hardware modifications or protocol changes to the controllers of the underlying devices from various brands.

[0071] The above are only some embodiments of this application and do not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for spatiotemporal interlocking and concurrent safety control of cross-brand devices at the MCP layer, characterized in that: The method parses motion commands from different brand devices and generates spatiotemporal trajectories at the MCP middleware layer. Includes the following steps: The position uncertainty parameters of each device during the movement process are obtained. The position uncertainty parameters include at least tangential uncertainty, which is a position uncertainty component along the tangential direction of the trajectory obtained by synthesizing command execution time jitter and trajectory tracking error. For any two devices that have spatiotemporal overlap, the normalized probability interlocking margin between them is calculated in real time. The normalized probability interlocking margin is the ratio of the expected distance between the two devices to the composite position uncertainty. When it is predicted that the normalized probability interlock margin is lower than the preset safety threshold at a certain moment, an elastic stretching of the command time is initiated for the device with lower priority. The elastic stretching of the command time refers to stretching the time axis of the motion command of the device to increase the expected spacing, so that the normalized probability interlock margin after stretching is restored to above the safety threshold.

2. The method for spatiotemporal interlocking and concurrent security control of cross-brand devices at the MCP layer according to claim 1, characterized in that, The standard deviation of the tangential uncertainty The calculation formula is as follows: ； in, It is the standard deviation of the tangential uncertainty. It is the standard deviation of instruction execution delay jitter. It is the instantaneous speed of the device along the trajectory. It is the standard deviation of the tangential trajectory tracking error, which is the deviation between the actual position of the device and the commanded position in the tangential direction of the trajectory.

3. A method for spatiotemporal interlocking and concurrent security control of MCP layer for cross-brand devices according to claim 1 or 2, characterized in that, The position uncertainty parameter also includes normal uncertainty, which is the position uncertainty component perpendicular to the tangential direction of the trajectory. The combined position uncertainty is the combined uncertainty along the connecting line. The combined uncertainty along the connecting line is the combined amount of the position uncertainties of the two devices along the connecting line, and its calculation method is as follows: For each device, calculate the projected standard deviation of the device's position uncertainty along the connecting direction. This projected standard deviation is the standard deviation of the device's position uncertainty projected along the connecting direction from this device to another device, and is determined by the following formula: ； in, It is the projection standard deviation, It is a unit vector pointing from one device to another. It is the tangential unit vector of the instantaneous motion of the device. It is the dot product of two vectors; It is the standard deviation of the normal uncertainty; The combined projection standard deviations of the two devices are used to form the combined uncertainty of the connecting line direction, and its value is... ,in, It is the projection standard deviation of the first device. It is the projection standard deviation of the second device.

4. The method for spatiotemporal interlocking and concurrent security control of cross-brand devices at the MCP layer according to claim 3, characterized in that, The normalized probability interlock margin, using the centroid spacing as the expected spacing, is calculated using the following formula: ； in, This is the normalized probability interlocking margin. Let be the Euclidean distance between the centroids of the two devices.

5. The method for spatiotemporal interlocking and concurrent security control of cross-brand devices at the MCP layer according to claim 3, characterized in that, The normalized probability interlock margin, using the remaining contour gap as the expected spacing, is calculated using the following formula: ； in, This is the normalized probability interlocking margin. For the remaining contour gap, It is the equivalent enclosing radius of the first device. It is the equivalent enclosing radius of the second device, which is the minimum circumscribed circle radius of the physical outline of the device. The Euclidean distance between the centroids of the two devices; when When this happens, an emergency freeze is triggered directly. The emergency freeze is an emergency interlock freeze operation performed directly on low-priority devices, and elastic stretching is no longer performed.

6. The method for spatiotemporal interlocking and concurrent security control of cross-brand devices at the MCP layer according to claim 1, characterized in that, The aforementioned command time elastic stretching refers to applying a stretching factor to motion commands of lower-priority devices. Wherein, the stretching factor This indicates the stretch factor of the motion command time axis, which affects the original time variable of the motion command. Transform into And there are Restrictions.

7. The method for spatiotemporal interlocking and concurrent security control of cross-brand devices at the MCP layer according to claim 6, characterized in that, The stretching factor The value of is determined by solving the following formula: ； in, It is about predicting the moment of conflict. The low-priority device is in The projection of the velocity at any given time onto the direction of the line connecting the two devices, where the direction of the line connecting the centers of mass is the same as the direction of the velocity at any given time. It is the expected increase in spacing required to raise the normalized probability interlock margin from its current value to the safety threshold.

8. The method for spatiotemporal interlocking and concurrent security control of cross-brand devices at the MCP layer according to claim 7, characterized in that, When the calculated stretch factor Exceeding the maximum stretch ratio allowed by the equipment task At that time, the elastic stretching is abandoned, and an emergency interlock freeze operation is performed on the low-priority device instead.

9. The method for spatiotemporal interlocking and concurrent security control of cross-brand devices at the MCP layer according to claim 1, characterized in that, The safety threshold is set based on the actual acceptable probability of collision.

10. A method for spatiotemporal interlocking and concurrent security control of MCP layer for cross-brand devices according to claim 2, characterized in that, The standard deviation of the instruction execution delay jitter The standard deviation of the tangential trajectory tracking error is obtained through online statistical calibration of the instruction response timestamp using the MCP middleware. Obtained from the device capability registry, which is a database that pre-stores the performance parameters of devices from various brands.

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