CN110134074A - A kind of production line control system and its control method - Google Patents
A kind of production line control system and its control method Download PDFInfo
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- CN110134074A CN110134074A CN201810104277.7A CN201810104277A CN110134074A CN 110134074 A CN110134074 A CN 110134074A CN 201810104277 A CN201810104277 A CN 201810104277A CN 110134074 A CN110134074 A CN 110134074A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The present invention provides a kind of line production system and its control methods.Wherein, a kind of control system of production line, comprising: multiple control subsystems, for controlling equipment corresponding with each control subsystem respectively；Dispatcher is instructed, the standardized instruction is distributed to by control subsystem corresponding with the type in the multiple control subsystem according to the type of standardized instruction.In addition, the present invention also provides a kind of computer readable storage mediums to storage processor executable instruction and a kind of computer equipment.The accuracy, stability and transplantability of producing line control system can be increased using the present invention, convenient for flexible producing line volume production, flexible producing line is also made to have high availability.
Description
Technical field
Present invention relates in general to field of intelligent control technology, relate more specifically to a kind of production line control system and its
Control method.
Background technique
With significantly improving for economic fast-developing and people's level of consumption, diversified, low manufacture of the society to product
The demands such as cost and short manufacturing cycle are increasingly urgent to, and are more needed to have characteristic in the market, are met the personalized, fixed of user's requirement
Inhibition and generation product.In order to cope with this change, flexible manufacturing system or production line (Flexible based on various Flexible Manufacturing Technologies
Manufacturing System, FMS) just come into being.
Flexible production line is usually made of process equipment, ancillary equipment, producing line control system and associated repositories.Fig. 1 is
A kind of exemplary flexible production line, comprising: material robot (1) is responsible for the carrying of material, the loading and unloading of lathe, and material library is stood
Body inventory is put；Material stereo garage (2), for storing unprocessed material and machined workpiece；Tool mechanical hand (3) is responsible for
The scheduling of tool magazine cutter is cut on lathe；Three-dimensional tool magazine (4), for storing the cutter of producing line, including sisters' knife, lathe dress
Cutter under not；Groups of machine (5), the main body of producing line, one group of machining center；Producing line control system (6), the brain of producing line, to work
It is single to carry out scheduled production, all elements of producing line are managed.
Due to the rise of unmanned producing line, factory of turning off the light etc., it is desirable that flexible production line can independently be completed to believe from work order, technique
The whole process for being entered into workpiece completion of breath, does not need halfway or seldom needs artificial intervention, while requiring producing line energy yet
It is enough to be produced according to the scheme of optimal objective, this producing line is called flexible intelligent production line.Fig. 2 shows according to related skill
The flexible intelligent production line input-output analysis figure of art.Referring to fig. 2, the received input information of flexible intelligent production line includes technique
Information, material, work order etc. directly export finished product in outlet side.
Production line control system is the brain of flexible intelligent production line, is responsible for the scheduled production of work order, the scheduling of cutter, material
Scheduling, the control of lathe and the control of other equipment.Fig. 3 is that the function declaration block diagram of production line control system e.g. substantially may be used
To be divided into two major parts, one is planning ability, the other is dispatching.
Dispatching refers to the ability of production line control system control bottom hardware device action.Fig. 4 is a kind of production line traffic control
The technical solution of system control underlying device processed, NC represents numerically-controlled machine tool (such as NC1, NC2, NC3, NC4 etc.), intelligence in Fig. 4
Energy turn-key system (IPC) is based on NC-API (TCP/IP) by local area network (LANs) and controls it；RC represents machinery in Fig. 4
Hand (such as RC1, RC2 etc.) is that intelligent turn-key system (IPC) passes through MODBUS network based on TCP/IP with card reader (RFID)
It controls field control system (PLC), PLC controls manipulator again and RFID is acted.In addition, common flexibility producing line bottom hardware is also
There are detection machine, quick response code printer ... etc..
Production line control system is to control bottom hardware device action, production line control system by sending command adapted thereto
According to the work order of input, scheduled production is carried out to it in conjunction with producing line resource situation and process route, then generate instruction, control hardware into
Row production.
Traditional producing line control system is primarily present following problems in sending instruction control underlying device motion flow:
(1) producing line control system needs to have management cutter, management material, Dynamic Scheduling, the every hardware action of control etc.
Function, in traditional producing line control system, so many function is concentrated in together, and it is huge to cause the control system scale of construction, no
Conducive to system stability and maintenance work.
(2) in traditional producing line control system, when an instruction is issued to specific equipment, if this equipment is asked
Topic, causes the movement that can not normally complete, then producing line subsequent action can not may all go on.Such consequence be exactly because
The failure of single-point and lead to the unavailable of entire producing line.Than sending instructions as follows, No. 27 materials " are carried to 3 by No. 1 manipulator of control
Number lathe ", if No. 1 manipulator goes wrong, material can not be sent to No. 3 lathes, then subsequent " No. 27 materials " dependent instruction:
Such as processing, stamp operation can not all be further continued for carrying out.
(3) in traditional producing line control system, control system will control bottom hardware movement can it is necessary to issue hardware
The instruction of identification, be typically different model, the equipment of different editions its control instruction also can be variant.Consequence caused by this way is to produce
Line control system will make change according to the difference of bottom hardware, which does not just have transplantability and hardware is unrelated
Property.In actual production, it if hardware layer changes, such as HardwareUpgring, hardware system upgrading or increase equipment, requires to control
System makes change, and change control system is a large-engineering, greatly increases cost in this way, is unfavorable for such flexible producing line
Volume production.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of production line control system and its control methods.
According to an aspect of the present invention, the embodiment of the invention provides a kind of control systems of production line, comprising: multiple
Control subsystem, for controlling equipment corresponding with each control subsystem respectively；Dispatcher is instructed, according to standardized instruction
The standardized instruction is distributed to control subsystem corresponding with the type in the multiple control subsystem by type.
Preferably, the production line control system further include: instruction interpreter, the institute that the control subsystem is issued
It states standardized instruction and is construed to corresponding control instruction.
Preferably, described instruction interpreter can also obtain feedback command information from the corresponding equipment, to obtain
The status information of the equipment.
Preferably, when to show that the equipment is unable to complete corresponding with the control instruction for the status information of the equipment
When movement, described instruction interpreter can find the idle other equipment similar with the equipment on production line, with complete with
The corresponding movement of the control instruction.
Preferably, when the feedback command information shows the equipment in the given time without refer to the control
When enabling corresponding movement, it is corresponding with the control instruction dynamic that described instruction interpreter determines that the equipment is unable to complete
Make.
Preferably, the feedback command information can be fed back to control subsystem corresponding thereto by described instruction interpreter
System.
Preferably, the feedback command information is fed back to described instruction dispatcher by the control subsystem.
Preferably, the control subsystem can also receive the feedback command information of the equipment, described corresponding to obtain
The state of equipment.
Preferably, the equipment described in the status display of the equipment is unable to complete movement corresponding with the control instruction
When, the control subsystem can find the idle other equipment similar with the equipment on the production line, with complete with
The corresponding movement of the control instruction.
Preferably, when the feedback command information shows the equipment in the given time without refer to the control
When enabling corresponding movement, it is corresponding with the control instruction that the control subsystem can determine that the equipment is unable to complete
Movement.
Preferably, described instruction dispatcher reads the standardized instruction from database.
Preferably, described instruction dispatcher, the control subsystem and/or described instruction interpreter are under its next level
The feedback command information of respective next level can be received when sending instructions, to obtain completion of the next level to instruction
Status information.
Preferably, the control subsystem and/or described instruction interpreter and each type equipment correspond.
Preferably, the multiple control subsystem is run parallel, and controls the movement of equipment corresponding thereto respectively.
Another aspect of the present invention also provides a kind of control method of production line, comprising: instruction dispatcher obtains specification and refers to
It enables；According to the type of the standardized instruction, described instruction dispatcher distributes to the standardized instruction in multiple control subsystems
Control subsystem corresponding with the type, with the movement for controlling relevant device.
Preferably, the standardized instruction is issued to corresponding instruction interpreter, institute by the corresponding control subsystem
It states corresponding instruction interpreter and the standardized instruction is construed to corresponding control instruction, for controlling the relevant device
Movement.
Preferably, corresponding instruction interpreter receives the feedback command information of the relevant device, described in obtaining
The status information of relevant device.
Preferably, when the status information of the relevant device shows that the relevant device is unable to complete and the control instruction
When corresponding movement, corresponding instruction interpreter is found idle similar with the relevant device on the production line
Other equipment.
Preferably, when the feedback command information shows the relevant device in the given time without carrying out and the control
When system instructs corresponding movement, corresponding instruction interpreter determines that the relevant device is unable to complete and refers to the control
Enable corresponding movement.
Preferably, the feedback command information is fed back to corresponding control by corresponding instruction interpreter
System.
Preferably, the feedback command information is fed back to described instruction dispatcher by corresponding control subsystem.
Preferably, the corresponding control subsystem also receives the feedback command information of the relevant device, to obtain
The status information of the relevant device.
Preferably, when the status information of the relevant device shows that the relevant device is unable to complete and the control instruction
When corresponding movement, the corresponding control subsystem is found idle similar with the relevant device on the production line
Other equipment.
Preferably, when the feedback command information shows the relevant device in the given time without carrying out and the control
When system instructs corresponding movement, the corresponding control subsystem determines that the relevant device is unable to complete and the control
Instruct corresponding movement.
Preferably, the corresponding control subsystem is also anti-by the feedback command information of the relevant device received
Described instruction of feeding dispatcher.
Preferably, when the standardized instruction is distributed to the corresponding control subsystem by described instruction dispatcher,
Feedback command information is received from the corresponding control subsystem, to obtain described in the corresponding control subsystem completion
The status information of standardized instruction.
Preferably, it is explained when the standardized instruction is handed down to corresponding instruction by the corresponding control subsystem
When device, feedback command information is received from corresponding instruction interpreter, completes institute to obtain corresponding instruction interpreter
State the status information of standardized instruction.
Preferably, described instruction dispatcher reads the standardized instruction from database.
Preferably, the feedback command information is sent in database and is stored by described instruction dispatcher.
Preferably, the multiple control subsystem is run parallel, and controls the movement of equipment corresponding thereto respectively.
Another aspect of the present invention also provides a kind of computer-readable storage medium to storage processor executable instruction
Matter, the processor-executable instruction stored in the computer readable storage medium can cause processor to implement when executed
Above-mentioned production line control method.
Another aspect of the present invention also provides a kind of computer equipment, including computer readable storage medium as described above
And processor, the processor are able to carry out the processor-executable instruction stored in the computer readable storage medium.
The present invention provides the producing line control system and its control method of a kind of combination distribution and explanation execution, solves production
The control instruction platform dependency of line control system, sending system are huge, do not have the problems such as high availability, increase producing line control
Accuracy, stability and the transplantability of system processed also make flexible producing line have high availability convenient for flexible producing line volume production.
Detailed description of the invention
By illustrating the preferred embodiment of the present invention with reference to the accompanying drawing, above and other target of the invention, spy will be made
Advantage of seeking peace is clearer, in which:
Fig. 1 shows the schematic diagram of exemplary flexible production line in the prior art；
Fig. 2 shows flexible intelligent production line input-output analysis figures in the prior art；
Fig. 3 shows the planning of production line control system in the prior art and scheduling architecture schematic diagram；
Fig. 4 shows the technical solution of producing line control system control underlying device in the prior art；
The distributed production line control instruction that Fig. 5 shows one embodiment of the invention issues framework schematic block diagram；
Fig. 6 shows the schematic flow chart of the production line control method of one embodiment of the invention；
Fig. 7 shows the process example of the instruction dispatcher distribution standardized instruction of one embodiment of the invention；
Fig. 8 shows the middle step S605 processing feedback command information schematic flow of production line control method of the invention
Figure
Fig. 9 shows another schematic flow chart of the production line control method of one embodiment of the invention；
The instruction interpreter that Figure 10 shows one embodiment of the invention explains the process example of standardized instruction；
Figure 11 shows another schematic flow chart of the production line control method of one embodiment of the invention；
Figure 12 shows another schematic flow chart of the production line control method of one embodiment of the invention.
In all the drawings in the present invention, the same or similar structure is with the same or similar appended drawing reference mark.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
When part is "connected" to another element, it can be directly connected to other elements, or there may also be intermediary elements.In addition,
" connection " used herein may include being wirelessly connected.Wording "and/or" used herein includes one or more associated
The whole for listing item or any cell and all combination.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
In order to solve the above technical problems, the present invention provides a kind of production line controlling mechanism, it, will based on distributed principle
Producing line control instruction distribution issues each control subsystem, so that control instruction is related to type of hardware, so that control system becomes
It must simplify.
Fig. 5 shows distributed production line control instruction according to an embodiment of the invention and issues framework schematic block diagram.
As shown in figure 5, it includes production line control system and mechanical floor 54 that distributed production line control instruction, which issues framework, wherein above-mentioned life
Producing line control system includes the modules such as instruction dispatcher 51, control subsystem 52, and above equipment layer 54 includes first kind equipment
541, Second Type equipment 542, third type equipment 543 ..., a plurality of types of equipment such as the n-th type equipment 54n.It is above-mentioned
Control subsystem 52 include the first control subsystem 521, the second control subsystem 522, third control subsystem 523 ..., the
Multiple control subsystems such as n control subsystem 52n, corresponding types are set in the multiple types equipment for controlling above equipment layer 54
Standby movement.For example, above-mentioned first control subsystem 521 is for controlling above-mentioned first kind equipment 541, above-mentioned second control
System 522 is for controlling above-mentioned Second Type equipment 542, above-mentioned third control subsystem 523 for controlling above-mentioned third type
Equipment 543 etc., above-mentioned first kind equipment 541 may include multiple same type equipment (5411~541m of first kind equipment),
Above-mentioned Second Type equipment 542 may include multiple same type equipment (5421~542m of first kind equipment), above-mentioned third class
Type equipment 543 may include multiple same type equipment (5431~543m of third type equipment) etc., wherein each same type equipment
In, each equipment (such as 5411~541m of first kind equipment) can run simultaneously, or ought wherein equipment (such as first
Type equipment 5411) operation when, in other same categories of device one or more equipment (such as first kind equipment 5412~
It 541m) can be used as the stand-by equipment of the equipment of this in operation.
Standardized instruction obtained is distributed to above-mentioned control according to the type of above-mentioned standardized instruction by above-metioned instruction dispatcher 51
Corresponding control subsystem in subsystem 52, above-mentioned corresponding control subsystem are based on above-mentioned standardized instruction, control above-mentioned set
The movement of the equipment of respective type in standby layer 54.
In addition, corresponding control subsystem setting from the respective type in above equipment layer 54 in above-mentioned control subsystem 52
It is standby to obtain feedback command information, to obtain the command reception of the equipment of the respective type in above equipment layer 54 and/or complete shape
Condition.The corresponding control subsystem from above-mentioned control subsystem 52 of above-metioned instruction dispatcher 51 obtains feedback command information, to obtain
It takes the command reception of corresponding control subsystem in above-mentioned control subsystem 52 and/or completes situation.
In the above-described embodiment, above-mentioned production line control system can also include database 55, refer to for storage specification
It enables, the data such as feedback command information.(it can not schemed by the planning part (scheduled production function therein) in production line control system
Show) above-mentioned standardized instruction is generated, and above-mentioned standardized instruction is stored in above-mentioned database 55.Above-metioned instruction dispatcher 51 can be with
Above-mentioned standardized instruction is read from above-mentioned database 55 to be distributed accordingly.
Above-mentioned production line control system has planning function and scheduling feature.Wherein, planning function is mainly by above-mentioned production
The material planning, cutter planning, scheduled production of above-mentioned production line are advised in planning function module completion (not shown) in line control system
Draw etc. calculated, to generate above-mentioned standardized instruction.The planning function module of above-mentioned production line control system is generated above-mentioned
Standardized instruction can be stored in above-mentioned database, be used so that above-metioned instruction dispatcher 51 is read.Above-mentioned standardized instruction refers to
A kind of universal command of control production line movement, only class association with hardware, such as " machine unrelated with the model of hardware, version
Bed movement ", " manipulator behavior ", " quick response code printer movement " etc..
Scheduling feature is mainly completed by above-mentioned control subsystem 52, for controlling bottom hardware movement.In traditional production
In line control system, all types of hardware actions are all completed by system, and it is huge to cause the control system scale of construction, are unfavorable for
System stability and maintenance work.In the present invention, using multiple control subsystems, (the first control subsystem 521, second is controlled
Subsystem 522, third control subsystem 523 ..., the n-th control subsystem 52n) control the corresponding equipment (first kind respectively
Type equipment 541, Second Type equipment 542, third type equipment 543 ..., the n-th type equipment 54n) movement.Then, by
Standardized instruction obtained is distributed to above-mentioned control subsystem according to the type of above-mentioned standardized instruction by above-metioned instruction dispatcher 51
Corresponding control subsystem (the first control subsystem 521, the second control subsystem 522, third control subsystem in 52
523 ..., the n-th control subsystem 52n).
For example, the control instruction for being used to control lathe in standardized instruction obtained is distributed to by above-metioned instruction dispatcher 51
For dispatching control subsystem (NCServer, Numerical Control Server) (first control subsystem of lathe
521), to control the movement of lathe；The control instruction for being used to control manipulator in standardized instruction obtained is distributed to and is used for
The control subsystem (RCServer, Robot Control Server) (the second control subsystem 522) of manipulator is dispatched, with control
The movement of manipulator processed；The control instruction for being used to control measuring machine in standardized instruction obtained is distributed to and is used for scheduling measurement
The control subsystem (MCServer, Measure Control Server) (third control subsystem 523) of machine, to control measurement
The movement of machine.
In the present invention, above-mentioned multiple control subsystems (the first control subsystem 521, the second control subsystem 522,
Three control subsystems 523 ..., the n-th control subsystem 52n) can be run on same physical host with different process,
It may operate on different physical hosts.
Standardized instruction obtained is distributed to according to the type of above-mentioned standardized instruction by above-metioned instruction dispatcher 51 more
Corresponding control subsystem in a control subsystem, allowing production line control system, underground sends instructions in a distributed manner, so that each control
The function of subsystem is clearly demarcated, to simplify the program in each control subsystem, accomplishes lower coupling, high cohesion.Moreover, in this hair
In bright, using sending instructions down in a distributed manner, the degree of coupling is reduced, increasing, which changes a functional block, does not influence other functional modules (control
System), share out the work and help one another when exploitation, when maintenance can reduce workload.Meanwhile in the present invention, a functional module (control
Subsystem) failure not will lead to whole system collapse, increase robustness and reliability, also reduce and single device is wanted
It asks, comprehensively utilizes resource everywhere.In addition, multiple control subsystems are parallel, issue call instruction more rapid, can adjust simultaneously
Different types of equipment (such as the different types equipment such as lathe, the manipulator or two dimensional code printing) movement for spending production line, mentions
High production line efficiency.
In the above-described embodiment, above-mentioned production line control system can also include instruction interpreter 53, wherein above-mentioned finger
Enable interpreter 53 include the first instruction interpreter 531, the second instruction interpreter 532, third instruction interpreter 533 ..., n-th
Instruction interpreter 53n etc..Preferably, each above-metioned instruction interpreter is sub with above-mentioned control respectively in above-metioned instruction interpreter 53
Multiple control subsystems in system 52 correspond.It is highly preferred that each above-metioned instruction solution in above-metioned instruction interpreter 53
Device is released to correspond with a plurality of types of equipment in above equipment layer 54 respectively.
In the present invention, in control subsystem (the first control subsystem 521, the second control subsystem 522, third control
Subsystem 523 ..., the n-th control subsystem 52n) and corresponding equipment (first kind equipment 541, Second Type equipment
542, third type equipment 543 ..., the n-th type equipment 54n) between joined instruction interpreter (the first instruction interpreter
531, the second instruction interpreter 532, third instruction interpreter 533 ..., the n-th instruction interpreter 53n), each control subsystem
Its above-mentioned standardized instruction (universal command) received by the above-metioned instruction dispatcher 51 is handed down to corresponding instruction solution
Device is released, which converts universal command to the control instruction of corresponding hardware, and then controls corresponding hardware (equipment)
Movement.If without instruction interpreter, the control instruction of control subsystem is directly hardware-related, so when hardware changes
When, it is necessary to control subsystem is modified.However, in the present invention, by control subsystem and corresponding
Equipment between joined instruction interpreter, control subsystem is by its above-mentioned specification received by the above-metioned instruction dispatcher 51
Instruction is handed down to instruction interpreter, and instruction interpreter controls hardware action again by its " explanation " as corresponding hardware control instructions,
So that even if bottom hardware changes or system upgrade does not all interfere with control subsystem main body, it is only necessary to change instruction
Interpreter.This characteristic allows production line control system to have hardware independence, in this manner it is possible to easily move to it
It plants, convenient for the volume production of such producing line；Meanwhile for the developer of flexible producing line control system, hardware independence can allow it
The realization for focusing more on production line control system " function ", as the modelling of process route, the management of cutter, material pipe
Reason, Dynamic Scheduling realization ... and do not have to consider underlying device particularity.
In the above-described embodiment, it is preferable that in above-mentioned multiple control subsystem (the first control subsystem 521, second controls
Subsystem 522, third control subsystem 523 ..., the n-th control subsystem 52n) or instruction interpreter (first instruction explain
Device 531, the second instruction interpreter 532, third instruction interpreter 533 ..., the n-th instruction interpreter 53n) in be respectively set it is same
Class equipment hot-swapping function module (not shown) is set specified by the control instruction that control subsystem or instruction interpreter issue
Standby to break down when being unable to complete movement, it is complete that control subsystem or instruction interpreter can actively find remaining idle same category of device
At this movement, and this function is transparent to upper layer.As shown in figure 5, first kind equipment 541 includes multiple same type equipment (the
One 5411~541m of type equipment), Second Type equipment 542 include multiple same type equipment (Second Type equipment 5421~
542m), third type equipment 543 includes multiple same type equipment (5431~543m of third type equipment), etc..For example, working as
When the failure of Second Type equipment 5421 just aprowl is unable to complete movement, for controlling the Second Type equipment
542 the second control subsystem 522 or the second instruction interpreter 532 will detect spare the second of Second Type equipment 542
Type equipment (such as Second Type equipment 5422), and under send instructions spare Second Type equipment allowed to connect out of order second class
Type equipment 5421 executes business, thus realize business do not interrupt or short interruption.
For example, " RCServer " receives the control instruction from upper layer: allowing " manipulator 1 " in once command issues
" No. 27 materials " is carried to " No. 3 lathes ", if failure occurs in " manipulator 1 " at this time, this movement can not be executed, then
" RCServer ", which can be looked for, is now in idle state " manipulator 2 " to complete " No. 27 materials " being carried to " No. 3 lathes ",
All continued about operations such as processing, stamps after " No. 27 materials " in this way, realizes not interrupting for producing line operation.
In the above-described embodiments, when above-mentioned feedback command information shows corresponding equipment (first kind equipment 541, second
Type equipment 542, third type equipment 543 ..., the n-th type equipment 54n) in the given time without carry out with above-mentioned control
When system instructs corresponding movement, above-mentioned control subsystem or above-metioned instruction interpreter determine above-mentioned relevant device be unable to complete with
The corresponding movement of above-mentioned control instruction.
Fig. 6 shows the schematic flow chart of production line control method according to an embodiment of the invention.As shown in fig. 6,
Above-mentioned database is stored in by planning part (scheduled production function therein) the generation standardized instruction (not shown) in producing line control system
In 55 (step S601).When production line control system open process after, above-metioned instruction dispatcher 51 by corresponding standardized instruction from
It reads in above-mentioned database 55 to obtain standardized instruction (step S602).Above-metioned instruction dispatcher 51 is according to above-mentioned standardized instruction
Obtained above-mentioned standardized instruction is distributed in above-mentioned control subsystem 52 corresponding control subsystem (the first control by type
System 521, the second control subsystem 522, third control subsystem 523 ..., the n-th control subsystem 52n) (step S603),
Above-mentioned standardized instruction is handed down to the equipment (first kind of the respective type in above equipment layer 54 by above-mentioned corresponding control subsystem
Type equipment 541, Second Type equipment 542, third type equipment 543 ..., the n-th type equipment 54n) to control its movement
(step S604).
In the present embodiment, above-mentioned corresponding control subsystem also receives corresponding pointed by the above-mentioned standardized instruction
The feedback command information of the equipment of type is simultaneously handled (step S605), and above-mentioned feedback command information is fed back to above-mentioned finger
Dispatcher 51 is enabled, above-metioned instruction dispatcher receives above-mentioned feedback command information (step S606), and stores to above-mentioned database 55
Corresponding region (step S607).By receiving the feedback command information of the equipment of the pointed respective type of instruction, higher level system
Instruction is handed down to lower system by system, and lower system by the reception of instruction and can complete condition feedback to superior system, in this way, on
Grade system will know the state of lower system and the executive condition of the movement, so that the system decision-making and control are more accurate,
To also can timely and accurately find next level operation irregularity and failure.
Below (referring to Fig. 7) by taking numerically-controlled machine tool production line as an example, illustrate that above-metioned instruction dispatcher 51 distributes standardized instruction
Process.
Assuming that first kind equipment 541 is lathe, Second Type equipment 542 is manipulator, third type equipment 543 is control
Measuring machine processed, above-mentioned standardized instruction may be defined as containing " E*** " field (there are also other relevant fields), wherein " * " represents 0~9
Any Digit, and be further defined as follows:
" E1** " is control machine tool instructions, and such as " E103 " indicates that lathe adds knife, and " E104 " indicates that machine tool program cancellation is chosen；
" E2** " is control manipulator field, and such as " E203 " indicates that corresponding pallet is sent to feeding station by manipulator；
" E3** " is control measuring machine instruction, and such as " E304 " indicates measuring machine on-line measurement workpiece.
Above-metioned instruction dispatcher 51 classifies to it according to " E*** " field of " standardized instruction ", and is distributed to not
Same control subsystem.For example, " E1** " to be distributed to the first control subsystem of the lathe as first kind equipment 541
521, " E2** " is distributed to the second control subsystem 522 of the manipulator as Second Type equipment 542, " E3** " is distributed
To the third control subsystem 523 ... ... of the measuring machine as third type equipment 543.Wherein, standardized instruction " E1** " can be with
For in first kind equipment 541 one or more first kind equipment (such as correspond to first kind equipment 5411 machine
Bed 1, corresponding to the lathe 2 ... ... of first kind equipment 5412), standardized instruction " E2** " can be used for Second Type equipment 542
In one or more Second Type equipment (such as correspond to Second Type equipment 5421 manipulator 1, correspond to Second Type
The manipulator 2 ... ... of equipment 5422), standardized instruction " E3** " can be used for one or more of third type equipment 543
Three type equipments (for example correspond to the measuring machine 1 of third type equipment 5431, corresponding to the measuring machine of third type equipment 5432
2 ... ...).
Fig. 8 shows the middle step S605 processing feedback command information of production line control method according to an embodiment of the present invention
Schematic flow chart.As shown in figure 8, above-mentioned corresponding control subsystem respective type pointed by the above-mentioned standardized instruction is set
It is standby to receive feedback command information (step S6051), and judge whether the equipment of above-mentioned respective type can complete above-mentioned specification and refer to
Enable corresponding movement (step S6052).For example, may include in above-mentioned feedback command information display equipment to command reception and
The information " 0 " of completion situation and " 1 ", if in above-mentioned feedback command information including display equipment to command reception and completing situation
Information be " 0 ", display current device can receive and/or complete dependent instruction, if including in above-mentioned feedback command information
Equipment is shown to command reception and completes the information of situation as " 1 ", display current device can not receive and/or complete correlation and refer to
It enables.Certainly, other modes can also be used in the present invention to show that current device can receive and/or complete dependent instruction, only
It wants that the object of the invention can be reached.
When movement corresponding to the equipment for judging above-mentioned respective type is unable to complete above-mentioned standardized instruction (step S6052:
It is no), for example, above-mentioned feedback command show first kind equipment 541, Second Type equipment 542, third type equipment 543 ...,
And/or n-th type equipment 54n there are operation irregularity and failure, the first control subsystem 521, the second control subsystem 522,
Three control subsystems 523 ..., and/or the n-th control subsystem 52n actively finds first kind equipment 541, Second Type is set
Standby 542, third type equipment 543 ..., and/or can be completed in the n-th type equipment 54n this movement other are idle same
Class equipment (step S6053).Also, other idle same categories of device are continued to issue above-mentioned rule as currently used equipment
Model instructs and receives feedback command information from the currently used equipment.
When the equipment for judging above-mentioned respective type can complete movement corresponding to above-mentioned standardized instruction (step S6052:
Be), the first control subsystem 521, the second control subsystem 522, third control subsystem 523 ..., and/or n-th control son
System 52n continue using the equipment of above-mentioned respective type as currently used equipment and continuing issue above-mentioned standardized instruction and from
The equipment of above-mentioned respective type receives feedback command information.
Fig. 9 shows another schematic flow chart of production line control method according to an embodiment of the present invention.Such as Fig. 9 institute
Show, in another schematic flow chart, step S901~step S903 is identical as step S601~step S603, herein no longer
It is tired to state.
Above-mentioned standardized instruction is handed down to the first instruction interpreter 531, second instruction solution by above-mentioned corresponding control subsystem
Release device 532, third instruction interpreter 533 ..., corresponding instruction interpreter (step S904) in the n-th instruction interpreter 53n,
The corresponding instruction interpreter by general standardized instruction be construed to for first kind equipment 541, Second Type equipment 542,
Third type equipment 543 ..., the corresponding hardware control instructions (step S905) such as the n-th type equipment 54n, and be handed down to
Equipment (first kind equipment 541, Second Type equipment 542, the third type equipment of respective type in above equipment layer 54
543 ..., the n-th type equipment 54n) to control its movement (step S906).
In the present embodiment, above-mentioned corresponding instruction interpreter also receives pointed by the above-mentioned hardware control instructions
The feedback command information of the equipment of respective type is simultaneously handled (step S907) feedback command information, and above-mentioned feedback is referred to
Enable information feed back to the first control subsystem 521, the second control subsystem 522, third control subsystem 523 ..., and/or
Above-mentioned corresponding control subsystem (step S908) in n-th control subsystem 52n, then it is anti-by above-mentioned corresponding control subsystem
Above-metioned instruction of feeding dispatcher 51 (step S909), and store to the corresponding region (step S910) of above-mentioned database 55.Pass through
The feedback command of the equipment of the pointed respective type of instruction is received, instruction is handed down to lower system, system, junior by superior system
System can be by the reception of instruction and completion condition feedback to superior system, in this way, superior system will know the state of lower system
And the executive condition of the movement, so that the system decision-making and control are more accurate, to also can timely and accurately find next
Level operation irregularity and failure.
Illustrate that " lathe refers to (referring to Figure 10) for the instruction interpreter of the lathe involved in the numerically-controlled machine tool production line below
Enable interpreter " (such as first instruction interpreter 531) explain standardized instruction process.
Above-metioned instruction dispatcher 51 distribute for control " standardized instruction " of machine tool action to include " E1** " field.
The hardware control instructions of " machine tool instructions interpreter " (such as first instruction interpreter 531) control machine tool action are to call to encapsulate
Change the far call interface (custom protocol) of digital control system state, for example digital control system corresponding cutters control interface (is shown in Table
1):
1 Tool Control interface list of table
| Interface | Explanation |
| HNC_ToolLoad | Tool file imports |
| HNC_ToolSave | Tool file saves |
| HNC_ToolGetMaxToolNum | Acquisition system maximum cutter number |
| HNC_ToolGetToolPara | Obtain cutter parameters |
| HNC_ToolSetToolPara | Cutter parameters are set |
As shown in Figure 10, " standardized instruction " (such as instruction 3) is distributed to for controlling lathe fortune by above-metioned instruction dispatcher
Capable control subsystem (such as first control subsystem 521), which is handed down to machine tool instructions for the standardized instruction
Interpreter (the first instruction interpreter 531), wherein " E103 " indicates lathe load cutter instruction.By machine tool instructions interpreter,
Its " hardware control instructions " (substantially control interface) that " standardized instruction " is construed to control machine tool action, is divided into three steps:
HNC_ToolLoad lathe imports tool file；
HNC_ToolSave lathe saves tool file；
HNC_ToolGetToolPara obtains machine tool parameter, and whether confirmation modification succeeds；
This hardware control instructions directly controls machine tool action.
In the above-described embodiment, for the treatment process of feedback command information in step S907, it may refer to step
S605 (referring to Fig. 8), is not repeated herein.
Figure 11 shows another schematic flow chart of production line control method according to an embodiment of the present invention.Such as Figure 11 institute
Show, above-mentioned data are stored in by planning part (scheduled production function therein) the generation standardized instruction (not shown) in producing line control system
In library 55 (step S1101).After production line control system, which is opened, to be processed, above-metioned instruction dispatcher 51 is by corresponding standardized instruction
It reads from above-mentioned database 55 to obtain standardized instruction (step S1102).Above-metioned instruction dispatcher 51 refers to according to above-mentioned specification
Obtained above-mentioned standardized instruction is distributed in above-mentioned control subsystem 52 (the first control of corresponding control subsystem by the type of order
Subsystem 521, the second control subsystem 522, third control subsystem 523 ..., the n-th control subsystem 52n) (step
S1103), and above-metioned instruction dispatcher 51 is from above-mentioned corresponding control subsystem reception feedback command information, while will be above-mentioned
Feedback command information is stored in above-mentioned memory 51 (step S1104).By being issued to the corresponding control subsystem of next level
Instruction while the feedback command for receiving next level, so as to grasp the state of the corresponding control subsystem in time and be somebody's turn to do
The executive condition of movement, so that the system decision-making and control are more accurate, to also can timely and accurately find the corresponding control
Subsystem operation irregularity and failure.
Above-mentioned corresponding control subsystem is set the respective type that above-mentioned standardized instruction is handed down in above equipment layer 54
It is standby (first kind equipment 541, Second Type equipment 542, third type equipment 543 ..., the n-th type equipment 54n) with control
Its movement (step S1105).Above-mentioned corresponding control subsystem receives the respective type pointed by the above-mentioned standardized instruction
Equipment feedback command information and feedback command information is handled (step S1106), and by above-mentioned feedback command information
Feedback is stored by above-metioned instruction dispatcher 51 (step S1107) to the corresponding region (step S1108) of above-mentioned database 55.
Using the feedback command of each level, instruction is handed down to lower system by superior system, lower system can by the reception of instruction and
Condition feedback is completed to superior system, in this way, superior system will know the state of lower system and the execution feelings of the movement
Condition, so that the system decision-making and control are more accurate, to also can timely and accurately find each level operation irregularity and failure.
In the above-described embodiment, for the treatment process of feedback command information in step S1106, it may refer to step
S605 (referring to Fig. 8), is not repeated herein.
Figure 12 shows another schematic flow chart of production line control method according to an embodiment of the present invention.Such as Figure 12 institute
Show, in another schematic flow chart, step S1201~step S1204 is identical as step S1101~step S1104, herein
It is not repeated.
Above-mentioned standardized instruction is handed down to the first instruction interpreter 531, second instruction solution by above-mentioned corresponding control subsystem
Release device 532, third instruction interpreter 533 ..., corresponding instruction interpreter (step S1205) in the n-th instruction interpreter 53n,
Feedback command information is received from above-mentioned corresponding instruction interpreter simultaneously, and the feedback command information is fed back into above-metioned instruction group
Device 51 is sent out, the corresponding region (step S1206) of above-mentioned database 55 is arrived in storage.By being explained to the corresponding instruction of next level
The feedback command of next level is sent instructions while received under device, so as to grasp the state of the corresponding instruction interpreter in time
And the executive condition of the movement, so that the system decision-making and control are more accurate, to also can timely and accurately find the phase
The instruction interpreter operation irregularity and failure answered.
General standardized instruction is construed to set with first kind equipment 541, Second Type by the corresponding instruction interpreter
Standby 542, third type equipment 543 ..., the corresponding hardware control instructions (step S1207) such as the n-th type equipment 54n, and
It is handed down to equipment (first kind equipment 541, Second Type equipment 542, the third type of the respective type in above equipment layer 54
Equipment 543 ..., the n-th type equipment 54n) to control its movement (step S1208).
In the present embodiment, above-mentioned corresponding instruction interpreter also receives pointed by the above-mentioned hardware control instructions
The feedback command information of the equipment of respective type is simultaneously handled (step S1209), and above-mentioned feedback command information is fed back to
First control subsystem 521, the second control subsystem 522, third control subsystem 523 ..., and/or the n-th control subsystem
Above-mentioned corresponding control subsystem (step S1210) in 52n, then above-metioned instruction is fed back to by above-mentioned corresponding control subsystem
Dispatcher 51 is stored to the corresponding region (step S1211) of above-mentioned database 55.Using the feedback command of each level, higher level
Instruction is handed down to lower system by system, and lower system by the reception of instruction and can complete condition feedback to superior system, in this way,
Superior system will know the state of lower system and the executive condition of the movement, so that the system decision-making and control are more smart
Standard, to also can timely and accurately find each level operation irregularity and failure.
In the above-described embodiment, for the treatment process of feedback command information in step S1209, it may refer to step
S605 (referring to Fig. 8), is not repeated herein.
Communication between distinct device needs corresponding communication protocol, and in flexible production line, instruction is sent from control system
Corresponding agreement is also required to corresponding equipment.In the above-described embodiment, can be according to control instruction the characteristics of, using for example
The data formats such as JSON, XML are based on the customized communications protocol of ICP/IP protocol.
The present invention also provides at least one with non-volatile or form of volatile memory computer storage medium, example
Such as electrically erasable programmable read-only memory (EEPROM), flash memory and hard drive, it is stored with computer executable instructions.It calculates
Machine executable instruction makes the control system or flexible intelligence of control of product component or flexible intelligent producing line when being executed by processor
It can the line production system execution such as movement of the process of the control method description of flexible intelligent production line before.
Processor can be single cpu (central processing unit), but also may include two or more processors.Example
Such as, processor may include general purpose microprocessor；Instruction set processor and/or related chip collection and/or special microprocessor (example
Such as, specific integrated circuit (ASIC)).Processor also may include onboard storage device for cache purposes.For example, calculating
Machine storage medium can be flash memory, random access memory (RAM), read-only memory (ROM) or EEPROM.
Those skilled in the art of the present technique are appreciated that the present invention includes being related to for executing in heretofore described operation
One or more equipment.These equipment can specially design and manufacture for required purpose, or also may include general
Known device in computer.These equipment have the computer program being stored in it, these computer programs are selectively
Activation or reconstruct.Such computer program can be stored in equipment (for example, computer) readable medium or be stored in
It e-command and is coupled in any kind of medium of bus respectively suitable for storage, the computer-readable medium includes but not
Be limited to any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, only
Read memory), RAM (Random Access Memory, immediately memory), EPROM (Erasable Programmable
Read-Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable
Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card
Piece.It is, readable medium includes by equipment (for example, computer) with any Jie for the form storage or transmission information that can be read
Matter.
Those skilled in the art of the present technique be appreciated that can be realized with computer program instructions these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology neck
Field technique personnel be appreciated that these computer program instructions can be supplied to general purpose computer, special purpose computer or other
The processor of programmable data processing method is realized, to pass through the processing of computer or other programmable data processing methods
The scheme specified in frame or multiple frames of the device to execute structure chart and/or block diagram and/or flow graph disclosed in this invention.
Those skilled in the art of the present technique have been appreciated that in the present invention the various operations crossed by discussion, method, in process
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, each with having been crossed by discussion in the present invention
Kind of operation, method, other steps, measures, and schemes in process may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, in the prior art to have and the step in various operations, method disclosed in the present invention, process, measure, scheme
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (32)
1. a kind of control system of production line, comprising:
Multiple control subsystems, for controlling equipment corresponding with each control subsystem respectively；
Instruct dispatcher, according to the type of standardized instruction by the standardized instruction distribute in the multiple control subsystem with institute
State the corresponding control subsystem of type.
2. production line control system according to claim 1, further includes: instruction interpreter, it will be under the control subsystem
The standardized instruction of hair is construed to corresponding control instruction.
3. production line control system according to claim 2, which is characterized in that described instruction interpreter can also be from opposite
The equipment answered obtains feedback command information, to obtain the status information of the equipment.
4. production line control system according to claim 3, which is characterized in that when the status information of the equipment shows institute
When stating equipment and being unable to complete movement corresponding with the control instruction, described instruction interpreter can be found idle on production line
The other equipment similar with the equipment, to complete corresponding with control instruction movement.
5. production line control system according to claim 4, which is characterized in that described in being shown when the feedback command information
When equipment does not carry out movement corresponding with the control instruction in the given time, set described in the determination of described instruction interpreter
It is standby to be unable to complete movement corresponding with the control instruction.
6. production line control system according to claim 3, which is characterized in that described instruction interpreter can will be described anti-
Feedback command information feeds back to control subsystem corresponding thereto.
7. production line control system according to claim 6, which is characterized in that the control subsystem refers to the feedback
Information is enabled to feed back to described instruction dispatcher.
8. production line control system according to claim 1, which is characterized in that the control subsystem can also receive institute
The feedback command information of equipment is stated, to obtain the state of the relevant device.
9. production line control system according to claim 8, which is characterized in that set described in the status display of the equipment
For when being unable to complete movement corresponding with the control instruction, the control subsystem can be found idle on the production line
The other equipment similar with the equipment, to complete corresponding with control instruction movement.
10. production line control method according to claim 9, which is characterized in that when the feedback command information shows institute
When state equipment does not have to carry out movement corresponding with the control instruction in the given time, the control subsystem be can determine
The equipment is unable to complete movement corresponding with the control instruction.
11. production line control system described in any one according to claim 1~10, which is characterized in that described instruction distributes
Device reads the standardized instruction from database.
12. the production line control system according to claim 6 or 8, which is characterized in that described instruction dispatcher, the control
Subsystem and/or described instruction interpreter are to can receive the anti-of respective next level when sending instructions under its next level
Command information is presented, to obtain next level to the completion status information of instruction.
13. production line control system described in any one according to claim 1~10, which is characterized in that the control subsystem
System and/or described instruction interpreter and each type equipment correspond.
14. production line control system described in any one according to claim 1~10, which is characterized in that the multiple control
Subsystem is run parallel, and controls the movement of equipment corresponding thereto respectively.
15. a kind of control method of production line, comprising:
Dispatcher is instructed to obtain standardized instruction；
According to the type of the standardized instruction, described instruction dispatcher distributes to the standardized instruction in multiple control subsystems
Control subsystem corresponding with the type, with the movement for controlling relevant device.
16. production line control method according to claim 15, it is characterised in that: the corresponding control subsystem will
The standardized instruction is issued to corresponding instruction interpreter, and the standardized instruction is construed to phase by corresponding instruction interpreter
The control instruction answered, with the movement for controlling the relevant device.
17. production line control method according to claim 16, which is characterized in that corresponding instruction interpreter receives
The feedback command information of the relevant device, to obtain the status information of the relevant device.
18. production line control method according to claim 17, which is characterized in that when the status information of the relevant device
When showing that the relevant device is unable to complete movement corresponding with the control instruction, corresponding instruction interpreter is found
The idle other equipment similar with the relevant device on the production line.
19. production line control method according to claim 18, which is characterized in that when the feedback command information shows institute
When state relevant device does not have to carry out movement corresponding with the control instruction in the given time, corresponding instruction is explained
Device determines that the relevant device is unable to complete movement corresponding with the control instruction.
20. production line control method according to claim 17, which is characterized in that corresponding instruction interpreter is by institute
It states feedback command information and feeds back to the corresponding control subsystem.
21. production line control method according to claim 17, which is characterized in that corresponding control subsystem is by institute
It states feedback command information and feeds back to described instruction dispatcher.
22. production line control method according to claim 15, which is characterized in that the corresponding control subsystem is also
The feedback command information of the relevant device is received, to obtain the status information of the relevant device.
23. production line control method according to claim 22, which is characterized in that when the status information of the relevant device
When showing that the relevant device is unable to complete movement corresponding with the control instruction, the corresponding control subsystem is sought
Look for the idle other equipment similar with the relevant device on the production line.
24. production line control method according to claim 23, which is characterized in that when the feedback command information shows institute
When state relevant device does not have to carry out movement corresponding with the control instruction in the given time, corresponding control
System determines that the relevant device is unable to complete movement corresponding with the control instruction.
25. production line control method according to claim 22, which is characterized in that the corresponding control subsystem is also
The feedback command information of the relevant device received is fed back into described instruction dispatcher.
26. production line control method according to claim 15, which is characterized in that when described instruction dispatcher is by the rule
When model instruction is distributed to the corresponding control subsystem, feedback command letter is received from the corresponding control subsystem
Breath, to obtain the status information that the corresponding control subsystem completes the standardized instruction.
27. production line control method according to claim 16, which is characterized in that when the corresponding control subsystem
When the standardized instruction is handed down to corresponding instruction interpreter, feedback command is received from corresponding instruction interpreter
Information, to obtain the status information that corresponding instruction interpreter completes the standardized instruction.
28. production line control method described in 5~27 any one according to claim 1, which is characterized in that described instruction distributes
Device reads the standardized instruction from database.
29. according to production line control method described in claim 21,25 or 27, which is characterized in that described instruction dispatcher will
The feedback command information, which is sent in database, to be stored.
30. production line control method described in 5~27 any one according to claim 1, which is characterized in that the multiple control
Subsystem is run parallel, and controls the movement of equipment corresponding thereto respectively.
31. a kind of computer readable storage medium to storage processor executable instruction, the computer-readable storage medium
The processor-executable instruction stored in matter can cause processor to implement any one of 5-30 according to claim 1 when executed
The production line control method.
32. a kind of computer equipment, the computer equipment includes computer readable storage medium as claimed in claim 31
And processor, the processor are able to carry out the processor-executable instruction stored in the computer readable storage medium.
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| CN111847248A (en) * | 2020-06-24 | 2020-10-30 | 中联重科股份有限公司 | Controller positioning configuration method and device |
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