Control Method and Device for Automated Systems and Automated Processes

Abstract

Embodiments of the present invention provide a control method for an automation system and its automated process, a control device for the automation system and its automated process, an electronic device, and a storage medium. The control method for the automation system includes: determining, in response to a user operation, whether the automation process includes a capping / uncapping operation; if the capping / uncapping operation is included, determining whether the starting position and / or destination position of the task operation in the automation process supports the capping / uncapping operation; if the first judgment result is yes, determining the starting position and / or destination position as the execution position of the capping / uncapping operation; and issuing the task operation instruction in the automation process to a handling operation execution device, so that the handling operation execution device performs task deduction according to the task operation instruction. This saves the execution time of the capping / uncapping operation and effectively ensures the execution efficiency of the task operation.

Description

Technical Field

[0001] The present invention relates to the field of automatic control, and more specifically to a control method for an automation system, a control method for an automation process, a control device for an automation system, a control device for an automation process, an electronic device, and a storage medium. Background Art

[0002] Currently, many technological fields are continuously undergoing automation transformation to free up manpower and improve efficiency. Whether it's automated manufacturing, automated testing, or automated testing, automation systems are widely used. Users can use the interfaces provided by automation systems to build integrated automation processes and then control the operation of the automation system based on these processes.

[0003] However, as the scope of automation requirements continues to expand, a single automated process involves a large number of devices and steps. The sheer variety of existing equipment types and models can lead to completely different requirements for devices performing the same function, depending on brand or model. These varying device requirements can impose numerous constraints on the configuration of automated processes. Ignoring these constraints during the actual execution of automated processes can result in failures or significant errors in the results. For example, the plate depths and orientations of the orifice plates supported by different devices may be the same or different. For handling operations within automated processes, the instructions received by the handling device's controller primarily include parameters related to the starting position and the destination position. If capping and removal operations are also performed during the handling process, and if these two parameters differ, the capping and removal operations must also be performed at the adjustment position. Specifically, the handling device first grasps the orifice plate at the starting position and transports it to the adjustment position. The handling device then moves from the adjustment position to the cap storage position, grasps the cap, and then returns to the adjustment position to apply the cap to the orifice plate, completing the capping operation. Finally, the orifice plate is grasped and transported to the destination position. Obviously, during the execution of the automated operation, the capping and decapping operations of the automated system need to be performed at the adjusted position, which results in a complex and time-consuming automated process, and even includes many unnecessary operations.

[0004] Therefore, a new solution is needed urgently to solve the above technical problems. Summary of the Invention

[0005] The present invention is proposed in view of the above problems. According to a first aspect of the present invention, a control method for an automation system is provided. The control method for an automation system comprises: in response to a user's operation, determining whether the automation process includes a capping and uncapping operation; in the case where the capping and uncapping operation is included, judging whether the starting position and / or destination position of the task operation in the automation process supports the capping and uncapping operation; in the case where the first judgment result is yes, determining the starting position and / or destination position as the execution position of the capping and uncapping operation; sending the task operation instruction in the automation process to the handling operation execution device, so that the handling operation execution device performs task deduction according to the task operation instruction, wherein the task operation instruction includes a handling operation instruction and a capping and uncapping operation execution position parameter instruction.

[0006] According to a second aspect of the present invention, a control method for an automated process is also provided. The control method for an automated process comprises: obtaining a task operation instruction in the automated process; determining, based on the task operation instruction, whether the task operation corresponding to the task operation instruction includes a capping and uncapping operation; if the capping and uncapping operation is included, performing task deduction for the corresponding task operation in the following manner: determining, based on a capping and uncapping operation execution position parameter instruction included in the task operation instruction, whether the execution position of the capping and uncapping operation is the starting position and / or destination position of the transport operation; and continuing task deduction for the corresponding task operation based on the determination result to obtain a task deduction result, wherein the capping and uncapping operation is preferentially deduced to be executed at the starting position and / or destination position; and determining, based on the task deduction result, whether to execute the task operation.

[0007] Exemplarily, based on the capping and decapping operation execution position parameter instructions included in the task operation instructions, it is determined whether the execution position of the capping and decapping operations is the starting position and / or destination position of the transport operation, and the task deduction of the corresponding task operation is continued according to the determination result, including: determining whether the execution position of the decapping operation is the starting position, and if the execution position of the decapping operation is the starting position, determining to execute the decapping operation at the starting position; determining whether the execution position of the capping operation is the destination position, and if the execution position of the capping operation is the destination position, determining to execute the capping operation at the destination position; determining whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position, and based on the second judgment result, continuing the task deduction using different task channels.

[0008] Exemplarily, it is determined whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position, and based on the second judgment result, the task deduction is continued using different task channels, including: for the case where the second judgment result meets the first condition, the task deduction is performed using the first task channel, wherein the first task channel includes one or more of the following task operations in sequence: performing the capping operation, the code scanning operation, and placing the transport object targeted by the transport operation to the destination position at the starting position; wherein the first condition includes: the execution position of the capping operation is the starting position, the code scanning operation is not performed during the execution of the transport operation or the code scanning operation is performed after the capping operation is performed, and the decapping operation is not performed or the execution position of the decapping operation is not the destination position.

[0009] Exemplarily, it is determined whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position, and based on the second judgment result, the task deduction is continued using different task channels, including: for the case where the second judgment result meets the second condition, the task deduction is performed using the second task channel, wherein the second task channel includes one or more of the following task operations in sequence: grabbing the transport object targeted by the transport operation, scanning the code, and performing the decapping operation at the destination position; wherein the second condition includes: the execution position of the decapping operation is the destination position, the scanning operation is not performed during the execution of the transport operation or the scanning operation is performed before the decapping operation is performed, and the capping operation is not performed or the execution position of the capping operation is not the starting position.

[0010] Exemplarily, it is determined whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position, and based on the second judgment result, the task deduction is continued using different task channels, including: for the case where the second judgment result does not meet the first condition and the second condition, the task deduction is performed using the third task channel, wherein the third task channel includes one or more of the following task operations in sequence: grabbing the transport object from the starting position of the transport operation, decapping operation, code scanning operation, capping operation, and placing the transport object targeted by the transport operation to the destination position.

[0011] Exemplarily, the task operation instruction includes a transport task operation instruction, and the transport task operation includes a transport operation and a cover adding and removing operation. The task deduction of the corresponding task operation is performed in the following manner, and also includes: obtaining first parameters of the cover adding and removing operation, the operation of releasing the transport object targeted by the transport operation, and / or the operation of grabbing the transport object, wherein the parameters in the task operation instruction include a first parameter, and the first parameter includes information about the clamping direction and / or clamping height of the cover and / or the transport object at the first position; deducing a second parameter according to the task operation instruction and the parameters pre-existing in the transport operation execution device, wherein the second parameter is information about the clamping direction and / or clamping height of the cover and / or the transport object at a second position other than the first position.

[0012] Exemplarily, the task deduction result includes execution parameters of multiple atomic operations in the task operation, and the method also includes: executing the multiple atomic operations serially or in parallel during the execution of the automation process.

[0013] Exemplarily, the parameters in the task operation instructions include covering and removing operation parameters, and the covering and removing operation parameters include any one or more of the following parameters: the execution position of the covering and removing operation, the cover placement position after the removing operation, the cover removal position before the covering operation, the clamping direction for the operation object at the starting position and / or destination position of the task operation, and the clamping height for the operation object at the starting position and / or destination position of the task operation.

[0014] According to a third aspect of the present invention, a control device for an automation system is provided. The control device for an automation system comprises:

[0015] The first determining module is configured to determine, in response to a user operation, whether the automated process includes a capping or decapping operation.

[0016] The first judgment module is configured to judge whether a start position and / or a destination position of a task operation in an automation process supports the capping and decapping operation in a case where the capping and decapping operation is included.

[0017] The second determining module is configured to determine the starting position and / or the destination position as the execution position of the capping and uncapping operation if the first judgment result is yes.

[0018] The instruction sending module is used to send the task operation instructions in the automation process to the handling operation execution equipment, so that the handling operation execution equipment performs task deduction according to the task operation instructions, wherein the task operation instructions include handling operation instructions and covering and removing operation execution position parameter instructions.

[0019] According to a fourth aspect of the present invention, a control device for an automated process is further provided. The control device for an automated process comprises:

[0020] The instruction acquisition module is used to obtain task operation instructions in the automation process.

[0021] The second judgment module is used to judge whether the task operation corresponding to the task operation instruction includes a capping or uncapping operation according to the task operation instruction.

[0022] The task deduction module is used to perform task deduction of the corresponding task operation in the following manner for situations including adding and removing covering operations: according to the adding and removing covering operation execution position parameter instructions included in the task operation instructions, determine whether the execution position of the adding and removing covering operation is the starting position and / or destination position of the transport operation, and continue to perform task deduction of the corresponding task operation according to the determination result to obtain a task deduction result, wherein priority is given to deducing the execution of the adding and removing covering operation at the starting position and / or destination position.

[0023] The third determination module is used to determine whether to execute the task operation based on the task deduction result.

[0024] According to a fifth aspect of the present invention, an electronic device is also provided, comprising a processor and a memory, wherein the memory stores computer program instructions, which are used by the processor to execute the control method for an automation system and / or the control method for an automation process as described above when the processor is running.

[0025] According to a sixth aspect of the present invention, a storage medium is further provided, on which program instructions are stored. The program instructions are used to execute the control method for an automation system and / or the control method for an automation process as described above during runtime.

[0026] In the above technical solution, if a task operation includes a capping / uncapping operation and the starting and / or destination locations of the task operation support the capping / uncapping operation, the starting and / or destination locations are preferentially determined as the execution locations for the capping / uncapping operation, so that the handling operation execution device performs the task deduction according to the task operation instructions. This saves the execution time of the capping / uncapping operation and effectively ensures the execution efficiency of the task operation.

[0027] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other objects, features, and advantages of the present invention will become more apparent through a more detailed description of the embodiments of the present invention with reference to the accompanying drawings. The accompanying drawings are provided to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and are not intended to limit the present invention. In the drawings, the same reference numerals generally represent the same components or steps.

[0029] Figure 1 A schematic flow chart of a control method for an automation system according to an embodiment of the present invention is shown;

[0030] Figure 2 A schematic flow chart of a control method for an automated process according to an embodiment of the present invention is shown;

[0031] Figure 3 shows a schematic diagram of an orifice plate according to one embodiment of the present invention;

[0032] Figure 4 A schematic flowchart of continuing task deduction using different task channels according to a second judgment result according to one embodiment of the present invention is shown;

[0033] Figure 5 A schematic block diagram of a control device for an automation system according to an embodiment of the present invention is shown;

[0034] Figure 6 A schematic block diagram showing a control device for an automated process according to an embodiment of the present invention; and

[0035] Figure 7 A schematic block diagram of an electronic device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present invention.

[0037] In order to solve the above technical problem, according to a first aspect of the present invention, a control method for an automation system is provided. Figure 1 FIG. 1 shows a schematic flow chart of a control method 100 for an automation system according to an embodiment of the present invention. Figure 1As shown, the control method 100 of the automation system may include the following steps.

[0038] Step S110 , in response to a user operation, determining whether the automated process includes a capping or uncapping operation.

[0039] For example, based on the requirements for establishing an automated process, a user drags a corresponding capping / uncapping operation identifier to the automated process display area of a host computer to establish the automated process. In response to the user dragging the capping / uncapping operation identifier, it can be determined that the automated process includes the capping / uncapping operation. Conversely, if the capping / uncapping operation identifier is not dragged to the automated process display area of the host computer during the establishment of the automated process, it can be determined that the automated process does not include the capping / uncapping operation.

[0040] Step S120 : For a case where a capping or uncapping operation is included, it is determined whether the starting position and / or the destination position of the task operation in the automation process supports the capping or uncapping operation.

[0041] For example, in the case of a task operation including a capping or uncapping operation, the automation system can determine whether the starting position and destination position of the task operation in the task operation instruction including the capping or uncapping operation instruction support the capping or uncapping operation. Specifically, whether the starting position and / or destination position support the capping or uncapping operation can be determined based on the information of the device corresponding to the starting position and / or destination position of the task operation. For example, the device information can include the device's board position parameters, such as the board position height. For ease of description, the following description uses the capping operation as an example. First, it is determined whether the board position height of the device corresponding to the starting position meets the conditions for executing the capping operation. If the board position height of the device corresponding to the starting position meets the conditions for executing the capping operation, it can be determined that the starting position of the task operation in the automation process supports the capping operation. If the board position height of the device corresponding to the starting position does not meet the conditions for executing the capping operation, it can be determined that the starting position of the task operation in the automation process does not support the capping operation. Second, it is determined whether the board position height of the device corresponding to the destination position meets the conditions for executing the uncapping operation. If the board position height of the device corresponding to the destination position meets the conditions for executing the uncapping operation, it can be determined that the destination position of the task operation in the automation process supports the uncapping operation. If the board height of the device corresponding to the destination position does not meet the execution condition of the de-covering operation, it can be determined that the destination position of the task operation in the automation process does not support the de-covering operation.

[0042] It can be understood that the board height is regarded as a condition for judging whether the starting position or the destination position supports the decapping operation because, for example, the height of a board is not very high. At this time, the robot arm cannot move upward after grabbing the cover, and the decapping operation cannot be completed.

[0043] Step S130: If the first judgment result is yes, the starting position and / or the destination position is determined as the execution position of the capping and uncapping operation.

[0044] For example, based on the first determination result of step S120, if the starting position and / or destination position of the task operation in the automated process supports the capping and uncapping operation, the user can use the host computer's input device (e.g., a mouse, keyboard, etc.) within the user interface provided by the host computer to prioritize the starting position and / or destination position as the execution location for the capping and uncapping operation. The host computer also automatically prioritizes the starting position and / or destination position as the execution location for the capping and uncapping operation based on preset parameters in the automated system.

[0045] Step S140: Send the task operation instructions in the automation process to the handling operation execution device, so that the handling operation execution device performs task deduction according to the task operation instructions. The task operation instructions include the handling operation instructions and the capping and decapping operation execution position parameter instructions.

[0046] For example, the automation system can automatically send task operation instructions in the automation process, such as handling operation instructions and position parameter instructions for adding or removing caps, to the handling operation execution device. For example, the handling operation execution device may include a robotic arm, a cap suction device, a barcode scanner, etc. Optionally, the host visual interface may also include a "Confirm" control. After the user clicks the "Confirm" control using the host computer's input device, the host computer sends the task operation instructions in the automation process to the handling operation execution device, so that the handling operation execution device can perform task deduction according to the task operation instructions.

[0047] In the above technical solution, if a task operation includes a capping / uncapping operation and the starting and / or destination locations of the task operation support the capping / uncapping operation, the starting and / or destination locations are preferentially determined as the execution locations for the capping / uncapping operation, so that the handling operation execution device performs the task deduction according to the task operation instructions. This saves the execution time of the capping / uncapping operation and effectively ensures the execution efficiency of the task operation.

[0048] According to a second aspect of the present invention, a control method for an automated process is also provided. Figure 2 FIG. 2 shows a schematic flow chart of a control method 200 for an automated process according to an embodiment of the present invention. Figure 2 As shown, the control method 200 of the automated process may include the following steps.

[0049] Step S210: Obtain task operation instructions in the automation process.

[0050] For example, the task operation instruction may be pre-stored in a storage device of the host computer, and the handling operation execution device, such as a robotic arm, may obtain the task operation instruction from the host computer.

[0051] Step S220: determining, based on the task operation instruction, whether the task operation corresponding to the task operation instruction includes a capping or uncapping operation.

[0052] For example, based on the task operation instruction acquired in step S210, the task operation corresponding to the task operation instruction may be one or more task operations. For example, the current task operation instruction may correspond to one or more of a transport operation, a barcode scanning operation, or a capping / uncapping operation. The driving device of the robotic arm may determine whether the task operation corresponding to the task operation instruction includes a capping / uncapping operation.

[0053] In step S230, for the case where a capping / uncapping operation is included, task deduction for the corresponding task operation is performed as follows: based on the capping / uncapping operation execution position parameter instruction included in the task operation instruction, it is determined whether the execution position of the capping / uncapping operation is the starting position and / or destination position of the transport operation. Based on the determination result, task deduction for the corresponding task operation is continued to obtain a task deduction result. The capping / uncapping operation is preferentially performed at the starting position and / or destination position.

[0054] If the above step S220 determines that the task operation instruction includes a capping and decapping operation, the task operation can be deduced in the driving device of the handling operation execution device based on the parameters in the task operation instruction. In short, task deduction can refer to the process of decomposing the task operation instruction into a series of atomic operations. Among them, the task operation instruction can include a handling task operation instruction and a capping and decapping operation execution position parameter instruction. Exemplarily, the parameters in the task operation instruction include the capping and decapping operation parameters, and the capping and decapping operation parameters include any one or more of the following parameters: the execution position of the capping and decapping operation, the cap placement position after the decapping operation, the cap removal position before the capping operation, the clamping direction for the operation object at the starting position and / or the destination position of the task operation, and the clamping height for the operation object at the starting position and / or the destination position of the task operation. For example, the parameters in the handling task operation instruction can include any one or more of the following parameters: the coordinate information of the starting position of the handling operation, the coordinate information of the destination position of the handling operation, the parameters of the operation during the handling operation, the clamping height of the handling object of the handling operation, and the clamping direction of the handling object. Specifically, the execution position of the capping and decapping operation can be device A or device B. The placement position after the decapping operation and the decapping position before the capping operation can be a specific position coordinate in the automation system. For example, the placement position after the decapping operation can be position E01 in device E. For example, the operation object targeted by the task operation can be a well plate. The clamping direction for the well plate can include: the robotic arm grabs the well plate from the narrow side of the well plate, the robotic arm grabs the well plate from the wide side of the well plate, etc. The clamping height for the well plate can include: the minimum or maximum offset for grabbing the well plate from the narrow side of the well plate, the minimum or maximum offset for grabbing the well plate from the wide side of the well plate, etc. In the above technical solution, the parameters in the task operation instruction include the above-mentioned capping and decapping operation parameters, thereby making it more accurate for the driving device of the handling operation execution device to judge whether the execution position of the capping and decapping operation is the starting position and / or destination position of the handling operation, thereby ensuring the accuracy of the task deduction result. Based on one or more of the above parameters, it can be determined whether the execution position of the capping and uncapping operation in the current task operation instruction is the starting position and / or destination position of the transport operation, and the task deduction of the corresponding task operation is continued according to the determination result to obtain the task deduction result. If the starting position of the transport operation is device A, and the execution position of the capping operation is also device A, it can be determined that the execution position of the capping operation is the starting position. If the starting position of the transport operation is device B, and the execution position of the capping operation is device A, it can be determined that the execution position of the capping operation is not the starting position. Similarly, the destination position can also be determined in the same way.For the case where the result of the determination is that the capping and uncapping operation is the starting position and / or destination position of the transport operation, the multiple atomic operations included in the task deduction result may include a capping operation on the transport object at the starting position of the transport operation, a grasping operation on the transport object after the capping operation is completed, a transport operation on the transport object from the starting position to the position where the cap is located, a gripping operation on the cap by the robotic arm, a transport operation on the transport object from the position where the cap is located to the destination position of the transport operation, a release operation on the transport object at the destination position, and a capping operation on the transport object. Each atomic operation is executed by at least one execution device. For example, the atomic operation of grasping the transport object at the starting position of the transport operation can be executed by a robotic arm, specifically by the gripper of the robotic arm.

[0055] Step S240: Determine whether to execute the task operation based on the task deduction result.

[0056] For example, based on the task deduction result of step S230, the driving device of the robotic arm can determine whether the multiple atomic operations in the task deduction result can be successfully executed. If the task deduction result indicates that the multiple atomic operations can be successfully executed, the corresponding task operation is determined to be executed. Conversely, if the task deduction result indicates that the multiple atomic operations cannot be successfully executed, the task operation is not executed.

[0057] According to the above technical solution, before executing a task operation instruction, a task deduction can be performed on it. Before the task deduction, it can be determined whether the task operation corresponding to the task operation instruction includes the addition and removal of caps. Therefore, the task operation instruction can be deduced when the addition and removal of caps are included. This effectively ensures that the task operation can be executed smoothly and avoids the occurrence of the phenomenon that the task operation cannot be executed normally due to the diversity of the relevant parameters of the task operation. Furthermore, the accuracy of the execution results of the task operation is guaranteed, and a certain degree of guarantee is also provided for the accuracy of the execution results of the subsequent operations of the task operation in the automation process.

[0058] Exemplarily, the task operation instruction may include a transport task operation instruction. The transport task operation may include a transport operation and a cover-adding and removing operation. The task deduction of the corresponding task operation is performed in the following manner, and may also include: obtaining first parameters for the cover-adding and removing operation, the operation of releasing the transport object targeted by the transport operation, and / or the operation of grabbing the transport object. The parameters in the task operation instruction may include a first parameter, and the first parameter may include information about the clamping direction and / or clamping height of the cover and / or the transport object at the first position. The second parameter is deduced based on the task operation instruction and the parameters pre-stored in the transport operation execution device. The second parameter is information about the clamping direction and / or clamping height of the cover and / or the transport object at a second position other than the first position.

[0059] In one embodiment, the task operation instruction may be a transport task operation instruction, and the transport task operations in the transport task operation instruction may include a transport operation and a cover addition and removal operation. The task operation instruction acquired by the automation system may include a first parameter, namely, information about the clamping direction and / or clamping height of the cover and / or the transport object at a first position. The first position may be the starting position or the destination position of the transport operation. The transport object of the transport operation may be a cover, an orifice plate, etc. For ease of description and understanding, the following description is made using the orifice plate as an example. Figure 3 Schematic diagram of an orifice plate according to one embodiment of the present invention is shown. Figure 3 A01 represents a hole in the orifice plate. The gripping directions of the transported object can include: the robot arm grasping the orifice plate from the narrow side of the orifice plate in the distal direction of hole A01; the robot arm grasping the orifice plate from the wide side of the orifice plate in the distal direction of hole A01; the robot arm grasping the orifice plate from the narrow side of the orifice plate in the proximal direction of hole A01; and the robot arm grasping the orifice plate from the wide side of the orifice plate in the proximal direction of hole A01.

[0060] In another embodiment, the second parameter can also be deduced based on the task operation instruction and the parameters pre-stored in the handling operation execution device. The second parameter is information about the clamping direction and / or clamping height of the cover and / or the handling object at a second position other than the first position. At the second position, that is, in addition to the starting position and the destination position, it can be an adjustment position, a code scanning position, etc. For example, the parameters pre-stored in the handling operation execution device may include: the position parameters of the code scanner, the scanning range of the code scanner, the position parameters of the adjustment position, etc. At the second position, the clamping height and clamping direction of the cover for the execution device of the cover removal operation and the clamping height and clamping direction of the code scanning operation for the handling object such as the orifice plate can be automatically calculated by the driving device of the handling operation execution device according to the task operation instruction and the parameters pre-stored in the handling operation execution device.

[0061] In the above technical solution, if the task operation instruction includes a first parameter, the relevant task deduction can be performed directly based on the first parameter. Alternatively, if the task operation instruction does not include a second parameter, the second parameter can be calculated based on the task operation instruction and the parameters pre-stored in the handling operation execution device, and then the relevant task operation can be deduced based on the calculated second parameter. This eliminates the need to set a large number of parameters in the task operation instruction, avoiding the occurrence of parameter errors caused by human factors. At the same time, it also improves the degree of automation of task execution and ensures the efficiency of task execution.

[0062] Exemplarily, the task deduction result includes execution parameters of multiple atomic operations in the task operation. The control method 200 for the automation process may further include: executing the multiple atomic operations in series or in parallel during the execution of the automation process.

[0063] In one embodiment, assume that the task operation involves moving a well plate from device A to device B and then to device C. A decapping operation is inserted during the process of moving the well plate from device A to device B. Therefore, the task deduction result obtained by performing task deduction on this task operation instruction may include the following multiple atomic operations: transport operation 1 (the robotic arm moves the well plate from device A to device B), transport operation 2 (the robotic arm moves the well plate from device B to device C), and the decapping operation of the cap suction device. It is understood that the devices performing transport operations 1 and 2 can be the same robotic arm or different robotic arms. If the two transport operations are performed by the same robotic arm, due to differences in parameters such as the starting and destination positions of the two transport operations, the two transport operations cannot be executed in parallel. In other words, the two transport operations are executed serially. However, if the two transport operations are performed by different robotic arms, simultaneous transport operations could result in safety incidents such as robotic arm collisions. Therefore, the two transport operations are preferably executed serially. The decapping operation is performed by the cap suction device. Obviously, the cap suction device and the robotic arm are different devices. Moreover, no safety accidents such as collision will occur when the two are performing specific operations. Therefore, in order to save time and improve the efficiency of operation execution, the cover removal operation of the cover suction device and the carrying operation 1 can be performed in parallel.

[0064] In the above technical solution, multiple atomic operations can be reasonably executed in serial or parallel according to actual conditions, thereby not only ensuring the smooth execution of task operations but also improving the execution efficiency of task operations.

[0065] For example, based on the capping and uncapping operation execution position parameter instruction included in the task operation instruction, it is determined whether the execution position of the capping and uncapping operation is the starting position and / or destination position of the transport operation, and task deduction of the corresponding task operation is continued based on the determination result. The determination process may include the following three situations.

[0066] Case 1: determine whether the execution position of the decapping operation is the starting position. If the execution position of the decapping operation is the starting position, determine to execute the decapping operation at the starting position.

[0067] Specifically, based on the decapping operation execution position parameters in the decapping operation execution position parameter instruction, it can be determined whether the execution position of the decapping operation is the starting position of the transport operation. For example, the parameters related to the decapping operation in the decapping operation execution position parameters indicate that the execution position of the decapping operation is device A. For the transport operation, the starting position can be determined to be device A based on the relevant parameters in the transport operation instruction. The execution position of the decapping operation and the starting position of the transport operation are the same position, that is, both are device A. Therefore, it can be determined that the execution position of the decapping operation is the starting position of the transport operation. Conversely, the parameters related to the decapping operation in the decapping operation execution position parameters indicate that the execution position of the decapping operation is device C. For the transport operation, it can be determined that the execution position of the decapping operation is device A based on the relevant parameters in the transport operation instruction. The execution position of the decapping operation and the starting position of the transport operation are not the same position, thus determining that the execution position of the decapping operation is not the starting position of the transport operation. If the execution position of the decapping operation is the starting position, it can be determined that the decapping operation is performed at the starting position.

[0068] In case 2, it is determined whether the execution position of the capping operation is the target position. If the execution position of the capping operation is the target position, it is determined to execute the capping operation at the target position.

[0069] Specifically, based on the capping and uncapping operation execution position parameters in the capping and uncapping operation execution position parameter instruction, it can be determined whether the execution position of the capping operation is the destination position of the transport operation. For example, if the parameters related to the capping operation in the capping and uncapping operation execution position parameters indicate that the execution position of the capping operation is device B, then for the transport operation, it can be determined based on the relevant parameters in the transport operation instruction that its destination position is also device B. If the execution position of the capping operation and the destination position of the transport operation are the same position, that is, both are device B, then it can be determined that the execution position of the capping operation is the destination position of the transport operation. Conversely, if the parameters related to the capping operation in the capping and uncapping operation execution position parameters indicate that the execution position of the capping operation is device D, then for the transport operation, it can be determined based on the relevant parameters in the transport operation instruction that its destination position is device B. If the execution position of the capping operation and the destination position of the transport operation are not the same position, then it can be determined that the execution position of the capping operation is not the destination position of the transport operation. If the execution position of the capping operation is the destination position, then it can be determined that the capping operation is performed at the destination position.

[0070] Case three: determine whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position, and based on the second judgment result, continue to perform task deduction using different task channels.

[0071] Specifically, multiple second judgment results can be obtained by judging whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position. Different second judgment results can correspond to different task channels. For example, in addition to the above-mentioned case one and case two, a second judgment result can also be obtained to indicate that the execution position of the capping operation is the starting position, or the execution position of the decapping operation is the destination position. It can be understood that the execution position of the decapping operation can also be the adjustment position, and the execution position of the capping operation can also be the adjustment position. Based on different second judgment results, different task channels can be used to continue task deduction.

[0072] In the above technical solution, based on the capping and uncapping operation execution position parameter instruction included in the task operation instruction, it is determined whether the execution position of the capping and uncapping operation is the starting position and / or destination position of the transport operation. This allows for more targeted task deduction based on different second judgment results, thereby improving the efficiency of task deduction.

[0073] Exemplarily, for the above-mentioned situation three, judging whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position, and based on the second judgment result, continuing the task deduction using different task channels can specifically include: for the case where the second judgment result meets the first condition, using the first task channel to perform task deduction. Among them, the first task channel can include one or more of the following task operations in sequence: performing the capping operation, scanning the code, and placing the transport object targeted by the transport operation at the destination position at the starting position. The first condition may include: the execution position of the capping operation is the starting position, the scanning operation is not performed during the execution of the transport operation or the scanning operation is performed after the capping operation is performed, and the decapping operation is not performed or the execution position of the decapping operation is not the destination position.

[0074] In one embodiment, a task operation instruction may include a transport operation instruction. The transport object of the transport operation corresponding to the transport operation instruction may be a well plate, and the device performing the transport operation may be a robotic arm. The device performing the capping and decapping operation may be a cap suction device, a robotic arm, or the like. For ease of description and understanding, the following description uses the robotic arm as an example. Figure 4 FIG. 1 shows a schematic flow chart of continuing task deduction using different task channels according to the second judgment result according to an embodiment of the present invention. Figure 4As shown in the first task channel in , if the second judgment result satisfies the first condition, namely, the capping operation is performed at the starting position, the code scanning operation is not performed during the transport operation or the code scanning operation is performed after the capping operation, and the decapping operation is not performed or the decapping operation is performed at a location other than the destination position, task deduction using the first task channel can obtain a task deduction result. The first condition that the decapping operation is not performed or the decapping operation is performed at a location other than the destination position can mean that the decapping operation is not performed during the entire transport operation, or the decapping operation can be performed at a location other than the destination position, such as the starting position or the adjustment position. In a specific embodiment, the first task channel can sequentially include the following task operations: performing the capping operation at the starting position, the code scanning operation, and placing the transport object targeted by the transport operation at the destination position. Task deduction for the capping operation performed at the starting position can obtain the following partial task deduction results, namely, the first ordered atomic operation: the robotic arm moves from the safe position to the capping position to clamp the cap, the robotic arm clamps the cap and transports the cap to the starting position of the transport operation, the robotic arm releases the cap onto the orifice plate, and the robotic arm returns to the safe position. It can be understood that the operation of transporting the orifice plate can be included between the capping operation and the code scanning operation. Specifically, the task deduction of the transport operation can obtain the second ordered atomic operation: the robot moves from the safe position to the starting position, the robot clamps the orifice plate at the starting position, the robot clamps the orifice plate and transports the orifice plate to the position of the code scanner. The task deduction of the code scanning operation can obtain the third ordered atomic operation: the robot releases the orifice plate to the scanning position of the code scanner, the code scanner performs the code scanning operation, and the robot clamps the orifice plate at the scanning position of the code scanner. The task deduction of the operation of placing the transport object targeted by the transport operation to the destination position can obtain the fourth ordered atomic operation: the robot transports the orifice plate from the code scanning position to the destination position, the robot releases the orifice plate to the destination position, and the robot returns to the safe position. Preferably, after performing the capping operation at the starting position, other operations for the orifice plate located at the starting position are also included, such as transport operations, code scanning operations, etc. Therefore, in order to ensure the execution efficiency of the task operation, the "robot returns to the safe position" in the first ordered atomic operation can be ignored or deleted. Similarly, the same unnecessary operations can also be reasonably deleted, for example, "the robotic arm moves from the safe position to the starting position" in the second ordered atomic operation mentioned above.Therefore, the task simulation results obtained according to the above scheme may include: the robotic arm goes from the safe position to the cover position to clamp the cover, the robotic arm clamps the cover and moves the cover to the starting position of the transport operation, the robotic arm releases the cover onto the orifice plate, the robotic arm clamps the orifice plate at the starting position, the robotic arm clamps the orifice plate and moves the orifice plate to the position of the barcode scanner, the robotic arm releases the orifice plate to the scanning position of the barcode scanner, the barcode scanner performs a scanning operation, the robotic arm clamps the orifice plate at the scanning position of the barcode scanner, the robotic arm moves the orifice plate from the scanning position to the destination position, the robotic arm releases the orifice plate to the destination position, and the robotic arm returns to the safe position.

[0075] In the above technical solution, if the starting position supports capping and meets the first condition, the first task channel is used for task deduction, thereby eliminating the need for a separate position, such as adjusting the position, for capping. Furthermore, after the "robotic arm releases the cap onto the orifice plate" step in the capping operation is completed, the robotic arm can directly grasp the orifice plate at the starting position for subsequent operations, eliminating the need for the two unnecessary operations of returning to the safe position and then returning to the starting position. This can greatly simplify the task deduction results and improve the execution efficiency of task operations.

[0076] For example, for the third situation described above, determining whether the location where the capping operation is performed is the starting location and whether the location where the decapping operation is performed is the destination location, and based on the second judgment result, continuing the task deduction using different task channels may further specifically include: if the second judgment result satisfies the second condition, performing the task deduction using the second task channel, wherein the second task channel sequentially includes one or more of the following task operations: grabbing the transport object targeted by the transport operation, scanning a code, and performing the decapping operation at the destination location. The second condition includes: the location where the decapping operation is performed is the destination location, the scanning operation is not performed during the transport operation or the scanning operation is performed before the decapping operation is performed, and the capping operation is not performed or the location where the capping operation is performed is not the starting location.

[0077] Refer again Figure 4 ,like Figure 4As shown in the second task channel in , if the second judgment result satisfies the second condition, namely, the execution location of the decapping operation is the destination location, the code scanning operation is not performed during the handling operation or the code scanning operation is performed before the decapping operation is performed, and the capping operation is not performed or the execution location of the capping operation is not the starting location, the task deduction result can be obtained by using the second task channel to perform task deduction. Among them, the second condition of not performing the capping operation or the execution location of the capping operation is not the starting location can mean that the capping operation is not performed during the entire handling operation, or the execution location of the capping operation can be a location other than the starting location, such as the destination location or the adjustment location. In a specific embodiment, the second task channel can include the following task operations in sequence: grabbing the handling object targeted by the handling operation, scanning the code, and performing the decapping operation at the destination location. Performing task deduction on the operation of grabbing the handling object targeted by the handling operation can obtain the following partial task deduction results, namely the fifth ordered atomic operation: the robot arm moves from the safe position to the starting position of the handling operation, and the robot arm clamps the orifice plate from the starting position. It can be understood that the handling operation of the orifice plate can be included between the handling operation and the code scanning operation. Specifically, task deduction for the transport operation can obtain the sixth atomic operation: the robotic arm transports the orifice plate from the starting position to the position of the barcode scanner. Task deduction for the scanning operation can obtain the seventh ordered atomic operation: the robotic arm releases the orifice plate to the scanning position of the barcode scanner, the barcode scanner performs the scanning operation, and the robotic arm returns to the safe position. It can be understood that the operation of transporting the orifice plate can be included between the scanning operation and the decapping operation. Specifically, task deduction for the transport operation can obtain the eighth ordered atomic operation: the robotic arm moves from the safe position to the position of the barcode scanner, the robotic arm clamps the orifice plate at the scanning position of the barcode scanner, the robotic arm clamps the orifice plate and transports the orifice plate to the destination position. Task deduction for performing the decapping operation at the destination position can obtain the ninth ordered atomic operation: the robotic arm releases the orifice plate to the destination position, the robotic arm returns to the safe position, the robotic arm moves from the safe position to the destination position, the robotic arm clamps the cover at the destination position, the robotic arm transports the cover to the cover placement position, the robotic arm releases the cover to the cover placement position, and the robotic arm returns to the safe position. It is understood that to ensure the efficiency of task execution, the "robotic arm returns to a safe position" and "robotic arm moves from a safe position to a target position" operations in the seventh or ninth ordered atomic operations can be ignored or deleted. Similarly, unnecessary operations can be deleted as appropriate.Therefore, the task simulation results obtained according to the above scheme may include: the robotic arm moves from a safe position to the starting position of the transport operation, the robotic arm clamps the orifice plate from the starting position, the robotic arm transports the orifice plate to the location of the barcode scanner, the robotic arm releases the orifice plate to the scanning position of the barcode scanner, the barcode scanner performs a scanning operation, the robotic arm clamps the orifice plate at the scanning position, the robotic arm clamps the orifice plate and transports the orifice plate to the destination position, the robotic arm releases the orifice plate to the destination position, the robotic arm clamps the cover from the destination position, the robotic arm transports the cover to the cover placement position, the robotic arm releases the cover to the cover placement position, and the robotic arm returns to a safe position.

[0078] In the above technical solution, if the destination position supports the decapping operation and meets the second condition, the second task channel is used to perform task deduction, thereby eliminating the need for a separate position, such as adjusting the position, for the decapping operation. At the same time, when the "robotic arm releases the cover onto the orifice plate" in the decapping operation, the robotic arm can directly perform the decapping operation at the destination position and then proceed to the subsequent operation, eliminating the two unnecessary operations of returning to the safe position and then returning to the destination position from the safe position. This can greatly simplify the task deduction results and improve the execution efficiency of the task operation.

[0079] Exemplarily, for the above-mentioned situation three, it is determined whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position, and based on the second judgment result, continuing the task deduction using different task channels can also specifically include: for the case where the second judgment result does not meet the first condition and the second condition, using the third task channel to perform task deduction, wherein the third task channel includes one or more of the following task operations in sequence: grabbing the transport object from the starting position of the transport operation, decapping operation, code scanning operation, capping operation, and placing the transport object targeted by the transport operation to the destination position.

[0080] Refer again Figure 4 ,like Figure 4As shown in the third task channel in, when the second judgment result does not meet the first condition and the second condition, the task deduction result can be obtained by using the third task channel to perform task deduction. In the first embodiment, if the execution position of the capping operation is the destination position of the task operation, the third task channel can include the following task operations in sequence: grabbing the transport object from the starting position of the transport operation, removing the capping operation, scanning the code, and placing the transport object targeted by the transport operation to the destination position. In the second embodiment, if the execution position of the decapping operation is the starting position of the task operation, the third task channel can include the following task operations in sequence: grabbing the transport object from the starting position of the transport operation, scanning the code, capping operation, and placing the transport object targeted by the transport operation to the destination position. In the third embodiment, if the execution position of the decapping operation is not the starting position of the task operation and the execution position of the capping operation is not the destination position of the task operation, the third task channel can include the following task operations in sequence: grabbing the transport object from the starting position of the transport operation, removing the capping operation, scanning the code, capping operation, and placing the transport object targeted by the transport operation to the destination position. Taking the second embodiment as an example for the following explanation, the following partial task deduction results can be obtained by performing task deduction on the operation of grabbing the transport object from the starting position of the transport operation, namely the tenth ordered atomic operation: the robot moves from the safe position to the starting position, and the robot clamps the orifice plate from the starting position. It can be understood that the operation of transporting the orifice plate can be included between the operation of grabbing the transport object from the starting position of the transport operation and the code scanning operation. Specifically, performing task deduction on the transport operation can obtain the eleventh atomic operation: the robot transports the orifice plate to the location of the code scanner. Performing task deduction on the code scanning operation can obtain the twelfth ordered atomic operation: the robot releases the orifice plate to the code scanning position of the code scanner, the code scanner performs the code scanning operation, and the robot clamps the orifice plate at the code scanning position of the code scanner. The thirteenth ordered atomic operation can be obtained by performing task deduction on the capping operation: the robotic arm carries the orifice plate from the code scanning position to the adjustment position, the robotic arm releases the orifice plate to the adjustment position, the robotic arm returns to the safe position, the robotic arm moves from the safe position to the cap removal position, the robotic arm clamps the cap from the cap removal position, the robotic arm clamps the cap and carries the cap to the adjustment position, the robotic arm releases the cap onto the orifice plate, and the robotic arm returns to the safe position. Preferably, in order to ensure the execution efficiency of the task operation, the "robotic arm returns to the safe position" and "robotic arm moves from the safe position to the cap removal position" in the thirteenth ordered atomic operation can be ignored or deleted, and the "robotic arm moves from the adjustment position to the cap removal position" can be executed after the "robotic arm releases the orifice plate to the adjustment position". A carrying operation is also included between the capping operation and placing the transport object targeted by the carrying operation to the destination position. The fourteenth ordered atomic operation can be obtained by performing task deduction on the carrying operation: the robotic arm moves from the safe position to the adjustment position, the robotic arm clamps the orifice plate at the adjustment position, and the robotic arm clamps the orifice plate and moves it from the adjustment position to the destination position.By performing a task deduction on placing the transport object targeted by the transport operation at the destination, a fifteenth ordered atomic operation can be obtained: the robotic arm releases the orifice plate to the destination and the robotic arm returns to a safe position. It is understood that similar unnecessary operations can be reasonably deleted according to the above technical solution. Therefore, the task simulation results obtained according to the above scheme may include: the robotic arm moves from the safe position to the starting position, the robotic arm clamps the orifice plate from the starting position, the robotic arm transports the orifice plate to the position of the barcode scanner, the robotic arm releases the orifice plate to the scanning position of the barcode scanner, the barcode scanner performs a scanning operation, the robotic arm clamps the orifice plate at the scanning position of the barcode scanner, the robotic arm transports the orifice plate from the scanning position to the adjustment position, the robotic arm releases the orifice plate to the adjustment position, the robotic arm moves from the adjustment position to the cover removal position, the robotic arm clamps the cover from the cover removal position, the robotic arm clamps the cover and transports the cover to the adjustment position, the robotic arm releases the cover onto the orifice plate, the robotic arm clamps the orifice plate at the adjustment position, the robotic arm clamps the orifice plate and moves it from the adjustment position to the destination position, the robotic arm releases the orifice plate to the destination position, and the robotic arm returns to the safe position.

[0081] In the above technical solution, if both the first and second conditions are not met, the third task channel can be used to perform task deduction. This allows the addition and removal operations to be performed at the adjusted position, even if the addition and removal operations are not performed at the starting or destination positions. This ensures the integrity of the solution; that is, if the task operation corresponding to the task operation instruction includes the addition and removal operations, the addition and removal operations can be successfully performed. In other words, the inclusiveness and reliability of the task deduction results can be guaranteed.

[0082] According to a third aspect of the present invention, a control device for an automation system is provided. Figure 5 FIG. 5 shows a schematic block diagram of a control device 500 for an automation system according to an embodiment of the present invention. Figure 5 As shown, the device 500 includes a first determination module 510 , a first judgment module 520 , a second determination module 530 and an instruction sending module 540 .

[0083] The first determining module 510 is configured to determine, in response to a user operation, whether the automated process includes a capping or uncapping operation.

[0084] The first determination module 520 is configured to determine whether a start position and / or a destination position of a task operation in an automation process supports the capping and uncapping operation in the case of capping and uncapping operations.

[0085] The second determining module 530 is configured to determine the starting position and / or the destination position as the execution position of the capping and uncapping operation if the first determination result is yes.

[0086] The instruction sending module 540 is used to send the task operation instructions in the automation process to the handling operation execution device, so that the handling operation execution device performs task deduction according to the task operation instructions. The task operation instructions include the handling operation instructions and the capping and decapping operation execution position parameter instructions.

[0087] According to a fourth aspect of the present invention, a control device for an automated process is also provided. Figure 6 FIG. 6 shows a schematic block diagram of a control device 600 for an automated process according to an embodiment of the present invention. Figure 6 As shown, the device 600 includes an instruction acquisition module 610, a second judgment module 620, a task deduction module 630 and a third determination module 640.

[0088] The instruction acquisition module 610 is used to obtain the task operation instructions in the automation process;

[0089] The second determining module 620 is configured to determine, based on the task operation instruction, whether the task operation corresponding to the task operation instruction includes a capping or uncapping operation.

[0090] The task deduction module 630 is used to perform task deduction of the corresponding task operation in the following manner for situations including covering and removing operations: according to the covering and removing operation execution position parameter instructions included in the task operation instructions, determine whether the execution position of the covering and removing operation is the starting position and / or destination position of the transport operation, and continue to perform task deduction of the corresponding task operation based on the determination result to obtain a task deduction result, wherein priority is given to deducing that the covering and removing operation is performed at the starting position and / or destination position.

[0091] The third determination module 640 is used to determine whether to execute the task operation according to the task deduction result.

[0092] Exemplarily, the task deduction module 630 can be specifically used to determine whether the execution position of the decapping operation is the starting position. If the execution position of the decapping operation is the starting position, determine to perform the decapping operation at the starting position; determine whether the execution position of the capping operation is the destination position. If the execution position of the capping operation is the destination position, determine to perform the capping operation at the destination position; determine whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position, and based on the judgment result, continue to perform task deduction using different task channels.

[0093] In one embodiment, the task deduction module 630 can be specifically used to perform task deduction using the first task channel when the judgment result meets the first condition. The first task channel includes one or more of the following task operations in sequence: performing a capping operation at the starting position, a code scanning operation, and placing the transport object targeted by the transport operation at the destination position. The first condition includes: the capping operation is performed at the starting position, the code scanning operation is not performed during the transport operation or the code scanning operation is performed after the capping operation is performed, and the decapping operation is not performed or the decapping operation is not performed at the destination position.

[0094] In another embodiment, the task deduction module 630 can also be specifically configured to perform task deduction using a second task channel when the judgment result satisfies a second condition. The second task channel sequentially includes one or more of the following task operations: grabbing the transport object targeted by the transport operation, scanning a code, and performing a decapping operation at the destination location. The second condition includes: the decapping operation is performed at the destination location; the code scanning operation is not performed during the transport operation or the code scanning operation is performed before the decapping operation; and the capping operation is not performed or the capping operation is performed at a location other than the starting location.

[0095] In another embodiment, the task deduction module 630 may be further configured to perform task deduction using a third task channel when the judgment result does not satisfy both the first condition and the second condition. The third task channel may sequentially include one or more of the following task operations: grabbing the transport object from the starting position of the transport operation, removing the cover, scanning the code, adding the cover, and placing the transport object targeted by the transport operation at the destination position.

[0096] Exemplarily, the control device 600 for an automated process may further include a parameter acquisition module and a parameter deduction module.

[0097] The parameter acquisition module is used to obtain the first parameters of the operation of adding or removing the cover, the operation of releasing the transport object, and / or the operation of grabbing the transport object, wherein the parameters in the task operation instruction include the first parameter, and the first parameter includes information about the clamping direction and / or clamping height of the cover and / or the transport object in the first position.

[0098] The parameter deduction module is used to deduce a second parameter based on the task operation instruction and the parameters pre-stored in the handling operation execution equipment, wherein the second parameter is information about the clamping direction and / or clamping height of the cover and / or the handling object at a second position other than the first position.

[0099] Exemplarily, the control device 600 for an automation process may further include an execution module. The execution module is configured to execute multiple atomic operations serially or in parallel during the execution of the automation process.

[0100] According to a fifth aspect of the present invention, an electronic device is further provided. Figure 7 FIG. 1 shows a schematic block diagram of an electronic device 700 according to an embodiment of the present invention. Figure 7 As shown, the electronic device 700 includes a processor 710 and a memory 720. The memory 720 stores computer program instructions, which are used by the processor 710 to execute the above-mentioned control method for an automation system and / or the control method for an automation process when the computer program instructions are executed.

[0101] According to a sixth aspect of the present invention, a storage medium is further provided. Program instructions are stored on the storage medium, and the program instructions are used to execute the above-mentioned control method for an automation system and / or the control method for an automation process when running. The storage medium may include, for example, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0102] A person skilled in the art can understand the specific implementation schemes of the control device for an automation system and the control device for an automation process, the electronic device and the storage medium by reading the above descriptions of the control method for an automation system and the control method for an automation process. For the sake of brevity, they will not be described here.

[0103] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely illustrative and are not intended to limit the scope of the present invention. Various changes and modifications may be made therein by those skilled in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as claimed in the appended claims.

[0104] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0105] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units described is merely a logical function division. In actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another device, or ignoring or not performing some features.

[0106] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0107] Similarly, it should be understood that in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the description of exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this approach to the present invention should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. More precisely, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with fewer features than all the features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0108] It will be understood by those skilled in the art that, except where mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus disclosed herein may be combined in any combination. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature providing the same, equivalent, or similar purpose.

[0109] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of the present invention and to form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

[0110] The various component embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functions of some modules in a control device for an automation system and a control device for an automation process according to an embodiment of the present invention. The present invention can also be implemented as a device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0111] It should be noted that the above embodiments illustrate rather than limit the invention, and that a person skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of suitably programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0112] The foregoing description is merely a specific embodiment of the present invention or an illustration of a specific embodiment. The scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed in the present invention are intended to be encompassed by the scope of protection of the present invention. The scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A control method for an automation system, characterized in that: include: In response to a user operation, determining whether the automated process includes a capping and decapping operation; For a case including the capping and uncapping operation, determining whether a starting position and / or a destination position of the task operation in the automation process supports the capping and uncapping operation to obtain a first determination result; If the first judgment result is yes, determining the starting position and / or the destination position as the execution position of the capping and uncapping operation; The task operation instructions in the automation process are sent to the handling operation execution device, so that the handling operation execution device performs task deduction according to the task operation instructions, wherein the task operation instructions include handling operation instructions and covering and removing operation execution position parameter instructions.

2. A control method for an automated process, characterized in that: include: Obtaining task operation instructions in the automation process; determining, according to the task operation instruction, whether the task operation corresponding to the task operation instruction includes a capping or uncapping operation; For a case including a capping and decapping operation, the task deduction of the corresponding task operation is performed in the following manner: according to the capping and decapping operation execution position parameter instruction included in the task operation instruction, it is determined whether the execution position of the capping and decapping operation is the starting position and / or the destination position of the transport operation, and the task deduction of the corresponding task operation is continued according to the determination result to obtain a task deduction result, wherein the capping and decapping operation is preferentially performed at the starting position and / or the destination position; Determine whether to execute the task operation based on the task deduction result.

3. The method according to claim 2, wherein: The method further comprises determining, based on the capping and decapping operation execution position parameter instruction included in the task operation instruction, whether the execution position of the capping and decapping operation is the starting position and / or the destination position of the transport operation, and continuing the task deduction of the corresponding task operation according to the determination result, including: determining whether the execution position of the decapping operation is the starting position, and if the execution position of the decapping operation is the starting position, determining to execute the decapping operation at the starting position; determining whether the location where the capping operation is to be performed is the target location, and if the location where the capping operation is to be performed is the target location, determining to perform the capping operation at the target location; Determine whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position to obtain a second judgment result, and based on the second judgment result, continue task deduction using different task channels.

4. The method according to claim 3, wherein: The determining whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position to obtain a second determination result, and continuing task deduction using different task channels based on the second determination result, includes: If the second judgment result satisfies the first condition, the first task channel is used to perform task deduction, wherein the first task channel sequentially includes one or more of the following task operations: performing a capping operation at the starting position, a code scanning operation, and placing the transport object targeted by the transport operation at the destination position; Among them, the first condition includes: the execution position of the capping operation is the starting position, the code scanning operation is not performed during the execution of the transport operation or the code scanning operation is performed after the capping operation is performed, and the decapping operation is not performed or the execution position of the decapping operation is not the destination position.

5. The method according to claim 3 or 4, wherein: The determining whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position to obtain a second determination result, and continuing task deduction using different task channels based on the second determination result, includes: If the second judgment result satisfies the second condition, a second task channel is used to perform task deduction, wherein the second task channel includes one or more of the following task operations in sequence: grabbing the transport object targeted by the transport operation, scanning a code, and performing a cover removal operation at the destination location; Among them, the second condition includes: the execution position of the decapping operation is the destination position, the code scanning operation is not performed during the carrying operation or the code scanning operation is performed before the decapping operation is performed, and the capping operation is not performed or the execution position of the capping operation is not the starting position.

6. The method of claim 5 as defined in claim 4, wherein: The determining whether the execution position of the capping operation is the starting position and whether the execution position of the decapping operation is the destination position to obtain a second determination result, and continuing task deduction using different task channels based on the second determination result, includes: For the case where the second judgment result does not meet the first condition and the second condition, the third task channel is used to perform task deduction, wherein the third task channel includes one or more of the following task operations in sequence: grabbing the transport object from the starting position of the transport operation, uncovering operation, code scanning operation, capping operation, and placing the transport object targeted by the transport operation to the destination position.

7. The method according to any one of claims 2 to 4, wherein: The task operation instruction includes a transport task operation instruction, and the transport task operation includes a transport operation and a capping and removing operation. The task deduction corresponding to the task operation is performed in the following manner, further comprising: Obtaining first parameters of the cover adding and removing operation, the operation of releasing the transport object targeted by the transport operation, and / or the operation of grasping the transport object, wherein the parameters in the task operation instruction include the first parameters, and the first parameters include information about the clamping direction and / or clamping height of the cover and / or the transport object at the first position; According to the task operation instruction and the parameters pre-stored in the transport operation execution equipment, a second parameter is deduced, wherein the second parameter is information about the clamping direction and / or clamping height of the cover and / or transport object at a second position other than the first position.

8. The method according to any one of claims 2 to 4, wherein: The task deduction result includes the execution parameters of multiple atomic operations in the task operation, The method further includes: executing the multiple atomic operations serially or in parallel during the execution of the automation process.

9. The method according to any one of claims 2 to 4, wherein: The parameters in the task operation instruction include covering and removing operation parameters, and the covering and removing operation parameters include any one or more of the following parameters: the execution position of the covering and removing operation, the cover placement position after the removing operation, the cover removal position before the covering operation, the clamping direction for the operation object at the starting position and / or the destination position of the task operation, and the clamping height for the operation object at the starting position and / or the destination position of the task operation.

10. A control device for an automation system, characterized in that: include: A first determining module is configured to determine, in response to a user operation, whether the automated process includes a capping or uncapping operation; A first judgment module is configured to judge, for a case where a capping or uncapping operation is included, whether a starting position and / or a destination position of the task operation in the automation process supports the capping or uncapping operation, so as to obtain a first judgment result; a second determining module, configured to determine a starting position and / or a destination position as a position for performing the capping and uncapping operation if the first judgment result is yes; An instruction sending module is used to send the task operation instructions in the automated process to the handling operation execution device, so that the handling operation execution device performs task deduction according to the task operation instructions, wherein the task operation instructions include handling operation instructions and covering and removing operation execution position parameter instructions.

11. A control device for an automated process, characterized in that: include: An instruction acquisition module, used to acquire task operation instructions in the automation process; A second judgment module is used to judge whether the task operation corresponding to the task operation instruction includes a capping or uncapping operation according to the task operation instruction; The task deduction module is configured to, for a case including a capping and decapping operation, perform task deduction of the corresponding task operation in the following manner: determining, based on a capping and decapping operation execution position parameter instruction included in the task operation instruction, whether the execution position of the capping and decapping operation is the starting position and / or destination position of the transport operation, and continuing task deduction of the corresponding task operation based on the determination result to obtain a task deduction result, wherein the capping and decapping operation is preferentially performed at the starting position and / or destination position; The third determining module is used to determine whether to execute the task operation according to the task deduction result.

12. An electronic device comprising a processor and a memory, wherein: The memory stores computer program instructions, which are used by the processor to execute the control method for an automation system according to claim 1 and / or the control method for an automation process according to any one of claims 2 to 9 when the processor is executed.

13. A storage medium having program instructions stored thereon, wherein the program instructions are used to execute the control method for an automation system according to claim 1 and / or the control method for an automation process according to any one of claims 2 to 9 when run.

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