Lumped control system applied to assembly line heterogeneous special machine and working method of lumped control system

Abstract

The invention provides a lumped control system applied to an assembly line heterogeneous special machine and a working method thereof, the control system takes a master control CPU as a core, and comprises a mains supply power supply module, a power supply interface and a wireless communication module which are arranged at the periphery of the master control CPU so as to support online checking, control and local storage of the system; the local database stores a local storage backup for supporting data, a display, a keyboard, a mouse, an Ethernet and other control and wired connection peripherals, a peripheral module for general control application, and an indicating lamp. The general control CPU is connected and communicated with the FPGA through a PCIE interface, and five common interfaces of RS485, RS232, TTL, USB and SPI are pre-programmed in the FPGA to support communication with a heterogeneous special machine. The FPGA encodes information transmitted by different heterogeneous special machines into parallel PCIE (Peripheral Component Interconnect Express) codes, and performs information interaction with a master control CPU (Central Processing Unit) through a parallel 8-bit PCIE 3.0 interface. The parallel 8-bit PCIE3.0 interface can realize the transmission rate of 8GT / s at most, and supports the rapid transmission of a large amount of data.

Description

TECHNICAL FIELD

[0001] The application provides a lumped control system applied to a pipeline heterogeneous special machine and a working method thereof, and relates to the technical field of pipeline control. BACKGROUND

[0002] With more and more special machines involved in the pipeline work, the heterogeneous special machines are different in state and working condition, the control depends on the ontology software, the interfaces of the special machines are different, and the information processing, scheduling and real-time monitoring cannot be unified. This leads to the difficulty of realizing stable and optimal beat work of the whole pipeline system. Due to the difficulty of realizing unified scheduling in the distributed structure, the automation level of the whole system is low. If a single special machine fails, it will affect the overall working state of the system, and may cause idling and work accumulation of the remaining heterogeneous special machines. At the same time, the fault modes of the heterogeneous special machines are various, which are difficult to judge and troubleshoot. SUMMARY

[0003] Therefore, in order to make up for the gaps and deficiencies in the prior art, the application provides a lumped control system applied to a pipeline heterogeneous special machine and a working method thereof. Through the lumped architecture, the application realizes unified scheduling control of the system by using a high-performance CPU, realizes conversion of the CPU interface to the heterogeneous special machine by using an FPGA, supports multiple interface switching and expansion, and realizes efficient operation of the pipeline heterogeneous special machine system through the hardware system and the control flow.

[0004] The application provides a lumped control system applied to a pipeline heterogeneous special machine and a working method thereof, including the following contents:

[0005] The application provides a lumped control system applied to a pipeline heterogeneous special machine, characterized in that the lumped control system applied to the pipeline heterogeneous special machine takes a general control CPU as the core, realizes unified scheduling control of the system through the lumped architecture, realizes conversion of the CPU interface to the heterogeneous special machine by using an FPGA, supports multiple interface switching and expansion, and finally realizes operation of the pipeline heterogeneous special machine through the hardware system and the control flow.

[0006] The components included in the peripherals of the general control CPU include the following contents:

[0007] A power interface;

[0008] A wireless communication module for supporting transmission of online viewing and control instructions of the system;

[0009] A local storage for supporting work of the general control CPU;

[0010] A local database storage for supporting local storage backup of data;

[0011] Control and wired connection peripherals, including monitors, keyboards, mice, and Ethernet;

[0012] Peripheral modules and indicator lights for the central control application;

[0013] The FPGA connected to the central control CPU via PCIe and the external interface formed by the FPGA.

[0014] Furthermore, the wireless communication module includes a WIFI module, a Bluetooth module, and a GPRS module; the functions of the wireless communication module include supporting multi-mode communication and transmitting online viewing and control commands; the functions of the wireless communication module also include providing a backup communication solution for network cable port connection failures.

[0015] Furthermore, the local database storage has a storage capacity of ≥4TB, which is used to support local data storage backup and also supports local data processing.

[0016] Furthermore, for the peripheral modules and indicator lights of the central control application, the peripheral modules include, but are not limited to, electrical control modules, operation control modules, and status indicators.

[0017] Furthermore, the central control CPU is connected to the FPGA via PCIe. The FPGA encodes the PCIe into multiple external interfaces, where the PCIe uses a parallel 8-bit PCIe 3.0 interface and supports a maximum transmission rate of 8GT / s, which is used to support more than 100 RS485 data transmissions.

[0018] Furthermore, the FPGA is pre-programmed to form RS485, RS232, TTL, USB, and SPI interfaces, enabling PCIe to convert these interfaces for use with heterogeneous dedicated machines. The FPGA also reserves multiple high-speed and general-purpose I / O ports to support repeated development using the FPGA and to form expandable interfaces, thus supporting an increase in the number of heterogeneous dedicated machines connected.

[0019] Furthermore, the central control CPU generates control information for multiple heterogeneous dedicated machines; the timing, status monitoring, and operation status control of the heterogeneous dedicated machines are all implemented by the central control CPU, transmitted to the FPGA via PCIe and then transcoded and transmitted to each dedicated machine, realizing centralized dedicated machine control in a centralized control mode.

[0020] Furthermore, the feature is that the local database of the central control CPU includes historical status information of each heterogeneous dedicated machine at the system level, fault modes corresponding to each status information, theoretical optimal working mode of the system for each status information, and a lumped model of the pipeline heterogeneous dedicated machines trained based on the above information, which optimizes the system working mode and fault judgment capability.

[0021] This invention proposes a method for operating a centralized control system for heterogeneous automated production lines. Applied to a centralized control system for heterogeneous automated production lines as described in any one of the invention, the method comprises a startup method and an operation method for the centralized control system; wherein the startup method includes the following:

[0022] Step S1: Manually start the central control CPU;

[0023] Step S2: The central control CPU and its peripheral systems perform self-tests and initialization;

[0024] Step S3: The controller determines the working mode and sends heterogeneous dedicated machine start-up commands as needed;

[0025] Step S4: The heterogeneous dedicated machine receives the startup command, starts up, performs self-test, initializes, and uploads self-test information;

[0026] Step S5: The central control CPU receives self-test information from the heterogeneous dedicated machine;

[0027] Step S6: Information comparison;

[0028] Step S7: If the self-test is normal, send the heterogeneous dedicated machine working command; if the self-test fails, return to S3 and resend the start command to the heterogeneous dedicated machine; if there are 3 self-test failures, report the corresponding fault mode for the corresponding heterogeneous dedicated machine and remind maintenance personnel to check and troubleshoot according to the fault mode.

[0029] Step S8: Self-test is normal. After sending the heterogeneous special machine work command, it starts working according to the control information of the central control CPU, and the control system starts working normally.

[0030] Furthermore, the working method of the lumped control system applied to heterogeneous special-purpose machines in assembly lines also includes the following:

[0031] The operation methods of a lumped control system include the following:

[0032] Step SS1: The central control CPU starts working;

[0033] Step SS2: The central control CPU controls the operation of each heterogeneous dedicated machine system;

[0034] Step SS3: Upload the real-time status of each heterogeneous dedicated server;

[0035] Step SS4-1-1: The central control CPU determines a fault in a heterogeneous dedicated machine and identifies the fault type;

[0036] Step SS4-1-2: The central control CPU reports a fault, fault type, and troubleshooting solution;

[0037] Step SS4-1-3: Restart the heterogeneous dedicated server after troubleshooting;

[0038] Step SS4-2-1: The central control CPU determines whether the system can work. Based on the real-time status of each special machine, it adjusts the working status, timing, and working speed of the heterogeneous special machines as needed, adjusts the production line cycle time, and eliminates process bottlenecks.

[0039] Step SS5: The dedicated machine receives control information and adjusts the working speed and working mode according to the control information;

[0040] Step SS6: Upload the real-time status of each heterogeneous dedicated machine, including information on working dedicated machines and faulty dedicated machines;

[0041] Step SS7: Information Comparison

[0042] Step SS7-1: The central control CPU determines that the working cycle is normal under this condition and is the optimal working mode. The central control CPU then issues a command to maintain the original working state.

[0043] Step SS7-2: The central control CPU determines that the working condition is not the optimal working mode and enters SS4-2-1;

[0044] Step SS8: The central control CPU sends a command to maintain the original working state;

[0045] Step SS9: All heterogeneous dedicated machines are operating normally;

[0046] Step SS10: The system is running stably, and the real-time status of the heterogeneous dedicated machine is uploaded periodically.

[0047] The present invention has the following advantages:

[0048] This invention proposes a lumped control system and method for heterogeneous dedicated machines in a production line. Through a lumped architecture, a high-performance CPU is used to achieve unified scheduling and control of the system. An FPGA is used to convert the CPU interface to the heterogeneous dedicated machine interface, supporting multiple interface conversions and expansions. The efficient operation of the heterogeneous dedicated machine system in the production line is achieved through hardware system and control flow. This invention enables the production line system to achieve stable and optimal cycle times, improving the overall automation level of the system. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of a centralized control system hardware architecture for a heterogeneous dedicated machine in a production line, according to the present invention.

[0050] Figure 2 This is a schematic diagram of the startup process of a centralized control system and method applied to a heterogeneous special-purpose machine in an assembly line according to the present invention.

[0051] Figure 3This is a schematic diagram illustrating the working process of a centralized control system and method applied to a heterogeneous special-purpose machine in an assembly line according to the present invention.

[0052] Figure 4 This is a schematic diagram of the hardware structure of a welding equipment assembly line embodiment of the present invention, which is a centralized control system and method applied to heterogeneous special machines in an assembly line.

[0053] Figure 5 This is a schematic diagram of the entire assembly process of the welding equipment production line of the present invention.

[0054] Figure 6 This is a schematic diagram illustrating the workflow of the welding and assembly line under the control of a centralized control system and method applied to a heterogeneous special machine in the assembly line, according to the present invention.

[0055] Figure 7 This is a schematic diagram illustrating the material flow process during startup of the welding assembly line of the present invention under the control of a centralized control system and method applied to a heterogeneous special machine in the assembly line. Detailed Implementation

[0056] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0057] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention; as used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise; furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0059] like Figures 1 to 7 As shown, this invention proposes a lumped control system and its working method for heterogeneous special-purpose machines applied to assembly lines, characterized by including the following:

[0060] This invention proposes a centralized control system for heterogeneous dedicated machines in a production line. The system is characterized by using a central control CPU as its core, achieving unified scheduling and control through a centralized architecture. Specifically, the centralized control system utilizes an FPGA to convert the CPU interface to the heterogeneous dedicated machine interface, supports multiple interface conversions and expansions, and finally realizes the operation of the heterogeneous dedicated machine through hardware systems and control flow.

[0061] The components surrounding the main control CPU include the following:

[0062] Power interface;

[0063] The wireless communication module is used to support the online viewing and transmission of control commands for the system.

[0064] Local storage is used to support the operation of the central control CPU;

[0065] Local database storage, used for local storage backup of data;

[0066] Control and wired connection peripherals, including monitors, keyboards, mice, and Ethernet;

[0067] Peripheral modules and indicator lights for the central control application;

[0068] The FPGA connected to the central control CPU via PCIe and the external interface formed by the FPGA.

[0069] Furthermore, the wireless communication module includes a WIFI module, a Bluetooth module, and a GPRS module; the functions of the wireless communication module include supporting multi-mode communication and transmitting online viewing and control commands; the functions of the wireless communication module also include providing a backup communication solution for network cable port connection failures.

[0070] Furthermore, the local database storage has a storage capacity of ≥4TB, which is used to support local data storage backup and also supports local data processing.

[0071] Furthermore, for the peripheral modules and indicator lights of the central control application, the peripheral modules include, but are not limited to, electrical control modules, operation control modules, and status indicators.

[0072] Furthermore, the central control CPU is connected to the FPGA via PCIe. The FPGA encodes the PCIe into multiple external interfaces, where the PCIe uses a parallel 8-bit PCIe 3.0 interface and supports a maximum transmission rate of 8GT / s, which is used to support more than 100 RS485 data transmissions.

[0073] Furthermore, the FPGA is pre-programmed to form RS485, RS232, TTL, USB, and SPI interfaces, enabling PCIe to convert these interfaces for use with heterogeneous dedicated machines. The FPGA also reserves multiple high-speed and general-purpose I / O ports to support repeated development using the FPGA and to form expandable interfaces, thus supporting an increase in the number of heterogeneous dedicated machines connected.

[0074] Furthermore, the central control CPU generates control information for multiple heterogeneous dedicated machines; the timing, status monitoring, and operation status control of the heterogeneous dedicated machines are all implemented by the central control CPU, transmitted to the FPGA via PCIe and then transcoded and transmitted to each dedicated machine, realizing centralized dedicated machine control in a centralized control mode.

[0075] Furthermore, the feature is that the local database of the central control CPU includes historical status information of each heterogeneous dedicated machine at the system level, fault modes corresponding to each status information, theoretical optimal working mode of the system for each status information, and a lumped model of the pipeline heterogeneous dedicated machines trained based on the above information, which optimizes the system working mode and fault judgment capability.

[0076] This invention proposes a method for operating a centralized control system for heterogeneous automated production lines. Applied to a centralized control system for heterogeneous automated production lines as described in any one of the invention, the method comprises a startup method and an operation method for the centralized control system; wherein the startup method includes the following:

[0077] Step S1: Manually start the central control CPU;

[0078] Step S2: The central control CPU and its peripheral systems perform self-tests and initialization;

[0079] Step S3: The controller determines the working mode and sends heterogeneous dedicated machine start-up commands as needed;

[0080] Step S4: The heterogeneous dedicated machine receives the startup command, starts up, performs self-test, initializes, and uploads self-test information;

[0081] Step S5: The central control CPU receives self-test information from the heterogeneous dedicated machine;

[0082] Step S6: Information comparison;

[0083] Step S7: If the self-test is normal, send the heterogeneous dedicated machine working command; if the self-test fails, return to S3 and resend the start command to the heterogeneous dedicated machine; if there are 3 self-test failures, report the corresponding fault mode for the corresponding heterogeneous dedicated machine and remind maintenance personnel to check and troubleshoot according to the fault mode.

[0084] Step S8: Self-test is normal. After sending the heterogeneous special machine work command, it starts working according to the control information of the central control CPU, and the control system starts working normally.

[0085] Furthermore, the working method of the lumped control system applied to heterogeneous special-purpose machines in assembly lines also includes the following:

[0086] The operation methods of a lumped control system include the following:

[0087] Step SS1: The central control CPU starts working;

[0088] Step SS2: The central control CPU controls the operation of each heterogeneous dedicated machine system;

[0089] Step SS3: Upload the real-time status of each heterogeneous dedicated server;

[0090] Step SS4-1-1: The central control CPU determines a fault in a heterogeneous dedicated machine and identifies the fault type;

[0091] Step SS4-1-2: The central control CPU reports a fault, fault type, and troubleshooting solution;

[0092] Step SS4-1-3: Restart the heterogeneous dedicated server after troubleshooting;

[0093] Step SS4-2-1: The central control CPU determines whether the system can work. Based on the real-time status of each special machine, it adjusts the working status, timing, and working speed of the heterogeneous special machines as needed, adjusts the production line cycle time, and eliminates process bottlenecks.

[0094] Step SS5: The dedicated machine receives control information and adjusts the working speed and working mode according to the control information;

[0095] Step SS6: Upload the real-time status of each heterogeneous dedicated machine, including information on working dedicated machines and faulty dedicated machines;

[0096] Step SS7: Information Comparison

[0097] Step SS7-1: The central control CPU determines that the working cycle is normal under this condition and is the optimal working mode. The central control CPU then issues a command to maintain the original working state.

[0098] Step SS7-2: The central control CPU determines that the working condition is not the optimal working mode and enters SS4-2-1;

[0099] Step SS8: The central control CPU sends a command to maintain the original working state;

[0100] Step SS9: All heterogeneous dedicated machines are operating normally;

[0101] Step SS10: The system is running stably, and the real-time status of the heterogeneous dedicated machine is uploaded periodically.

[0102] In addition to the above, the present invention also has related embodiments, including the following:

[0103] Taking a welding assembly line as an example, heterogeneous special machine 1 is the welding equipment, heterogeneous special machine 2 is the transport equipment, heterogeneous special machine 3 is the inspection equipment, and heterogeneous special machine 4 is the assembly equipment. Heterogeneous special machine 1 welds workpiece A and workpiece B to form workpiece C. After welding, workpiece C is transferred to heterogeneous special machine 2. Heterogeneous special machine 2 transports workpiece C to heterogeneous special machine 3 for inspection. After inspection, qualified workpieces are transferred to heterogeneous special machine 2 and then transported to heterogeneous special machine 4 for assembly. Its hardware structure is as follows: Figure 4 As shown, the entire welding and assembly process is as follows: Figure 5 As shown.

[0104] The fastest process for heterogeneous special machine 1 to weld workpieces A and B is 1 minute; heterogeneous special machine 2 can transfer workpiece C from heterogeneous special machine 1 to heterogeneous special machine 3 in as little as 0.4 minutes, and transfer workpiece C from heterogeneous special machine 3 to heterogeneous special machine 4 in as little as 0.4 minutes; heterogeneous special machine 3 can inspect one workpiece C in as little as 2 minutes; heterogeneous special machine 4 can assemble one piece of equipment in as little as 0.2 minutes. Under assembly line operating conditions, there are 2 heterogeneous special machines 1, 1 heterogeneous special machine 2, 4 heterogeneous special machines 3, and 1 heterogeneous special machine 4.

[0105] To adapt to different working conditions, the welding and assembly line's working hours were adjusted to the above-mentioned durations via the central control CPU based on the number of heterogeneous special-purpose machines. The optimized actual working hours are as follows: Figure 6 As shown. The actual system's material flow process is as follows. Figure 7 As shown.

[0106] S1: Upon startup, each heterogeneous dedicated machine operates individually at its fastest speed to improve efficiency. With only one heterogeneous dedicated machine operating, after status upload, the central CPU detects that heterogeneous dedicated machine 2 has an idle time of 0.6 minutes for transmissions 1-3 and 1.6 minutes for transmissions 3-4; heterogeneous dedicated machine 4 has an idle time of 1.8 minutes.

[0107] S2: Start adding 1 heterogeneous dedicated machine 1 (currently 2 machines) and 1 heterogeneous dedicated machine 3 (currently 2 machines); after the status is uploaded, the central CPU finds that the idle time of heterogeneous dedicated machine 2 for transmitting 1-3 is 0.2 minutes and the idle time for transmitting 3-4 is 1.2 minutes; the idle time of heterogeneous dedicated machine 4 is 1.6 minutes.

[0108] S3: Since Heterogeneous Expert 2 cannot meet the transmission time of 1-3, no more Heterogeneous Dedicated Machine 1 (currently 2 units) will be added, and 1 new Heterogeneous Dedicated Machine 3 (currently 3 units) will be added; After the status is uploaded, the central CPU found that the idle time of Heterogeneous Dedicated Machine 2 for transmitting 1-3 is 0.2 minutes, and the idle time for transmitting 3-4 is 0.8 minutes; the idle time of Heterogeneous Dedicated Machine 4 is 1.4 minutes.

[0109] S3: Since Heterogeneous Expert 2 cannot meet the transmission time requirements for 1-3, no more Heterogeneous Dedicated Machine 1 will be added. Instead, one new Heterogeneous Dedicated Machine 3 will be added (making it four machines in total). After the status is uploaded, the central CPU finds that Heterogeneous Dedicated Machine 2 has an idle time of 0.2 minutes for transmission 1-3 and 0.4 minutes for transmission 3-4. Heterogeneous Dedicated Machine 4 has an idle time of 1.2 minutes. Given that there is only one Heterogeneous Dedicated Machine 2, it has already achieved maximum efficiency under the current conditions.

[0110] S4: To achieve energy saving and reduce the working speed of heterogeneous special machines, heterogeneous special machine 1 takes 1 minute to weld, heterogeneous special machine 2 takes 0.5 minutes to transfer workpiece C from heterogeneous special machine 1 to heterogeneous special machine 3, and 0.5 minutes to transfer workpiece C from heterogeneous special machine 3 to heterogeneous special machine 4; heterogeneous special machine 3 takes 2 minutes to inspect one workpiece C; heterogeneous special machine 4 takes 0.5 minutes to assemble one piece of equipment.

[0111] Under the existing equipment conditions, the system achieves the fastest and lowest energy consumption operation through central CPU control.

[0112] The above are preferred embodiments of the present invention. Any changes made to the technical solution of the present invention that do not exceed the scope of the technical solution of the present invention shall fall within the protection scope of the present invention.

Claims

1. A centralized control system for heterogeneous special-purpose machines in assembly lines, characterized in that, The centralized control system for heterogeneous dedicated machines in a production line is based on a central control CPU. It achieves unified scheduling and control of the system through a centralized architecture. The centralized control system utilizes an FPGA to convert the CPU interface to the heterogeneous dedicated machine and supports multiple interface conversions and expansions. Finally, the operation of the heterogeneous dedicated machine in the production line is realized through the hardware system and control flow. The components surrounding the main control CPU include the following: Power interface; The wireless communication module is used to support the online viewing and transmission of control commands for the system. Local storage is used to support the operation of the central control CPU; Local database storage, used for local storage backup of data; Control and wired connection peripherals, including monitors, keyboards, mice, and Ethernet; Peripheral modules and indicator lights for the central control application; The FPGA connected to the central control CPU via PCIe and the external interface formed by the FPGA.

2. The centralized control system for heterogeneous special-purpose machines in assembly lines according to claim 1, characterized in that, The wireless communication module includes a WIFI module, a Bluetooth module, and a GPRS module; the functions of the wireless communication module include supporting multi-mode communication and transmitting online viewing and control commands; the functions of the wireless communication module also include providing a backup communication solution for network cable port connection failures.

3. The centralized control system for heterogeneous special-purpose machines in assembly lines according to claim 1, characterized in that, The local database storage capacity is ≥4TB, used to support local data backup and also to support local data processing.

4. The centralized control system for heterogeneous special-purpose machines in assembly lines according to claim 1, characterized in that, For the main control application, peripheral modules and indicator lights include, but are not limited to, electrical control modules, operation control modules, and status indicators.

5. A centralized control system for heterogeneous special-purpose machines in an assembly line according to claim 1, characterized in that, The central control CPU is connected to the FPGA via PCIe. The FPGA encodes the PCIe into multiple external interfaces, with the PCIe using a parallel 8-bit PCIe 3.0 interface and supporting a maximum transmission rate of 8GT / s, to support more than 100 RS485 data transmissions.

6. A centralized control system for heterogeneous special-purpose machines in assembly lines according to claim 1, characterized in that, The FPGA is pre-programmed to form RS485, RS232, TTL, USB, and SPI interfaces, and the PCIe is converted to these interfaces to adapt to the communication interfaces of heterogeneous dedicated machines. The FPGA reserves multiple high-speed I / O and ordinary I / O to support repeated development using the FPGA and form expandable interfaces to support the increase in the number of heterogeneous dedicated machines connected.

7. A centralized control system for heterogeneous special-purpose machines in an assembly line according to claim 1, characterized in that, The central control CPU generates control information for multiple heterogeneous dedicated machines; The timing, status monitoring, and operation status control of the heterogeneous dedicated machines are all implemented by the central control CPU. The data is transmitted to the FPGA via PCIe and then transcoded and transmitted to each dedicated machine, realizing centralized dedicated machine control in the control mode.

8. A centralized control system for heterogeneous special-purpose machines in an assembly line according to claim 1, characterized in that, The central control CPU's local database includes historical status information of each heterogeneous dedicated machine at the system level, the fault modes corresponding to each status information, the theoretical optimal operating mode of the system for each status information, and a lumped model of the pipeline heterogeneous dedicated machines trained based on the above information, which optimizes the system's operating mode and fault diagnosis capabilities.

9. A method for operating a centralized control system for a heterogeneous dedicated machine in a production line, applicable to a centralized control system for a heterogeneous dedicated machine in a production line as described in any one of claims 1 to 8, characterized in that, The described method for operating a centralized control system applied to a heterogeneous special-purpose machine in a production line includes a startup method and an operation method for the centralized control system; wherein the startup method for the centralized control system includes the following: Step S1: Manually start the central control CPU; Step S2: The central control CPU and its peripheral systems perform self-tests and initialization; Step S3: The controller determines the working mode and sends heterogeneous dedicated machine start-up commands as needed; Step S4: The heterogeneous dedicated machine receives the startup command, starts up, performs self-test, initializes, and uploads self-test information; Step S5: The central control CPU receives self-test information from the heterogeneous dedicated machine; Step S6: Information comparison; Step S7: Self-test complete; Send heterogeneous dedicated machine working command. If a self-check problem occurs, return to S3 and resend the startup command to the heterogeneous dedicated machine; Three self-check issues will trigger the corresponding fault mode for the relevant heterogeneous special-purpose machine, reminding maintenance personnel to check and troubleshoot according to the fault mode; Step S8: Self-test is normal. After sending the heterogeneous special machine work command, it starts working according to the control information of the central control CPU, and the control system starts working normally.

10. The working method of the centralized control system applied to a heterogeneous special-purpose machine in an assembly line according to claim 9, characterized in that, The working method of the centralized control system applied to heterogeneous special-purpose machines in production lines also includes the following: The operation methods of a lumped control system include the following: Step SS1: The central control CPU starts working; Step SS2: The central control CPU controls the operation of each heterogeneous dedicated machine system; Step SS3: Upload the real-time status of each heterogeneous dedicated server; Step SS4-1-1: The central control CPU determines a fault in a heterogeneous dedicated machine and identifies the fault type; Step SS4-1-2: The central control CPU reports a fault, fault type, and troubleshooting solution; Step SS4-1-3: Restart the heterogeneous dedicated server after troubleshooting; Step SS4-2-1: The central control CPU determines whether the system can work. Based on the real-time status of each special machine, it adjusts the working status, timing, and working speed of the heterogeneous special machines as needed, adjusts the production line cycle time, and eliminates process bottlenecks. Step SS5: The dedicated machine receives control information and adjusts the working speed and working mode according to the control information; Step SS6: Upload the real-time status of each heterogeneous dedicated machine, including information on working dedicated machines and faulty dedicated machines; Step SS7: Information Comparison Step SS7-1: The central control CPU determines that the working cycle is normal under this condition and is the optimal working mode. The central control CPU then issues a command to maintain the original working state. Step SS7-2: The central control CPU determines that the working condition is not the optimal working mode and enters SS4-2-1; Step SS8: The central control CPU sends a command to maintain the original working state; Step SS9: All heterogeneous dedicated machines are operating normally; Step SS10: The system is running stably, and the real-time status of the heterogeneous dedicated machine is uploaded periodically.

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