JPH1139018A - Control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to flexibly deal with the change of device group by making an inquiry to a low-order module at need when a work instruction is inputted to a high-order module and developing it into the executable instruction of the low-order module and allocating it. SOLUTION: A work negotiation part 8 receives a work execution request (work instruction) from the other high-order Holon module, judges whether or not the work instruction can be executed by referring to a function model 9 and outputs a response to the request. When the work instruction can be executed, the work instruction is transmitted to an allocation execution part 11 in the case of a development/allocation Holon module. An allocation execution part 11 makes the inquiry to all the low-order Holon modules whether the work instruction can be executed or not. When it can be executed, the work instruction is allocated to the Holon module which is previously selected/ registered. The optimum module is selected based on an optimization rule 14 by an allocation optimization execution part 13.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a production system composed of a number of devices, a production line in which these devices are assembled, and a control system for controlling a production shop in which these production lines are assembled. is there.

More specifically, the present invention relates to a control system capable of executing a work instruction by performing distributed processing by a plurality of modules, and selecting a module required to execute the work instruction and assigning the work instruction to the work execution module. It relates to a control system that can be used.

[0003]

2. Description of the Related Art Control of a cell such as a production apparatus having a large number of components, a production shop such as a production line including such a group of production apparatuses, and the like is performed by the configuration of these components, the production apparatus group, and the production line. Based on this, a control program including the assignment of control to each device is created and performed in advance.

Therefore, when there is a change in the configuration of each component, a group of production equipment, a production shop, and the like, the entire control program must be changed to correspond to the change.

[0005] For example, when there is a change in the production equipment, it is necessary to change or recreate the control program after re-determining the scheduling of all the equipment including the existing equipment group.

The conventional control system does not have means for flexibly coping with such a change in the device configuration. For this reason, not only in the case of introduction of a new apparatus, but also in the case of a temporary change due to a failure of the apparatus or the like, it has not been possible to quickly respond to the change.

On the other hand, next-generation production systems include:
There is a strong demand for quick start-up of production, flexibility in production volume and type, and reuse of production equipment and systems. In response to such a request, it is conceivable that, for example, replacement of a device or the like or change in the configuration of a device or a device group frequently occurs.

[0008]

As described above, the conventional control system does not have a means for flexibly responding to a change in the apparatus configuration, and therefore has a very low adaptability to a next-generation production system. was there. Therefore, an object of the present invention is to provide a control system that can flexibly respond to a change in a device group or the like.

[0009]

In order to achieve the above object, the present invention provides a control system for executing a work instruction, comprising: a higher-level module for inquiring whether a work instruction is executable; A lower module that determines whether the work instruction is executable in response to the inquiry. The upper module can execute the work instruction in the lower module when the work instruction is not executable in the lower module. And a work instruction assigning unit that assigns executable work instructions to lower modules.

Although the present invention has a hierarchical upper module and a lower module, the present invention is not limited to two layers, and an upper module for treating the upper module as a lower module of the present invention may be further provided. A lower module that handles the lower module as the upper module of the present invention may be further provided.

That is, according to this control system, both the upper module and the lower module can be realized as replaceable or addable / deletable unit modules having substantially the same configuration. In the embodiment described later, such a unit module is expressed as a distributed cooperable holon module (Holon).

According to such a configuration, when a work instruction is input to an upper module, it is possible to make an inquiry to a lower module as needed and expand and assign it to instructions of an executable lower module. These upper modules and lower modules are not fixed relations, but upper and lower relations are created according to the situation, and a hierarchically structured system is formed by inquiry and response. This makes it possible to configure a work instruction group that can be executed by the lower module on the spot, no matter how the lower module is configured. Therefore, it is possible to flexibly cope with a change in the device configuration or the like.

It is to be noted that such a module can be configured as hardware or software, and can be installed in a single device or installed separately in a plurality of devices connected to a network. Is also possible.

According to a second aspect, in a control device for controlling a system including a plurality of components, the plurality of components determine whether or not the designated instruction can be executed with respect to other components. First means for inquiring and receiving a response, assigning execution of an instruction to a component responding to the inquiry of the first means as being executable, and responding that another component is not executable If the instruction is expanded, the expanded component is queried again as to whether it is executable, and until the instruction is assigned to be executable by any component, the expansion of the instruction and its assignment are performed. And a second means for repeating the above.

According to such a configuration, even if each component is configured, it is possible to configure a work instruction that can be executed by the component. The same effect as the side can be expected.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION

(Basic Configuration of System) The control system of the present invention is a control system for controlling a peripheral device such as a robot based on a given work command in a production shop having a plurality of devices such as a robot and a peripheral device. A control program is automatically generated on the fly.

That is, as shown in FIG. 1, one or a plurality of computers 1 connected to each other via a network.
Above, a production shop management module 2 for managing a production shop such as a production line, a cell management module 3 for managing a cell such as a component assembling apparatus provided in the production shop, and a component supply device provided for this cell Management modules 4 for managing a table, a moving table and the like (device controller 5) are provided in a hierarchical manner, and these modules 2, 3,.
4 is constituted by a program module having a decentralized / cooperative function called Holon (hereinafter referred to as “Holon module”).

For example, with respect to a work command given through the man-machine interface 6, the communication between the holon modules 2, 3, and 4 is performed while the production shop,
A specific work program for controlling the cell and each device is generated.

Each of the holon modules 2, 3, and 4 has basically the same configuration, and an example is shown in FIGS. (Holon Module) FIG. 2 shows a "deployment / assignment holon module" which does not execute a work instruction by itself but exclusively develops a work instruction and allocates a work instruction to another holon module. This deployment and allocation holon module corresponds to the production shop management module 2 and the cell management module 3.

FIG. 3 shows a "work execution holon module" for executing a work instruction by itself. This work execution holon module corresponds to the device management module 4. A holon module capable of performing both deployment assignment and work execution can be constituted by a combination of the holon modules shown in FIGS. 2 and 3, but the description thereof will be omitted.

Hereinafter, the function of the holon module will be described with reference to the block diagrams of FIGS. 2 and 3 and the operation flowchart of the deployment and allocation holon module shown in FIG. Note that the operation of the work execution holon module can be described with the same flowchart, and thus the illustration thereof is omitted. (Work Negotiation Unit) Both the deployment assignment holon module and the work execution holon module have a work negotiating unit 8. The work negotiating unit 8 receives a work execution request (work order) from another higher-order holon module, and determines whether the work order included in the request is executable with reference to the function model 9 (load model). And has a function of outputting a response to the request. The load model 9 stores a schedule of modules that can execute the work instruction including a lower-order holon module.

The determination as to whether a work instruction is executable is made by determining a command word (command) and its attribute included in the work instruction,
This is performed by matching the executable command group stored in the function model 9 and its attribute (step S1 in FIG. 4).

For example, if the work instruction is “Assemble (part A,
If part B) [weight = 20] ”(assemble part A = 20 g to part B), the function model includes a command“ Assemble ”and sets a part having a weight in the range of 10 to 30 g. If the attribute indicating that it can be found is included, it is determined that the work instruction is executable.

In performing the attribute matching, if it is necessary to execute special arithmetic processing, the processing is performed using a calculation module (10 in FIG. 2). The calculation module 10 is a coordinate conversion program for performing, for example, orthogonal coordinate conversion or polar coordinate conversion.

At this time, it may be determined whether or not the work instruction can be executed by referring to the schedule stored in the load model 9. If the work instruction is executable, the work instruction is sent to the assignment execution unit 11 in the case of the deployment assignment holon module (step S2 in FIG. 4). In the case of the work execution holon module (FIG. 3), the work is directly sent to the device controller 5 via the work execution unit 12 at the time of actual work execution.

On the other hand, when the work command is not executable, no response is made to the higher-order holon module.
Processing ends (END in FIG. 4). (Assignment Executing Unit) In the case of the deployment assignment holon module (FIG. 2), the assignment executor 11 which has received the work instruction first sends the work instruction (As
It is inquired whether semble (part A, part B) [weight = 20]) can be executed (step S3 in FIG. 4). Here, the “lower-order holon module” refers to the cell management module 3 when the holon module is the production shop management module 2, and the respective device management modules when the holon module is the cell management module 3. 4 (work execution holon module of FIG. 3).

If the lower order Holon module can execute the work instruction, it returns a message indicating that the work instruction can be executed, the start and end times of the work, and the cost. When the work instruction is expanded (divided) by the lower holon module, the expanded work instruction group is returned. If it is determined that execution is not possible, no response is made.

When the allocation executing section 11 receives a response indicating that the executable is executable from a plurality of lower holon modules (step S4 in FIG. 4), at step S5, the allocating section 11 has already selected / selected one of the plurality of holon modules. Check whether the registered lower Holon module is included. If there is, the work command is assigned to the already selected / registered holon module (step S8).

In the case of this example, since there should be no selected and registered holon module yet, one optimal module is selected from the plurality of holon modules (step S6). This selection is performed by the allocation optimization executing unit 13 shown in FIG. The optimization rule 14 includes, for example, an optimization rule related to scheduling in addition to the priority order, and selects a holon module that can execute work with an optimal schedule. As other priorities, for example, a holon module that can be executed independently without expanding a work instruction is prioritized, and when the work instruction has to be expanded and divided and executed, the priority is lower. To do.

The schedule of the lower-order holon module may be stored in advance as a load model in the optimization rule 14 or the operation model 9, and the optimum holon module may be selected based on these.

Next, in step S7 of FIG. 4, the selected holon module is registered as a new configuration in a storage means such as a RAM. Then, the work instruction is assigned to the selected holon module (step S).
9).

On the other hand, if a response indicating that a single holon module can be executed is received in steps S4 and S12, it is determined whether the holon module has already been selected and registered (step S13). In the case of this example, the holon module should not be selected and registered yet, so that the holon module is registered in step S7. On the other hand, if it has already been registered, a work instruction is assigned to the holon module in step S8.

Next, in step S9, it is determined whether all work instructions have been assigned. In the case of this example, since the work instruction “Assemble (part A, part B) [weight = 20]” is all work instructions to be assigned, step S10
Then, the start time, end time (schedule), and cost of the work are calculated. This calculation is performed by the work negotiating unit 8, and the result is returned to the higher-order holon module. In the above example, the work instruction given from the upper holon module can be executed as it is by the lower holon module without particular expansion and division. Unless the work instruction is expanded and divided, it may not be possible to execute it in the lower holon module.

For example, if the work instruction is “Assemble (part A,
part B) [weight = 20] ”(assemble part A = 20 g to part B), the lower holon module control target device is a component transfer device or robot that transfers a single component, If the command “Assemble” cannot be dealt with, this work instruction is sent to “Supply Par
t B ”,” Supply Part B at working place ”,”
It is necessary to expand and divide it into a plurality of work instructions such as "Supply part A" and "Put Part A on Part C" and execute them.

In this case, the work instruction expanding unit 16 in FIG.
The work command is developed into the above-mentioned commands according to the development rule 17 (step S14). If the work command can be developed (step S15), it is inquired for each command whether a lower-order holon module can be executed (step S3). When the assignment of the work instruction to the holon module executing the instruction (step S8) is completed, the process returns from step S9 to step S3, and the same assignment processing is performed for the other work instructions.

In this way, if all the work instruction strings expanded and divided are assigned to the lower Holon modules, the work negotiating unit sets the start time, the end time,
The cost is calculated (step S10), and a reply is sent to the higher-order holon module together with information indicating that the cost is executable (step S11).

When the holon module to which the work command is assigned is a work execution holon module (FIG. 3) such as the device management holon module 4,
Device controller 5 based on the assigned work order
To control each device (not shown)
At a predetermined timing. (Effect) According to the control system in which the holon modules are configured in a hierarchical structure, the following effects can be obtained. (1) First, each time a work instruction is input, a combination of devices required to perform the work can be selectively configured, and a work instruction can be assigned to those devices. (2) Therefore, even when the device configuration is changed, such as when a new device is added or a part of the device breaks down, it is only necessary to add or delete the holon module in response to the change. , The device configuration can be automatically reconfigured. (3) In addition, since scheduling is performed for each device on the spot, a new device can be added,
Optimal rescheduling can be performed on the spot even when the device configuration is changed, such as when some devices fail.

Hereinafter, a specific description will be given by taking a component assembling apparatus to which the control system is applied as an example. (First Embodiment) FIG. 5 is a configuration diagram of an assembling apparatus to which the control system of the present invention is applied. The same components as in FIG. 1 (2, 3, 4, 5, etc.) are given the same reference numerals with suffixes (a, b, c...) To make their roles easier to understand.

First, a cell management module 3 (deployment assignment holon module) for managing the component assembling apparatus is provided below a production shop management module (not shown). The cell management module 3 includes device management modules (work execution holon modules) 4a to 4 that manage and control components (see FIG. 6) such as a robot 51, moving tables 52 and 53, and a component tray 54 included in the component assembling device.
d. Each device management module is configured as a robot interface (IF) 4a, a moving table interface 4b, 4c, and a component tray interface 4d, respectively. A robot controller 5a as a device controller, a moving table controller 5b,
5c, is connected to the component tray 54.

Then, each of the holon modules 3, 4a-4
d is an engineering workstation (hereinafter EW)
S) 56 is installed as a software module.

As shown in FIG. 7, the robot controller 5a and the moving table controllers 5b and 5c are connected to the engineering workstation 56 via a network.

The robot controller 5a includes the robot 5
1 to control the operation of the
It has a function of performing operations such as gripping, lifting, moving, placing, and the like. This robot controller 5a
Executes common operation-level instructions one at a time,
It has a function of performing online control for returning the result to the EWS 56.

Each moving table controller 5b, 5c
Is to control the operation of the two moving tables 52 and 53 by executing a command of a general operation level. Actually, each of these moving tables 52 and 53 is an XY table device that operates in the XY directions by one stepping motor, and is a single controller in terms of hardware, and two independent software in terms of software. It is controlled by.

The robot 51 and each moving table 5
2, 53, its robot controller 5a, and each of the moving table controllers 5b, 5c may have a known configuration.

The component supply tray 54 for supplying each component 57 does not have a controller because it does not operate by itself. The component tray IF 5d (device management holon module) allocates work (setup work, etc.) to another device or operator.

As shown in FIG. 5, the cell management holon module 3 and the device management holon modules 4a to
The 4d connection line includes the coordinate conversion etc. calculation module 10
Is connected. This module 10 is based on the data such as the shape, dimensions and attributes of each component stored in the component definition data file 60 such as the approach position, the gripping position of the robot hand, and the position of each component, in addition to the polar coordinate value conversion calculation. To calculate the moving positions of the robot 51 and the moving tables 52 and 53. (Operation of Apparatus) Next, the operation of the apparatus configured as described above will be described with reference to the control flowchart shown in FIG. This control flowchart corresponds to a part of the flowchart shown in FIG. (Inquiry as to whether work can be performed) When a work command, for example, "assembly of parts A and C" is input to the cell management holon module 3 (FIG. 5), the cell management holon module 3 In step # 1 of FIG. 8, whether or not this work instruction is executable is determined by each lower device management holon module, that is, the robot IF 4a,
F4b, 4c, tray IF 4d and coordinate value calculation module 10 are inquired. (If not executable) The robot IF 4a, each of the moving tables IF 4b and 4c, and the tray IF 4d cannot execute the work instruction instruction "Assemble the parts A and C" as it is. The cell management holon module 3 cannot obtain any response from each of the IFs 4a to 4d. (Expansion of work instruction) When the execution of the work instruction is impossible in all the IFs 4a to 4d, the cell management module 3 proceeds to steps # 4 and # 5 and is described in the instruction expansion rule file 17. Applying the expansion rule described above, the work instruction instruction is expanded into an operation instruction sequence executable by each IF.

For example, the cell management module 3 converts the work instruction instruction “assembly of parts A and C” into an operation instruction sequence as shown in FIG. Perform “Supply Part C”, then “Transfer Part C to Work Area”, and then “Part A
Is transferred to the part C ".

Then, the cell management module 3 executes the operation instruction sequence "supply component A", "supply component C", "transfer component C to work place", and "transport component A on component C". The calculation module 10 is inquired of the positions of the parts A and C, the position at which the part C is transferred to the work place, the position at which the part A is transferred on the part C, and the like.

The calculation module 10 is based on data such as the shape, dimensions and attributes of each component stored in the component definition data file 60, such as the approaching position and gripping position of the robot hand and the position of each component. And the moving positions of the moving tables 52 and 53 are calculated and obtained.

When the inquiry to the calculation module 10 is made, the positions of the parts A and C, the positions where the parts C are transferred to the work place, and the parts A are transferred onto the parts C by accessing from the respective IFs 4a to 4d. The position to be performed may be obtained. (Re-query) Next, in step # 1, the cell management module 3 expands the operation instruction sequence "supply the part A", "supply the part C", and "transfer the part C to the work place".
An inquiry is again made to each of the IFs 4a to 4d in accordance with the execution order to determine whether "transfer of the component A onto the component C" is executable.

Therefore, first, the tray IF 4d receives, for example, a command of “supply of the part A” from the cell management module 3 and data of a place where the part A is gripped by the hand of the robot 51 obtained by the coordinate etc. calculation module 10. Is returned to the cell management module 3 indicating that this command can be executed, and the position at which the robot 51 holds the component A is returned.

Similarly, when the tray IF 4d receives, for example, a command of “supply of the part C” from the cell management module 3 and data of a place where the robot 51 holds the part C obtained by the coordinate etc. calculation module 10, A response that this command is executable is returned to the cell management module 3 and a position at which the robot 51 holds the component C is returned.

Next, each of the moving tables IF4b, 4c is
Upon receiving, for example, a command of “supply of component C” from the cell management module 3 and data of a place where the robot 51 holds the component C obtained by the coordinate and other calculation module 10, the cell determines that the command can be executed. After replying to the management module 3 and requesting the operator to transfer the component C to the transport table, the command is transferred to a position where the hand of the robot 51 transports the component C to a position where the component C is gripped. That is, the moving tables IF4b and 4c are
In accordance with the specifications of the controllers 5b and 5c, the commands are developed and transferred to the instructions for the high-speed pulse generators of the moving tables 52 and 53.

Thus, the moving tables 52 and 53 move to transfer the part C to a place where the robot 51 holds the hand. (Assignment of Work to Robot Controller) Next, the robot IF 4a executes a task-level instruction and a coordinate etc.
When the position of the part C obtained by the above is received, a reply that this command is executable is returned to the cell management module 3,
In addition, the task-level command is developed into an operation-level command that can be executed by the robot 51 or its hand, for example, a command such as “move to the position of the part A, open the hand,” and assigned to the robot controller 5a one by one. Manage termination.

As a result, the robot 51 grasps the component A with, for example, a robot hand, moves the component A upward, then places the component A above the component C, and then lowers the component A. It operates so as to be transferred onto the part C.

It should be noted that the cell management module 3 sets the "part A
, "Supply part C", "Transfer part C to work place", "Transfer part A on part C". If any of the IFs 4a to 4d is unexecutable, the instruction expansion and allocation are repeated until a response indicating that the IF is executable is received.

As described above, the work in response to the work instruction command "Assemble the parts A and C" is performed by the robot 51, the moving tables 52 and 53, the parts supply tray 54 and the like. (Replacement of Robot) Here, when replacing the newly introduced robot 62 with the robot 51, the robot IF 4a is also replaced with a robot IF corresponding to the newly introduced robot 62.

The robot IF has a function of developing a command sent from the cell management module 3 into a command that can be executed by the robot 62 or its hand, converting the command into each coordinate system, and assigning it. The function model (9 shown in FIG. 3) storing possible work instructions is different.

The command assigned to the robot IF is a task-level command such as “transfer part A to the work position” from the cell management module 3 in the same manner as described above. A command at an operation level at which the command can be executed by the robot 62 or its hand, for example, “moving to the position of the part A, opening the hand, etc.”
And assigns them to the robot controller one by one, and has the function of managing the end of operation.

Therefore, even if the robot 51 is replaced with a newly introduced robot 62, the replacement can be flexibly dealt with. Also, the robot IF 4a, the moving table IF 4b,
When a component, for example, a device module for an auxiliary robot (the work execution holon module shown in FIG. 3) is connected below the robot IF 4a, the robot IF 4a transmits commands assigned from the cell management module 3. Further development is performed, and the developed instructions are sequentially allocated to lower-order auxiliary robot modules.

As described above, even if the robot IF (device management holon module) and the like are connected below the cell management module 3 and the auxiliary robot IF (device management holon module) and the like are further formed below the cell management module 3 and hierarchized, Since the device configuration can be selected on the spot and work can be assigned, it is possible to flexibly cope with a change in the device configuration.

As described above, in one embodiment,
The robot IF determines whether a work instruction command can be executed from the cell management module 3 as a deployment assignment holon module.
Inquiry to the work execution holon module such as 4a and receive the response, assign execution of the instruction to the work execution holon module responding to the inquiry as executable, and the work execution holon module is not executable When the response is answered, the work instruction instruction is expanded into an operation instruction sequence, the work execution holon module is inquired again as to whether the operation instruction sequence is executable, and the operation instruction sequence is executed by one of the operation execution holon modules. Since the expansion of instructions and the allocation of instructions are repeated until they are assigned as possible, for example, devices such as the robot 51 are replaced,
Even if the configuration of this device or device group is changed, it is possible to easily cope with these changes.

As a result, it is possible to realize quick start-up of production, flexibility in production amount and type, reuse of production facilities and systems, and the like, which are required for a next-generation production system.

Further, since the allocated instructions are expanded and the expanded instructions are sequentially allocated to the lower-order holon modules, even if the apparatus group is hierarchized, the configuration can be easily dealt with.

Further, since the work can be instructed by a comprehensive work instruction command, there is no need to prepare an instruction or a program corresponding to the components in advance, and the flexibility of assignment can be expanded.
The present invention is not limited to the above-described embodiment, but may be modified as follows.

For example, in the above-described embodiment, the case where the present invention is applied to an assembling system for supplying components and stacking the components has been described. However, the present invention is not limited to this and can be applied to control of various devices.

Further, in the above-described embodiment, an inquiry may be made to the components when the power is turned on, a list of the components and their executable instructions may be created, and each inquiry may be omitted.

[0068]

As described above, according to the present invention, it is possible to provide a control system capable of flexibly responding to a change in a device group or the like.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a control system according to the present invention.

FIG. 2 is a schematic configuration diagram showing a deployment assignment holon module.

FIG. 3 is a schematic configuration diagram showing a work execution holon module.

FIG. 4 is a flowchart showing a process of assigning a work instruction from a higher-order module to a lower-order module.

FIG. 5 is a schematic configuration diagram showing one embodiment in which the system of the present invention is applied to a component assembling apparatus.

FIG. 6 is a perspective view showing a component assembling apparatus.

FIG. 7 is a configuration diagram showing one embodiment of the system.

FIG. 8 is a control flowchart in the same system.

FIG. 9 is a schematic diagram showing expansion and assignment of work instructions of the system.

[Explanation of symbols]

 2 ... Production shop management module (upper module) 3 ... Cell management module (upper / lower module) 4 ... Device management module (lower module) 8 ... Work negotiation section (negotiation section) 9 ... Function model / load model 11 ... Execution of allocation Unit 13: Assignment optimizing unit 16: Work instruction expanding unit

──────────────────────────────────────────────────の Continued on front page (51) Int.Cl. ⁶ Identification code FI // B23Q 41/00 G06F 15/21 R

Claims (8)

[Claims] 1. A control system for executing a work instruction, comprising: an upper module inquiring whether the work instruction is executable; and determining whether the work instruction is executable in response to an inquiry from the upper module. When the work instruction cannot be executed by the lower module, the work module developing unit expands the work instruction into a work instruction sequence executable by the lower module; A control system comprising: a work instruction allocating unit that allocates a work instruction to a lower module. 2. The control system according to claim 1, wherein when there are a plurality of lower modules capable of executing a work instruction, the upper module determines a lower module to which the work instruction is assigned according to an optimization rule. A control system comprising an allocation optimizing unit. 3. The control system according to claim 1, wherein the upper module has a function model for storing a work instruction sequence and an attribute that can be comprehensively executed by combining a plurality of lower modules. A control system comprising: a negotiation unit that determines whether it is appropriate to assign the work instruction to a lower module by referring to the negotiation unit. 4. The control system according to claim 1, wherein the lower module has a negotiating unit for responding to the schedule when the queried work order can be executed, and the upper module includes the scheduler for the schedule. A control system comprising an assignment optimizing unit for assigning a work instruction based on a command. 5. The control system according to claim 1, wherein the upper module has a load model that stores its own schedule and a schedule of a plurality of lower modules, and refers to the load model to execute the work instruction. A control system comprising an allocation optimizing unit that performs scheduling when a module is allocated to a lower module. 6. A control system for controlling a system composed of a plurality of components, wherein said plurality of components are queried as to whether or not a designated command can be executed, and said response is made to said other components. First means for receiving execution of the instruction, assigning the execution of the instruction to the component responding to the inquiry of the first means as being executable, and responding that the other component is not executable And inquire again of the other components whether the expanded instruction is executable, and expand the instruction until the instruction is assigned to be executable by any of the components. And a second means for repeating the assignment. 7. In the plurality of components constructed in a hierarchical structure, assigned instructions are expanded, the expanded instructions are allocated to lower-level components, and further allocated to the lower-level components. 7. The control system according to claim 6, further comprising a function of expanding the expanded instruction and assigning the expanded instruction to the lower-level components repeatedly toward lower-level components. 8. An operation instruction sequence including at least an instruction executable by the constituent element in place of an inquiry for allocating execution of the instruction, and an operation instruction sequence including the specified work instruction and the previously described instruction. The control system according to claim 6 or 7, wherein the control system has a function of developing the control system.