Multi-device centralized control method and system and electronic device

Abstract

The invention provides a multi-device centralized control method and system and an electronic device, and relates to the field of multi-device control. The method specifically comprises the steps of obtaining a process request sent by a target account, and triggering monitoring equipment to monitor target process related equipment; controlling the target equipment to move according to a target process identifier carried in the process request; under the condition that target position information sent by the monitoring equipment is received, multiple pieces of reference position information corresponding to the target position information are obtained, the multiple pieces of reference position information are sent to the corresponding reference equipment, and the target position information is used for indicating the triggering position in the operation process of the target equipment; and under the condition that the in-place signals of the multiple pieces of reference equipment are received, the multiple pieces of reference equipment are controlled to cooperatively work with the target equipment, so that target process machining of the to-be-machined workpiece is completed. According to the invention, the problem of high cost of centralized control of multiple devices in the prior art is solved, and the centralized control cost of the multiple devices is saved.

Description

Technical Field

[0001] The present application relates to the field of multi-device control, and specifically to a centralized control method, system and electronic equipment for multiple devices. Background Art

[0002] At present, with the development of the Internet and the increasing needs of users, industrial robots are usually used to process various processes in order to reduce the burden of manual operation. However, when using industrial robots to perform various process processing, in addition to industrial robots, a variety of other equipment is required, such as scanners, sensors, etc. It is necessary to control multiple devices at the same time to complete the processing of the corresponding process on the equipment.

[0003] In the related technology, an improved hardware equipment control system is usually used to control multiple devices, such as a PLC-based production line robot integrated control system with publication number CN114859833A and an intelligent robot integrated control system with publication number CN114859833A. However, hardware improvements inevitably require the purchase of various hardware equipment, which itself increases the cost of the equipment. Subsequently, a series of operations such as connection, assembly, and testing of the hardware equipment are required, which is also inseparable from the subsequent financial and labor costs.

[0004] With regard to the problem of high cost of centralized control of multiple devices in the prior art, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a method, system and electronic device for centralized control of multiple devices, so as to at least solve the problem of high cost of centralized control of multiple devices in the prior art.

[0006] According to one aspect of an embodiment of the present application, a centralized control method for multiple devices is provided, including: obtaining a process request sent by a target account, and triggering a monitoring device to monitor target process-related devices, wherein the process request is used to request target process processing of a workpiece to be processed, and the target process-related devices include a target device and multiple reference devices; controlling the target device to move according to a target process identifier carried in the process request; upon receiving target position information sent by the monitoring device, obtaining multiple reference position information corresponding to the target position information, and sending the multiple reference position information to corresponding reference devices respectively, wherein the target position information is used to indicate a trigger position during the operation of the target device, and the trigger position corresponds to at least one reference device among the multiple reference devices; upon receiving in-place signals from multiple reference devices, controlling the multiple reference devices to work in coordination with the target device to complete the target process processing of the workpiece to be processed.

[0007] According to another aspect of an embodiment of the present application, a centralized control system for multiple devices is also provided, including: an acquisition unit, used to acquire a process request sent by a target account, and trigger a monitoring device to monitor the target process-related equipment, wherein the process request is used to request the target process to be processed on the workpiece to be processed, and the target process-related equipment includes a target device and multiple reference devices; a first control unit, used to control the target device to move according to the target process identifier carried in the process request; a sending unit, used to obtain multiple reference position information corresponding to the target position information when receiving the target position information sent by the monitoring device, and send the multiple reference position information to the corresponding reference devices respectively, wherein the target position information is used to indicate the trigger position during the operation of the target device, and the trigger position corresponds to at least one reference device among the multiple reference devices; a second control unit, used to control the multiple reference devices to work together with the target device when receiving arrival signals from the multiple reference devices, so as to complete the target process processing of the workpiece to be processed.

[0008] Optionally, the above-mentioned first control unit includes: a first acquisition subunit, used to acquire a first motion program corresponding to the target device according to the target process identifier; a first sending subunit, used to send the first motion program to the target device, and receive first motion response information of the target device to the first motion program; a determination subunit, used to determine the second motion program corresponding to the target device according to the first motion response information; a second sending subunit, used to send the second motion program to the target device, and receive second motion response information of the second motion program.

[0009] Optionally, the above-mentioned determination subunit includes a first determination module, used to determine a first preset sending time period in the first motion response information; a second determination module, used to determine a target sending timestamp based on the first preset sending time period and the second preset sending time period, wherein the second preset sending time period is a preset interval time period between two adjacent sendings of the first motion program; a third sending subunit, used to send the first motion program to the target device according to the target sending timestamp; a second acquisition subunit, used to acquire the target process processing program and determine the target process processing program as the second motion program when the first motion response information indicates that the target device has successfully run the first motion program. The target process processing program corresponds to the target process identifier.

[0010] Optionally, the above-mentioned second determination module includes a first determination sub-module, used to determine the current process type of the current process according to the first motion response information; a second determination sub-module, used to determine the target process weight value corresponding to the target process and the current process weight value corresponding to the current process type according to the process type of the target process and the current process type; a third determination sub-module, used to determine the target sending timestamp according to the target process weight value, the current process weight value, the first preset sending time period and the second preset sending time period.

[0011] Optionally, the above-mentioned third determination submodule includes: a fourth determination submodule, used to determine a reference sending timestamp based on a current timestamp and a second preset sending time period; a fourth determination submodule, used to determine the reference sending timestamp as the target sending timestamp when the target process weight value is greater than the current process weight value and the reference sending timestamp is earlier than the first preset sending time period; the fourth determination submodule is also used to determine the end timestamp of the first preset sending time period as the target sending timestamp when the target process weight value is greater than the current process weight value and the reference sending timestamp is within the first preset sending time period, or later than the first sending time period; and is also used to determine the start timestamp of the first preset sending time period as the target sending timestamp when the target process weight value is less than or equal to the current process weight value.

[0012] Optionally, the above-mentioned centralized control system of multiple devices further includes a trigger unit, which is used to trigger the monitoring device to obtain target position information of the target device when the target device moves to the target area, and send the target position information to the centralized control system.

[0013] Optionally, the second control unit includes: an acquisition module, used to acquire the control programs corresponding to the multiple reference devices respectively when receiving the arrival signals of the multiple reference devices; a sending module, used to send the multiple control programs to the corresponding reference devices simultaneously, or determine the sending timestamps of the multiple control programs according to the second motion program, and send the multiple control programs to the corresponding reference devices respectively according to the multiple sending timestamps.

[0014] Optionally, the centralized control system of the above-mentioned multiple devices also includes a control subunit, which is used to control the acquisition module to collect the operating information of the target process-related equipment, and send the operating information and the preset display method corresponding to the operating information to the display module for twin display, wherein the acquisition module supports multiple interface protocols; an exception handling unit, which is used to determine the type of exception when the monitoring device detects an operating abnormality of the target process-related equipment, and handle the exception using the exception handling method corresponding to the exception type.

[0015] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the above method for centralized control of multiple devices.

[0016] According to another aspect of the embodiments of the present application, an electronic device is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the centralized control method for multiple devices as described above.

[0017] The above-mentioned centralized control method for multiple devices solves the problem of high cost of centralized control of multiple devices in the prior art, thereby saving the centralized control cost of multiple devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a schematic diagram of an optional centralized control system of multiple devices according to an embodiment of the present invention;

[0020] Figure 2 is a flow chart of an optional centralized control method for multiple devices according to an embodiment of the present invention;

[0021] Figure 3 is a schematic diagram of an optional centralized control method for multiple devices according to an embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of another optional centralized control method for multiple devices according to an embodiment of the present invention;

[0023] Figure 5 It is a schematic diagram of another optional centralized control method of multiple devices according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0026] The existing technology usually focuses on using more hardware devices to form a centralized control system of multiple devices, but this method requires more costs to purchase hardware devices, which undoubtedly increases more costs.

[0027] In order to solve the above problems, the embodiment of the present application provides a centralized control method for multiple devices. As an optional implementation, the centralized control method for multiple devices can be applied to, but is not limited to, Figure 1 In the centralized control system of multiple devices shown in FIG. Figure 1In the centralized control system of multiple devices shown, there is only an acquisition module used for data acquisition, data distribution, etc. with actual devices (i.e., the above-mentioned target device and multiple reference devices), PLC (Programmable Logic Controller, an electronic system for digital computing operations designed specifically for industrial environments), etc. The acquisition module supports multiple protocols, such as S7 (a communication protocol based on a client-server model), opcua (an open standard protocol based on industrial communication), mqtt (message queue telemetry transmission protocol), Heidenhain LSV2 protocol, MTConnect protocol (a protocol for real-time data acquisition and sharing of industrial equipment), Modbus protocol (serial communication protocol), corba protocol (standardized communication protocol), etc. The sending unit, the first control unit, the second control unit, the control module, the equipment management module, the production data module, the twin monitoring / large-screen display module (i.e., the above-mentioned display module), etc., except the acquisition module, are all software modules, and the above-mentioned multiple modules are connected by network or interface. The control system is deployed on a computer host, which is placed in an operating room with an office. Other hardware devices such as robotic arms and PLCs need to communicate with the host so that the control system can better control the equipment. Other software can be integrated in the control system to achieve centralized operation and management of the control system.

[0028] In this application, if Figure 1 The acquisition module shown is used for data collection, data transmission and other processing with actual equipment, PLC, etc. The equipment management module is used to add equipment information of equipment, workstations and production lines in the target process scenario, so as to facilitate the association of various variables for management and control and large-screen display; the production data module is used to view the processing progress of the target process and related processing information; the control module is used to control the entire target process processing flow, as well as to start and stop all equipment; the twin monitoring / large-screen display module (also called the display module) is used to monitor the digital twin and the data during the target process processing through data collection.

[0029] System process control is the comprehensive control part of the centralized control system. The process of the whole project is roughly divided into four parts: automatic laying station, transfer station, continuous rolling station and inspection and cutting station. Each station has two methods: manual operation and automatic control. There is an operation status monitoring area for each main equipment in the centralized control system, which can alarm the overall process. For the process of the whole scene, for the part where only the robot arm works alone, the system only needs to download the program of the robot arm to the robot arm. After downloading the program, click the start button, and the robot arm will complete the work according to the program in the controller. When the robot arm is working, the system can collect joint data in real time for display, and the joint value of the robot arm can be seen in real time. At the same time, the joint value of the guide rail and the positioner can also be displayed in real time. In the whole laying process, the first step is to download the program to the robot arm, and then start the laying process. The centralized control interface can display the working step of the robot arm in real time. At the same time, when the robot arm is executing the laying process, the system can display the six joint angles of the robot arm in real time. In addition to the robot arm, the joint value of the moving guide rail and the servo turntable can also be displayed.

[0030] The operation of continuous rolling in the centralized control system is similar to automatic placement. The working program of the robotic arm is first given to the robot, and then the robotic arm goes to the site to perform the work. When the robotic arm performs the continuous rolling process, it will first put down the current placement tool and replace it with the rolling tool to execute the rolling process. During the rolling process, the joint angles of the robotic arm and the linked guide rail data will be monitored in real time. There is a heating mechanism in the continuous rolling part, which needs to be heated before the rolling operation.

[0031] The most important thing in the entire centralized control system is the data interaction between devices and the real-time PLC signal acquisition, processing and display of the devices. Multiple devices can exchange device data based on open interfaces (specific data interfaces need to be provided). The data of PLC devices can be collected, uploaded and sent through the gateway, and some sensor data collected by PLC can be displayed. The gateway can directly collect data from PLC devices for processing, and then transmit it to the place where data is needed through various communication protocols. The entire system is deployed in a host, which is equipped with a display, mouse and other necessary operating kits. The entire chassis equipment is placed on the work table in the control room. The PLC is used as the main control in the entire process. The PLC communicates with other sensors and equipment. The PLC can collect the status of the equipment and some field parameters in real time. At the same time, the PLC also needs to communicate with the host in real time.

[0032] The centralized control device of the above-mentioned multiple devices is used to implement the centralized control method of the above-mentioned multiple devices, which specifically includes the following steps: obtaining a process request sent by a target account, and triggering a monitoring device to monitor the target process-related equipment, wherein the process request is used to request the target process to be processed on the workpiece to be processed, and the target process-related equipment includes a target device and multiple reference devices; controlling the target device to move according to the target process identifier carried in the process request; upon receiving the target position information sent by the monitoring device, obtaining multiple reference position information corresponding to the target position information, and sending the multiple reference position information to the corresponding reference devices respectively, wherein the target position information is used to indicate the trigger position during the operation of the target device, and the trigger position corresponds to at least one reference device among the multiple reference devices; upon receiving the arrival signals of multiple reference devices, controlling the multiple reference devices to work in coordination with the target device to complete the target process processing of the workpiece to be processed.

[0033] The centralized control system of the above-mentioned multiple devices integrates the control software of all devices. Through this system, not only can the remote control of the equipment be realized to improve work efficiency, but also the flexibility and response speed of operation can be guaranteed. The core of the system design is to create an interactive interface centered on the control system, and ensure seamless connection between all on-site devices through standardized interfaces and efficient communication protocols. The operator can achieve comprehensive control and management of the equipment in the entire work scene simply through this central control system. The design of the entire system architecture is to achieve information exchange and collaborative operation between devices, thereby maximizing the automation and intelligence level of the entire processing process, reducing manual intervention, and improving overall production efficiency and product quality. In addition, for the on-site equipment, the centralized control system can also display the collected data, such as the joint angle of the robot arm, the on-site sensor, and the working status of some equipment on the monitoring board based on the digital twin. The digital twin monitoring board is divided into two parts, one is the twin simulation in the middle, and the other is distributed around the board. It is the statistical equipment processing process monitoring data, which can be displayed on the board in real time; the specific display interface can be customized and developed.

[0034] The above-mentioned centralized control method for multiple devices avoids the need to purchase more hardware devices, solves the problem of high cost of centralized control of multiple devices in the prior art, and saves the centralized control cost of multiple devices.

[0035] The above is only an example and is not limited in this embodiment.

[0036] As an optional implementation, please refer to Figure 2 The centralized control method of multiple devices shown in the figure specifically includes the following steps:

[0037] S202, obtaining a process request sent by a target account, and triggering a monitoring device to monitor target process-related equipment, wherein the process request is used to request a workpiece to be processed to be processed by a target process, and the target process-related equipment includes a target equipment and a plurality of reference equipment;

[0038] S204, controlling the target device to move according to the target process identifier carried in the process request;

[0039] S206, upon receiving the target position information sent by the monitoring device, obtaining multiple reference position information corresponding to the target position information, and sending the multiple reference position information to corresponding reference devices respectively, wherein the target position information is used to indicate a trigger position during the operation of the target device, and the trigger position corresponds to at least one reference device among the multiple reference devices;

[0040] S208, when receiving arrival signals of multiple reference devices, controlling the multiple reference devices to work in coordination with the target device to complete target process processing of the workpiece to be processed.

[0041] It should be noted that the target account in the above S202 can be understood as, but not limited to, an account for logging into the client and determining the target process. A variety of processes (also called process types) are displayed on the display interface of the client, such as automatic placement, rolling, transfer grabbing, detection and cutting, etc.; after the user logs in to the client using the target account, he selects any one of the multiple processes by clicking, and the selected process is the above target process. After clicking, the process request sent by the client to the centralized control system of multiple devices (hereinafter referred to as the control system) is the process request corresponding to the target process; after receiving the process request, the control system will trigger the monitoring device to monitor the equipment related to the target process. The above triggering can be understood as, but not limited to, the control system sending a monitoring program to the monitoring device, and the monitoring system starts to monitor the equipment related to the target process after receiving the monitoring program. The above target equipment can be understood as, but not limited to, the most important equipment for processing the workpiece to be processed by the target process, such as a robot, a robotic arm, etc.; the above multiple reference devices can be understood as, but not limited to, secondary equipment corresponding to the target process other than the above target equipment, such as an AGV cart, a scanner (such as a Scan scanner), a guide rail, a sensor, a PLC, a Mekamind camera, etc. The process request sent by the target account may be understood as, but not limited to, a process request obtained through the display interface of the PLC (ie, the display interface of the client).

[0042] The target process identifier in the above S204 is used to indicate the process type of the target process, for example, the process identifier corresponding to automatic laying is "001", the process identifier corresponding to rolling is "002", the process identifier corresponding to transfer grasping is "003", the process identifier corresponding to detection and cutting is "004", etc. The movement in the above 204 includes the position information remaining unchanged, the movement of other parts of the target equipment (for example, the robot spray gun sprays, the robot's mechanical arm rotates, etc.) and the movement of the target equipment in the position information (for example, the movement of the mechanical arm on the guide rail); the operation in the above S204 can be understood, but not limited to, as obtaining the motion program corresponding to the target equipment according to the target process identifier and sending it to the target equipment, so that the target equipment moves according to the motion program.

[0043] It should be noted that, during the movement of the target device, it will first move in position. When the monitoring device detects that the target device has moved to the target area, the monitoring device will obtain the position information of the target device in the target area (i.e., the above-mentioned target position information), and then send the position information to the control system. The control system executes the above S206, that is, when the control system receives the target position information sent by the monitoring device, the control system will obtain multiple reference position information corresponding to the target position information, and send the multiple reference position information to the corresponding reference devices, one reference position information for each device. The above S206 can be understood, but not limited to, as the control system controlling the multiple reference devices corresponding to the target device to reach the specified position when confirming that the monitoring device has arrived in the target area. The above trigger position can be understood, but not limited to, as a condition for triggering the start of one or more reference devices.

[0044] When multiple reference devices arrive at the specified position, the multiple reference devices will send their respective position information (i.e., the above-mentioned in-position signals) to the control system, and then the control system executes the above-mentioned S208, that is, when the control system receives the in-position signals from the multiple reference devices, it obtains the motion program corresponding to each reference device according to the in-position signals, and sends the motion program to the corresponding reference devices respectively, thereby controlling the multiple reference devices to work together with the target device to complete the target process processing of the workpiece to be processed.

[0045] Through the above-mentioned centralized control method of multiple devices of the present application, centralized control of multiple devices can be achieved through software modules while using fewer hardware devices, which greatly saves the cost of purchasing hardware devices, thereby saving the cost of centralized control of multiple devices.

[0046] As an optional implementation manner, controlling the target device to move according to the target process identifier carried in the process request includes:

[0047] S1, obtaining a first motion program corresponding to a target device according to a target process identifier;

[0048] S2, sending a first motion program to a target device, and receiving first motion response information of the target device to the first motion program;

[0049] S3, determining a second motion program corresponding to the target device according to the first motion response information;

[0050] S4, sending a second motion program to the target device, and receiving second motion response information of the second motion program.

[0051] The first motion program in the above S1 can be but is not limited to being understood as a program that controls the startup or switching of the target device (if the target device is in a paused state, the first motion program is a startup program; if the target device is in a running state, the first motion program is a switching program). The operations in the above S1 include: obtaining the running state of the target device, and when the running state of the target device is running, obtaining the switching program of the target device, and determining the switching program as the first motion program; when the running state of the target device is not running (or called not started), obtaining the startup program of the target device, and determining the startup program as the first motion program.

[0052] The first motion response information in the above S2 is used to indicate the status of the target device running the first motion program, specifically including successful running of the first motion program (successful startup or successful switching of the target device) and failure to run the first motion program (failure to start or failure to switch of the target device). When the first motion response information indicates that the target device runs the first motion program successfully, the second motion program corresponding to the target device is obtained (that is, the above S3). When the first motion response information indicates that the target device fails to run the first motion program, the first motion program continues to be sent to the target device.

[0053] The second motion program in the above S4 can be understood, but is not limited to, as a program for controlling the target device to perform actual target process processing, such as the program corresponding to the above-mentioned automatic laying, the program corresponding to rolling, the program corresponding to transfer and grasping, the program corresponding to detection and cutting, etc. The above-mentioned second motion response information is used to indicate the execution status (successful execution or failed execution) of the target device executing the second motion program.

[0054] Through the above-mentioned implementation mode of the present application, the operating status of the target device can be determined first, and when the target device is in operation, it can be confirmed whether to switch the processing of the process being carried out by the target device, thereby improving the flexibility of process processing.

[0055] As an optional implementation manner, the above-mentioned determining the second motion program corresponding to the target device according to the first motion response information includes:

[0056] S1, when the first motion response information indicates that the target device fails to run the first motion program, determining a first preset sending time period according to the first motion response information;

[0057] S2, determining a target sending timestamp according to a first preset sending time period and a second preset sending time period, wherein the second preset sending time period is a preset interval time period between two adjacent sendings of the first motion program;

[0058] S3, sending the first motion program to the target device according to the target sending timestamp;

[0059] S4, when the first motion response information indicates that the target device successfully runs the first motion program, obtain a target process program and determine the target process program as a second motion program, wherein the target process program corresponds to the target process identifier.

[0060] It should be noted that the failure to run the first motion program in the above S1 includes a failure to start the target device or a failure to switch the target device (that is, when the first motion program is a switching program, the failure to run the first motion program is a failure to switch the target device, and when the first motion program is a startup program, the failure to run the first motion program is a failure to start the target device). At this time, the first preset sending time period can be determined according to the first motion response information. The specific process of determining the first preset sending time period includes: obtaining a preset response time period, wherein the preset response time period is used to indicate a time period for the target device to send a response message to the control system; determining the first preset sending time period according to the preset response time period, including: adding the start timestamp of the preset response time period to the left boundary time of the preset time interval as the timestamp obtained as the start timestamp of the first preset sending time period, and The timestamp obtained by adding the end timestamp of the response time period to the right boundary time of the preset time interval is used as the end timestamp of the first preset sending time period, wherein the preset time interval can be understood as, but not limited to, the time period from the target device to the control system, or the time period from the control system to the target device. For example, the preset time interval is [3, 5] minutes. If the control system sends a message to the target device at 14:00 on October 10, 2024, then the target device will receive the message from 14:03 to 14:05 on October 10, 2024; if the target device sends a message to the control system at 14:00 on October 10, 2024, then the control system will receive the message from 14:03 to 14:05 on October 10, 2024. It can be understood that the various numerical values ​​here are only examples for ease of understanding and are not intended to limit the present application.

[0061] The above-mentioned obtaining of the preset response time period includes: when the target device is not started, determining the preset response time period according to the timestamp of sending the first motion program and the preset time interval (including determining the timestamp of sending the first motion program plus the left boundary time of the preset time interval as the start timestamp of the preset response time period, and determining the timestamp of sending the first motion program plus the right boundary time of the preset time interval as the end timestamp of the preset response time period. For example, the timestamp of sending the first motion program is 14:00 on October 10, 2024, and the preset time interval is [3, 5], in minutes. Then it can be known that the left boundary time of the preset time interval is 3 minutes and the right boundary time is 5 minutes. Then the obtained preset response time period is from 14:03 on October 10, 2024 to 14:05 on October 10, 2024. It can be understood that the various numerical values ​​here are only examples for ease of understanding and are not limited to this application); when the target device is in operation, according to the estimated completion time of the current process carried in the response information (also referred to as the estimated completion timestamp), or The preset response time period is determined based on the remaining unfinished processes of the current process carried in the first motion response information; the preset response time period is determined based on the estimated completion time of the current process carried in the response information, including: the estimated completion time plus the left boundary time of the preset time interval is determined as the start timestamp of the preset response time period, and the estimated completion time plus the right boundary time of the preset time interval is determined as the end timestamp of the response time period; the above-mentioned determination of the preset response time period based on the remaining unfinished processes of the current process carried in the first motion response information includes: determining the remaining completion time based on the remaining unfinished processes; determining the preset response time period based on the timestamp of sending the first motion program, the preset time interval, and the remaining completion time, including determining the timestamp of sending the first motion program plus the left boundary time of the preset time interval and the remaining completion time as the start timestamp of the preset response time period, and determining the timestamp of sending the first motion program plus the right boundary time of the preset time interval and the remaining completion time as the end timestamp of the preset response time period, wherein the remaining completion time is used to indicate the estimated time required to complete the remaining unfinished processes. For example, the timestamp of sending the first exercise program is 14:00 on October 10, 2024, and the preset time interval is [3, 5] in minutes. The remaining completion time is ten minutes. Then the start timestamp of the preset response time period is 14:13 on October 10, 2024, and the end timestamp of the preset response time period is 14:15 on October 10, 2024. It can be understood that the various numerical values ​​here are only examples for ease of understanding and do not limit the present application.

[0062] The second preset sending time period in S2 above can be understood, but not limited to, as a preset time interval for sending the first motion program to the target device next time when the first motion response information indicates that the target device fails to run the first motion program, for example, the second preset sending time period is once every 3 seconds, once every 5 seconds, etc. The target process processing program in S3 above can be understood, but not limited to, as the program for controlling the target device to perform the actual target process processing (i.e., the second motion program).

[0063] Through the above-mentioned implementation mode of the present application, when the target device fails to run the program, the next time to send the first motion program to the target device can be flexibly determined, thereby avoiding frequent repeated sending, resulting in system crashes, and the target device being unable to respond to each frequent repeated sending in time.

[0064] As an optional implementation manner, the above-mentioned determining the target sending timestamp according to the first preset sending time period and the second preset sending time period includes:

[0065] S1, determining a current process type of a current process according to first motion response information;

[0066] S2, determining a target process weight value corresponding to the target process and a current process weight value corresponding to the current process type according to the process type of the target process and the current process type;

[0067] S3, determining a target sending timestamp according to the target process weight value, the current process weight value, the first preset sending time period, and the second preset sending time period.

[0068] The current process type in S1 above is the type of process being processed by the target device. It should be noted that each process type has its corresponding weight value, and the weight value of each process type can be pre-set or temporarily modified later according to the emergency procedure of the process type.

[0069] The operations in the above S3 specifically include: determining a reference sending timestamp according to the current timestamp and the second preset sending time period (including: adding the current timestamp and the second preset sending time period to obtain a timestamp as the reference sending timestamp, for example, the current timestamp is six o'clock in the morning of the same day, and the preset second preset sending time period is to send once every ten minutes, then the reference sending timestamp at this time is six ten in the morning of the same day; for example, the current timestamp is: 14:00 in the afternoon of October 10, 2024, and the second preset sending time period is 4 minutes, then the reference sending timestamp is 14:04 in the afternoon of October 10, 2024. The current timestamp can be but is not limited to being understood as the current system timestamp); when the target process weight value is greater than the current process weight value, and the reference sending timestamp is earlier than the first preset sending time period (that is, the reference sending timestamp is before the start timestamp of the first preset sending time period). In the following cases (for example, when the target process weight is large (more urgent), the current process can be paused first, and the target device can be controlled to process the target process), the target sending timestamp is determined by the reference sending timestamp, and the first motion program and the stop instruction are sent to the target device according to the target sending timestamp; when the target process weight value is greater than the current process weight value, and the reference sending timestamp is within the first preset sending time period, or later than the first preset sending time period, the end timestamp of the first preset sending time period is determined as the target sending timestamp; when the target process weight value is less than or equal to the current process weight value, the start timestamp of the first preset sending time period is determined as the target sending timestamp (when the target process is less than the current process weight, or is the same as the ongoing process, and in order to avoid waiting too long, the start time of the first preset sending time period is used as the sending time). After the target sending timestamp is determined as above, the first motion program and the stop instruction are sent to the target device according to the target sending timestamp, wherein the stop instruction is used to control the target device to stop processing the current process, and the first motion program is used to control the target device to switch to the working mode of processing the target process.

[0070] It should be noted that before the above S1, whether the target device is in a motion state will be determined based on the first motion response information. If the target device is in a motion state, the above S1 to S3 will be executed. If the target device is in a non-motion state (i.e., not started or not working), the reference sending timestamp will be directly determined as the target sending timestamp, and the first motion program will be sent to the target device according to the target sending timestamp. At this time, there is no need to send a stop command.

[0071] In the event that the target device fails to receive the second motion program, the time to re-send the first motion program can also be determined by using the above-mentioned method of determining the time to re-send the first motion program, that is, determining the receiving timestamp (the timestamp of receiving the second response information) according to the second motion response information (the response information of the target device to the second motion program); determining the second target sending timestamp according to the receiving timestamp and the second preset sending time period, specifically: determining the timestamp obtained by adding the receiving timestamp to the second preset sending time period as the second target sending timestamp; and sending the second motion program to the target device according to the second target sending timestamp.

[0072] Through the above-mentioned implementation mode of the present application, it is possible to flexibly determine the time to send the first motion program to the target device again when the target device fails to receive, and the same content will not be sent repeatedly every time. The time and content to be sent again can be flexibly determined according to the state of the target device being stopped or in motion, thereby improving the success rate of sending the first motion program.

[0073] As an optional implementation, after controlling the target device to move, the monitoring device is triggered to obtain target position information of the target device when the target device moves to a target area, and the target position information is sent to a centralized control system, wherein the target area is a pre-set area.

[0074] Through the above-mentioned implementation manner of the present application, the set target area can be set as a flexible trigger condition for the monitoring device, so that the monitoring device can flexibly perform effective monitoring during working hours without having to monitor all the time when the device is not working.

[0075] As an optional implementation, the above-mentioned controlling multiple reference devices to work in coordination with the target device when receiving arrival signals from multiple reference devices includes: obtaining control programs corresponding to each of the multiple reference devices when receiving arrival signals from the multiple reference devices; sending the multiple control programs to the corresponding reference devices respectively, or determining the sending timestamps of the multiple control programs according to the second motion program, and sending the multiple control programs to the corresponding reference devices respectively according to the multiple sending timestamps.

[0076] The above-mentioned arrival signal is used to indicate that the reference device has reached the specified position, and the multiple control programs are used for the programs sent by the control system to the reference device after the multiple reference devices have reached the specified position, which are used to control the reference device and the target device to work together. The above-mentioned sending timestamps of multiple control programs determined according to the second motion program can be understood, but not limited to, as follows: in the process of the target device executing the second motion program, multiple reference devices will be gradually triggered to work, for example, the above-mentioned monitoring device is triggered to start when the target device reaches the specified position when the second motion program is specified. After triggering the reference device to start, the control system will also send the programs that each reference device actually needs to work with (i.e., the programs that should be executed after each reference device is started) to the reference device according to the sending timestamp, so that the reference device can actually work.

[0077] Through the above-mentioned implementation mode of the present application, multiple reference devices can be triggered to start and work according to the actual working program corresponding to the target device (i.e., the above-mentioned second motion program), which not only improves the flexibility of the centralized control system in controlling multiple devices, but also saves the cost of using hardware devices for control.

[0078] As an optional implementation, after the monitoring device is triggered to monitor the target process-related equipment, it also includes: controlling the acquisition module to acquire the operating information of the target process-related equipment (including the target equipment and multiple reference equipment), and sending the operating information and the preset display mode corresponding to the operating information to the display module for twin display, wherein the acquisition module supports multiple interface protocols; when the monitoring device detects an operating abnormality of the target process-related equipment, the abnormality type is determined (it may be a system reason, it may be an abnormality caused by a conflict in the operating trajectory, etc.), and the abnormality is handled in an abnormality handling mode corresponding to the abnormality type, including: when the abnormality type is a system abnormality, re-controlling the abnormality-related equipment (the equipment involved in the abnormality) back to The motion program is re-executed at the origin (device starting point) (if any program is executed abnormally, the program will be returned to the running origin and re-executed); when the exception type is program conflict (for example, when the target device executes the second motion program, it will collide with the reference device when executing the moving program), any exception-related device is controlled to stop, and after the other exception-related devices have moved for a period of time, any of the above exception-related devices is controlled to continue executing the program, wherein any of the above exception-related devices is the device that plays a major role in the exception (for example, if two reference devices both run abnormally with the target device, the target device will be controlled to stop; if one reference device and the target device both run abnormally with another reference device, the other reference device will be controlled to stop).

[0079] It should be noted that the above-mentioned preset display mode can be understood as, but is not limited to, the way and position in which the pre-set operation information is displayed on the display interface. For example, some operation information is displayed in a fixed area in the upper left corner of the display interface in the form of a bar graph, and other operation information is displayed in a certain area in the lower right corner of the display interface in the form of a line graph. Some information is displayed in a tabular form in a certain area directly below the display interface, and the operation process twins of multiple devices are displayed in the middle area of ​​the display interface, etc. The entire process of the completion of the process scene can be actually displayed in twins. The data displayed in twins can come from the PLC transmitting the drive signal of the specific equipment on site to the PQFactory software through the acquisition module. After the software collects the corresponding signal, it can control the movement of the virtual scene in real time. In this application, the overall twin display interface is set to: the interface of the digital twin (i.e., the overall twin display interface) is a model twin in the middle, surrounded by a data display board, and all the data of the entire scene is more intuitively expressed with a three-dimensional image.

[0080] Through the above-mentioned implementation mode of the present application, the operation anomalies between multiple devices can be monitored and processed simultaneously, ensuring that when multiple devices work together to process the target process on the workpiece, they can be processed in time without affecting the overall efficiency of the target process.

[0081] Assume that the PLC display interface shows multiple process types. Figure 3-5 The centralized control method of the above-mentioned multiple devices is generally described for the target processes of transfer grabbing and detection cutting:

[0082] Assume that the target process is transfer grabbing, such as Figure 3 The centralized control system shown is the centralized control system of the above-mentioned multiple devices, such as Figure 3 The multiple reference devices and robotic arms (robotic arms) shown in the figure will communicate with the centralized control system, which will send programs to the target devices and reference devices. For the transfer and grasping process, overall linkage is required. The centralized control system first sends the program to the robotic arm, and the robotic arm works (handling / assembly) according to the program trajectory. If other reference devices need to work together, such as a visual system (including Figure 3 The robot arm will stop when it reaches a position where vision is required, and feed back a signal to the system to tell the centralized control system that some reference equipment is needed to work together (for example, Figure 3 The feedback in-place signal shown in the figure requires the visual camera to be turned on). After the centralized control system receives the in-place signal of the robot arm, it will control the visual system to start, and the visual system will start taking pictures, and compare the results in the processing software. The comparison results will be fed back to the centralized control system, and the centralized control system will send the offset result to the robot arm. After receiving the offset, the robot arm will carry out transportation / assembly according to the offset trajectory (for example Figure 3The central control system shown in the figure turns on the vision, after which the vision will send the vision result to the vision processing software, and the vision processing software will transmit the obtained offset result to the central control system).

[0083] The overall process of transfer and grabbing is as follows Figure 4 As shown, Figure 4 The start button in the code means that the user selects a target process in the PLC display interface through the target account. After that, the acquisition module will collect the PLC variable state change, that is, if the start mark corresponding to the transfer grab is "1", the start mark corresponding to the detection and cutting is "2", and the mark of not starting any process is "0", then when the user selects the transfer grab, the PLC variable state will change from "0" to "1", or from "2" to "1", and then the acquisition module will send the collected state changes to the control module in the centralized control system, and the control module will perform subsequent execution processes and motion twins and real-time monitoring. The execution process includes: when the centralized control system receives a process request, it will send the process request to the monitoring device, thereby triggering the monitoring device to monitor, and then the centralized control system will obtain the switching transfer grab tool program (that is, the first motion program mentioned above), and send the program to the robot, and the robot moves to the point where the visual camera needs to be turned on. The robot sends a visual start signal at the position (that is, when the monitoring system detects that the robot moves to the position where the visual camera is turned on, it will send the robot's current position to the control module). The control module receives the signal and controls the camera to start taking pictures (that is, the relevant program is sent to the camera). The camera takes pictures according to the program, and sends the current part posture and template posture (the template posture corresponding to the original trajectory, the template posture can be but is not limited to being understood as the posture of the workpiece to be processed when the transfer grasping trajectory is pre-planned, and the current part posture is the actual posture of the workpiece to be processed) obtained by taking pictures to the control module. The control module compares the current part posture with the template posture to obtain an offset matrix, and multiplies the theoretical offset trajectory (that is, the planned trajectory corresponding to the template posture) by the offset matrix to obtain a new grasping trajectory corresponding to the current part posture; then the control module sends the grasping trajectory of the current part position (that is, the new grasping trajectory) to the robot, and the robot performs grasping according to the new grasping trajectory.

[0084] It should be noted that in the centralized control system, there will be corresponding displays on the twin display interface. For example, when the robot reaches the visual start point, the light will be on, and after the offset result is fed back, the green light will turn gray. At the same time, there will be a green light to display whether the vision is turned on or not. The green light means that the vision starts working, and the gray means it is off. The entire grabbing and handling system operation is as follows: the first step is to download the grabbing and handling program to the robot. The on-site robot will execute the program and move. When it moves to the place where the camera needs to be turned on, it stops and transmits a signal to the system that the vision needs to be started. After receiving the signal, the system executes the camera start program and takes a picture. The picture result, that is, the offset between the theoretical model and the actual, is transmitted to the system. The system transmits the offset to the variable of the robot arm and continues to move; until the workflow is finally completed.

[0085] Assume that the target process is inspection cutting, such as Figure 5 As shown, the inspection and cutting workflow requires the coordinated work of the robot arm, AGV, scanner, etc. The scanner is divided into two parts, one part is installed on the end of the robot arm, and the other part is installed on the AGV trolley; when the robot arm executes the inspection program, the centralized control system will control the robot arm to stop at the inspection location. At this time, the robot arm or monitoring equipment will feedback the position information of the robot arm at this time to the centralized control system. After receiving the serial number, the centralized control system controls the AGV trolley to be dispatched to the corresponding point (that is, controls the AGV trolley to reach the specified position), and controls the scanner to start and perform real-time scanning. At the same time, the scanning results are fed back to the centralized control system, and the centralized control system sends the scanning results to the display module for twin display. The difference between the overall execution process of inspection and cutting and the above-mentioned transfer and grabbing lies in the execution process controlled by the control module. The specific execution process of inspection and cutting is as follows:

[0086] When the centralized control system receives a process request, it will send the process request to the monitoring device, thereby triggering the monitoring device to perform monitoring. After that, the centralized control system will obtain the switching detection and cutting tool program (i.e. the first motion program mentioned above) and send the program to the robotic arm (i.e. the target device mentioned above). After the robotic arm successfully switches the transfer and grabbing program, the control system will send the detection and cutting program (i.e. the second motion program mentioned above) to the robotic arm. The robotic arm will stop when it moves to the position where the sensor needs to detect (i.e. when the monitoring system detects that the robot moves to the position detected by the sensor, it will send the position of the robotic arm at this time to the control module, and the control module will control the robotic arm to stop moving). The control module controls the AGV car to reach the detection point (if the scanner and visual camera need to move, the scanner and visual camera will also be controlled to reach a fixed point). After that, the AGV car will send an in-position signal to the control module, and then the control system will control the scanner, visual camera and AGV car to start and work. The robot arm performs the above operation (and the scanner sends the real-time scanning results to the control module, the control module sends the scanning results to the display module for twin display, and when the robot arm moves to the next scanning point, the above process will be repeated). Specifically, the control module sends the robot's detection trajectory program to the robot arm, and the robot arm executes according to the trajectory. The camera is responsible for shooting the workpiece to be inspected, which is used to dynamically adjust the detection trajectory. The scanner and the probe on the AGV car work together to detect the assembly dimensions of parts. The acquisition module collects the working data of all equipment and sends the collected data to the control module. The control module then sends the data to the display module for twin display for manual monitoring. At the same time, the acquisition module will also send the collected data to the production data module for data analysis. The data analysis specifically includes: collecting various data storage on site to facilitate subsequent traceability and viewing of data quality, such as the impact of the robot's height and speed on the results during inspection.

[0087] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0088] According to another aspect of an embodiment of the present invention, an electronic device for implementing the above-mentioned centralized control method for multiple devices is also provided, and the electronic device may be a terminal device or a server. This embodiment is illustrated by taking the electronic device as a terminal device as an example. The electronic device includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor performs the steps in any one of the above-mentioned method embodiments.

[0089] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0090] Optionally, in this embodiment, the processor may be configured to execute the centralized control method for multiple devices through a computer program.

[0091] Alternatively, a person skilled in the art may understand that the structure of the electronic device described above is for illustration only, and the electronic device may also be a terminal device such as a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, and a mobile Internet device (Mobile Internet Devices, MID), PAD, etc. The above description does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components (such as a network interface, etc.) than those described above, or have a configuration different from that described above.

[0092] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the centralized control method and system of multiple devices in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the centralized control method of the above-mentioned multiple devices. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. Among them, the memory can be specifically used, but not limited to, for storing various data involved in the centralized control method of the above-mentioned multiple devices. As an example, when the above-mentioned electronic device is used to implement the centralized control method of the above-mentioned multiple devices, the above-mentioned memory may include, but is not limited to, various modules and units in the centralized control system of the above-mentioned multiple devices. In addition, it may also include but is not limited to other module units in the centralized control system of the above-mentioned multiple devices, which will not be repeated in this example.

[0093] Optionally, the transmission device is used to receive or send data via a network. Specific examples of the network may include wired networks and wireless networks. In one example, the transmission device includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device is a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly. In addition, the electronic device also includes: a display and a connection bus, which is used to connect the various module components in the electronic device.

[0094] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned centralized control method for multiple devices.

[0095] Those skilled in the art will appreciate that the implementation of all or part of the processes in the above method embodiments can be accomplished by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include processes such as those in the above method embodiments.

[0096] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A centralized control method for multiple devices, characterized in that: include: Obtaining a process request sent by a target account, and triggering a monitoring device to monitor target process-related equipment, wherein the process request is used to request a workpiece to be processed to be processed by a target process, and the target process-related equipment includes a target device and a plurality of reference devices; Controlling the target device to move according to the target process identifier carried in the process request; Upon receiving the target position information sent by the monitoring device, obtaining a plurality of reference position information corresponding to the target position information, and sending the plurality of reference position information to corresponding reference devices respectively, wherein the target position information is used to indicate a trigger position during the operation of the target device, and the trigger position corresponds to at least one of the plurality of reference devices; When the arrival signals of the plurality of reference devices are received, the plurality of reference devices are controlled to work in coordination with the target device to complete the target process processing of the workpiece to be processed.

2. The method according to claim 1, characterized in that According to the target process identifier carried in the process request, controlling the target device to move includes: Acquire a first motion program corresponding to the target device according to the target process identifier; sending the first motion program to the target device, and receiving first motion response information of the target device to the first motion program; Determining a second motion program corresponding to the target device according to the first motion response information; The second motion program is sent to the target device, and second motion response information of the second motion program is received.

3. The method according to claim 2, characterized in that Determining a second motion program corresponding to the target device according to the first motion response information includes: In a case where the first motion response information indicates that the target device fails to run the first motion program, determining a first preset sending time period according to the first motion response information; Determine a target sending timestamp according to the first preset sending time period and the second preset sending time period, wherein the second preset sending time period is a preset interval time period between two adjacent sendings of the first motion program; Sending the first motion program to the target device according to the target sending timestamp; When the first motion response information indicates that the target device successfully runs the first motion program, the target process program is acquired and determined as the second motion program, wherein the target process program corresponds to the target process identifier.

4. The method according to claim 3, characterized in that Determining a target sending timestamp according to the first preset sending time period and the second preset sending time period includes: determining a current process type of a current process according to the first motion response information; Determine a target process weight value corresponding to the target process and a current process weight value corresponding to the current process type according to the process type of the target process and the current process type; The target sending timestamp is determined according to the target process weight value, the current process weight value, the first preset sending time period, and the second preset sending time period.

5. The method according to claim 4, characterized in that Determining the target sending timestamp according to the target process weight value, the current process weight value, the first preset sending time period, and the second preset sending time period includes: Determine a reference sending timestamp according to the current timestamp and the second preset sending time period; When the target process weight value is greater than the current process weight value and the reference sending timestamp is earlier than the first preset sending time period, determining the reference sending timestamp as the target sending timestamp; When the target process weight value is greater than the current process weight value and the reference sending timestamp is within the first preset sending time period or later than the first preset sending time period, the end timestamp of the first preset sending time period is determined as the target sending timestamp; When the target process weight value is less than or equal to the current process weight value, the start timestamp of the first preset sending time period is determined as the target sending timestamp.

6. The method according to claim 1, characterized in that After controlling the target device to move, the method further includes: when the target device moves to a target area, triggering the monitoring device to obtain the target position information of the target device, and sending the target position information to a centralized control system.

7. The method according to claim 2, characterized in that In the case of receiving the arrival signals of the plurality of reference devices, controlling the plurality of reference devices to work in coordination with the target device comprises: When receiving arrival signals of the plurality of reference devices, obtaining control programs corresponding to the plurality of reference devices respectively; sending a plurality of the control programs to corresponding reference devices simultaneously, or, The sending timestamps of the plurality of control programs are determined according to the second motion program, and the plurality of control programs are sent to corresponding reference devices respectively according to the plurality of sending timestamps.

8. The method according to claim 1, characterized in that: After triggering the monitoring equipment to monitor the target process-related equipment, it also includes: The control acquisition module acquires the operation information of the target process-related equipment, and sends the operation information and the preset display mode corresponding to the operation information to the display module for twin display, wherein the acquisition module supports multiple interface protocols; When the monitoring device detects that the target process-related equipment is operating abnormally, the abnormality type is determined, and the abnormality is handled using an abnormality handling method corresponding to the abnormality type.

9. A centralized control system for multiple devices, characterized in that: include: An acquisition unit, used for acquiring a process request sent by a target account, and triggering a monitoring device to monitor target process-related equipment, wherein the process request is used to request a workpiece to be processed to be processed by a target process, and the target process-related equipment includes a target equipment and a plurality of reference equipment; A first control unit, configured to control the target device to move according to the target process identifier carried in the process request; a sending unit, configured to, upon receiving the target position information sent by the monitoring device, obtain a plurality of reference position information corresponding to the target position information, and respectively send the plurality of reference position information to corresponding reference devices, wherein the target position information is used to indicate a trigger position during the operation of the target device, and the trigger position corresponds to at least one of the plurality of reference devices; The second control unit is used to control the multiple reference devices to work in coordination with the target device to complete target process processing of the workpiece to be processed when receiving arrival signals from the multiple reference devices.

10. An electronic device, characterized in that: The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the centralized control method for multiple devices as described in any one of claims 1-8.

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