Flow engine data processing method and system based on multi-terminal interaction

Abstract

The invention provides a process engine data processing method and system based on multi-terminal interaction. The method comprises the steps that node attributes of all nodes to be produced corresponding to the production process of an equipment unit are determined, and the node attributes comprise a specified attribute and an allocation attribute; determining that any to-be-produced node of which the node attribute is a specified attribute is converted into a produced node, and determining the node attribute of the to-be-produced node having a sequential connection relationship with the produced node based on the production process; determining other to-be-produced nodes which have a parallel connection relationship with the to-be-produced node and have node attributes as distribution attributes as a distribution set based on the production flow, wherein the node attributes of the to-be-produced nodes and the distribution attributes of the to-be-produced nodes are distribution attributes; and performing node sorting based on the production operation cycle on all the to-be-produced nodes in the distribution set, and performing process updating on the production process based on the obtained cycle sequence so as to control the mechanical arm end to grab and move the equipment unit based on the updated production process. The production efficiency is at least improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and particularly relates to a process engine data processing method and system based on multi-end interaction. BACKGROUND

[0002] In the field of modern industrial manufacturing, the production of various equipment units often involves multi-link and multi-process collaborative work, and each link contains specific technical requirements and operation specifications. These links are both independent and closely related, and the quality and efficiency of the previous link directly affect the progress of the subsequent link. Any deviation in one link may lead to delays in the entire production process or a decline in product quality.

[0003] In the prior art, the multi-link production process of equipment units often adopts a single fixed process mode. This process mode is usually determined at the initial stage of production line construction and cannot be flexibly adjusted according to actual production conditions. Whether it is a switch between different specifications and models of equipment units or a response to sudden conditions such as fluctuations in raw material performance and changes in equipment operating state, the production process cannot be updated to adapt to the changes, which restricts the improvement of production efficiency. SUMMARY

[0004] Based on the above problems, the present application is proposed to provide a process engine data processing method and system based on multi-end interaction to overcome the above problems or at least partially solve the above problems.

[0005] According to one aspect of the present application, a process engine data processing method based on multi-end interaction is provided, comprising the following steps: determining node attributes of each to-be-produced node corresponding to the production process of the equipment unit, wherein the node attributes include specified attributes and assigned attributes; determining that any to-be-produced node with a specified attribute is converted into a produced node, and determining the node attributes of the to-be-produced nodes having a sequential connection relationship with the produced node based on the production process; in response to the node attribute of the to-be-produced node being an assigned attribute, determining other to-be-produced nodes having a corresponding node attribute as an assigned attribute and having a parallel connection relationship with the to-be-produced node as an assigned set based on the production process; performing node sorting based on the production operation cycle for all to-be-produced nodes in the assigned set, and performing process updating of the production process based on the obtained cycle sequence to control the end of the mechanical arm to move the equipment unit based on the updated production process.

[0006] Optionally, in the method according to the present application, determining that any to-be-produced node with a specified attribute is converted into a produced node comprises: In response to the operation end device unit having a node assignment relationship with any node attribute being a specified attribute, the image acquisition unit corresponding to the operation end is controlled to acquire an image corresponding to a preset fixed angle from the device unit, and the acquired image is subjected to image recognition; In response to the recognition result being that the unchanged time is greater than a preset time, an image group corresponding to the to-be-produced node is retrieved, wherein the image group includes standard completion images corresponding to different preset adjustment angles; The image acquisition unit is controlled to acquire images corresponding to different preset adjustment angles from the device unit, and each angle acquisition image is subjected to image comparison with a standard completion image corresponding to the same preset adjustment angle, and a production evaluation value corresponding to the production node is determined based on the comparison result; In response to the production evaluation value being greater than the preset evaluation value, the to-be-produced node is determined to be converted into a produced node.

[0007] Optionally, in the method according to the present application, each angle acquisition image is subjected to image comparison with a standard completion image corresponding to the same preset adjustment angle, and a production evaluation value corresponding to the production node is determined based on the comparison result, comprising: Each angle acquisition image is subjected to image comparison with a standard completion image corresponding to the same preset adjustment angle, and a similarity evaluation value corresponding to each angle acquisition image determined based on the comparison result is subjected to mean value calculation to obtain an adjustment evaluation value; In response to receiving self-checking information uploaded by the operation end and composed of a self-acquisition image and a self-evaluation value, a self-acquisition angle corresponding to the self-acquisition image is determined; In response to the self-acquisition angle being the same as any preset adjustment angle and the self-evaluation value being less than a similarity evaluation value corresponding to the preset adjustment angle, the self-evaluation value is replaced by the similarity evaluation value, and an updated adjustment evaluation value is determined as a production evaluation value; In response to the self-acquisition angle being different from each preset adjustment angle, the self-evaluation value and the adjustment evaluation value are subjected to weighted summation processing to obtain a production evaluation value.

[0008] Optionally, in the method according to the present application, the method further comprises: In response to the similarity evaluation value corresponding to any preset adjustment angle being greater than the preset evaluation value, the preset adjustment angle is determined as a normal evaluation, otherwise it is determined as an abnormal evaluation; The retrieved historical record table is traversed, wherein the historical record table includes different marking angles and an accumulated number corresponding to each marking angle; In response to the preset adjustment angle being the same as any of the marked angles in the case of any abnormal evaluation, the accumulated number corresponding to the marked angle is reset; In response to the preset adjustment angle being the same as any of the marked angles in the case of any normal evaluation, the accumulated number corresponding to the marked angle is increased to obtain an updated accumulated number; In response to the updated accumulated number being greater than a preset first number, the preset adjustment angle is removed from the comparison image group.

[0009] Optionally, in the method according to the present application, the method further comprises: In response to the self-collected angle being different from each preset adjustment angle and less than or equal to the preset evaluation value, the self-collected angle is determined as a new preset adjustment angle and added to the comparison image group; In response to the self-collected angle being different from each preset adjustment angle and greater than the preset evaluation value, the retrieved historical record table is traversed; In response to the self-collected angle being different from each marked angle, the self-collected angle is determined as a new marked angle, and an accumulated number corresponding to the self-collected angle is generated based on the historical record table; In response to the self-collected angle being the same as any of the marked angles, the accumulated number corresponding to the marked angle is increased to obtain an updated accumulated number; In response to the updated accumulated number being greater than a preset second number, the marked angle is determined as a new preset adjustment angle and added to the comparison image group.

[0010] Optionally, in the method according to the present application, all nodes to be produced located in the distribution set are sorted based on a production operation period, and a production process is updated based on the obtained period sequence to control a gripper end to move equipment units based on the updated production process, comprising: In response to at least one other equipment unit existing for an operation end having a node assignment relationship with any node to be produced located in the distribution set, the other equipment unit is determined as an existing unit, and an existing number corresponding to all existing units included by each node to be produced is obtained; An operation production efficiency corresponding to any node to be produced located in the distribution set is determined based on an operation end having a node assignment relationship with the node to be produced, and a production operation period is determined based on the existing number corresponding to the same operation end and the operation production efficiency; All nodes to be produced are sorted based on the production operation period from short to long to obtain an updated sequence corresponding to each node to be produced; Based on the production process, the original order of each production node in the allocation set is determined, and in response to the original order of any production node being different from the updated order, the updated order replaces the original order to obtain the updated production process. The robotic arm controls the grasping and moving of equipment units based on the updated production process, and identifies the equipment unit as an existing unit when it is moved to any production node.

[0011] Optionally, in the method according to the invention, determining the production operation cycle based on the existing quantity corresponding to the same operating end and the operation production efficiency includes: The number of historical operations and the historical operation cycle are determined based on the historical operation records of the corresponding operation terminal. The historical operation quantity and historical operation cycle are normalized, and the obtained quantity evaluation value and cycle evaluation value are weighted and summed to obtain the fatigue evaluation value corresponding to the operation end. The efficiency comparison table is retrieved and iterated through, wherein the efficiency comparison table includes efficiency intervals corresponding to different preset efficiencies; If the fatigue assessment value falls within any efficiency range, the preset efficiency corresponding to that efficiency range is determined as the benchmark production efficiency. In response to the benchmark production efficiency being less than a preset efficiency threshold, an adjustment efficiency range centered on the benchmark production efficiency is established, and the adjustment efficiency range is sent to the operation terminal. The operator selects any value within the adjustment efficiency range, determines the value as the operation production efficiency, and multiplies the operation production efficiency with the existing quantity to obtain the production operation cycle.

[0012] Optionally, in the method according to the invention, the method further includes: When any node to be produced located in the allocation set is converted into a produced node, all first operation tags possessed by the operation terminal with node assignment relationship with the produced node are determined, and the first operation tags are compared with the different second operation tags corresponding to all nodes to be produced located in the allocation set. The response determines that any first operation tag and any second operation tag have the same operation type based on the comparison results, and summarizes the produced nodes and the nodes to be produced corresponding to the second operation tag into the same operation coordination group. If the operation coordination group is one, the node to be produced located in the operation coordination group is identified as the node to be coordinated. In response to the operation coordination groups being multiple, a coordination operation period corresponding to each operation coordination group is determined based on the operation category corresponding to the second operation label, and a to-be-coordinated node is determined as the to-be-produced node located in the operation coordination group corresponding to the maximum coordination operation period; An operation end having a node assignment relationship with the to-be-coordinated node is dispatched to the to-be-produced node.

[0013] Optionally, in the method according to the application, in response to the operation coordination groups being multiple, a coordination operation period corresponding to each operation coordination group is determined based on the operation category corresponding to the second operation label, and a to-be-coordinated node is determined as the to-be-produced node located in the operation coordination group corresponding to the maximum coordination operation period, comprising: An operation production efficiency corresponding to the operation end is determined, and an efficiency influence coefficient is determined based on the operation category corresponding to the second operation label; The operation production efficiency and the efficiency influence coefficient are multiplied to obtain a coordination production efficiency; An operation production efficiency corresponding to the operation end having a node assignment relationship with the to-be-produced node located in each operation coordination group and an existing number corresponding to the to-be-produced node are determined, and the coordination production efficiency and each operation production efficiency are summed to obtain a comprehensive production efficiency; A coordination operation period is determined based on the existing number and the comprehensive production efficiency corresponding to the same operation coordination group, and a to-be-coordinated node is determined as the to-be-produced node located in the operation coordination group corresponding to the maximum coordination operation period.

[0014] According to another aspect of the application, a process engine data processing system based on multi-end interaction is provided, comprising: An attribute determination module configured to determine each node attribute of each to-be-produced node corresponding to a production process of a device unit, wherein the node attribute comprises a specified attribute and an assigned attribute; A node conversion module configured to convert a to-be-produced node with a specified attribute into a produced node when any node attribute is a specified attribute, and determine a node attribute of a to-be-produced node having a sequential connection relationship with the produced node based on the production process; A set determination module configured to determine other to-be-produced nodes having a corresponding node attribute as an assigned attribute and having a parallel connection relationship with the to-be-produced node as an assigned set in response to the node attribute of the to-be-produced node being an assigned attribute based on the production process; A process updating module configured to perform node sorting based on a production operation period on all to-be-produced nodes located in the assigned set, and perform process updating on the production process based on the obtained period sequence to control the robotic arm end to perform grabbing movement on the device unit based on the updated production process.

[0015] According to the scheme of the present application, the server first determines the node attributes of each node corresponding to the production flow of the device unit, so as to facilitate more accurate production sorting of each node to be produced with an assigned attribute. Specifically, when a node to be produced with an arbitrary node attribute being a specified attribute is converted into a produced node, the server first determines the node attributes of the nodes to be produced having a sequential connection relationship with the produced node according to the production flow. When the node attribute is an assigned attribute, the server determines other nodes to be produced with a corresponding node attribute being an assigned attribute as an assignment set according to the production flow, and then performs node sorting based on the production operation cycle for all nodes to be produced in the assignment set, and updates the production flow based on the obtained cycle sequence, so as to control the end of the mechanical arm to move the device unit based on the updated production flow, so that the device unit can be transferred to the node to be produced with the smallest production operation cycle first, thereby improving the production efficiency of the device unit. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A flowchart of a process engine data processing method based on multi-terminal interaction according to an embodiment of the present application is shown. Figure 2 A schematic diagram of a history record table according to an embodiment of the present application is shown. Figure 3 A schematic diagram of an assignment set according to an embodiment of the present application is shown. Figure 4 A structural block diagram of a process engine data processing system based on multi-terminal interaction according to another embodiment of the present application is shown. DETAILED DESCRIPTION

[0017] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0018] To solve the problems in the background art, the inventors propose the scheme of the present application. An embodiment of the present application provides a process engine data processing method based on multi-terminal interaction, which can be executed in a computing device.

[0019] Figure 1 A flowchart of a process engine data processing method based on multi-terminal interaction according to an embodiment of the present application is shown, which is suitable for execution in a computing device.

[0020] As Figure 1 shown, the process engine data processing method based on multi-end interaction provided in the embodiment starts from step S102, in which the following is included: determining each node attribute of each to-be-produced node corresponding to the production process of the equipment unit, wherein the node attribute includes a designated attribute and an assigned attribute.

[0021] For example, in the embodiment, one equipment unit can be understood as one to-be-produced equipment requiring multi-link production, so there are multiple different to-be-produced nodes in the production process corresponding to the equipment unit, and different to-be-produced nodes correspond to different node attributes. For example, the production order of one to-be-produced node must be in the first order in the production process, so the node attribute of the to-be-produced node is a designated attribute, and for example, the production order of one to-be-produced node can be the second order or the third order, so the node attribute of the to-be-produced node is an assigned attribute.

[0022] In step S104, the following is included: determining that any to-be-produced node with a designated attribute is converted into a produced node, and determining the node attribute of a to-be-produced node having a sequential connection relationship with the produced node based on the production process.

[0023] For example, in the embodiment, when the equipment unit completes the corresponding production operation at any to-be-produced node with a designated attribute, the server converts the to-be-produced node into a produced node. In order to determine the next to-be-produced node to which the equipment unit is about to be transferred, the server first determines the node attribute of a to-be-produced node having a sequential connection relationship with the produced node based on the production process. The sequential connection relationship can be understood as a series connection form.

[0024] Further, the above-mentioned "determining that any to-be-produced node with a designated attribute is converted into a produced node" further includes the following steps: receiving the equipment unit by an operation end having a node assignment relationship with any to-be-produced node with a designated attribute, controlling an acquisition unit corresponding to the operation end to perform image acquisition of a preset fixed angle on the equipment unit, and performing image recognition on the obtained acquisition image; in response to the unchanged time of the recognition result being greater than a preset time, retrieving a comparison image group corresponding to the to-be-produced node, wherein the comparison image group includes standard completion images corresponding to different preset adjustment angles. The collection unit is controlled to collect images of the device unit corresponding to different preset adjustment angles, and each angle of the collected images is compared with a standard complete image corresponding to the same preset adjustment angle, and a production evaluation value corresponding to the production node is determined based on the comparison result; In response to the production evaluation value being greater than the preset evaluation value, the server determines that the production node is converted into a produced node.

[0025] For example, in this embodiment, each production node corresponds to an operation end having a node assignment relationship with the production node, and the operation end can be understood as a port for interaction with an operator; When the operation end having a node assignment relationship with the production node with the specified attribute receives the device unit, the server controls the collection unit corresponding to the operation end to collect images of the device unit corresponding to a preset fixed angle, for example, the preset fixed angle can be an upward viewing angle; Then, the server performs image recognition on the collected images, and when the recognition result is that the unchanged time of the image screen without changes is greater than the preset time, that is, the collected images are all the same, it can be understood that the operation end corresponding to the production node has stopped the production operation, that is, the production task of the device unit is completed; In order to more accurately determine whether the operation end corresponding to the production node has effectively completed the production task of the device unit, the server further compares the collected images with the standard complete images to determine the production completion of the device unit by the operation end corresponding to the production node; Since the device unit can be a three-dimensional component, it is necessary to compare each angle of the device unit with the standard complete image corresponding to the angle to more accurately determine the production completion of the device unit. Therefore, the server first retrieves a comparison image group corresponding to the production node, and the comparison image group includes standard complete images corresponding to different preset adjustment angles; Then, the server controls the collection unit to collect images of the device unit corresponding to different preset adjustment angles, for example, the preset adjustment angles are left viewing angle, right viewing angle, front viewing angle, and rear viewing angle, etc. The server compares each angle of the collected images with the standard complete image corresponding to the same preset adjustment angle, and determines the production evaluation value corresponding to the production node according to the comparison result; When the production evaluation value is greater than the preset evaluation value, it indicates that the production completion of the production node is good, and therefore the server converts the production node into a produced node.

[0026] Further, the above-mentioned "performing image comparison between each of the obtained angle acquisition images and the standard finished image corresponding to the same preset adjustment angle, and determining the production evaluation value corresponding to the production node based on the comparison result" further includes the following steps: performing image comparison between each of the obtained angle acquisition images and the standard finished image corresponding to the same preset adjustment angle, and performing mean value calculation on the similarity evaluation values corresponding to each of the angle acquisition images based on the comparison result to obtain the adjustment evaluation value; in response to receiving the self-checking information uploaded by the operation terminal and composed of the self-acquisition image and the self-evaluation value, determining the self-acquisition angle corresponding to the self-acquisition image; in response to the self-acquisition angle being the same as any of the preset adjustment angles and the self-evaluation value being smaller than the similarity evaluation value corresponding to the preset adjustment angle, replacing the self-evaluation value with the similarity evaluation value, and determining the updated adjustment evaluation value as the production evaluation value; in response to the self-acquisition angle being different from each of the preset adjustment angles, performing weighted summation processing on the self-evaluation value and the adjustment evaluation value to obtain the production evaluation value.

[0027] For example, in the present embodiment, the server will perform image comparison between each of the obtained angle acquisition images and the standard finished image corresponding to the same preset adjustment angle, so as to obtain the image similarity corresponding to each of the angle acquisition images, then the server will determine the similarity evaluation value corresponding to each of the angle acquisition images according to the respective image similarity, and then perform mean value calculation on the respective similarity evaluation values to obtain the adjustment evaluation value; The operation terminal can also perform image acquisition on a certain angle of the device unit according to the actual operation condition. For example, the operation terminal considers that the device unit corresponding to the normal visual angle has production defects, so the operation terminal can control the acquisition unit to perform image acquisition on the device unit at the preset adjustment angle corresponding to the normal visual angle, and perform self-evaluation on the defect condition after obtaining the self-acquisition image, so as to obtain the self-evaluation value; After receiving the self-checking information uploaded by the operation terminal and composed of the self-acquisition image and the self-evaluation value, the server will first determine the self-acquisition angle corresponding to the self-acquisition image. When the self-acquisition angle is the same as any of the preset adjustment angles and the self-evaluation value is smaller than the similarity evaluation value corresponding to the preset adjustment angle, it indicates that the operation terminal may consider that the defect condition of the device unit is relatively serious. Therefore, the server will replace the self-evaluation value with the similarity evaluation value, and then determine the updated adjustment evaluation value as the production evaluation value; There is also a possible condition that the self-acquisition angle of the self-acquisition image uploaded by the operation terminal is different from each of the preset adjustment angles. In this case, the server will perform weighted summation processing on the self-evaluation value and the adjustment evaluation value to obtain the final production evaluation value.

[0028] Further, the method further comprises the following steps: determining the preset adjustment angle as normal evaluation if the similarity evaluation value corresponding to any preset adjustment angle is greater than the preset evaluation value, or determining the preset adjustment angle as abnormal evaluation otherwise; traversing the historical record table, wherein the historical record table comprises different marking angles and the accumulated number corresponding to each marking angle; resetting the accumulated number corresponding to the marking angle if the preset adjustment angle of any abnormal evaluation is the same as any marking angle; increasing the accumulated number corresponding to the marking angle if the preset adjustment angle of any normal evaluation is the same as any marking angle, to obtain an updated accumulated number; removing the preset adjustment angle from the comparison image group if the updated accumulated number is greater than a preset first number.

[0029] For example, in the embodiment, when the similarity evaluation value corresponding to any preset adjustment angle is greater than the preset evaluation value, it indicates that the production completion of the device unit corresponding to the preset adjustment angle is good, and thus the server determines the preset adjustment angle as normal evaluation; When the similarity evaluation value corresponding to any preset adjustment angle is less than or equal to the preset evaluation value, it indicates that the production completion of the device unit corresponding to the preset adjustment angle is poor, and a more serious defect may occur, and thus the server determines the preset adjustment angle as abnormal evaluation; Then, the server traverses the historical record table, and the historical record table comprises different marking angles and the accumulated number corresponding to each marking angle. For example, when the preset adjustment angle of any abnormal evaluation is the same as any marking angle, the server resets the accumulated number corresponding to the marking angle. For example, the accumulated number of the marking angle corresponding to the upward viewing angle in the historical record table is 50, and the preset adjustment angle corresponding to the upward viewing angle is currently abnormal evaluation. At this time, the server resets the accumulated number of the marking angle corresponding to the upward viewing angle to 0, as shown in FIG. 6B. Figure 2 When the preset adjustment angle of normal evaluation is the same as any marking angle, the server increases the accumulated number corresponding to the marking angle, to obtain an updated accumulated number. For example, the accumulated number of the marking angle corresponding to the left viewing angle in the historical record table is 20, and the preset adjustment angle corresponding to the left viewing angle is currently normal evaluation. At this time, the server increases the accumulated number of the marking angle corresponding to the left viewing angle to 21, as shown in FIG. 6A. Figure 2 ​​When the updated accumulated number of times is greater than the preset first number of times, it indicates that the preset adjustment angle has been continuously evaluated as normal for a plurality of times, that is, the probability of production defects of the device unit corresponding to the preset adjustment angle is relatively low. Therefore, the server removes the preset adjustment angle from the comparison image group, so as to reduce the data processing amount of the server.

[0030] Further, the method further includes the following steps: In response to the self-acquired angle being different from each preset adjustment angle and being less than or equal to the preset evaluation value, the self-acquired angle is determined as a new preset adjustment angle, and is added to the comparison image group; In response to the self-acquired angle being different from each preset adjustment angle and being greater than the preset evaluation value, the retrieved historical record table is traversed; In response to the self-acquired angle being different from each marked angle, the self-acquired angle is determined as a new marked angle, and the accumulated number of times corresponding to the self-acquired angle is generated based on the historical record table; In response to the self-acquired angle being the same as any marked angle, the accumulated number of times corresponding to the marked angle is increased to obtain an updated accumulated number of times; In response to the updated accumulated number of times being greater than a preset second number of times, the marked angle is determined as a new preset adjustment angle, and is added to the comparison image group.

[0031] For example, in the embodiment, when the self-acquired angle is different from each preset adjustment angle and is less than or equal to the preset evaluation value, the server determines the self-acquired angle as a new preset adjustment angle, and adds the self-acquired angle to the comparison image group, so as to facilitate the evaluation of the subsequent device unit based on the preset adjustment angle; When the self-acquired angle is different from each preset adjustment angle and is greater than the preset evaluation value, the server traverses the retrieved historical record table. When the self-acquired angle is different from each marked angle, the server determines the self-acquired angle as a new marked angle, and generates the accumulated number of times corresponding to the self-acquired angle in the historical record table. For example, the generated accumulated number of times corresponding to the self-acquired angle can be 1. When the self-acquired angle is the same as any marked angle, the server increases the accumulated number of times corresponding to the marked angle to obtain an updated accumulated number of times. When the updated accumulated number of times is greater than a preset second number of times, it indicates that a plurality of operators have performed image acquisition based on the self-acquired angle. Therefore, the server determines the marked angle as a new preset adjustment angle, and adds the marked angle to the comparison image group, so as to facilitate the corresponding evaluation of the subsequent device unit based on the preset adjustment angle.

[0032] In step S106, the following content is included: In response to the node attribute corresponding to the to-be-produced node being an assignment attribute, other to-be-produced nodes having a parallel connection relationship with the to-be-produced node and having a node attribute corresponding to the assignment attribute are determined as an assignment set based on the production process.

[0033] For example, in this embodiment, when the node attribute corresponding to the to-be-produced node is an assignment attribute, there must be other to-be-produced nodes having a parallel connection relationship with the to-be-produced node and having a node attribute corresponding to the assignment attribute in the production process. The parallel connection relationship can be understood as a parallel connection form, as shown in Figure 3 To facilitate determining which to-be-produced node based on which node attribute as an assignment attribute is produced by the device unit first, the server determines other to-be-produced nodes having a parallel connection relationship with the to-be-produced node and having a node attribute corresponding to the assignment attribute as an assignment set based on the production process; For example, in the production process, there are two to-be-produced nodes having a parallel connection relationship with the to-be-produced node and having a node attribute corresponding to the assignment attribute. The server determines the three to-be-produced nodes as an assignment set, as shown in Figure 3 The server determines the three to-be-produced nodes in the rectangular frame as an assignment set.

[0034] In step S108, the following content is included: The node sorting based on the production operation period is performed on all to-be-produced nodes in the assignment set, and the production process is updated based on the obtained period sequence to control the end of the robot arm to move the device unit based on the updated production process.

[0035] For example, in this embodiment, the operation end having a node assignment relationship with the to-be-produced node can be performing production operations on other device units, or there can be other device units waiting to be produced by the operation end, that is, the operation end corresponds to an existing unit. To be able to more efficiently complete the production of the device unit, the server determines the production operation period of all to-be-produced nodes in the assignment set, that is, determines the time required for the operation end to perform production operations on the existing unit. Then, the server sorts all to-be-produced nodes in the assignment set according to the production operation period, and updates the production process based on the obtained period sequence to control the end of the robot arm to move the device unit based on the updated production process, so that the device unit can be transferred to the to-be-produced node with the smallest production operation period first, thereby improving the production efficiency of the device unit.

[0036] ​Further, the above-mentioned "ordering the nodes in the production operation cycle based on all the to-be-produced nodes in the distribution set, and updating the production flow based on the obtained cycle sequence to control the robot end to move the equipment units based on the updated production flow" further comprises the following steps: determining the other equipment units as existing units, and obtaining the existing quantities corresponding to all the existing units included in each to-be-produced node; determining the operation production efficiency corresponding to any to-be-produced node in the distribution set based on the operation end having a node assignment relationship with the to-be-produced node, and determining the production operation cycle based on the existing quantity and the operation production efficiency corresponding to the same operation end; ordering the nodes in the production operation cycle from short to long based on all the to-be-produced nodes, to obtain an updated sequence corresponding to each to-be-produced node; determining the original sequence corresponding to each production node in the distribution set based on the production flow, and replacing the original sequence with the updated sequence in response to the original sequence corresponding to any production node being different from the updated sequence, to obtain an updated production flow; controlling the robot end to move the equipment units based on the updated production flow, and determining the equipment units as existing units in response to the equipment units being moved to any to-be-produced node.

[0037] For example, in the present embodiment, when there is at least one other equipment unit having a node assignment relationship with the operation end of any to-be-produced node in the distribution set, i.e., the operation end is performing production operation on the other equipment units or there is another equipment unit waiting for the operation end to perform production operation thereon, the server will first determine the other equipment units as existing units, and then obtain the existing quantities corresponding to all the existing units included in each to-be-produced node; Then, the server will determine the operation production efficiency corresponding to any to-be-produced node in the distribution set based on the operation end having a node assignment relationship with the to-be-produced node, and then determine the production operation cycle based on the existing quantity and the operation production efficiency corresponding to the same operation end, i.e., the production operation cycles corresponding to different to-be-produced nodes are different; In order to more efficiently perform production operation on the equipment units, the server will order the nodes in the production operation cycle from short to long based on all the to-be-produced nodes, to obtain an updated sequence corresponding to each to-be-produced node, i.e., the equipment units can be first transferred to the to-be-produced node with the shortest production operation cycle for corresponding production operation, which can reduce the waiting time of the equipment units in circulation, thereby improving the corresponding production efficiency; Then, the server determines the original order of each production node in the distribution set according to the production process. When the original order of any production node is different from the updated order, the server replaces the original order with the updated order, thereby obtaining an updated production process, so as to facilitate subsequent control of the robotic arm end to move the equipment unit according to the updated production process. When the equipment unit is moved to any production node, the server determines the equipment unit as an existing unit.

[0038] Further, the above-mentioned "determining the production operation period based on the existing number of the corresponding operation end and the operation production efficiency" further includes the following steps: determining the historical operation number and the historical operation period based on the historical operation record of the operation end; normalizing the historical operation number and the historical operation period, and performing weighted summation processing on the obtained number evaluation value and the period evaluation value to obtain a fatigue evaluation value of the operation end; traversing the efficiency comparison table, wherein the efficiency comparison table includes efficiency intervals corresponding to different preset efficiencies; in response to the fatigue evaluation value being in any efficiency interval, determining the preset efficiency corresponding to the efficiency interval as the reference production efficiency; in response to the reference production efficiency being less than a preset efficiency threshold, establishing an adjustment efficiency interval centered on the reference production efficiency, and sending the adjustment efficiency interval to the operation end; in response to the operation end selecting any value in the adjustment efficiency interval, determining the value as the operation production efficiency, and multiplying the operation production efficiency by the existing number to obtain the production operation period.

[0039] For example, in the present embodiment, since the operation end for performing production operation on the equipment unit is mostly manually operated by a production worker, when the length of continuous work (historical operation period) or the amount of work completed (historical operation number) in a working day is relatively large, the operation end is likely to be fatigued and thus the production efficiency is reduced. Therefore, in order to more accurately determine the production operation period of the operation end, the server first determines the historical operation number and the historical operation period based on the historical operation record of the operation end; Then, the server normalizes the historical operation number and the historical operation period to obtain a number evaluation value and a period evaluation value, and performs weighted summation processing on the number evaluation value and the period evaluation value to obtain a fatigue evaluation value of the operation end. Since the more the historical operation number and the longer the historical operation period, the more fatigued the operation end is, the number evaluation value and the period evaluation value are both proportional to the fatigue evaluation value. Then, the server traverses the efficiency comparison table, and the efficiency comparison table includes efficiency intervals corresponding to different preset efficiencies. When the fatigue evaluation value is located in any one of the efficiency intervals, the server determines the preset efficiency corresponding to the efficiency interval as the benchmark production efficiency; When the benchmark production efficiency is less than the preset efficiency threshold, it indicates that the benchmark production efficiency of the corresponding operation end is already very low. In order to more accurately determine the operation production efficiency of the operation end, the server establishes an adjustment efficiency interval with the benchmark production efficiency as the center value, and sends the adjustment efficiency interval to the operation end; The operation end can select any value in the adjustment efficiency interval, for example, the operation end thinks that the current fatigue state is indeed very serious, and can select a lower value in the adjustment efficiency interval, and for example, the operation end thinks that the current fatigue state is not very serious, and can select a higher value in the adjustment efficiency interval; The server determines the value selected by the operation end in the adjustment efficiency interval as the operation production efficiency, and multiplies the operation production efficiency with the existing number to obtain the production operation period.

[0040] Further, the above method further includes the following steps: In response to any to-be-produced node located in the distribution set being converted into a produced node, determining all first operation labels possessed by the operation end having a node assignment relationship with the produced node, and performing label comparison between the first operation label and different second operation labels corresponding to all to-be-produced nodes located in the distribution set; In response to determining that any first operation label and any second operation label have the same operation type based on the comparison result, the produced node and the to-be-produced node corresponding to the second operation label are aggregated into the same operation coordination group; In response to the operation coordination group being one, the to-be-produced node located in the operation coordination group is determined as a to-be-coordinated node; In response to the operation coordination group being multiple, the coordination operation period corresponding to each operation coordination group is determined based on the operation type corresponding to the second operation label, and the to-be-produced node located in the operation coordination group with the largest coordination operation period is determined as the to-be-coordinated node; The operation end having a node assignment relationship with the produced node is assigned to the to-be-coordinated node having a node assignment relationship with the to-be-coordinated node.

[0041] For example, in the embodiment, since one operation end can have a node assignment relationship with multiple to-be-produced nodes, that is, one operation end can complete the production tasks of multiple to-be-produced nodes, one operation end can have multiple operation labels; Therefore, when any one of the nodes in the distribution set is converted into a produced node, it means that the produced node has completed the corresponding production task, at this time, the server determines all first operation tags possessed by the operation end having the node assignment relationship with the produced node, and then determines all second operation tags corresponding to the nodes in the distribution set; Then, the server performs tag comparison between the first operation tags and the second operation tags, and when any one of the first operation tags and any one of the second operation tags have the same operation type, it means that the operation end of the produced node corresponding to the first operation tag can assist the production task of the node corresponding to the second operation tag, therefore, the server aggregates the produced node and the node corresponding to the second operation tag into the same operation coordination group; One possible case is that there is only one operation coordination group, at this time, the server determines the node in the operation coordination group as the node to be coordinated; Another possible case is that there are multiple operation coordination groups, at this time, the server determines the coordination operation period corresponding to each operation coordination group according to the operation type corresponding to the second operation tag, and the greater the coordination operation period, the longer the flow waiting time of the device unit when the device unit is at the node to be produced corresponding to the operation coordination group, in order to reduce the flow waiting time of the device unit, the server determines the node in the operation coordination group corresponding to the largest coordination operation period as the node to be coordinated, so as to more quickly perform production operation on the device unit; Finally, the server assigns the operation end having the node assignment relationship with the produced node to the node assignment relationship with the node to be coordinated, so that the operation end device unit having the node assignment relationship with the produced node can quickly perform production operation on the device unit when the device unit corresponds to the node to be coordinated, which can reduce the flow waiting time of the device unit, thereby improving the production efficiency.

[0042] Furthermore, the above-mentioned "when the operation coordination group is multiple, determining the coordination operation period corresponding to each operation coordination group based on the operation type corresponding to the second operation tag, and determining the node in the operation coordination group corresponding to the largest coordination operation period as the node to be coordinated" further includes the following steps: determining the operation production efficiency corresponding to the operation end, and determining the efficiency influence coefficient based on the operation type corresponding to the second operation tag; multiplying the operation production efficiency and the efficiency influence coefficient to obtain the coordination production efficiency; determining operation production efficiency corresponding to the operation end having a node assignment relationship with the to-be-produced node in each operation coordination group and the existing quantity corresponding to the to-be-produced node, and summing each operation production efficiency and the coordination production efficiency to obtain a comprehensive production efficiency; determining a coordination operation period based on the existing quantity corresponding to the same operation coordination group and the comprehensive production efficiency, and determining the to-be-produced node in the operation coordination group corresponding to the largest coordination operation period as the to-be-coordinated node.

[0043] For example, in the present embodiment, the server first determines the operation production efficiency of the operation end. Since the operation difficulty of different operation types is different, the lower the operation difficulty, the lower the degree of influence on the efficiency of the operation end. Therefore, the operation difficulty of the operation type is proportional to the efficiency influence coefficient. The server determines the corresponding efficiency influence coefficient according to the operation type corresponding to the second operation label. Then, the server multiplies the operation production efficiency and the efficiency influence coefficient to obtain the coordination production efficiency, and determines the operation production efficiency corresponding to the operation end having a node assignment relationship with the to-be-produced node in each operation coordination group and the existing quantity corresponding to the to-be-produced node. Then, the server multiplies the operation production efficiency and the efficiency influence coefficient to obtain the coordination production efficiency, and determines the operation production efficiency corresponding to the operation end having a node assignment relationship with the to-be-produced node in each operation coordination group and the existing quantity corresponding to the to-be-produced node. Finally, the server multiplies the existing quantity corresponding to the same operation coordination group and the comprehensive production efficiency to obtain the coordination operation period. The larger the coordination operation period, the longer the operation end takes to complete the production operation of the existing unit, thereby causing the longer flow waiting time of the equipment unit. Therefore, the server determines the to-be-produced node in the operation coordination group corresponding to the largest coordination operation period as the to-be-coordinated node to reduce the flow waiting time of the equipment unit, thereby improving the production efficiency.

[0044] According to the scheme of the application, the server first determines the node attributes of each to-be-produced node corresponding to the production flow of the equipment unit, so as to facilitate more accurate production sorting of each to-be-produced node with an assigned attribute in subsequent node attribute assignment. Specifically, when a to-be-produced node with any node attribute as a specified attribute is converted into a produced node, the server first determines the node attributes of the to-be-produced nodes having a sequential connection relationship with the produced node according to the production flow. When the node attribute is an assigned attribute, the server determines other to-be-produced nodes with corresponding node attributes as assigned attributes and having a parallel connection relationship with the to-be-produced node as an assignment set according to the production flow, and then performs node sorting of all to-be-produced nodes in the assignment set based on a production operation cycle, and performs flow updating of the production flow based on the obtained cycle sequence, so as to control the end of the mechanical arm to move the equipment unit based on the updated production flow, so that the equipment unit can first flow to the to-be-produced node with the smallest production operation cycle, thereby improving the production efficiency of the equipment unit.

[0045] Another embodiment of the application provides a multi-end interaction-based process engine data processing system, Figure 4 The system includes a system block diagram corresponding thereto, and the system includes: An attribute determination module configured to determine the node attributes of each to-be-produced node corresponding to the production flow of the equipment unit, wherein the node attributes include a specified attribute and an assigned attribute. A node conversion module configured to determine that a to-be-produced node with any node attribute as a specified attribute is converted into a produced node, and determine the node attributes of to-be-produced nodes having a sequential connection relationship with the produced node based on the production flow. A set determination module configured to, in response to the node attribute of the to-be-produced node being an assigned attribute, determine other to-be-produced nodes with corresponding node attributes as assigned attributes and having a parallel connection relationship with the to-be-produced node as an assignment set based on the production flow. A flow updating module configured to perform node sorting of all to-be-produced nodes in the assignment set based on a production operation cycle, and perform flow updating of the production flow based on the obtained cycle sequence, so as to control the end of the mechanical arm to move the equipment unit based on the updated production flow.

[0046] In the specification provided herein, the algorithms and displays are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used with the examples of the application. The structure required to construct such systems is apparent from the above description. Furthermore, the application is not directed to any particular programming language. It will be appreciated that a variety of programming languages can be used to implement the described application, and the descriptions of specific languages herein are provided for disclosure of the preferred embodiments of the application.

[0047] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

[0048] Similarly, it is to be understood that the mechanical components of the above-described examples can be placed in any desired configuration without departing from the spirit of the disclosed concept. It is therefore intended that the scope of the application be determined by the following claims rather than by the description above.

[0049] It is understood by those skilled in the art that the modules, or units, or components of the devices in the examples disclosed herein can be arranged in the devices as described in the examples, or alternatively can be located in one or more devices different from the devices in the examples. The modules in the foregoing examples can be combined into one module or further divided into multiple sub-modules.

[0050] It is understood by those skilled in the art that the modules in the devices in the examples can be adaptively changed and disposed in one or more devices different from the examples. The modules or units or components in the examples can be combined into one module or unit or component, and further divided into multiple sub-modules or sub-units or sub-components.

[0051] Further, those skilled in the art could understand that although some of the examples described herein include certain features of other examples but not others, the combination of features of different examples implies that the combination is within the scope of the application and forms a different example.

[0052] Further, some of the examples described herein are described as a method or combination of elements of a method implementable by a processor of a computer system or by other means of carrying out the function. Accordingly, a processor with the necessary instructions for carrying out such a method or element of a method forms a means for carrying out the method or element of a method. Furthermore, an element described herein of a means for carrying out a particular function can also be means for carrying out a function associated with the described element.

[0053] As used herein, the ordinal numbers "first", "second", "third", etc. used to describe a generic object merely indicate different instances of similar objects and are not intended to imply that the objects described must have a given order in time, space, ranking, or in any other manner, unless otherwise specified.

[0054] While the application has been described in terms of several embodiments, it will be apparent to those of ordinary skill in the art that many modifications, additions, substitutions, and the like can be made to the applications set forth herein without departing from the scope of the application as understood by the skilled artisan in light of the foregoing description. Moreover, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and teaching without intent that the that the application be limited to such phraseology and terminology.

Claims

1. A method for processing data of a process engine based on multi-end interaction, characterized in that, The method comprises the steps of: determining the node attributes of each to-be-produced node corresponding to the production flow of the equipment unit, wherein the node attributes comprise a specified attribute and an assigned attribute; determining that the to-be-produced node with the specified attribute is converted into a produced node, and determining the node attributes of the to-be-produced nodes having a sequential connection relationship with the produced node based on the production flow; in response to the node attribute of the to-be-produced node being the assigned attribute, determining other to-be-produced nodes having a parallel connection relationship with the to-be-produced node and having the assigned attribute as an assigned set based on the production flow; performing node sorting based on a production operation cycle on all to-be-produced nodes in the assigned set, and performing flow updating on the production flow based on the obtained cycle sequence to control the end of the mechanical arm to perform grabbing movement on the equipment unit based on the updated production flow.

2. The method of claim 1, wherein the step of determining that the to-be-produced node with the specified attribute is converted into a produced node comprises: in response to the operation end having a node assignment relationship with the to-be-produced node with the specified attribute receiving the equipment unit, controlling the acquisition unit corresponding to the operation end to perform image acquisition corresponding to a preset fixed angle on the equipment unit, and performing image recognition on the obtained acquisition image; in response to the unchanged time of the recognition result being greater than a preset time, the unchanged time being that the image screen has no change, calling an comparison image group corresponding to the to-be-produced node, wherein the comparison image group comprises standard completed images corresponding to different preset adjustment angles; controlling the acquisition unit to perform image acquisition corresponding to different preset adjustment angles on the equipment unit, and performing image comparison between each angle acquisition image and the standard completed image corresponding to the same preset adjustment angle, and determining a production evaluation value of the production node based on the comparison result; in response to the production evaluation value being greater than the preset evaluation value, determining that the to-be-produced node is converted into a produced node.

3. The method of claim 2, wherein the step of performing image comparison between each angle acquisition image and the standard completed image corresponding to the same preset adjustment angle, and determining a production evaluation value of the production node based on the comparison result comprises: performing image comparison between each angle acquisition image and the standard completed image corresponding to the same preset adjustment angle, and performing mean value calculation on the similarity evaluation value of each angle acquisition image based on the comparison result to obtain an adjustment evaluation value; in response to receiving self-checking information uploaded by the operation end, the self-checking information comprising a self-acquisition image and a self-evaluation value, determining a self-acquisition angle corresponding to the self-acquisition image; in response to the self-acquisition angle being the same as any preset adjustment angle and the self-evaluation value being less than the similarity evaluation value corresponding to the preset adjustment angle, replacing the self-evaluation value with the similarity evaluation value, and determining the updated adjustment evaluation value as the production evaluation value; in response to the self-acquisition angle being different from each preset adjustment angle, performing weighted summation processing on the self-evaluation value and the adjustment evaluation value to obtain the production evaluation value. ​ ​ 4. The method of claim 3, wherein the method further comprises: determining a preset adjustment angle as normal evaluation if a similarity evaluation value corresponding to any preset adjustment angle is greater than the preset evaluation value, and vice versa; traversing a historical record table, wherein the historical record table comprises different marking angles and corresponding accumulated numbers of each marking angle; resetting an accumulated number corresponding to a marking angle if a preset adjustment angle of any abnormal evaluation is identical to the marking angle; increasing the accumulated number corresponding to the marking angle if a preset adjustment angle of any normal evaluation is identical to the marking angle, to obtain an updated accumulated number; removing the preset adjustment angle from the comparison image group if the updated accumulated number is greater than a preset first number.

5. The method of claim 4, wherein the method further comprises: determining the self-collected angle as a new preset adjustment angle and adding the new preset adjustment angle to the comparison image group if the self-collected angle is different from each preset adjustment angle and is less than or equal to the preset evaluation value; traversing the historical record table if the self-collected angle is different from each preset adjustment angle and is greater than the preset evaluation value; determining the self-collected angle as a new marking angle and generating an accumulated number corresponding to the self-collected angle based on the historical record table if the self-collected angle is different from each marking angle; increasing the accumulated number corresponding to the marking angle if the self-collected angle is identical to the marking angle, to obtain an updated accumulated number; determining the marking angle as a new preset adjustment angle and adding the new preset adjustment angle to the comparison image group if the updated accumulated number is greater than a preset second number.

6. The method of claim 1, wherein the method further comprises: performing node sorting of all to-be-produced nodes in the distribution set based on a production operation period, and performing process updating of a production process based on a period sequence obtained by the node sorting, to control a gripper end to perform grabbing movement of equipment units based on the updated production process, comprising: determining an existing unit as an existing unit if there is at least one other equipment unit corresponding to an operation end having a node assignment relationship with any to-be-produced node in the distribution set, and obtaining an existing number corresponding to each existing unit included by each to-be-produced node; determining an operation production efficiency corresponding to any to-be-produced node based on an operation end having a node assignment relationship with the to-be-produced node, and determining a production operation period based on the existing number and the operation production efficiency corresponding to the same operation end; performing node sorting of all to-be-produced nodes from short to long based on the production operation period, to obtain an updated sequence corresponding to each to-be-produced node; determining an original sequence corresponding to each to-be-produced node in the distribution set based on the production process, and replacing the original sequence with the updated sequence if the original sequence corresponding to any to-be-produced node is different from the updated sequence, to obtain an updated production process. ​ ​ The control mechanical arm end performs a grabbing movement on the equipment unit based on the updated production flow, and determines the equipment unit as an existing unit in response to the equipment unit being moved to any of the to-be-produced nodes.

7. The method of claim 6, wherein, the production operation period is determined based on the existing number corresponding to the same operation end and the operation production efficiency, including: determining a historical operation number and a historical operation period based on historical operation records corresponding to the operation end; normalizing the historical operation number and the historical operation period, and performing weighted summation processing on the obtained number evaluation value and the period evaluation value to obtain a fatigue evaluation value corresponding to the operation end; traversing an efficiency comparison table, wherein the efficiency comparison table includes efficiency intervals corresponding to different preset efficiencies; in response to the fatigue evaluation value being located in any of the efficiency intervals, determining a preset efficiency corresponding to the efficiency interval as a reference production efficiency; in response to the reference production efficiency being less than a preset efficiency threshold, establishing an adjustment efficiency interval centered on the reference production efficiency, and sending the adjustment efficiency interval to the operation end; in response to the operation end selecting any value located in the adjustment efficiency interval, determining the value as an operation production efficiency, and multiplying the operation production efficiency by the existing number to obtain a production operation period.

8. The method of claim 7, wherein, the method further includes: in response to any of the to-be-produced nodes in the distribution set being converted to a produced node, determining all first operation labels possessed by an operation end having a node assignment relationship with the produced node, and performing label comparison between the first operation labels and different second operation labels corresponding to all to-be-produced nodes in the distribution set; in response to determining that any first operation label and any second operation label have the same operation type based on the comparison result, grouping the produced node and the to-be-produced node corresponding to the second operation label into the same operation coordination group; in response to the operation coordination group being one, determining the to-be-produced node located in the operation coordination group as a to-be-coordinated node; in response to the operation coordination group being multiple, determining a coordination operation period corresponding to each operation coordination group based on the operation type corresponding to the second operation label, and determining the to-be-produced node located in the operation coordination group corresponding to the largest coordination operation period as the to-be-coordinated node; assigning the operation end having a node assignment relationship with the produced node to a node assignment relationship with the to-be-coordinated node.

9. The method of claim 8, wherein, in response to the operation coordination group being multiple, determining a coordination operation period corresponding to each operation coordination group based on the operation type corresponding to the second operation label, and determining the to-be-produced node located in the operation coordination group corresponding to the largest coordination operation period as the to-be-coordinated node, including: determining an operation production efficiency corresponding to the operation end, and determining an efficiency influence coefficient based on the operation type corresponding to the second operation label; performing multiplication calculation on the operation production efficiency and the efficiency influence coefficient to obtain a coordination production efficiency; determining operation production efficiency corresponding to an operation end having a node assignment relationship with a to-be-produced node located in each operation coordination group and an existing quantity corresponding to the to-be-produced node, summing the coordination production efficiency and each operation production efficiency to obtain a comprehensive production efficiency; determining a coordination operation period based on the existing quantity and the comprehensive production efficiency corresponding to the same operation coordination group, and determining the to-be-produced node located in the operation coordination group with the largest coordination operation period as a to-be-coordinated node. 10.A process engine data processing system based on multi-end interaction, characterized in that, an attribute determining module configured to determine each node attribute of each to-be-produced node corresponding to a production process of a device unit, wherein the node attribute comprises a specified attribute and an assigned attribute; a node converting module configured to convert a to-be-produced node with any node attribute as the specified attribute into a produced node, and determine the node attribute of a to-be-produced node having a sequential connection relationship with the produced node based on the production process; a set determining module configured to, in response to the node attribute corresponding to the to-be-produced node being the assigned attribute, determine other to-be-produced nodes having a parallel connection relationship with the to-be-produced node and having the corresponding node attribute as the assigned attribute as an assigned set based on the production process; a process updating module configured to perform node sorting based on a production operation period on all to-be-produced nodes located in the assigned set, and perform process updating on the production process based on the obtained period sequence to control the end of the robot to perform grabbing movement on the device unit based on the updated production process.

Images