CN108062083B - Unmanned automatic feeding detection and sorting system for manufacturing industry and control process thereof - Google Patents
Unmanned automatic feeding detection and sorting system for manufacturing industry and control process thereof Download PDFInfo
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Abstract
The invention discloses an unmanned automatic feeding detection and sorting system in manufacturing industry and a control process thereof. The invention comprises three layers, wherein the first layer is an unmanned autonomous intelligent system master controller; the first layer controller controls five sets of subsystems: the first feeding and sorting controller, the first feeding controller, the simulation test system controller, the second feeding controller and the second feeding and sorting controller are connected with each other through a pipeline, and the five subsystems form a second layer controller; the control processes of bidirectional feeding, bidirectional positioning, bidirectional feeding, efficient detection, bidirectional resetting, bidirectional sorting and the like are realized around the same detection station, and the working efficiency of the unmanned system is greatly improved; the control program based on event driving is adopted, so that all subsystems are allowed to simultaneously generate automatic actions, the parallel operation of all subsystems is flexibly realized, and the overall operation efficiency of the unmanned system is improved; an intelligent algorithm based on image recognition is adopted, and accurate positioning of feeding and sorting is realized through the intelligent algorithm.
Description
Technical Field
The invention belongs to the field of mechanical automation, and particularly relates to an unmanned automatic feeding detection and sorting system in manufacturing industry and a control process thereof. The automatic and intelligent sorting device is used for realizing automation and intellectualization of rapid feeding, accurate detection and differentiated sorting procedures.
Background
The processes of feeding, detecting and sorting are commonly adopted in the manufacturing industry. Traditional feeding and sorting rely on manual work, and is low in efficiency, poor in sorting quality and very poor in economic benefit. For example: in the stamping field, operators often have very great social hazard because of the lack of concentration of the attention of the operators in the operation process and the cutting of arms and fingers by the punch in the feeding or discharging process.
The development of automation brings many new opportunities and creates different automated feeding, discharging and sorting systems.
The automatic feeder can automatically operate according to the specified requirement and the established program, and a person only needs to determine the control requirement and the program without directly operating the feeding mechanism. I.e., a mechanism for transporting items from one location to another, during which the process is automatically and accurately completed without human intervention. Generally, the device is provided with a detection device, a feeding device and the like. The automatic conveying device is mainly used for conveying various materials and industrial product semi-products, and can also be matched with the next procedure to automate production.
The automatic sorting system generally consists of an automatic control and computer management system, an automatic identification device, a sorting mechanism, a main conveying device, pretreatment equipment and a sorting crossing. The automatic control and computer management system is a control and command center for the whole automatic sorting, and all actions of each part of the sorting system are determined by the control system. The sorting machine is used for identifying, receiving and processing sorting signals, and indicating a sorting mechanism to automatically sort products according to a certain rule according to the sorting signals so as to determine the flow direction of the products.
When a series of automated control processes such as feeding, positioning, feeding, detecting, sorting and the like form a loop and iterate continuously and autonomously, such a system is called a manufacturing unmanned autonomous control system.
The case of the photovoltaic cell detection and sorting industry is surrounded, and the potential practical market demands of an unmanned control system are further described. Solar renewable energy is gradually replacing conventional energy, and becomes one of clean energy for protecting the ecological environment of the earth. The solar cell is an important component of the photovoltaic power generation system, has close relation with the working efficiency and the power generation capacity of the system, and can increase the utilization rate of solar energy by improving the energy conversion efficiency of the solar cell. Because some factors in practical application can influence the characteristics of the solar cells, the characteristics or performances of the battery units are inconsistent or not similar, so that unnecessary energy waste can be caused, and even the phenomenon of reducing the service life of the battery can occur. Therefore, when the photovoltaic cell array is configured, the characteristics of the photovoltaic cell array need to be tested, and the cell array meeting the requirements is selected, so that the working efficiency of the photovoltaic power generation system is improved. The photovoltaic characteristic testing system for the photovoltaic device of the solar cell belongs to a photoelectric testing device, and can solve the problems that the existing testing system must adopt a manual operation mode to set irradiance values, and irradiance value measurement and sample cell testing processes cannot be performed simultaneously. Based on the research of the characteristic analysis and detection methods of the photovoltaic cells, the portable characteristic tester based on the low-power consumption singlechip is designed for the existing market products, and the characteristics of the photovoltaic cells are measured and analyzed, so that scientific data are provided for the assembly of various photovoltaic cells. However, such simple devices cannot be matched with the production of large-scale photovoltaic cells and are only suitable for sampling detection.
Disclosed herein is a control process flow of an unmanned automatic feeding detection and sorting system in manufacturing industry, which is used for realizing the automation and the intellectualization of a rapid feeding, accurate detection and differential sorting process.
Disclosure of Invention
The invention provides an unmanned automatic feeding detection and sorting system and a control process thereof for manufacturing industry, aiming at the technical deficiency of unmanned automatic systems. The automatic and intelligent sorting device is used for realizing automation and intellectualization of rapid feeding, accurate detection and differentiated sorting processes.
The unmanned automatic feeding detection and sorting system for the manufacturing industry comprises three layers, wherein the first layer is an unmanned automatic intelligent system master controller; the first layer controller controls five sets of subsystems: the first feeding and sorting controller, the first feeding controller, the simulation test system controller, the second feeding controller and the second feeding and sorting controller are connected with each other through a pipeline, and the five subsystems form a second layer controller; the first feeding and sorting controller of the second layer is used for controlling three controllers of the third layer: the robot comprises a first robot controller, a first robot sucker controller and a first visual positioning controller; the second feeding and sorting controller of the second layer is used for controlling three controllers of the third layer: the second robot controller, the second robot sucker controller and the second visual positioning controller; the first feed controller of the second layer is used to control the two controllers of the third layer: a first linear guide rail controller, a first tray suction device controller; the second feed controller of the second layer is used to control the two controllers of the third layer: a second linear guide controller, a second tray suction device controller; the second tier analog test system controller is further configured to control three types of controllers of a third tier: an intelligent simulation light source controller, an upper and lower material feeding and discharging needle arranging controller and an intelligent I-V test controller.
The unmanned autonomous intelligent system master controller of the first layer is used for performing control signal interaction with the five controllers of the second layer related to the unmanned autonomous intelligent system master controller through communication protocols such as Ethernet, RS485 and the like, namely a first feeding and sorting controller, a first feeding controller, a simulation test system controller, a second feeding controller and a sorting controller, and respectively sending control instructions to the five controllers of the second layer, so that unmanned autonomous control process flows such as material taking, feeding, positioning, feeding, detection, resetting, sorting and the like are completed.
The first feeding and sorting controller of the second layer is in interaction with the three controllers of the third layer, namely the first robot controller, the first robot sucker controller and the first vision positioning controller through communication protocols such as Ethernet, RS485 and the like, and respectively sends control instructions to the three controllers of the third layer, so that the mechanical arm positioning and the mechanical arm material picking up are finished, the material position is accurately positioned through vision feedback, and unmanned autonomous control process flows such as feeding, positioning and sorting are realized.
The function of the second feeding and sorting controllers of the second layer is identical to that of the first feeding controller, and the second feeding controller and the first feeding controller are mutually independent and of the same type of control system.
The first feeding controller of the second layer is used for controlling the technological processes of unmanned autonomous control such as the translation of the tray driven by the guide rail, the adsorption of materials by the tray and the like through communication protocols such as Ethernet, RS485 and the like and the two controllers of the third layer, namely the first linear guide rail controller and the first tray adsorption device controller, and respectively sending control instructions to the two controllers of the third layer.
The second feed controller of the second layer functions identically to the first feed controller, and the second feed controller and the first feed controller are independent of each other and control system of the same type.
The second-layer simulation test system controller has the functions of performing control signal interaction through the three controllers of the third layer, namely the intelligent simulation light source controller, the feeding and discharging needle arranging controller and the intelligent I-V test controller, which are related to the second-layer simulation test system controller through communication protocols such as Ethernet, RS485 and the like, and respectively sending control instructions to the three controllers of the third layer, so that unmanned autonomous control process flows such as the contact of the bidirectional needle arranging with the anode and the cathode of materials, the emission of simulation light by the simulation light source, the acquisition of IV signals, the numerical processing of characteristic curves and the like are completed.
A control process of an unmanned automatic feeding detection and sorting system in manufacturing industry is specifically realized as follows:
firstly, after a control system of an unmanned autonomous intelligent system operates, initializing a total control system and sub-control systems successively, and checking whether each sub-control system works normally or not; if the operation is normal, the operator can input original control commands and parameters and start the total control system;
secondly, the flow after the control system of the unmanned autonomous intelligent system is started is respectively given to the five controllers of the second layer in an event-driven mode, and a control instruction is indirectly sent to the controller of the third layer;
the event driving means that all subsystems are in a state of waiting for control instructions of the master controller, the subsystems can work in parallel, and different materials are subjected to different control operations, so that the overall working efficiency of the control system is improved;
finally, when the first feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system master controller, the feeding control process comprises the following steps: sequentially executing unmanned autonomous control commands such as moving the first robot to the position of the material box for taking materials, adsorbing the material box materials by the first robot sucker, capturing the spatial position information of the material by the first camera, identifying intelligent images, and releasing the material after the first robot sucker is accurately positioned; if the material box is not empty, the first robot waits for a next feeding command;
the second feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system main controller, and then the feeding control process is consistent with the control process flow realized by the first feeding and sorting controller;
when the first feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system main controller, the sorting control process comprises the following steps: sequentially executing unmanned autonomous control and the like such as positioning the first robot front arm to a material taking position, picking up materials by the first robot suction disc, positioning the first robot front arm to a material sorting box position, releasing the materials by the first robot suction disc and the like, and waiting for a next material feeding or sorting command by the first robot if the material sorting box is not full;
the control process of sorting after the second feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system main controller is consistent with the control process flow realized by the first feeding and sorting controller;
the control process after the first feeding controller receives the instruction of the unmanned autonomous intelligent system general controller is as follows: sequentially executing unmanned autonomous control commands such as translation of the first tray under the drive of the linear guide rail, stopping after the first tray touches the position, and the like; then the first tray waits for a reset command, and if the reset command is received, the first tray translates to an initial position under the drive of the linear guide rail and waits for the instruction of the next master controller;
the control process after the second feeding controller receives the instruction of the unmanned autonomous intelligent system main controller is consistent with the control process flow realized by the first feeding controller;
the control process after the simulation test system controller facing the first feeding mechanism receives the instruction of the unmanned autonomous intelligent system general controller is as follows: sequentially executing unmanned autonomous control commands such as descending or ascending of a bidirectional probe and contacting with the anode and the cathode of a material, triggering the intelligent analog light source to emit light, acquiring signals of an I-V test system, processing and calculating data of intelligent I-V test information, a class classification algorithm based on an expert system and the like;
the control process after the simulation test system controller facing the second feeding mechanism receives the instruction of the unmanned autonomous intelligent system main controller is consistent with the control process flow realized by the simulation test system controller facing the first feeding mechanism;
the end of the control system mainly has two triggering conditions, on one hand, as the original material box is emptied, new original materials need to be replaced; on the other hand, since sorting cartridges are full, it is necessary to empty the cartridges.
The beneficial effects of the invention are as follows:
the invention realizes unmanned automatic feeding, unmanned automatic positioning, unmanned automatic feeding, unmanned automatic detection, unmanned automatic resetting, unmanned automatic sorting and other control processes, and the control processes can automatically and circularly reciprocate, thereby realizing a class of unmanned automatic systems facing the manufacturing industry; the control processes of bidirectional feeding, bidirectional positioning, bidirectional feeding, efficient detection, bidirectional resetting, bidirectional sorting and the like are realized around the same detection station, and the working efficiency of the unmanned system is greatly improved; the control program based on event driving is adopted, so that all subsystems are allowed to simultaneously generate automatic actions, the parallel operation of all subsystems is flexibly realized, and the overall operation efficiency of the unmanned system is improved; an intelligent algorithm based on image recognition is adopted, and accurate positioning of feeding and sorting is realized through the intelligent algorithm.
Drawings
FIG. 1 is a schematic diagram of the architecture of the present invention.
FIG. 2 is a control process flow diagram of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, an unmanned autonomous feeding detection and sorting system for manufacturing industry comprises three layers, wherein a first layer is an unmanned autonomous intelligent system master controller; the first layer controller controls five sets of subsystems: the first feeding and sorting controller, the first feeding controller, the simulation test system controller, the second feeding controller and the second feeding and sorting controller are connected with each other through a pipeline, and the five subsystems form a second layer controller; the first feeding and sorting controller of the second layer is used for controlling three controllers of the third layer: the robot comprises a first robot controller, a first robot sucker controller and a first visual positioning controller; the second feeding and sorting controller of the second layer is used for controlling three controllers of the third layer: the second robot controller, the second robot sucker controller and the second visual positioning controller; the first feed controller of the second layer is used to control the two controllers of the third layer: a first linear guide rail controller, a first tray suction device controller; the second feed controller of the second layer is used to control the two controllers of the third layer: a second linear guide controller, a second tray suction device controller; the second tier analog test system controller is further configured to control three types of controllers of a third tier: an intelligent simulation light source controller, an upper and lower material feeding and discharging needle arranging controller and an intelligent I-V test controller.
The unmanned autonomous intelligent system master controller of the first layer is used for performing control signal interaction with the five controllers of the second layer related to the unmanned autonomous intelligent system master controller through communication protocols such as Ethernet, RS485 and the like, namely a first feeding and sorting controller, a first feeding controller, a simulation test system controller, a second feeding controller and a sorting controller, and respectively sending control instructions to the five controllers of the second layer, so that unmanned autonomous control process flows such as material taking, feeding, positioning, feeding, detection, resetting, sorting and the like are completed.
The first feeding and sorting controller of the second layer is in interaction with the three controllers of the third layer, namely the first robot controller, the first robot sucker controller and the first vision positioning controller through communication protocols such as Ethernet, RS485 and the like, and respectively sends control instructions to the three controllers of the third layer, so that the mechanical arm positioning and the mechanical arm material picking up are finished, the material position is accurately positioned through vision feedback, and unmanned autonomous control process flows such as feeding, positioning and sorting are realized.
The function of the second feeding and sorting controllers of the second layer is identical to that of the first feeding controller, and the second feeding controller and the first feeding controller are mutually independent and of the same type of control system.
The first feeding controller of the second layer is used for controlling the technological processes of unmanned autonomous control such as the translation of the tray driven by the guide rail, the adsorption of materials by the tray and the like through communication protocols such as Ethernet, RS485 and the like and the two controllers of the third layer, namely the first linear guide rail controller and the first tray adsorption device controller, and respectively sending control instructions to the two controllers of the third layer.
The second feed controller of the second layer functions identically to the first feed controller, and the second feed controller and the first feed controller are independent of each other and control system of the same type.
The second-layer simulation test system controller has the functions of performing control signal interaction through the three controllers of the third layer, namely the intelligent simulation light source controller, the feeding and discharging needle arranging controller and the intelligent I-V test controller, which are related to the second-layer simulation test system controller through communication protocols such as Ethernet, RS485 and the like, and respectively sending control instructions to the three controllers of the third layer, so that unmanned autonomous control process flows such as the contact of the bidirectional needle arranging with the anode and the cathode of materials, the emission of simulation light by the simulation light source, the acquisition of IV signals, the numerical processing of characteristic curves and the like are completed.
A control process of an unmanned automatic feeding detection and sorting system in manufacturing industry is specifically realized as follows:
firstly, after a control system of an unmanned autonomous intelligent system operates, initializing a total control system and sub-control systems successively, and checking whether each sub-control system works normally or not; if the operation is normal, the operator can input original control commands and parameters and start the total control system;
secondly, the flow after the control system of the unmanned autonomous intelligent system is started is respectively given to the five controllers of the second layer in an event-driven mode, and a control instruction is indirectly sent to the controller of the third layer;
the event driving means that all subsystems are in a state of waiting for control instructions of the master controller, the subsystems can work in parallel, and different materials are subjected to different control operations, so that the overall working efficiency of the control system is improved;
finally, when the first feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system master controller, the feeding control process comprises the following steps: sequentially executing unmanned autonomous control commands such as moving the first robot to the position of the material box for taking materials, adsorbing the material box materials by the first robot sucker, capturing the spatial position information of the material by the first camera, identifying intelligent images, and releasing the material after the first robot sucker is accurately positioned; if the material box is not empty, the first robot waits for a next feeding command;
the second feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system main controller, and then the feeding control process is consistent with the control process flow realized by the first feeding and sorting controller;
when the first feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system main controller, the sorting control process comprises the following steps: sequentially executing unmanned autonomous control and the like such as positioning the first robot front arm to a material taking position, picking up materials by the first robot suction disc, positioning the first robot front arm to a material sorting box position, releasing the materials by the first robot suction disc and the like, and waiting for a next material feeding or sorting command by the first robot if the material sorting box is not full;
the control process of sorting after the second feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system main controller is consistent with the control process flow realized by the first feeding and sorting controller;
the control process after the first feeding controller receives the instruction of the unmanned autonomous intelligent system general controller is as follows: sequentially executing unmanned autonomous control commands such as translation of the first tray under the drive of the linear guide rail, stopping after the first tray touches the position, and the like; then the first tray waits for a reset command, and if the reset command is received, the first tray translates to an initial position under the drive of the linear guide rail and waits for the instruction of the next master controller;
the control process after the second feeding controller receives the instruction of the unmanned autonomous intelligent system main controller is consistent with the control process flow realized by the first feeding controller;
the control process after the simulation test system controller facing the first feeding mechanism receives the instruction of the unmanned autonomous intelligent system general controller is as follows: sequentially executing unmanned autonomous control commands such as descending or ascending of a bidirectional probe and contacting with the anode and the cathode of a material, triggering the intelligent analog light source to emit light, acquiring signals of an I-V test system, processing and calculating data of intelligent I-V test information, a class classification algorithm based on an expert system and the like;
the control process after the simulation test system controller facing the second feeding mechanism receives the instruction of the unmanned autonomous intelligent system main controller is consistent with the control process flow realized by the simulation test system controller facing the first feeding mechanism;
the end of the control system mainly has two triggering conditions, on one hand, as the original material box is emptied, new original materials need to be replaced; on the other hand, since sorting cartridges are full, it is necessary to empty the cartridges.
Claims (1)
1. The unmanned automatic feeding detection and sorting system for the manufacturing industry is characterized by comprising three layers, wherein the first layer is an unmanned automatic intelligent system master controller; the first layer controller controls five sets of subsystems: the first feeding and sorting controller, the first feeding controller, the simulation test system controller, the second feeding controller and the second feeding and sorting controller, and the five subsystems form a second layer controller; the first feeding and sorting controller of the second layer is used for controlling three controllers of the third layer: the robot comprises a first robot controller, a first robot sucker controller and a first visual positioning controller; the second feeding and sorting controller of the second layer is used for controlling three controllers of the third layer: the second robot controller, the second robot sucker controller and the second visual positioning controller; the first feed controller of the second layer is used to control the two controllers of the third layer: a first linear guide rail controller, a first tray suction device controller; the second feed controller of the second layer is used to control the two controllers of the third layer: a second linear guide controller, a second tray suction device controller; the second tier analog test system controller is further configured to control three types of controllers of a third tier: an intelligent simulation light source controller, an feeding and discharging needle arranging controller and an intelligent I-V test controller;
the unmanned autonomous intelligent system general controller of the first layer has the functions of performing control signal interaction with the five controllers of the second layer related to the unmanned autonomous intelligent system general controller through a communication protocol, namely, a first feeding and sorting controller, a first feeding controller, a simulation test system controller, a second feeding controller and a second feeding and sorting controller, and respectively sending control instructions to the five controllers of the second layer, so that the unmanned autonomous control process is completed: material taking, feeding, positioning, feeding, detecting, resetting and sorting;
the first feeding and sorting controller of the second layer is used for interacting control signals through a communication protocol and three controllers of the third layer, namely a first robot controller, a first robot sucker controller and a first vision positioning controller, and respectively sending control instructions to the three controllers of the third layer, so that the mechanical arm positioning is finished, the robot picks up materials and accurately positions the positions of the materials through vision feedback, and an unmanned autonomous control process is realized: feeding, positioning and sorting;
the function of the second feeding and sorting controllers of the second layer is identical to that of the first feeding controller, and the second feeding controller and the first feeding controller are mutually independent and of the same type of control system;
the first feeding controller of the second layer has the functions of two controllers of the third layer, namely a first linear guide rail controller and a first tray adsorption device controller, and respectively sends control instructions to the two controllers of the third layer through a communication protocol, so that the unmanned autonomous control process is completed: the guide rail drives the tray to translate and the tray adsorbs materials;
the function of the second feeding controller of the second layer is identical to that of the first feeding controller, and the second feeding controller and the first feeding controller are mutually independent and controlled by the same type of control system;
the second-layer simulation test system controller is used for performing control signal interaction with the third-layer three controllers related to the second-layer simulation test system controller through a communication protocol, namely an intelligent simulation light source controller, an intelligent feeding and discharging pin arranging controller and an intelligent I-V test controller, and respectively sending control instructions to the third-layer three controllers, so that the unmanned autonomous control process is completed: the bidirectional pin header contacts the anode and the cathode of the material, the analog light source emits analog light, and IV signal acquisition and characteristic curve numerical processing are carried out;
the end of the system has two triggering conditions, on one hand, as the original material box is emptied, new original materials need to be replaced; on the other hand, since sorting cartridges are full, it is necessary to empty the cartridges;
the specific control process of the system is realized as follows:
firstly, after a control system of an unmanned autonomous intelligent system operates, initializing a total control system and sub-control systems successively, and checking whether each sub-control system works normally or not; if the operation is normal, the operator inputs the original control command and parameters and starts the total control system;
secondly, the flow after the control system of the unmanned autonomous intelligent system is started is respectively given to the five controllers of the second layer in an event-driven mode, and a control instruction is indirectly sent to the controller of the third layer;
the event driving means that all subsystems are in a state of waiting for control instructions of the master controller, the subsystems can work in parallel, and different materials are subjected to different control operations, so that the overall working efficiency of the control system is improved;
finally, when the first feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system master controller, the feeding control process comprises the following steps: sequentially executing unmanned autonomous control commands for moving the first robot to the position of the material box to take materials, enabling the first robot sucker to absorb the material box materials, enabling the first camera to absorb the material space position information and intelligent image recognition, and releasing the materials after the first robot sucker is accurately positioned; if the material box is not empty, the first robot waits for a next feeding command;
the second feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system main controller, and then the feeding control process is consistent with the control process flow realized by the first feeding and sorting controller;
when the first feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system main controller, the sorting control process comprises the following steps: sequentially executing unmanned autonomous control of positioning the first robot front arm to a material taking position, picking up materials by the first robot suction disc, positioning the first robot front arm to a material sorting box position and releasing the materials by the first robot suction disc, and waiting for a next material feeding or sorting command by the first robot if the material sorting box is not full;
the control process of sorting after the second feeding and sorting controller receives the instruction of the unmanned autonomous intelligent system main controller is consistent with the control process flow realized by the first feeding and sorting controller;
the control process after the first feeding controller receives the instruction of the unmanned autonomous intelligent system general controller is as follows: sequentially executing unmanned autonomous control commands for the first tray to translate under the drive of the linear guide rail and stop after the first tray touches the position; then the first tray waits for a reset command, and if the reset command is received, the first tray translates to an initial position under the drive of the linear guide rail and waits for the instruction of the next master controller;
the control process after the second feeding controller receives the instruction of the unmanned autonomous intelligent system main controller is consistent with the control process flow realized by the first feeding controller;
the control process after the simulation test system controller facing the first feeding mechanism receives the instruction of the unmanned autonomous intelligent system general controller is as follows: sequentially executing bidirectional probe descending or ascending and contacting positive and negative electrodes of materials, triggering intelligent analog light source to emit light, collecting signals of an I-V test system, processing and calculating data of intelligent I-V test information, and carrying out unmanned autonomous control command based on a class classification algorithm of an expert system;
the control process after the simulation test system controller facing the second feeding mechanism receives the instruction of the unmanned autonomous intelligent system general controller is consistent with the control process flow realized by the simulation test system controller facing the first feeding mechanism.
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