CN115801854B - Intelligent factory-oriented task collaborative planning method and system - Google Patents
Intelligent factory-oriented task collaborative planning method and system Download PDFInfo
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Abstract
The invention discloses a task collaborative planning method for an intelligent factory, which comprises the following steps: the data relay device receives a plurality of task messages sent by one or more command issuing devices in a predefined first time window; after the data relay device receives the plurality of task messages, the data relay device determines whether the plurality of task messages belong to a first time window based on a time window sequence number in each of the plurality of task messages; the data relay device sorts the task messages belonging to the first time window based on the sorting information; after the data relay device orders the task messages belonging to the first time window, the data relay device judges whether the task messages belonging to the first time window have message loss or not; if the data relay device judges that the task message belonging to the first time window does not have message loss, the data relay device sends the ordered task message to the server after the first time window.
Description
Technical Field
The invention relates to the technical field of intelligent factories, in particular to a task collaborative planning method and system for intelligent factories.
Background
Intelligent factory technology is a comprehensive technology based on wireless transmission technology, automatic control and machine learning. One branch in the intelligent factory technology is task collaborative planning of an intelligent factory, and the task collaborative planning mainly comprises the step of converting a series of commands without sequence into a series of commands with sequence through built-in software of a server so as to control data equipment to carry out automatic production. For example, in a digitally controlled plastic injection molding plant, in order to control the injection molding machine, the command issuing device may issue commands for closing, injection molding, pressure maintaining, opening and taking out the work piece to the server in sequence, and in an ideal environment, the command issued by the command issuing device is always received first by the server, and at this time, the command issuing device only ensures that the commands are sent in the order of "closing, injection molding, pressure maintaining, opening and taking out the work piece", so that the server can receive the commands in the order, and the server can ensure correct operation of the injection molding machine by sequentially executing the steps. However, in a factory environment, due to the problem of transmission delay, the command issuing device cannot ensure that a command sent first is received by the server first, for example, an injection molding command may be received by the server before a mold closing command, at this time, professional software built in the server can adjust commands in disordered order through software functions, and if part of the commands are lost in the transmission process, the lost commands are also judged through the professional software.
However, due to the increasing area of the factory, some data relay devices are required to be installed in the factory based on the transmission power limit of the command issuing device in order to relay the command issued by the command issuing device to the server. For cost reasons, specialized software is not generally installed in the data relay device, so the data relay device cannot judge whether the order of receiving the commands is disordered and whether the commands are lost, and the data relay device can only send the received commands to the server again in sequence, which significantly reduces the factory efficiency.
Disclosure of Invention
In order to achieve the above purpose, the present invention provides a task collaborative planning method for an intelligent factory, which is characterized in that the method comprises:
the data relay device receives a plurality of task messages sent by one or more command issuing devices in a predefined first time window, each of the plurality of task messages including a time window sequence number, ordering information, and a payload;
after the data relay device receives the plurality of task messages, the data relay device determines whether the plurality of task messages belong to a first time window based on a time window sequence number in each of the plurality of task messages;
the data relay device sorts the task messages belonging to the first time window based on the sorting information;
after the data relay device orders the task messages belonging to the first time window, the data relay device judges whether the task messages belonging to the first time window have message loss or not;
if the data relay device judges that the task message belonging to the first time window does not have message loss, the data relay device sends the ordered task message to the server after the first time window.
In a preferred embodiment, the data relay device receives the task message B1 sent by the command issuing device A1 in a first time window, wherein the task message B1 includes a time window sequence number C1 and ordering information D1;
wherein the method further comprises:
the data relay device determines that the task message B1 belongs to a second time window based on the time window serial number C1, wherein the second time window is a time window before the first time window;
after determining that the task message B1 belongs to the second time window, the data relay device determines whether a plurality of task messages received in the second time window have been transmitted to the server;
if it is judged that the plurality of task messages received in the second time window are not transmitted to the server, the data relay apparatus adds the task message B1 to the plurality of task messages received in the second time window and reorders the plurality of task messages received in the second time window based on the ordering information D1;
the data relay device transmits the reordered plurality of task messages received in the second time window to the server.
In a preferred embodiment, the method further comprises:
if the plurality of task messages received in the second time window are judged to be sent to the server, the data relay device sends reminding information to the server, wherein the reminding information indicates the lack of the task messages in the plurality of task messages received in the second time window to the server.
In a preferred embodiment, the data relay device receives the task message B2 sent by the command issuing device A1 in a first time window, wherein the task message B2 includes a time window sequence number C2 and ordering information D2;
wherein the method further comprises:
the data relay device determines that the task message B2 belongs to a third time window based on the time window sequence number C2, wherein the third time window is a time window after the first time window;
after determining that the task message B2 belongs to the third time window, the data relay device transmits a notification message E1 to the command issuing device A1, wherein the notification message E1 indicates to the command issuing device A1 to subsequently retransmit the task message B2.
In a preferred embodiment, the data relay device receives the task message B3 and the task message B4 sent by the command issuing device A1 in a first time window, wherein the task message B3 includes a time window sequence number C3 and ordering information D3, and wherein the task message B4 includes the time window sequence number C3 and ordering information D4;
wherein the method further comprises:
the data relay device determines that the task message B3 and the task message B4 belong to a first time window based on the time window sequence numbers C3 in the task message B3 and the task message B4;
the data relay device sorts the task message B3 and the task message B4 based on the sorting information D3 and the sorting information D4;
the data relay device judges whether the task message belonging to the first time window has message loss or not specifically comprises the following steps:
after ordering the task messages B3 and B4, the data relay device determines whether one or more task messages are absent between the task messages B3 and B4.
In a preferred embodiment, the method further comprises:
after determining that one or more task messages are absent between the task message B3 and the task message B4, the data relay device transmits a notification message E2 to the command issuing device A1, wherein the notification message E2 instructs the command issuing device A1 to retransmit the absent one or more task messages.
In a preferred embodiment, the data relay device receives the task message B5 sent by the command issuing device A1 and the task message B6 sent by the command issuing device A2 in a first time window, wherein the task message B5 comprises a time window sequence number C3 and ordering information D5, wherein the task message B6 comprises a time window sequence number C3 and ordering information D6;
wherein the method further comprises:
the data relay device determines that the task message B5 and the task message B6 belong to a first time window based on the time window sequence numbers C3 in the task message B5 and the task message B6;
the data relay device sorts the task message B5 and the task message B6 based on the sorting information D5 and the sorting information D6;
the data relay device judges whether the task message belonging to the first time window has message loss or not specifically comprises the following steps:
after ordering the task messages B5 and B6, the data relay device determines whether one or more task messages are absent between the task messages B5 and B6.
In a preferred embodiment, the method further comprises:
after determining that one or more task messages are absent between the task message B5 and the task message B6, the data relay device transmits a notification message E3 to the command issuing device A1, wherein the notification message E3 instructs the command issuing device A1 to retransmit the absent one or more task messages;
after determining that one or more task messages are absent between the task message B5 and the task message B6, the data relay device transmits a notification message E4 to the command issuing device A2, wherein the notification message E4 instructs the command issuing device A2 to retransmit the absent one or more task messages.
The invention provides an intelligent factory-oriented task collaborative planning system, which is characterized by being configured to execute the method.
Compared with the prior art, the method has the following advantages that the method in the prior art has the defects: first, the problem of command loss and command sequence disorder in the application layer greatly increases the time for finding the problem, for example, the server needs to determine whether the data is received correctly based on the related protocols of the physical layer and the MAC layer, if not, the data relay device is required to resend the data by using the conventional HARQ method, and only when the data is received correctly, the server performs logic analysis on the data in the application layer, thereby finding the problem of command loss and command sequence disorder. Second, if the command is found to be lost, the server needs to send an instruction to the data relay device, which requests the command issuing device to resend the lost command, and then the data relay device forwards the instruction to the command issuing device. The present invention proposes a method aimed at solving at least the two problems mentioned above.
Drawings
FIG. 1 is a schematic diagram of a system architecture according to one example of the invention.
Fig. 2 is a schematic diagram of a system architecture according to another example of the invention.
Fig. 3 is a flow chart of a method according to one example of the invention.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
The commands in the intelligent factory need to be executed in sequence, in general, the commands sent first are received by the server firstly due to the basic attribute of transmission, and the server can execute the commands according to the receiving sequence of the commands; in some special cases, the command sent first is received by the server, at this time, the command with disordered sequence can be adjusted by the professional software built in the server, and if part of the command is lost in the transmission process, the lost command is also judged by the professional software. In the case where the data relay apparatus exists, the conventional method has the following drawbacks: in some cases, the command issuing device receives the command sent first by the data relay device, and at this time, since the relevant specialized software is not installed inside the data relay device, the data relay device cannot adjust the order of the commands at the application layer, and further, due to lack of the relevant specialized software (based on the cost problem, it is impossible for the factory to install the specialized software inside the data relay device), the data relay device cannot determine whether there is any command that has not been received at the application layer. For example, in the case where there is a command loss and a command sequence disorder, the data relay apparatus can only transmit all received commands to the server, then the server judges that there is a problem of a command loss and a command sequence disorder at the application layer based on the specialized software, then the server needs to reorder the commands, and requests the command issuing apparatus to retransmit the lost commands. The operation significantly reduces the efficiency of the system, and the first, the problem of command loss and command sequence disorder in the application layer greatly increases the time for finding the problem, for example, the server needs to determine whether the data is received correctly based on the related protocols of the physical layer and the MAC layer first, if not, the data relay device is required to resend the data by using the traditional HARQ method, and only when the data is received correctly, the server performs logic analysis on the data in the application layer, thereby finding the problem of command loss and command sequence disorder. Second, if the command is found to be lost, the server needs to send an instruction to the data relay device, which requests the command issuing device to resend the lost command, and then the data relay device forwards the instruction to the command issuing device. The present invention proposes a method aimed at solving at least the two problems mentioned above.
Example 1
FIG. 1 is a schematic diagram of a system architecture according to an embodiment of the invention. Fig. 2 is a schematic diagram of a system architecture according to another example of the invention. As shown in fig. 1, the system of the present invention may include: the system comprises a plurality of command issuing devices, a data relay device and a server, wherein the command issuing devices send task messages to the data relay device, then the data relay device sends the task messages to the server, and finally the server sends the task messages to a final task execution device, and in one example, the final task execution device can be a numerical control plastic injection molding machine. Unlike the example shown in fig. 1, which shows a system architecture diagram having two-hop data relay devices, in the example of fig. 2, the command issuing device transmits a task message to a first data relay device, and then the first data relay device transmits the task message to a second data relay device, and then the second data relay device transmits the task message to a server.
Example 2
Fig. 3 is a flow chart of a method according to one example of the invention. As shown, the method of the present invention comprises the steps of:
step 31: the data relay device receives a plurality of task messages sent by one or more command issuing devices in a predefined first time window, each of the plurality of task messages including a time window sequence number, ordering information, and a payload; in one specific example, specific commands are included in the payload, which may be, for example, mold closing, injection molding, dwell, etc.; in a specific example, the time window may be predefined at the data relay device and the command issuing device, for example, the definition of the time window may be performed by the data relay device and the command issuing device in a well-known "handshake" manner, for example, the data relay device sends a configuration command of one time window to the command issuing device, then the command issuing device configures a timer inside the command issuing device based on the configuration command of the time window, and then the command issuing device sends a notification of completion of the time window configuration to the data relay device, thereby completing the predefining of the time window. In a specific example, the length of the time window may be, for example, 30ms, 40ms, 50ms, etc., taking the length of the time window of 50ms as an example, for example, at time t, the first time window of 50ms starts, then during time t- (t+50 ms), the data relay device continuously receives the task message from the command issuing device, but the data relay device does not send the task message to the server before the moment of (t+50 ms). In a specific example, the command issuing device may send commands to the data relay device according to time windows, for example, the command issuing device needs to issue two rounds of plastic injection molding commands, then the two rounds of plastic injection molding commands are "first mold closing, first injection molding, first pressure maintaining, first mold opening, and first workpiece removal", and "second mold closing, second injection molding, second pressure maintaining, second mold opening, and second workpiece removal", respectively, then the command issuing device may determine to send a command of the first mold closing at one time window and send a command of the second mold closing at the next time window.
Step 32: after the data relay device receives the plurality of task messages, the data relay device determines (without decoding the payload) whether the plurality of task messages belong to a first time window based on a time window sequence number in each of the plurality of task messages; in a specific example, when receiving a task message, the data relay device first verifies whether the data is received correctly by a well-known physical layer or MAC layer method (e.g., CRC-based method), and if it is judged in the physical layer or MAC layer that the data is not received correctly, the data relay device may send a NACK message to the command issuing device based on a well-known HARQ method to request the command issuing device to retransmit the task message; after judging that the data is correctly received through the physical layer or the MAC layer, the data relay device decodes the time window sequence number and the sequencing information in the task message, but the data relay device does not decode the payload of the task message, because the data relay device has no related data professional software, the information carried by the payload part has no meaning for the data relay device, and the step of decoding the payload of the task message is omitted to improve the efficiency;
step 33: the data relay device sorts the task messages belonging to the first time window based on the sorting information; in a specific example, the data relay apparatus performs step 33 only after judging that the data is correctly received via the physical layer or the MAC layer; in a specific example, step 33 may also be performed at the application layer of the data relay device (by a software program), where the method of the present invention is still more efficient than the prior art, mainly because: the software program for judging the order of receiving the command has simple logic and high running speed, and the software program for judging the order of receiving the command does not need to receive the parameter input of a user, so that the difficulty of logic judgment is greatly reduced. For example, still taking the control of the aforesaid numerical control injection molding machine as an example, if the order of the commands is determined to be correct by using the specialized numerical control software at the server, a very complex determination procedure is required, for example, the server receives the commands of mold closing, mold opening and injection molding in sequence, and the server can consider that at least two possibilities exist for such command order: first, after the die is closed, the die is opened due to the damage of the device, or the emergency stop, etc., in which case the problem of disordered order of receiving the command does not exist; the second, post-mold closing command should be injection molding and the current command receiving sequence is disordered. In order to further verify whether the order of receiving the commands is disordered, the server also needs to make additional judgment, thereby increasing the complexity of logic judgment;
step 34: after the data relay device orders the task messages belonging to the first time window, the data relay device judges whether the task messages belonging to the first time window have message loss or not;
step 35: if the data relay device judges that the task message belonging to the first time window does not have message loss, the data relay device sends the ordered task message to the server after the first time window. In a specific example, the data relay device may package the entire sequenced task message into one data packet and transmit the data packet to the server as a whole, and after receiving the data packet, the server is the sequenced task message, so after receiving the plurality of task messages, the server does not need to trigger logic of order receiving sequence of specialized software in the server in general, which may improve system operation efficiency, and in a preferred specific example, the data relay device may package the entire payload of the sequenced task message into one data packet and transmit the data packet to the server as a whole, that is, the data relay device does not need to transmit the time window sequence number and the sequencing information to the server.
Example 3
In a preferred embodiment, the data relay device receives the task message B1 sent by the command issuing device A1 in a first time window, wherein the task message B1 includes a time window sequence number C1 and ordering information D1; in a specific example, the correspondence between the time window sequence number and the time window may be as follows:
TABLE 1
| Time window | Time window sequence number |
| Second time window | 0 |
| First time window | 1 |
| Third time window | 2 |
| Fourth time window | 3 |
| Fifth time window | 4 |
| Sixth time window | 5 |
| Seventh time window | 6 |
In one particular example, the time window sequence numbers may be periodically cycled, e.g., the time window sequence number of a first time window after a seventh time window may be "0", the time window sequence number of a second time window after the seventh time window may be "1", and so on;
wherein the method further comprises:
the data relay device determines that the task message B1 belongs to a second time window based on the time window serial number C1, wherein the second time window is a time window before the first time window;
after determining that the task message B1 belongs to the second time window, the data relay device determines whether a plurality of task messages received in the second time window have been transmitted to the server; in a specific example, when the data relay device receives the task message in the first time window, the plurality of task messages received in the second time window may be stored in a transmitter buffer of the data relay device and not actually transmitted to the server, at this time, the data relay device may read out the task message that is not transmitted to the server from the buffer and perform the following operations;
if it is judged that the plurality of task messages received in the second time window are not transmitted to the server, the data relay apparatus adds the task message B1 to the plurality of task messages received in the second time window and reorders the plurality of task messages received in the second time window based on the ordering information D1;
the data relay device transmits the reordered plurality of task messages received in the second time window to the server.
In a preferred embodiment, the method further comprises:
if the plurality of task messages received in the second time window are judged to be sent to the server, the data relay device sends reminding information to the server, wherein the reminding information indicates the lack of the task messages in the plurality of task messages received in the second time window to the server. In a specific example, the server can determine that a plurality of task messages received in the second time window lack a plurality of task messages (of course, the determination logic is complex) based on the existing specialized software, so the data relay device only needs to send a reminding message to the server to assist the server to confirm the loss of the task messages.
Example 4
In a preferred embodiment, the data relay device receives the task message B2 sent by the command issuing device A1 in a first time window, wherein the task message B2 includes a time window sequence number C2 and ordering information D2; in one example, the command issuing device may send information of the third time window to the data relay device in advance to the first time window, for example, the time of the first time window is t- (t+50 ms), the time of the third time window is (t+52 ms) - (t+57 ms), and the current real time is t+49ms, for example, because the time of the data relay device and the command issuing device are not completely aligned, but if the internal clock of the command issuing device is shifted, the command issuing device considers that the time is t+53ms, and the command issuing device may send a task message of the third time window in advance.
Wherein the method further comprises:
the data relay device determines that the task message B2 belongs to a third time window based on the time window sequence number C2, wherein the third time window is a time window after the first time window;
after determining that the task message B2 belongs to the third time window, the data relay device transmits a notification message E1 to the command issuing device A1, wherein the notification message E1 indicates to the command issuing device A1 to subsequently retransmit the task message B2.
Example 5
In a preferred embodiment, the data relay device receives the task message B3 and the task message B4 sent by the command issuing device A1 in a first time window, wherein the task message B3 includes a time window sequence number C3 and ordering information D3, and wherein the task message B4 includes the time window sequence number C3 and ordering information D4; in a specific example, the time window sequence numbers of the task message B3 and the task message B4 are both 1, the ordering information D3 is "0", and the ordering information D4 is "1";
wherein the method further comprises:
the data relay device determines that the task message B3 and the task message B4 belong to a first time window based on the time window sequence numbers C3 in the task message B3 and the task message B4; in one specific example, person messages that do not belong to the same time window cannot be ordered, e.g., when the time window sequence numbers of task message B3 and task message B4 have different values, task message B3 and task message B4 cannot be ordered;
the data relay device sorts the task message B3 and the task message B4 based on the sorting information D3 and the sorting information D4; in one specific example, since the ordering information D3 is "0" and the ordering information D4 is "1", the task message B3 is placed before the task message B4;
the data relay device judges whether the task message belonging to the first time window has message loss or not specifically comprises the following steps:
after ordering the task messages B3 and B4, the data relay device determines whether one or more task messages are absent between the task messages B3 and B4. In a specific example, if the ordering information D3 is "0" and the ordering information D4 is "2", it may be determined that a task message with ordering information "1" is absent between the task message B3 and the task message B4.
In a preferred embodiment, the method further comprises:
after determining that one or more task messages are absent between the task message B3 and the task message B4, the data relay device transmits a notification message E2 to the command issuing device A1, wherein the notification message E2 instructs the command issuing device A1 to retransmit the absent one or more task messages.
Example 6
In a preferred embodiment, the data relay device receives the task message B5 sent by the command issuing device A1 and the task message B6 sent by the command issuing device A2 in a first time window, wherein the task message B5 comprises a time window sequence number C3 and ordering information D5, wherein the task message B6 comprises a time window sequence number C3 and ordering information D6; wherein the method further comprises: the data relay device determines that the task message B5 and the task message B6 belong to a first time window based on the time window sequence numbers C3 in the task message B5 and the task message B6; the data relay device sorts the task message B5 and the task message B6 based on the sorting information D5 and the sorting information D6; the data relay device judges whether the task message belonging to the first time window has message loss or not specifically comprises the following steps: after ordering the task messages B5 and B6, the data relay device determines whether one or more task messages are absent between the task messages B5 and B6.
In a preferred embodiment, the method further comprises: after determining that one or more task messages are absent between the task message B5 and the task message B6, the data relay device transmits a notification message E3 to the command issuing device A1, wherein the notification message E3 instructs the command issuing device A1 to retransmit the absent one or more task messages; after determining that one or more task messages are absent between the task message B5 and the task message B6, the data relay device transmits a notification message E4 to the command issuing device A2, wherein the notification message E4 instructs the command issuing device A2 to retransmit the absent one or more task messages. In one specific example, since the data relay apparatus does not know the transmission body of the missing task message, the data relay apparatus needs to transmit a notification message to both command issuing apparatuses. In the method, the data relay device can predict whether the sequence of the task messages is disordered or the task messages are lost in advance, and compared with the prior art, the method can prevent the data relay device from sending the lost command to the server, thereby preventing the server from requesting the retransmission of the lost command to the command issuing device through the data relay device, and improving the operation efficiency of the system.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (8)
1. An intelligent factory-oriented task collaborative planning method is characterized by comprising the following steps:
the data relay device receives a plurality of task messages sent by one or more command issuing devices in a predefined first time window, each of the plurality of task messages including a time window sequence number, ordering information, and a payload in which the command is contained;
after the data relay device receives the plurality of task messages, the data relay device determines whether the plurality of task messages belong to the first time window based on a time window serial number in each of the plurality of task messages;
the data relay device sorts the task messages belonging to the first time window based on the sorting information;
after the data relay device orders the task messages belonging to the first time window, the data relay device judges whether the task messages belonging to the first time window have message loss or not;
if the data relay device judges that the task message belonging to the first time window is not lost, the data relay device sends the ordered task message to the server after the first time window;
wherein the data relay device receives a task message B1 sent by the command issuing device A1 in the first time window, wherein the task message B1 comprises a time window sequence number C1 and ordering information D1;
the method further comprises the steps of:
the data relay device determines that the task message B1 belongs to a second time window based on the time window sequence number C1, wherein the second time window is a time window before the first time window;
after determining that the task message B1 belongs to a second time window, the data relay device determines whether a plurality of task messages received in the second time window have been transmitted to the server;
if it is determined that the plurality of task messages received in the second time window are not transmitted to the server, the data relay device adds the task message B1 to the plurality of task messages received in the second time window and reorders the plurality of task messages received in the second time window based on the ordering information D1;
the data relay device transmits the reordered plurality of task messages received in the second time window to the server.
2. The method of claim 1, wherein the method further comprises:
and if the plurality of task messages received in the second time window are judged to be sent to the server, the data relay device sends reminding information to the server, wherein the reminding information indicates that the task messages lack in the plurality of task messages received in the second time window to the server.
3. The method of claim 1, wherein the data relay device receives a task message B2 transmitted by the command issuing device A1 in the first time window, wherein the task message B2 includes a time window sequence number C2 and ordering information D2;
wherein the method further comprises:
the data relay device determines that the task message B2 belongs to a third time window based on the time window sequence number C2, wherein the third time window is a time window after the first time window;
after determining that the task message B2 belongs to the third time window, the data relay device transmits a notification message E1 to the command issuing device A1, wherein the notification message E1 indicates to the command issuing device A1 to subsequently resend the task message B2.
4. The method of claim 1, wherein the data relay device receives the task message B3 and the task message B4 transmitted by the command issuing device A1 in the first time window, wherein the task message B3 includes a time window sequence number C3 and ordering information D3, wherein the task message B4 includes the time window sequence number C3 and ordering information D4;
wherein the method further comprises:
the data relay device determines that the task message B3 and the task message B4 belong to the first time window based on the time window sequence numbers C3 in the task message B3 and the task message B4;
the data relay device ranks the task message B3 and the task message B4 based on the ranking information D3 and the ranking information D4;
the data relay device judges whether the task message belonging to the first time window has message loss or not specifically comprises the following steps:
after ordering the task messages B3 and B4, the data relay device determines whether one or more task messages are absent between the task messages B3 and B4.
5. The method of claim 4, wherein the method further comprises:
after determining that one or more task messages are absent between the task message B3 and the task message B4, the data relay device transmits a notification message E2 to the command issuing device A1, wherein the notification message E2 instructs the command issuing device A1 to retransmit the absent one or more task messages.
6. The method of claim 1, wherein the data relay device receives a task message B5 sent by the command issuing device A1 and a task message B6 sent by the command issuing device A2 in the first time window, wherein the task message B5 includes a time window sequence number C3 and ordering information D5, wherein the task message B6 includes a time window sequence number C3 and ordering information D6;
wherein the method further comprises:
the data relay device determines that the task message B5 and the task message B6 belong to the first time window based on the time window sequence numbers C3 in the task message B5 and the task message B6;
the data relay device ranks the task message B5 and the task message B6 based on the ranking information D5 and the ranking information D6;
the data relay device judges whether the task message belonging to the first time window has message loss or not specifically comprises the following steps:
after ordering the task messages B5 and B6, the data relay device determines whether one or more task messages are absent between the task messages B5 and B6.
7. The method of claim 6, wherein the method further comprises:
after determining that one or more task messages are absent between the task message B5 and the task message B6, the data relay device sends a notification message E3 to the command issuing device A1, wherein the notification message E3 instructs the command issuing device A1 to resend the absent one or more task messages;
after determining that one or more task messages are absent between the task message B5 and the task message B6, the data relay device transmits a notification message E4 to the command issuing device A2, wherein the notification message E4 instructs the command issuing device A2 to retransmit the absent one or more task messages.
8. An intelligent factory oriented mission co-planning system comprising data relay means, command issuing means and a server, the system being configured to perform the method of one of claims 1-7.
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