Intelligent equipment, decoupling control method thereof and intelligent production line system

Abstract

The invention discloses intelligent equipment, a decoupling control method thereof and an intelligent production line system. The decoupling control method comprises the steps that an intelligent agent subscribes and publishes a corresponding message theme according to function positioning and a technological process of the intelligent agent, the intelligent agent receives messages published by other intelligent agents through the subscribed message theme, and corresponding function operation is executed according to the messages and technological parameters so as to complete a target production task. According to the intelligent equipment, the decoupling control method thereof and the intelligent production line system provided by the embodiment of the invention, through an autonomous subscription mechanism of the intelligent agent, various processing technologies can be flexibly supported only by replacing the corresponding intelligent agent, codes of the whole control system do not need to be rewritten, then plug and play of the intelligent equipment under different target production tasks is realized, and the production efficiency is improved. The flexibility and expansibility of the intelligent equipment are improved, the requirement for rapid switching of multiple production processes is met, and the debugging and maintenance cost of the intelligent equipment can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to intelligent equipment and a decoupling control method thereof, and an intelligent production line system. Background Art

[0002] With the continuous improvement of industrial production needs, intelligent equipment has gradually become an important part of modern manufacturing.

[0003] Most intelligent equipment currently on the market relies on centralized control, with a host computer coordinating all components. However, this design approach has significant limitations, especially when multiple processes are required. Each process change often requires equipment redesign and rewriting of the host computer control code, increasing the complexity of equipment commissioning and maintenance and making it difficult to flexibly respond to changing process requirements. Summary of the Invention

[0004] The present invention provides intelligent equipment and a decoupling control method thereof, as well as an intelligent production line system, which can flexibly adjust the production process according to production needs, reduce debugging and maintenance costs, and improve the flexibility and scalability of the intelligent equipment.

[0005] According to one aspect of the present invention, a decoupling control method for intelligent equipment is provided, wherein the intelligent equipment can selectively use multiple intelligent agents of different types according to target production tasks, and the multiple intelligent agents communicate with each other via a message bus;

[0006] The decoupling control method comprises:

[0007] The agent subscribes to and publishes corresponding message topics according to its functional positioning and process flow;

[0008] The agent receives messages published by other agents through the subscribed message topics, and performs corresponding functional operations according to the messages and process parameters to complete the target production task.

[0009] Optionally, the plurality of intelligent agents include a host intelligent agent and at least one functional intelligent agent;

[0010] Before the intelligent agent performs corresponding functional operations according to the message and process parameters to complete the target production task, the method further includes:

[0011] When the functional agent is installed on the intelligent device, the functional agent sends an authentication request message including an identity identifier to the host agent;

[0012] The host agent authenticates the functional agent according to the identity identifier in the authentication request message;

[0013] If the functional agent passes the authentication, the host agent generates a dynamic permission token according to the functional positioning of the functional agent and sends the dynamic permission token to the functional agent. The dynamic permission token is used to control the scope of resource access of the functional agent.

[0014] If the functional agent fails to pass the authentication, the host agent issues a first alarm message.

[0015] Optionally, the host agent authenticates the functional agent according to the identity identifier in the authentication request message, including:

[0016] The host agent compares the identity identifier in the authentication request message with the pre-stored identity identifier;

[0017] When the identity identifier in the authentication request message is consistent with the pre-stored identity identifier, the functional agent passes the authentication;

[0018] When the identity identifier in the authentication request message is inconsistent with the pre-stored identity identifier, the functional agent fails to pass the authentication.

[0019] Optionally, after the functional agent passes the authentication, the method further includes:

[0020] The functional agent performs an independent self-check operation upon receiving the self-check message issued by the host agent;

[0021] After the functional agent completes the independent self-check operation, the host agent generates a scenario test case according to the target production task, wherein the scenario test case includes the process parameters of the functional agent;

[0022] The host agent sends the process parameters to the functional agent according to the scenario test case;

[0023] The functional agent performs corresponding functional operations according to the received process parameters to perform cross-agent linkage testing;

[0024] If an abnormality occurs in the cross-agent linkage test, the host agent sends a second alarm message.

[0025] Optionally, the functional agent includes a calibration agent and a process agent;

[0026] After the cross-agent linkage test is completed, it also includes:

[0027] The calibration agent collects environmental data and sends the environmental data to the process agent;

[0028] The process agent adjusts the process parameters according to the environmental data.

[0029] Optionally, the functional agent includes an operation control agent;

[0030] After the cross-agent linkage test is completed, it also includes:

[0031] The operation control agent generates a kinematic model according to its mechanical configuration and sends the kinematic model to the host agent;

[0032] The host agent adjusts the process parameters according to the kinematic model and sends the adjusted process parameters to the functional agent.

[0033] Optionally, after the cross-agent linkage test is completed, the method further includes:

[0034] The host agent determines the message dependency relationship of the functional agents according to the process flow, and determines a high real-time message according to the message dependency relationship of the functional agents;

[0035] The host agent allocates a dedicated transmission channel for the high real-time message.

[0036] Optionally, when the agent performs corresponding functional operations according to the message and process parameters, the method further includes:

[0037] The intelligent agent publishes the message on a preset message topic based on its health status and / or processing results;

[0038] After receiving the message of the preset message topic, the other intelligent agents adjust their own process parameters according to the message of the preset message topic.

[0039] According to another aspect of the present invention, there is provided an intelligent device, wherein the intelligent device can selectively use a plurality of intelligent agents of different types according to a target production task, and the plurality of intelligent agents communicate with each other via a message bus;

[0040] The intelligent equipment is used to execute any decoupling control method described in the first aspect.

[0041] Optionally, the agent includes a host agent and at least one functional agent;

[0042] The functional intelligent body includes at least one of a loading intelligent body, a conveying intelligent body, an unloading intelligent body, a process intelligent body, a supply intelligent body, a calibration intelligent body and an operation control intelligent body.

[0043] According to another aspect of the present invention, there is provided an intelligent production line system, comprising any intelligent equipment described in the second aspect, wherein a plurality of the intelligent equipment are communicatively connected with each other.

[0044] According to the technical solution of the embodiment of the present invention, intelligent equipment can flexibly combine various types of intelligent bodies according to different process requirements. When the target production task changes, through the autonomous subscription mechanism of the intelligent body, it only needs to replace the corresponding intelligent body to flexibly support various processing processes such as dispensing, coating, assembly, and locking, without rewriting the code of the entire control system, thereby realizing plug-and-play of intelligent equipment under different target production tasks, improving the flexibility and scalability of intelligent equipment, meeting the needs of rapid switching of various production processes, and reducing the debugging and maintenance costs of intelligent equipment to meet diversified production needs.

[0045] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 A schematic diagram of the structure of an intelligent device provided by an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the structure of another intelligent device provided by an embodiment of the present invention;

[0049] Figure 3 A schematic flow chart of a decoupling control method for intelligent equipment provided by an embodiment of the present invention;

[0050] Figure 4 A schematic structural diagram of another intelligent device provided by an embodiment of the present invention;

[0051] Figure 5 A schematic flow chart of another decoupling control method for intelligent equipment provided by an embodiment of the present invention;

[0052] Figure 6 A schematic flow chart of another decoupling control method for intelligent equipment provided by an embodiment of the present invention;

[0053] Figure 7A schematic flow chart of another decoupling control method for intelligent equipment provided by an embodiment of the present invention;

[0054] Figure 8 A schematic flow chart of another decoupling control method for intelligent equipment provided by an embodiment of the present invention;

[0055] Figure 9 A schematic structural diagram of an intelligent production line system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0057] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof 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.

[0058] In related technologies, non-standard automation equipment has limited functionality, is difficult to adjust, has low flexibility, and carries high R&D costs. For example, non-standard automation equipment for dispensing glue only provides dispensing. If screw fastening is required, new non-standard automation equipment for screw fastening must be purchased, increasing costs and impacting production efficiency.

[0059] Based on the above technical issues, Figure 1 A schematic diagram of the structure of an intelligent device provided by an embodiment of the present invention is shown in FIG. Figure 2 A schematic diagram of the structure of another intelligent device provided by an embodiment of the present invention is shown. Figure 3 A schematic diagram of the structure of another intelligent device provided by an embodiment of the present invention is shown in FIG. Figure 1 and Figure 3As shown, an embodiment of the present invention provides an intelligent equipment that can be used for industrial production, and the intelligent equipment can be selectively equipped with intelligent bodies 20 of different functions and types according to the target production tasks, so as to flexibly adjust the production process according to the target production tasks and realize the functional diversification of the intelligent equipment.

[0060] In order to improve the flexibility and scalability of the intelligent equipment, the intelligent equipment is designed in a modular form, and different process requirements can be adapted by replacing the intelligent body 20.

[0061] Specifically, the intelligent equipment may include a universal chassis 10, which serves as the physical infrastructure of the entire intelligent equipment and is used to provide stable mechanical support and equipment layout functions for each intelligent body 20 to ensure stable operation of the intelligent body 20.

[0062] Among them, the intelligent equipment can selectively use multiple intelligent bodies 20 of different types according to the target production task. The intelligent body 20 can be quickly installed on the universal chassis 10 through the interface 30. Therefore, when the target production task changes, it is only necessary to replace the corresponding intelligent body 20 to complete the function switching without redesigning the entire machine structure, which simplifies the assembly process of the intelligent equipment and improves the efficiency of on-site deployment.

[0063] It should be noted that a target production task refers to a complete process or task with clear input and output results, performed by intelligent equipment in intelligent manufacturing scenarios. For example, a target production task could be completing the assembly of a product, performing glue application on a workpiece, or performing screw tightening operations.

[0064] Further research by the inventors revealed that while the modular design allows for the replacement of different intelligent agents 20 based on process requirements, in practice, the communication and control logic between the various intelligent agents 20 remain tightly coupled. Consequently, changes in process requirements require not only the replacement of the intelligent agents 20 but also the reconfiguration of the control system, limiting the intelligent equipment's responsiveness and versatility. Furthermore, the significant reconfiguration workload associated with each process change can result in lengthy downtime for debugging, increasing the debugging and maintenance costs of the intelligent equipment.

[0065] Based on the above technical problems, an embodiment of the present invention provides a decoupling control method for intelligent equipment. Figure 4 A flow chart of a decoupling control method for intelligent equipment provided by an embodiment of the present invention is shown as follows: Figure 4 As shown, the decoupling control method includes:

[0066] S11. The agent subscribes to and publishes corresponding message topics according to its functional positioning and process flow.

[0067] Among them, the intelligent agent is an independent module with perception, decision-making, communication and execution capabilities, and the intelligent agent has a clear functional positioning.

[0068] Functional positioning refers to the specific responsibilities or function types that the intelligent agent undertakes in intelligent equipment (such as feeding, operation control, dispensing, calibration, etc.).

[0069] The process flow refers to the series of steps, operation sequence and their logical relationships followed to complete the target production task.

[0070] The message subject is a logical information classification identifier used to classify messages.

[0071] The message is the actual data content transmitted, and can contain status information, control instructions, process parameters, etc.

[0072] Subscription means that the agent registers its attention to certain specific message topics. When new messages are published on these message topics, the agent will receive these messages.

[0073] Publishing means that an agent sends a message to a specific message topic, and all agents that have subscribed to the message topic will receive the message.

[0074] In this embodiment, all agents exchange information via a unified message bus, allowing each agent to communicate with other agents. Messaging utilizes a Pub / Sub model, where agents can publish messages related to their functions to designated message topics and subscribe to desired message topics published by other agents.

[0075] Specifically, after the intelligent agent is installed on the intelligent equipment, it can read its functional positioning and process flow, and determine the message topics that need to be subscribed and the message topics that need to be published based on the functional positioning and process flow, and then register the above message topics to the message bus to monitor and broadcast related messages.

[0076] Functional positioning determines the functions that an agent should possess, as well as which events it should listen to (subscribe to) and when to trigger notifications (publish). The process flow defines the order of interactions and dependencies between agents, and different process flows can adopt different subscription / publishing strategies.

[0077] Figure 5 A flow chart of another decoupling control method for intelligent equipment provided by an embodiment of the present invention is shown as follows: Figure 5As shown, in this embodiment, the agent receives relevant messages by subscribing to corresponding message topics according to its functional positioning and current process flow, and sends relevant messages to other agents by publishing corresponding message topics.

[0078] S12. The agent receives messages published by other agents through the subscribed message topics, and performs corresponding functional operations according to the messages and process parameters to complete the target production task.

[0079] Process parameters refer to the control variables required to execute a specific process. For example, process parameters may include dispensing speed, glue output, motion path, locking torque, etc., but are not limited to these.

[0080] In this embodiment, if Figure 5 As shown, after being installed in the intelligent equipment, each intelligent agent subscribes to and publishes the corresponding message topic according to its functional positioning and process flow, wherein each intelligent agent continuously monitors the message topic it subscribes to.

[0081] For a certain intelligent agent, when another intelligent agent publishes a message, if the message belongs to the message topic subscribed by the intelligent agent, the intelligent agent receives and parses the message, and then performs the corresponding functional operations according to the message and process parameters to realize the self-execution of the intelligent agent.

[0082] It should be noted that the intelligent agent has independent functional processing logic, which refers to the control logic required for the intelligent agent itself to perform specific functional operations. Functional operations may include, for example, starting an electric screwdriver, detecting the floating height of screws, and other functional actions that can be completed autonomously based on messages.

[0083] In this embodiment, the agent can autonomously determine and execute functional operations without requiring instructions from a host computer. For example, based on the content of a received message, the agent determines whether the execution conditions are met and triggers the corresponding functional operation. Furthermore, after executing a corresponding functional operation, the agent can also publish a new message to notify subsequent agents to continue the process. All agents work together through this message-driven approach, gradually advancing the entire process and ultimately completing a complete production task.

[0084] For example, taking the target production task of executing a screw tightening process as an example, the process flow can be as follows: the feeding agent provides screws → the operation control agent accurately positions the screws to the tightening position → the process agent executes the screw tightening → the calibration agent verifies the tightening quality → the unloading agent removes the finished product from the intelligent equipment. The feeding agent can publish a ready message, the operation control agent subscribes to the message topic corresponding to the ready message and publishes the screw ready message; the process agent subscribes to the message topic corresponding to the screw ready message and publishes the tightening result message; the calibration agent subscribes to the message topic corresponding to the tightening result message and publishes the unloading message; and the unloading agent subscribes to the message topic corresponding to the unloading message. With this setting, when the target production task is completed, the feeding intelligent agent publishes a ready message after sending out the screw; after receiving the ready message, the operation control intelligent agent moves to the gripping position within the specified time, picks up the screw through the vacuum nozzle, and positions the screw in the workpiece hole before publishing a screw ready message; after receiving the screw ready message, the process intelligent agent starts the electric screwdriver, monitors the torque curve in real time, stops when the specified requirements are met, and publishes a locking result message; after receiving the locking result message, the calibration intelligent agent visually inspects the screw floating height and other information, and publishes a blanking message if the quality meets the standard; after receiving the blanking message, the blanking intelligent agent removes the workpiece.

[0085] In an embodiment of the present invention, all intelligent agents communicate through a unified message bus to achieve efficient information exchange and collaboration. There is no direct dependency between multiple intelligent agents. The message bus delivers the messages published by the intelligent agent to the intelligent agent that subscribes to the corresponding message topic according to the subscription relationship, thereby achieving decoupling between intelligent agents. Among them, each intelligent agent only needs to pay attention to the message topic to which it subscribes, and does not need to pay attention to other intelligent agents that publish messages or other intelligent agents that subscribe to messages. When a new intelligent agent joins the intelligent equipment, the new intelligent agent only needs to subscribe to the relevant message topics on the message bus according to the process flow and function positioning, without the need to directly establish a communication connection with other intelligent agents for interaction; when an intelligent agent exits, the exiting intelligent agent no longer receives or publishes messages, and will not affect the normal operation of other intelligent agents, thereby realizing the dynamic plugging and unplugging of intelligent agents (online joining and exiting of intelligent agents).

[0086] With this setting, intelligent equipment can flexibly combine various intelligent entities according to different process requirements. When the target production task changes, through the autonomous subscription mechanism of the intelligent entity, it only needs to replace the corresponding intelligent entity to flexibly support various processing processes such as dispensing, coating, assembly, and locking, without rewriting the code of the entire control system, thereby realizing plug-and-play of intelligent equipment under different target production tasks, improving the flexibility and scalability of intelligent equipment, meeting the needs of rapid switching of various production processes, and reducing the debugging and maintenance costs of intelligent equipment to meet diverse production needs.

[0087] Continue to refer Figure 1-Figure 3 Optionally, the multiple agents 20 include a host agent 201 and at least one functional agent 202.

[0088] Among them, unlike the traditional centralized control method of the host computer, the host intelligent body 201 carries the host computer functions. The host intelligent body 201 can serve as the control center of the intelligent equipment, responsible for clock synchronization between various intelligent bodies, distribution of process parameters, authentication of each intelligent body, status monitoring and alarm, etc.

[0089] The functional agent 202 is used to implement specific functional operations. Each functional agent 202 can complete specific functions according to its design purpose, such as process processing, material transportation, feeding, calibration, etc.

[0090] The functional agents 202 may include multiple selectable functional agents with different functions. Each functional agent 202 may include multiple different categories. At least some functional agents 202 may be detachably mounted on the intelligent equipment in a modular form. This allows for different production processes to be implemented by replacing functional agents 202 with different functions or categories. This allows users to efficiently and flexibly switch production processes by replacing functional agents 202 with different functions or categories as needed to adjust the production process.

[0091] In this embodiment, before the agent performs corresponding functional operations according to the message and process parameters to complete the target production task, the following steps are also included:

[0092] When the functional agent is installed on the intelligent equipment, the functional agent sends an authentication request message including an identity identifier to the host agent.

[0093] The host agent authenticates the functional agent based on the identity identifier in the authentication request message.

[0094] If the functional agent passes the authentication, the host agent generates a dynamic permission token based on the functional positioning of the functional agent and sends the dynamic permission token to the functional agent. The dynamic permission token is used to control the scope of resource access by the functional agent.

[0095] If the functional agent fails to pass the authentication, the host agent sends a first alarm message.

[0096] Among them, before the intelligent agent performs corresponding functional operations according to the message and process parameters to complete the target production task, the intelligent agent installed on the intelligent equipment is initialized. The initialization process may include self-authentication of the intelligent agent. Self-authentication means that the functional intelligent agent actively submits identity information to the host intelligent agent when joining the intelligent equipment to request the host intelligent agent to verify its legitimacy.

[0097] Specifically, Figure 6 A flow chart of another decoupling control method for intelligent equipment provided by an embodiment of the present invention is shown as follows: Figure 6 As shown, when the functional intelligent body is connected to the intelligent equipment, the functional intelligent body is powered on and started, and the functional intelligent body reads the pre-written identity identifier (such as developer ID, device unique number, etc.) from its internal memory, and based on the read identity identifier, combined with the current timestamp, generates an authentication request message, wherein the timestamp can be used to prevent replay attacks and ensure that each authentication request is the latest, but is not limited to this.

[0098] Furthermore, the functional agent publishes the generated authentication request message through the message bus with a specific authentication message topic to initiate the identity authentication process. The host agent subscribes to and listens to the authentication message topic, thereby receiving authentication request messages from all agents.

[0099] The host agent verifies the received authentication request message. The main verification content may include verifying whether the identity identifier in the authentication request message is legal, whether the timestamp is valid (for example, whether the timestamp is within a reasonable time range), etc.

[0100] After the functional agent passes authentication, the host agent can read the process configuration information for the target production task. This process configuration information can include various parameters and requirements required to complete the target production task, such as processing steps and process parameters. Simultaneously, the host agent analyzes the functional agent's functional positioning and permission policy, which are the rules used to control and manage the functional agent's access to resources.

[0101] Based on the permission strategy, the host agent determines the permissions that can be granted to the functional agent according to the functional positioning of the functional agent and the process requirements of the target production task, and generates a corresponding dynamic permission token. The dynamic permission token can contain the list of resources and operation permissions that the functional agent is allowed to access during the current task cycle. Different functional agents can have different dynamic permission tokens to achieve differentiated access resource range permissions.

[0102] Furthermore, the host agent sends the dynamic permission token to the corresponding functional agent through the message bus to control the scope of resource access of the functional agent, thereby ensuring that only authenticated and authorized functional agents have the authority to access resources within the scope.

[0103] After receiving the dynamic permission token, the functional agent can perform subsequent operations based on the permission information in the dynamic permission token. The functional agent can locally verify the dynamic permission token (for example, check the digital signature) to ensure the integrity and validity of the dynamic permission token. After the local verification is passed, the functional agent caches the dynamic permission token in the local storage area so that it can be called and verified at any time when performing specific tasks.

[0104] Furthermore, if a functional agent fails to pass authentication (for example, its identity identifier is invalid or has been tampered with), the host agent will trigger an alarm mechanism and issue a first alarm message to notify the administrator or operator.

[0105] Among them, the host intelligent body can record the identity identifiers that have not passed the authentication to facilitate subsequent investigation.

[0106] It should be noted that since the functional agent failed to pass the authentication, the functional agent could not continue to participate in the normal operation of the intelligent equipment, and the entire initialization process was terminated.

[0107] Furthermore, after receiving a dynamic permission token, the functional agent can perform subsequent operations based on the permission information in the dynamic permission token. However, before the functional agent passes authentication and obtains a dynamic permission token, it can only request the basic status query interface, and all other key functions are disabled. The basic status query interface does not involve operations that affect the production process. For example, the functional agent can query its own device status, obtain the current authentication status, request a connection to the message bus, and send an authentication request message to the host agent. Prohibited key functions may include, but are not limited to, operations that affect the production process, such as starting an electric batch.

[0108] In this embodiment, agent self-authentication enables authentication and permission control for newly added agents, ensuring that only legitimate and qualified agents can participate in system operations, effectively preventing intrusion by unauthorized devices or malicious software. Furthermore, automated authentication and permission management reduces commissioning and maintenance costs, meeting the needs of rapid switching between diverse production processes.

[0109] At the same time, the dynamic permission token mechanism allows the host agent to flexibly adjust the access rights of each functional agent based on actual needs, thereby enhancing the flexibility and controllability of the system. Furthermore, accurately allocating permissions allows each functional agent to focus on tasks within its scope of responsibility, helping to avoid unnecessary resource competition and conflicts and promoting efficient collaboration between agents.

[0110] Optionally, the host agent authenticates the functional agent according to the identity identifier in the authentication request message, including:

[0111] The host agent compares the identity identifier in the authentication request message with its pre-stored identity identifier.

[0112] When the identity identifier in the authentication request message is consistent with its pre-stored identity identifier, the functional agent passes the authentication.

[0113] When the identity identifier in the authentication request message is inconsistent with its pre-stored identity identifier, the functional agent fails to pass the authentication.

[0114] Specifically, during the development phase of the intelligent agent, a legal identity identifier can be pre-stored in the local storage area of ​​the host intelligent agent. During the initialization process, when the host intelligent agent receives an authentication request message, the identity identifier in the authentication request message is compared with its pre-stored identity identifier. If the identity identifier in the authentication request message matches its pre-stored identity identifier, the functional intelligent agent passes the authentication; if the identity identifier in the authentication request message does not match its pre-stored identity identifier, the functional intelligent agent fails the authentication. This setting can effectively prevent illegal devices, malware, or unauthorized third-party modules from being added to the intelligent equipment system without authorization, reducing the risk of system failures caused by external attacks or misuse.

[0115] Optionally, during the agent development phase, developers can register on the development platform. The platform can then assign them a developer ID, which can be embedded in each agent they develop as an identifier. This setup allows third-party developers to develop compatible agents within the development platform's authorization framework. The development platform only needs to maintain a whitelist of developer IDs to identify legitimate agents, which helps improve the scalability of smart devices, but is not limited to this.

[0116] Optionally, after the functional agent passes the authentication, it also includes:

[0117] When the functional agent receives the self-test message issued by the host agent, it performs independent self-test operations.

[0118] After the functional agent completes the independent self-test operation, the host agent generates a scenario test case according to the target production task, and the scenario test case includes the process parameters of the functional agent.

[0119] The host agent sends the process parameters to the functional agent according to the scenario test case.

[0120] The functional agent performs corresponding functional operations according to the received process parameters to conduct cross-agent linkage testing;

[0121] If an abnormality occurs in the cross-agent linkage scenario test, the host agent will issue a second alarm message.

[0122] Among them, the initialization process of intelligent equipment can also include self-detection of the intelligent body. Self-detection refers to a comprehensive inspection of the functional intelligent body's own software and hardware status after it is started and connected to the intelligent equipment, before officially executing the target production task.

[0123] Specifically, Figure 7 A flow chart of another decoupling control method for intelligent equipment provided by an embodiment of the present invention is shown as follows: Figure 7 As shown in the figure, after the functional agent passes authentication, the host agent publishes a self-test message to the message bus. Upon receiving the self-test message from the host agent, the functional agent executes its internal self-test program to perform an independent self-test operation. Independent self-test operation refers to the process by which the functional agent autonomously checks and verifies its internal hardware, software, and key functional modules. This independent self-test operation is performed entirely by the functional agent itself, without the need for external intervention. This ensures that the functional agent is in normal working order and can safely and reliably execute subsequent tasks.

[0124] Exemplarily, independent self-test operations may include verifying the agent's own driving response, calibrating its own sensor reference value, etc. Some agents (such as operation and control agents) can also perform zeroing operations to determine their initial position and ensure the accuracy of subsequent actions, but it is not limited to this.

[0125] The functional agent determines whether its self-test has passed based on pre-set standards and conditions, which can be set based on the functional agent's function, mission requirements, and safety requirements. A functional agent that fails self-test sends a self-test failure message to the host agent. Upon receiving the independent failure message, the host agent issues a secondary alarm message, notifying the administrator or operator for action.

[0126] Optionally, the host agent can also record the identity identifiers of functional agents that failed self-testing for easy subsequent querying. Furthermore, the host agent can generate maintenance recommendations based on the functional location of the functional agents that failed self-testing. These recommendations are a set of guiding operational instructions automatically generated by the host agent based on the functional agents that failed self-testing and historical experience data. These instructions are used to help administrators or operators quickly locate the problem and take appropriate action.

[0127] After each functional agent completes its independent self-test, the host agent generates scenario-based test cases for those that pass, based on the requirements of the target production task. A scenario-based test case is a set of test conditions and operational procedures pre-designed by the host agent for the target production task. The scenario-based test case includes specific process parameters to simulate the actual working environment.

[0128] The host agent sends the process parameters in the generated scenario test case to each functional agent. The functional agent performs the corresponding functional operation according to the received process parameters to drive each functional agent to perform an empty run process to achieve cross-agent linkage testing.

[0129] Among them, the dry run process refers to executing the complete process operation process without processing materials.

[0130] Cross-agent linkage testing refers to a process verification test in which multiple agents with independent functions perform collaborative operations under the coordination of a host agent in accordance with preset process parameters and process flows.

[0131] Through cross-agent linkage testing, it is possible to verify whether multiple agents are coordinated in terms of timing, status, feedback, etc., so as to determine whether multiple agents can correctly perform the target production tasks.

[0132] Furthermore, check whether there are any abnormal situations during the cross-agent linkage test. If an abnormality occurs in the cross-agent linkage scenario test, the host agent will issue a second alarm message to notify the administrator or operator to handle it.

[0133] Optionally, the host agent can also record the identity identifier of the functional agent experiencing an anomaly for easy subsequent query. Furthermore, the host agent can generate maintenance recommendations based on the functional location of the anomaly's functional agent. These recommendations are a set of guiding operational instructions automatically generated by the host agent based on the functional agents that failed self-test and historical experience data. These instructions help administrators or operators quickly locate the problem and take appropriate action.

[0134] In this embodiment, independent self-checks are performed to ensure that each functional agent is in a ready state. Furthermore, a dry run is performed before officially executing the target production task to implement cross-agent linkage testing and verify the overall coordination of the intelligent equipment. This allows for early detection of potential risks and avoids safety accidents caused by incorrect actions.

[0135] Continue to refer Figure 1-Figure 3 Optionally, the functional agent 202 includes a calibration agent 22 and a process agent 21.

[0136] The Process Agent 21 focuses on core production operations, such as dispensing, coating, assembly, and screw tightening, ensuring precise execution. Optionally, each process can correspond to one or more Process Agents with specific specifications. If the intelligent equipment needs to change its process, simply replace the corresponding Process Agent and other related Agents, without having to change the overall design or rewrite the code, achieving a plug-and-play experience.

[0137] The calibration agent 22 is used to collect environmental data and to inspect and provide feedback on the processing results during the product processing.

[0138] Optionally, after the cross-agent linkage test is completed, it also includes:

[0139] The calibration agent collects environmental data and sends the environmental data to the process agent.

[0140] The process agent adjusts its process parameters based on environmental data.

[0141] Among them, the initialization process of intelligent equipment can also include the adaptation of the intelligent body. Adaptation means that the functional intelligent body automatically adjusts its control logic, process parameters or behavior strategies according to environmental changes and process requirements to ensure optimal performance and quality consistency.

[0142] Specifically, after the cross-agent linkage test is completed, the calibration agent collects environmental data of the current working environment, where the environmental data may include temperature, humidity, light, vibration, air pressure, etc., but is not limited to this.

[0143] The calibration agent sends the environmental data to the process agent through the message bus. After receiving the environmental data, the process agent can correct its process algorithm according to the environmental data to adjust its process parameters. For example, the dispensing amount of the process agent during the dispensing operation can be adaptively adjusted with the temperature. Specifically, if the temperature rises, the process agent reduces the dispensing speed or increases the cooling waiting time, thereby achieving real-time response to environmental disturbances and process compensation, ensuring the stability of the production process and the consistency of product quality.

[0144] In this embodiment, through the adaptive mechanism of the intelligent body, the process parameters of the intelligent body can be automatically adjusted as the environment changes, thereby avoiding product defects caused by external disturbances, and enabling the intelligent equipment to maintain consistent process execution effects under different environmental conditions.

[0145] Continue to refer Figure 3 Optionally, the functional agent 202 includes an operation and control agent 23.

[0146] The operation and control intelligent body 23 is used to transport each intelligent body to the designated location safely and accurately. The operation and control intelligent body 23 can be constructed based on the X, Y, and Z axis motion system. The configuration of its X, Y, and Z axes can be flexibly adjusted according to process requirements. For example, the number of axes can be flexibly combined according to process requirements (for example, supporting single-axis, dual-axis, multi-axis linkage and other combinations) to achieve complex path planning and high-precision positioning.

[0147] Optionally, after the cross-agent linkage test is completed, it also includes:

[0148] The operation and control agent generates a kinematic model based on its mechanical configuration and sends the kinematic model to the host agent.

[0149] The host agent adjusts the process parameters according to the kinematic model and sends the adjusted process parameters to the functional agent.

[0150] Among them, the initialization process of intelligent equipment can also include self-optimization of the intelligent body. Self-optimization means that the host intelligent body automatically adjusts the control logic, process parameters or behavior strategies of each intelligent body based on the kinematic model of the operation and control intelligent body to ensure optimal performance and quality consistency.

[0151] Specifically, during the initialization process, the operation and control intelligent body automatically detects its mechanical configuration, which may include mechanical axis configuration (such as the number of axes and travel range), but is not limited thereto.

[0152] The operation and control agent generates a kinematic model based on its mechanical configuration. The kinematic model is used to describe the position, direction and motion relationship in space between the various components of the mechanical system of the operation and control agent (such as joints, axes, and end effectors).

[0153] Among them, the kinematic model may include forward kinematics (inputting joint angles or displacements to calculate the position and posture of the end effector), inverse kinematics (given a target position, inferring the required motion parameters of each axis), dynamic characteristics (acceleration, speed limit, inertia effect, etc.), etc., and the embodiments of the present invention do not make specific limitations on this.

[0154] The operation and control agent sends the kinematic model to the host agent through the message bus. The host agent dynamically adjusts the process path planning algorithm parameters based on the kinematic model to perform path optimization, thereby optimizing the process parameters of each functional agent. For example, if the maximum speed of an axis is low, the path is adjusted to avoid exceeding the limit.

[0155] The host agent sends the adjusted process parameters to the functional agent through the message bus. After receiving the new process parameters, the functional agent can reload the execution strategy according to the new process parameters to perform the optimized functional operation.

[0156] In this embodiment, through the self-optimization of the intelligent body, the process parameters of each intelligent body can be automatically adjusted according to the movement ability of the operation and control intelligent body, the path planning and speed control can be optimized, damage caused by overspeeding and overloading can be prevented, and the versatility and compatibility of intelligent equipment can be improved.

[0157] Optionally, after the cross-agent linkage test is completed, it also includes:

[0158] The host agent determines the message dependency of the functional agents according to the process flow, and determines the high real-time messages according to the message dependency of the functional agents.

[0159] The host agent allocates dedicated transmission channels for high-real-time messages.

[0160] Among them, the self-optimization of the intelligent agent can also include the host intelligent agent allocating a dedicated transmission channel for high real-time messages based on the message dependency relationship of multiple intelligent agents.

[0161] Specifically, after the cross-agent linkage test is completed, the host agent parses the process flow chart of the current target production task and clarifies the message dependency relationship between each functional agent, so as to determine the message dependency relationship of the functional agents according to the process flow.

[0162] Among them, message dependency refers to the information interaction sequence and triggering logic between various intelligent agents when executing a certain target production task.

[0163] Furthermore, the host intelligent agent screens out key messages with high real-time requirements as high real-time messages based on message dependencies, where high real-time messages may include position synchronization, emergency stop signals, IO triggers, etc. These messages have a direct impact on the synchronization, safety, and efficiency of equipment actions, but are not limited to this. The embodiments of the present invention do not make specific limitations on this.

[0164] The host agent assigns high-priority, dedicated transmission channels to high-priority messages. Priority determines the order in which different message types are dispatched on shared resources, such as bandwidth. Messages with higher priorities are processed and sent first, ensuring they reach the recipient in the shortest possible time. For example, in an emergency, an emergency stop message needs to be immediately communicated to all relevant agents; in this case, this message would be assigned the highest priority.

[0165] Dedicated transmission channels are independent communication lines or logically isolated subnets designed specifically to meet specific needs. They offer higher transmission rates, lower latency, and more stable connection quality, making them suitable for applications with extremely high real-time requirements.

[0166] In this embodiment, high-priority dedicated transmission channels are assigned to high-priority messages, allowing them to be transmitted first. This ensures that high-priority messages, such as emergency stops and abnormality feedback, are delivered quickly without being blocked by other non-critical traffic, allowing for timely response to abnormal situations. Furthermore, this allows intelligent equipment to maintain efficient operation in scenarios such as multi-axis linkage and multi-station collaboration.

[0167] Optionally, the intelligent body completes the above-mentioned self-authentication, self-detection, self-adaptation, and self-optimization during the initialization process, which can improve the reliability and stability of the intelligent equipment. At the same time, it helps to realize the plug-and-play of the intelligent body, reduce the debugging and maintenance costs of the intelligent equipment, and meet diverse production needs.

[0168] Optionally, when the agent performs corresponding functional operations according to the message and process parameters, it also includes:

[0169] The agent publishes messages on preset message topics based on its health status and / or processing results.

[0170] After receiving the message of the preset message topic, other intelligent agents adjust their own process parameters according to the message of the preset message topic.

[0171] Specifically, during the execution process, the agent publishes a message containing its own health status and / or processing results to a predefined preset message topic for other agents to subscribe to.

[0172] Among them, the health status refers to the operating status of the intelligent body itself, such as temperature, vibration, load, error, remaining consumables, etc. For example, the health status may include sensor status, dispensing head pressure sensor reading, motor temperature, whether the air pressure is normal, etc., but is not limited to this.

[0173] The processing result refers to the output of the task performed by the intelligent agent, such as whether the dispensing volume meets the standard, whether the welding strength is qualified, whether there are defects in visual recognition, whether the screw locking is completed and meets the torque requirements, etc.

[0174] Other agents can subscribe to pre-set message topics, receive messages from them, and analyze the message content to obtain the corresponding agent's health status and / or processing results. Based on these health status and / or processing results, they can adjust their own process parameters or behavior logic as needed, achieving self-awareness and ensuring the reliability of the production process. For example, the operation control agent can adjust the path based on the dispensing results of the process agent.

[0175] It can be understood that self-perception means that the intelligent agent can perceive its own health status and processing results, and publish the above message content to a pre-defined preset message topic. Other intelligent agents can understand the health status and processing results of the intelligent agent by subscribing to the preset message topic, and thus make coordinated decisions. Such a setting can detect anomalies in advance, avoid equipment damage or batch defects, and improve the intelligence level of intelligent equipment.

[0176] To sum up, unlike traditional intelligent equipment that only supports a single processing technology, in the multi-agent based intelligent equipment provided by the embodiment of the present invention, each intelligent agent has the characteristics of self-authentication, self-detection, self-adaptation, self-optimization, self-perception, and self-execution. The intelligent agents communicate with each other through the message bus in a subscription / publish mode to realize the decoupling setting of the intelligent agents, and then realize the plug-and-play of intelligent equipment under different process requirements. Among them, through decoupling control, it is only necessary to replace the process intelligent agent and adjust the configuration to flexibly support various processing technologies such as dispensing, coating, assembly, and locking, thereby improving the flexibility and scalability of the equipment, meeting diverse production needs, and reducing the design and maintenance costs of the equipment.

[0177] For example, Figure 8 A flow chart of another decoupling control method for intelligent equipment provided by an embodiment of the present invention is shown as follows: Figure 8 As shown, the process of replacing the process intelligent body to realize multi-process switching may include:

[0178] When adjusting the target production task, the processing technology that needs to be switched is determined according to the target production task, and the corresponding process intelligent body is determined according to the processing technology that needs to be switched, and the corresponding process intelligent body is installed on the intelligent equipment.

[0179] In addition to the process agent, the intelligent equipment also needs to be equipped with at least one other functional agent to provide the process agent with the necessary support functions for setting up the production process. These functions can include feeding, conveying, calibration, and other functions, which are not limited in this embodiment of the present invention.

[0180] Further, determine whether other functional intelligent bodies currently installed on the intelligent equipment need to be replaced. If other functional intelligent bodies installed on the intelligent equipment can provide supporting functions for the current process intelligent body, there is no need to replace other functional intelligent bodies; if other functional intelligent bodies installed on the intelligent equipment cannot provide supporting functions for the current process intelligent body, the functional intelligent body currently installed on the intelligent device can be replaced with other functional intelligent bodies that are compatible with the current process intelligent body.

[0181] After all agents are installed, the host agent publishes an authentication message to the newly added functional agent to initiate the identity authentication process. The newly added functional agent responds to the authentication message and sends an authentication request message containing an identity identifier to the host agent through the message bus. The host agent authenticates the functional agent based on the identity identifier in the authentication request message.

[0182] Among them, only functional intelligent agents that have passed authentication can cooperate with other intelligent agents. If the functional intelligent agent fails to pass authentication, the host intelligent agent will issue a first alarm message to indicate that the intelligent agent replacement has failed.

[0183] If the newly added agent passes authentication, the host agent publishes a self-test message to the message bus. Upon receiving the self-test message from the host agent, the functional agent completes independent self-tests based on its own functional positioning and processing technology to ensure it can complete the corresponding process flow. All agents participating in the current process must complete independent self-tests before executing the target production task.

[0184] Among them, if there is a functional intelligent agent that fails the independent self-test, the functional intelligent agent that fails the independent self-test will issue a self-test failure message. After receiving the self-test failure message, the host intelligent agent will issue a second alarm message to prompt that the intelligent agent replacement has failed.

[0185] Furthermore, after the independent self-test of the functional agent passes, multiple agents perform cross-agent linkage testing to check whether there are any abnormalities during the cross-agent linkage testing. If an abnormality occurs in the cross-agent linkage scenario test, the cross-agent linkage scenario test fails, and the agent with the abnormality issues a self-test failure message. After receiving the self-test failure message, the host agent issues a second alarm message to indicate that the agent replacement has failed.

[0186] If the cross-agent linkage scenario test is passed, the agent will perform corresponding functional operations according to the message and process parameters to complete the target production task. At the same time, the agent can also publish health status, processing results and other messages according to process requirements.

[0187] Furthermore, after the agent performs corresponding functional operations according to the message and process parameters, the calibration agent can detect the processing results through various detection means, and feed back the detection results to the host agent and / or process agent through the message bus.

[0188] For example, let's take the target production task of screw tightening as an example, and use the switching of feeding agents as a scenario to illustrate the interaction and working process between the various agents in the multi-agent intelligent equipment. In the screw tightening process, the intelligent equipment needs to complete the following tasks:

[0189] 1. The feeding agent provides screws.

[0190] 2. The operation and control intelligent body accurately positions the screw to the position to be locked.

[0191] 3. The process intelligence agent performs screw locking (controls torque and depth).

[0192] 4. Calibrate the agent to verify the locking quality and provide environmental data.

[0193] 5. The unloading intelligent body moves the finished product out of the equipment.

[0194] Specific workflows may include:

[0195] 1. After all agents are powered on, they automatically connect to the message bus and subscribe to the corresponding message topic.

[0196] 2. The feeding agent issues an authentication request message.

[0197] 3. The host agent passes the authentication of the feeding agent and issues a dynamic permission token to the feeding agent through the message bus, limiting the feeding agent to only being able to operate screw model parameters and feeding rate;

[0198] 4. The host agent publishes a self-test message.

[0199] 5. The operation and control intelligent agent performs the XYZ axis zeroing operation and detects the positioning deviation to complete its independent self-test operation.

[0200] 6. The process intelligence body tests the torque and torque data of the electric batch to complete its independent self-inspection operation to ensure that all data are normal.

[0201] 7. After the intelligent agent completes the independent self-inspection operation, multiple intelligent agents conduct cross-agent linkage testing. Among them, the feeding intelligent agent publishes a ready message after completing the independent self-inspection operation; after the operation control intelligent agent receives the ready message, it moves the suction nozzle to the specified coordinates, grabs the screws and publishes a successful grab message. If the intelligent agent that subscribes to the successful grab message does not receive the successful grab message within the specified time, it will publish a warning message.

[0202] After the cross-agent linkage test is passed, the calibration agent can collect and publish environmental data.

[0203] 8. The host intelligent agent dynamically adjusts the process path planning algorithm parameters according to the kinematic model released by the operation and control intelligent agent, performs path optimization, and then optimizes the process parameters of each functional intelligent agent. The host intelligent agent publishes the optimized process parameters and startup message.

[0204] 9. After receiving the start message, the feeding intelligent agent sends out the screws and publishes a ready message; after receiving the ready message, the operation control intelligent agent moves to the gripping position within the specified time, picks up the screws through the vacuum nozzle, positions the screws in the workpiece hole, and publishes a screw ready message; after receiving the screw ready message, the process intelligent agent starts the electric screwdriver, monitors the torque curve in real time, stops when the specified requirements are met, and publishes a locking result message; after receiving the locking result message, the calibration intelligent agent visually inspects the screw floating height and other information, and publishes a blanking message if the quality meets the standard; after receiving the blanking message, the blanking intelligent agent removes the workpiece.

[0205] Based on the same inventive concept, the embodiment of the present invention further provides an intelligent device, such as Figure 1-Figure 3 As shown, the intelligent equipment can selectively use multiple intelligent agents 20 of different types according to the target production task, and the multiple intelligent agents 20 communicate with each other through a message bus. The intelligent equipment is used to execute the decoupling control method described in any embodiment of the present invention. Therefore, the intelligent equipment provided by the embodiment of the present invention has the technical effect of the technical solution in any of the above embodiments, and the structures that are the same or corresponding to the above embodiments and the explanation of terms are no longer repeated here.

[0206] Continue to refer Figure 1-Figure 3 Optionally, the intelligent agent 20 includes a host intelligent agent 201 and at least one functional intelligent agent 202, and the functional intelligent agent 202 includes at least one of a loading intelligent agent 24, a conveying intelligent agent 25, an unloading intelligent agent 26, a process intelligent agent 21, a feeding intelligent agent 27, a calibration intelligent agent 22 and an operation control intelligent agent 23.

[0207] Among them, the multi-agent-based intelligent equipment may include 9 core components, and the 9 core components may include a universal chassis 10 and 8 intelligent agents 20, which work together to complete complex target production tasks.

[0208] Specifically, the universal chassis 10 can be selectively assembled with intelligent agents 20 of different functions and types, thereby adjusting the process of intelligent equipment. The universal chassis 10 serves as the physical infrastructure of the entire intelligent equipment, providing stable mechanical support and equipment layout for each intelligent agent 20, ensuring stable operation of the intelligent agent 20.

[0209] Optionally, a power module is provided in the universal chassis 10, and the power module can be used to provide power support for the intelligent equipment.

[0210] Optionally, a compressed air negative pressure pump is provided in the universal chassis 10, and the compressed air negative pressure pump is used to provide pneumatic support for the intelligent equipment to ensure that the intelligent body 20 that relies on compressed air or negative pressure operation can work normally.

[0211] The universal chassis 10 can not only provide physical structural support for the intelligent entities 20 , but also provide an independent space for the power module and / or the compressed air negative pressure pump, thereby reducing mutual interference between the intelligent entities 20 .

[0212] The host intelligent agent 201 carries the upper computer function and can serve as the control center of the intelligent equipment. It is responsible for clock synchronization between various intelligent agents, issuing process parameters, authentication of each intelligent agent, status monitoring and alarm, etc.

[0213] The loading agent 24 is responsible for the loading operation of the workpiece, ensuring that the workpiece enters the production process on time and accurately.

[0214] The transport agent 25 is responsible for the transport of semi-finished products, ensuring the smooth flow of workpieces between different processing links.

[0215] The unloading intelligent agent 26 is responsible for the unloading operation of the finished product to move the processed finished product out of the equipment.

[0216] Process Agent 21 focuses on core production operations, such as dispensing, coating, assembly, and screw tightening, ensuring precise execution. Optionally, each process can be assigned one or more specific process agents. If the intelligent equipment needs to change processes, simply replace the corresponding process agent and other related agents, eliminating the need to modify the overall design or rewrite code, achieving plug-and-play functionality.

[0217] The material supplying agent 27 provides materials for various product processing to the process agent 21 according to the process requirements. For example, when implementing the screw locking process, the material supplying agent is a screw supplying agent.

[0218] The calibration agent 22 is used to collect environmental data and to inspect and provide feedback on the processing results during the product processing.

[0219] The operation and control intelligent body 23 is used to transport each intelligent body to the designated location safely and accurately. The operation and control intelligent body 23 can be constructed based on the X, Y, and Z axis motion system. The configuration of its X, Y, and Z axes can be flexibly adjusted according to process requirements. For example, the number of axes can be flexibly combined according to process requirements (for example, supporting single-axis, dual-axis, multi-axis linkage and other combinations) to achieve complex path planning and high-precision positioning.

[0220] Among them, the above 8 types of intelligent agents correspond to entities of various specifications according to different process requirements. Each intelligent agent has core features such as self-perception, self-detection, self-authentication, self-adaptation, self-optimization and self-execution. It can complete the corresponding functional operation tasks safely and accurately based on the process parameter requirements and its own functional positioning.

[0221] Based on the same inventive concept, an embodiment of the present invention further provides an intelligent production line system. Figure 9 A schematic diagram of the structure of an intelligent production line system provided by an embodiment of the present invention is shown in FIG. Figure 9 As shown, the intelligent production line system includes multiple intelligent equipment 50 described in any embodiment of the present invention. Therefore, the intelligent production line system provided by the embodiment of the present invention has the technical effects of the technical solutions in any of the above embodiments, and the structures and terminology that are the same or corresponding to the above embodiments are not repeated here.

[0222] Optionally, multiple smart devices 50 can be assembled into a complete smart production line, and the multiple smart devices 50 in the smart production line are communicatively connected to each other so as to be able to share information and status updates in real time, thereby more closely coordinating the workflow.

[0223] Optionally, the intelligent agents installed in each intelligent device 50 may be the same or different.

[0224] Among them, Figure 9 As shown, the intelligent body can be selectively installed on each intelligent equipment 50. One or more intelligent bodies can be installed on each intelligent equipment 50 to form an intelligent equipment 50 that can process different workpieces or perform different processing procedures on the same workpiece. Multiple intelligent equipment 50 are combined to form an intelligent production line system for continuous processing of workpieces.

[0225] It is understood that the intelligent production line system provided by the present invention can selectively assemble intelligent entities with different functions on intelligent equipment 50 according to production process requirements to form different production lines and implement different production processes. Specifically, at least some of the intelligent entities on intelligent equipment 50 can be detachably mounted on intelligent equipment 50 in a modular manner. By replacing intelligent entities, the functions of intelligent equipment 50 and the target production tasks of the intelligent production line system can be adjusted.

[0226] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0227] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A decoupling control method for intelligent equipment, characterized in that: The intelligent equipment can selectively use multiple intelligent agents of different types according to the target production task, and the multiple intelligent agents communicate with each other through a message bus; The decoupling control method comprises: The agent subscribes to and publishes corresponding message topics according to its functional positioning and process flow; The agent receives messages published by other agents through the subscribed message topics, and performs corresponding functional operations according to the messages and process parameters to complete the target production task.

2. The decoupling control method according to claim 1, characterized in that: The plurality of intelligent agents include a host intelligent agent and at least one functional intelligent agent; Before the intelligent agent performs corresponding functional operations according to the message and process parameters to complete the target production task, the method further includes: When the functional agent is installed on the intelligent device, the functional agent sends an authentication request message including an identity identifier to the host agent; The host agent authenticates the functional agent according to the identity identifier in the authentication request message; If the functional agent passes the authentication, the host agent generates a dynamic permission token according to the functional positioning of the functional agent and sends the dynamic permission token to the functional agent. The dynamic permission token is used to control the scope of resource access of the functional agent. If the functional agent fails to pass the authentication, the host agent issues a first alarm message.

3. The decoupling control method according to claim 2, characterized in that: The host agent authenticates the functional agent according to the identity identifier in the authentication request message, including: The host agent compares the identity identifier in the authentication request message with the pre-stored identity identifier; When the identity identifier in the authentication request message is consistent with the pre-stored identity identifier, the functional agent passes the authentication; When the identity identifier in the authentication request message is inconsistent with the pre-stored identity identifier, the functional agent fails to pass the authentication.

4. The decoupling control method according to claim 2, characterized in that: After the functional agent passes the authentication, the method further includes: The functional agent performs an independent self-check operation upon receiving the self-check message issued by the host agent; After the functional agent completes the independent self-check operation, the host agent generates a scenario test case according to the target production task, wherein the scenario test case includes the process parameters of the functional agent; The host agent sends the process parameters to the functional agent according to the scenario test case; The functional agent performs corresponding functional operations according to the received process parameters to perform cross-agent linkage testing; If an abnormality occurs in the cross-agent linkage test, the host agent sends a second alarm message.

5. The decoupling control method according to claim 4, characterized in that: The functional agent includes a calibration agent and a process agent; After the cross-agent linkage test is completed, it also includes: The calibration agent collects environmental data and sends the environmental data to the process agent; The process agent adjusts the process parameters according to the environmental data.

6. The decoupling control method according to claim 4, characterized in that: The functional intelligent agent includes an operation and control intelligent agent; After the cross-agent linkage test is completed, it also includes: The operation control agent generates a kinematic model according to its mechanical configuration and sends the kinematic model to the host agent; The host agent adjusts the process parameters according to the kinematic model and sends the adjusted process parameters to the functional agent.

7. The decoupling control method according to claim 4, characterized in that: After the cross-agent linkage test is completed, it also includes: The host agent determines the message dependency relationship of the functional agents according to the process flow, and determines a high real-time message according to the message dependency relationship of the functional agents; The host agent allocates a dedicated transmission channel for the high real-time message.

8. The decoupling control method according to claim 1, characterized in that: When the agent performs corresponding functional operations according to the message and process parameters, the method further includes: The intelligent agent publishes the message on a preset message topic based on its health status and / or processing results; After receiving the message of the preset message topic, the other intelligent agents adjust their own process parameters according to the message of the preset message topic.

9. An intelligent device, characterized in that: The intelligent equipment can selectively use multiple intelligent agents of different types according to target production tasks, and the multiple intelligent agents communicate with each other through a message bus; The intelligent equipment is used to execute the decoupling control method described in any one of claims 1-8.

10. The intelligent device according to claim 9, characterized in that: The intelligent agent includes a host intelligent agent and at least one functional intelligent agent; The functional intelligent body includes at least one of a loading intelligent body, a conveying intelligent body, an unloading intelligent body, a process intelligent body, a supply intelligent body, a calibration intelligent body and an operation control intelligent body.

11. An intelligent production line system, characterized in that: The invention comprises a plurality of smart devices according to claim 9, wherein the plurality of smart devices are communicatively connected with each other.

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