New energy street lamp full-flexible production line based on multiple robots

Abstract

The invention relates to the technical field of automatic production, and discloses a multi-robot-based new energy street lamp full-flexible production line which comprises a product information body, a modular intelligent production platform and an intelligent production unit. The product information body records and outputs own state information through a distributed digital file; the modularized intelligent production platform generates a modulated wireless energy field bearing the information according to the state information; and the intelligent production unit obtains energy from the energy field, decodes the state information to autonomously execute operation, and writes an operation result back to the distributed digital file to update the state. Decentralized self-organization of a production process is realized through closed loop of a product state, a physical field and a unit behavior, key operation safety is guaranteed by a digital and physical dual authentication mechanism, physical field regulation and control driven by distributed consensus are realized, energy on-demand distribution of a high-energy-consumption task and physical anchoring of a high-precision cooperative task are realized, and the method is suitable for large-scale popularization and application. And the system cooperation performance and the resource utilization efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of automated production technology, specifically to a fully flexible production line for new energy streetlights based on multiple robots. Background Technology

[0002] In the field of automated production technology, especially for products with diverse and customized requirements such as new energy streetlights, flexible production lines are key to achieving efficient manufacturing. Existing flexible production lines typically rely on a central control system, such as a Manufacturing Execution System (MES), to uniformly plan, schedule, and assign production tasks to various automated devices on the production line, such as robots or automated guided vehicles. However, this highly centralized control architecture reveals inherent technical limitations when dealing with highly dynamic and personalized production demands. The central control system needs to process the real-time status of all equipment and perform global path and task planning, which easily creates computational and communication bottlenecks. This leads to system delays in response to sudden operating conditions or frequent order changes, thus limiting the true flexibility and adaptability of the production line.

[0003] To overcome the limitations of centralized control, the industry has begun exploring more distributed control architectures, granting production units a degree of autonomous decision-making capability. However, this introduces new technical challenges: ensuring operational security and overall system reliability in a distributed environment. When production units can make autonomous decisions, effectively preventing unauthorized critical operations caused by intercepted communication or errors in the unit's own decision-making becomes a pressing technical problem. Relying solely on software-level authentication or command encryption is insufficient to completely eliminate risks at the physical execution level.

[0004] Furthermore, existing technologies have shortcomings when multiple robots collaborate to perform complex tasks. For example, in high-precision collaborative assembly tasks, each robot mainly relies on its own vision sensors and posture synchronization via network communication. This method is susceptible to network latency and sensor errors, limiting the final collaborative accuracy. In high-energy-consuming tasks such as laser welding, the energy supply system is typically global, making it difficult to dynamically and precisely allocate power according to local, instantaneous task demands. This not only reduces energy efficiency but also limits the production line's capacity to handle complex tasks. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a fully flexible production line for new energy streetlights based on multiple robots. This solves the problems of communication bottlenecks, response delays, and insufficient system robustness caused by reliance on centralized control in existing flexible production lines when facing highly dynamic and personalized production tasks.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: a fully flexible production line for new energy streetlights based on multiple robots, comprising at least one product information body, a modular intelligent production platform, and at least one intelligent production unit.

[0007] The product information body carries the product to be processed and includes a distributed digital archive and a first communication module. The distributed digital archive records and updates the status information of the product information body itself. This status information indicates the current production operation required for the product to be processed. The first communication module outputs a status signal to the outside based on the current status information.

[0008] The modular intelligent production platform is the physical foundation for carrying the product information body and the intelligent production unit. It internally includes a wireless energy transmission module and a second communication module. The second communication module receives the status signal from the product information body. Upon receiving the status signal, the wireless energy transmission module generates a modulated wireless energy field. The physical characteristics of this modulated wireless energy field are modulated by the status information, thereby enabling it to carry the status information itself.

[0009] The intelligent production unit is located on the modular intelligent production platform. Internally, it includes an energy receiving module, a status decoding module, an operation execution module, and a third communication module.

[0010] The energy receiving module continuously receives the modulated wireless energy field to obtain the energy required for the operation of the intelligent production unit. The state decoding module, connected to the energy receiving module, parses and decodes the state information carried by the modulated wireless energy field. Based on the state information decoded by the state decoding module, the operation execution module performs the preset operation on the product to be processed carried by the product information body when it determines that the information matches a preset operation it can execute. After the preset operation is completed, the third communication module writes a record containing the operation result into the distributed digital archive of the product information body. This writing operation triggers an update of the state information of the product information body, thus starting the next production cycle.

[0011] In one specific embodiment, the modulated wireless energy field includes a main energy transmission field and an information modulation field. The main energy transmission field is a high-frequency sinusoidal field used for wireless energy transmission. The information modulation field is a low-frequency ripple signal superimposed on the main energy transmission field, and the specific encoding method or frequency characteristics of this ripple signal directly carry the state information. Its mathematical model can be described as follows: ; In the formula: It is a time variable; The total electromagnetic field signal generated for the modular intelligent production platform; The amplitude of the main energy transfer field; The angular frequency of the main energy transfer field; Let be the amplitude of the information modulation field, and ; The state modulation function is used to convert the discrete states of the product information body. Encoded as a time-varying ripple signal; An index for discrete steps in the production process; This represents the phase difference between the information modulation field and the main energy transmission field. It is a sine function.

[0012] In one specific embodiment, the production line also includes a central management unit.

[0013] The central management unit is used to manage authorization for key operations within the preset operations. These key operations are pre-defined high-value, high-risk, or irreversible operations that require authorization to execute.

[0014] When the critical operation needs to be performed, the central management unit issues a digital authorization token to the target intelligent production unit and simultaneously instructs the modular intelligent production platform to generate a physical authorization code matching the digital authorization token in the corresponding area. This physical authorization code is carried by modulating the wireless energy field. The operation execution module of the intelligent production unit is configured such that two conditions must be met simultaneously to unlock and execute the critical operation: First, its third communication module successfully received and verified the digital authorization token; Secondly, its state decoding module successfully decodes the physical license code from the modulated wireless energy field.

[0015] The unlocking logic can be described as follows: ; In the formula: It is a Boolean value indicating whether the critical operation is allowed to be executed; This is an asymmetric encryption verification function; The digital authorization token received by the intelligent production unit; The public key of the central management unit; For logical AND operator; This is a signal decoding function used to decode the total electromagnetic field. Extract the physical authorization code; The expected value of the physical authorization code that matches the digital authorization token, generated for the instructions of the central management unit; This represents the logical equality comparison operator.

[0016] Preferably, the third communication module writes the operation result record into the distributed digital archive, the content of which includes, but is not limited to: the identity of the intelligent production unit that performed the operation, the type of operation performed, and at least one process parameter collected during the operation, such as torque, temperature or pressure value.

[0017] In one specific embodiment, multiple intelligent production units or product information bodies are also used to coordinate for high-energy-consuming tasks. They first reach a consensus on resource scheduling through the distributed digital archive network.

[0018] Once a consensus is reached, the product information body or the intelligent production unit outputs a resource scheduling consensus signal through the first communication module or the third communication module. Upon receiving this signal, the modular intelligent production platform will correspondingly increase the output power of the main energy transmission field in the wireless energy field of its local working area to meet the instantaneous energy demand of this high-energy-consuming task.

[0019] Preferably, the consensus on resource scheduling is reached based on the following conditions: ; In the formula: It is a Boolean value representing whether the consensus has been reached; The total number of units participating in consensus decision-making; The summation operator represents summation for all numbers from 1 to 1. Participants Perform a traversal and summation; This is an indicator function that takes the value 1 when its internal expression is true, and 0 otherwise; This is an asymmetric encryption verification function; For participants Digital signature of the mission proposal; For participants The public key; This is the preset consensus threshold.

[0020] In one specific embodiment, multiple intelligent production units are also used to coordinate for high-precision collaborative tasks. They first achieve physical anchoring consensus through the distributed digital archive network.

[0021] Once a consensus is reached, the intelligent production unit outputs a physical anchoring consensus signal through the third communication module.

[0022] Upon receiving the signal, the modular intelligent production platform will generate an anchoring magnetic field with a high spatial gradient in its working area.

[0023] The intelligent production unit also includes a gradient sensor, which is used to sense the spatial gradient of the anchoring magnetic field in real time and to fine-tune the pose of the intelligent production unit itself based on the sensed spatial gradient. Its correction model can be described as follows: ; In the formula: The final pose vector of the intelligent production unit after correction; The initial pose vector calculated by the intelligent production unit through its own vision system; It is a pre-calibrated mapping function used to map the sensed magnetic field gradient into a pose correction amount; This is the gradient operator, used to calculate the spatial rate of change of the anchoring magnetic field; A high-gradient magnetic field generated for the modular intelligent production platform, used solely for pose anchoring.

[0024] Preferably, the product information body further includes a microprocessor unit. This microprocessor unit is configured to automatically update the status information from the current state to the next state according to a preset process flow after a new operation result record is written to the distributed digital archive. The preset process flow defines a series of production operations and their logical sequence that the product to be processed must undergo.

[0025] Preferably, the intelligent production unit further includes a local decision-making module. This local decision-making module is used to match the state information decoded by the state decoding module with a preset skill set of the intelligent production unit. The preset skill set includes one or more preset operations that the intelligent production unit can perform. When a match is successful, the local decision-making module triggers the operation execution module to execute the corresponding preset operation.

[0026] In one specific embodiment, the modular intelligent production platform consists of multiple standardized platform modules that can be freely assembled and reconfigured. Each platform module includes the wireless energy transmission module and the second communication module. The preset operations include at least one of the following in the production process of new energy streetlights: material handling, light pole installation, solar panel installation, battery pack assembly, light source module installation, and quality inspection.

[0027] Preferably, the distributed digital archive consists of multiple blocks linked chronologically. Each block contains a block header that records a hash value pointing to the previous block. In this way, all blocks are constructed into a chain-like data structure based on hash values, thereby ensuring the orderliness and tamper resistance of the records.

[0028] This invention provides a fully flexible production line for new energy streetlights based on multiple robots. It has the following beneficial effects: 1. This invention uses the product information body to record and update its own status information through its distributed digital archives, and the modular intelligent production platform modulates the status information into the wireless energy field. The intelligent production unit then autonomously identifies and executes tasks by decoding the status information in the energy field. This mechanism of coupling product status with the physical field replaces the traditional central scheduling mode, enabling the production unit to spontaneously organize production activities around product demand, thereby improving the production line's response speed and flexibility to order changes, process adjustments, or abnormal disturbances.

[0029] 2. For critical operations, this invention employs a dual authentication mechanism that combines digital authorization tokens and physical authorization codes. The intelligent production unit must simultaneously receive the digital token from the communication network and decode the matching physical code from its wireless energy field before it can unlock and execute the operation. This method of binding data layer authorization with physical layer authorization constructs a dual security barrier, effectively preventing unauthorized or erroneous operations caused by intercepted instructions or misjudgment by the unit, and ensuring the reliability of high-risk operations in the distributed system.

[0030] 3. This invention utilizes distributed digital archives as a medium for consensus among multiple intelligent production units. When facing high-energy-consuming tasks, relevant units can trigger modular intelligent production platforms through the consensus mechanism to locally and on-demand increase the power of the work area, avoiding the waste of global energy. When facing high-precision collaborative tasks, the consensus mechanism can trigger the generation of a physical anchoring magnetic field, enabling intelligent production units to use this physical benchmark for pose correction, thereby achieving collaborative precision that surpasses pure communication synchronization and effectively improving the execution quality and efficiency of complex collaborative tasks. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the architecture of a fully flexible production line according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the workflow of an embodiment of the present invention. Detailed Implementation

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see the appendix Figure 1 and attached Figure 2This invention provides a fully flexible production line for new energy streetlights based on multiple robots, comprising: at least one product information body 10, a modular intelligent production platform 20, and at least one intelligent production unit 30.

[0034] In a complete production process, the product information body 10 carries the semi-finished new energy streetlights to be processed. Its internal distributed digital archive records the product's production history and defines its current production status, i.e., status information. Based on this status information, the product information body 10 outputs status signals to the modular intelligent production platform 20 where it is located via its first communication module.

[0035] After receiving a status signal from the product information body 10, the modular intelligent production platform 20 modulates the generated wireless energy field using its internal wireless energy transmission module, thus generating a modulated wireless energy field. This modulated wireless energy field has two functions: One is the main energy field, which is used to wirelessly power the intelligent production unit 30 above it; Secondly, there is the information field, whose physical characteristics carry the state information originating from the product information body 10.

[0036] In one specific embodiment, the mathematical model of the modulated wireless energy field can be described as follows: ; In the formula: It is a time variable; The total electromagnetic field signal generated for the modular intelligent production platform 20; The amplitude of the main energy transfer field; The angular frequency of the main energy transfer field; Let be the amplitude of the information modulation field, and ; The state modulation function is used to convert the discrete states of the product information body 10. Encoded as a time-varying ripple signal; An index for discrete steps in the production process; This represents the phase difference between the information modulation field and the main energy transmission field. It is a sine function.

[0037] The intelligent production unit 30 is located on the modular intelligent production platform 20. Its energy receiving module obtains working energy from the modulated wireless energy field. At the same time, its status decoding module parses and decodes the status information carried by the energy field in real time.

[0038] The intelligent production unit 30 compares the decoded status information with its own preset skill set. If they match, its operation execution module performs the corresponding preset operation on the product to be processed on the product information body 10, such as material handling or component installation.

[0039] After the preset operation is completed, the intelligent production unit 30 records the operation results, including the operation type, execution unit identifier and key process parameters, and writes them into the distributed digital archive of the product information body 10 through the third communication module.

[0040] This write operation causes the distributed digital archive to generate a new record, thereby triggering the product information body 10 to update its own state information, preparing for the autonomous triggering of the next production stage. Through the collaborative work of the above parts, a decentralized production closed loop driven by product state is formed.

[0041] Product information body 10 is a physical carrier that carries the product to be processed and its entire life cycle data. In a specific embodiment, the physical form of product information body 10 is a standardized tray, which integrates a microprocessor unit 11, a storage module 12, a first communication module 13, and a wireless power supply module 14.

[0042] The microprocessor unit 11, such as a low-power microcontroller, is the computing core of the product information body 10. It is responsible for running the distributed digital archive protocol, processing data read and write requests, and automatically updating its own status information based on recorded production data and preset process flows.

[0043] Storage module 12, such as a non-volatile flash memory chip, is used for persistent storage of distributed digital archives. Its stored content is not lost after power is lost from the product information body 10.

[0044] The first communication module 13, such as a near field communication (NFC) module, is used for low-power, short-range data exchange with the platform module of the modular smart production platform 20 located immediately below it. Its main function is to output a status signal corresponding to the current status information determined by the microprocessor unit 11.

[0045] The wireless power module 14 includes a resonant coil and a corresponding rectifier and filter circuit. It is used to sense and receive energy from the wireless energy field generated by the modular intelligent production platform 20, and convert the energy into DC power to power internal components such as the microprocessor unit 11, the storage module 12 and the first communication module 13.

[0046] The core of this embodiment lies in the distributed digital archive running within the product information body 10. This distributed digital archive consists of multiple blocks linked in chronological order. Composition. Each block Including block header and blocks .

[0047] Block header Includes: block index That is, the sequence number of the current block. Timestamp Records the time when the block was generated; the hash value of the previous block. That is, for the previous block The value obtained by performing a hash operation on the entire block; and the block body hash value. That is, for the current block body The value obtained by performing a hash operation. (Through...) The fields, cryptographically linking all blocks together, form a chain structure that ensures data immutability and traceability. Hash operations can employ standard cryptographic hash functions such as SHA-256. .

[0048] Block body This is used to record specific production operation data, i.e., operation result records. This record includes at least: the identification of the intelligent production unit 30 that performed the operation. Operation type (e.g., "installing solar panels" or "welding brackets"), and at least one process parameter collected during the operation. The process parameter can be one or more key-value pairs, such as (torque: 5 N·m, tightening angle: 360°).

[0049] The status information update mechanism of the product information body 10 is as follows: its internal microprocessor unit 11 preloads a preset process flow that defines the complete production operations and sequence that the product to be processed must undergo. When an intelligent production unit 30 completes its operation and records the operation result into a distributed digital archive, a new block is formed. Then, the microprocessor unit 11 will read the block. Operation types in .

[0050] Subsequently, the microprocessor unit 11 queries the preset process flow to determine what the next operation needs to be performed after completing the current operation. Based on this query result, the microprocessor unit 11 sends its own status information... Update from the current state to the next state. Updated state information. It then outputs to the outside through the first communication module 13 to trigger the next production step.

[0051] The modular intelligent production platform 20 serves as the physical foundation for energy and information interaction between the product information body 10 and the intelligent production unit 30. It consists of multiple seamlessly connectable standardized platform modules, which together form the working surface of the production line. Each platform module physically comprises: a wireless energy transmission module, a second communication module, and a local controller.

[0052] The wireless power transfer module's core components are one or more resonant coil arrays and a power amplifier driving these coil arrays. It is responsible for generating the modulated wireless energy field described in the aforementioned state-modulated energy field model.

[0053] A second communication module, such as a near field communication (NFC) reader or a visible light communication (VLC) receiver, is configured to receive status signals output by the first communication module 13 from the product information body 10 directly above or adjacent to it.

[0054] A local controller, such as a digital signal processor (DSP), is key to achieving state-field coupling. Its working principle is as follows: the input of the local controller is connected to the second communication module to acquire the state information of the product information body 10 in real time. After acquiring the data, the controller executes two parallel tasks: First, it sets and drives the power amplifier based on the system's basic energy requirements to generate an amplitude-dependent power amplifier. and angular frequency The main energy transmission field; Second, it depends on the specific status information received. The corresponding state modulation function is generated by looking up a table or by real-time calculation. This modulation signal is used to control the output of the power amplifier, thereby superimposing a weak ripple signal carrying the state information onto the main energy field.

[0055] In this way, the platform module "translates" the abstract state data into an energy field that can be physically perceived by the intelligent production unit 30 and carries specific information.

[0056] The intelligent production unit 30 is an automated device that performs specific physical operations in the production line. Its specific form can be a multi-axis robot, an automated guided vehicle (AGV), or other special automated devices.

[0057] In one specific embodiment, the intelligent production unit 30 includes an energy receiving module 31, a state decoding module 32, a local decision-making module 33, an operation execution module 34, and a third communication module 35.

[0058] The energy receiving module 31 includes a resonant coil that matches the wireless energy transmission module of the modular intelligent production platform 20, as well as downstream rectification, filtering, and voltage regulation circuitry. Its function is to continuously extract electrical energy from the modulated wireless energy field generated by the modular intelligent production platform 20 and convert it into stable direct current to power all onboard electronic components of the intelligent production unit 30.

[0059] The input terminal of the state decoding module 32 is electrically connected to the output terminal of the resonant coil of the energy receiving module 31, and is used to extract and decode the state information carried therein from the received mixed signal.

[0060] In one specific embodiment, the decoding process includes the following steps: First, a bandpass filter is used to separate the lower frequency information modulation field signal (i.e., the ripple signal carrying state information) from the higher frequency main energy transmission field signal; then, a demodulation circuit, such as an envelope detector or a demodulation algorithm executed by a digital signal processor (DSP), is used to restore the separated ripple signal into a digitized state information code; finally, according to a preset encoding rule, the digitized code is parsed into state information that can be recognized by the local decision module 33, such as: waiting for solar panels to be installed.

[0061] The local decision-making module 33, typically implemented by a microcontroller, stores a set of preset skills for the intelligent production unit 30. This set of preset skills is a list defining one or more preset operations that the unit can perform, such as installing solar panels or tightening screws.

[0062] The function of the local decision-making module 33 is to match the state information obtained from the state decoding module 32 with its own preset skill set in real time. If the decoded state information corresponds to a skill in the skill set, it determines that there is an executable task and outputs an operation trigger signal to the operation execution module 34.

[0063] The operation execution module 34 is the mechanism that performs physical tasks. Based on the operation trigger signal received from the local decision module 33, it executes specific production operations. Depending on the form of the intelligent production unit 30, the operation execution module 34 can be a multi-degree-of-freedom robotic arm and its end effector, welding tools, tightening tools, or the drive wheels and lifting platform of an AGV. During operation, the operation execution module 34 can also collect key process parameters through its integrated sensors (such as torque sensors and vision sensors).

[0064] The third communication module 35 is used to write data back to the product information body 10 after the operation execution module 34 completes the preset operation.

[0065] In one embodiment, the third communication module 35 may be a Near Field Communication (NFC) reader / writer. It is responsible for recording and packaging the results of this operation and writing them to the storage module 12 of the adjacent product information body 10 via the NFC communication protocol. This operation result record includes at least the unique identifier of this intelligent production unit 30, the type of operation performed, and one or more process parameters collected during the operation, thereby adding a new block to the distributed digital archive of the product information body 10.

[0066] In one specific embodiment of the invention, the production line further includes a central management unit 40. The central management unit 40 is used to authorize and manage critical operations in the production process to ensure the safe execution of high-risk or high-value procedures. Critical operations are predefined as specific operations that are high-value, high-risk, or have irreversible consequences among preset operations, such as firmware burning for the core controller of a new energy street light or permanent welding of a critical load-bearing structure.

[0067] The workflow of this dual authentication mechanism is as follows: When an intelligent production unit 30 identifies the next task to be executed as a critical operation based on the state information decoded from the wireless energy field, its local decision module 33 does not immediately trigger the operation execution module 34. Instead, it first sends an authorization request to the central management unit 40 through an independent, secure wireless communication network (such as Wi-Fi).

[0068] Upon receiving an authorization request, the central management unit 40 first verifies the request's validity. If the verification is successful, it executes two parallel actions: First, a digital authorization token is generated and sent to the requesting intelligent production unit 30 via the aforementioned wireless communication network. This digital authorization token is a piece of encrypted data containing an operation license, a task ID, and a digital signature for verification, which is generated by the private key of the central management unit 40.

[0069] Secondly, the central management unit 40 issues instructions via wired or wireless means to the specific platform module of the modular intelligent production platform 20 where the product information body 10 is currently located, requesting it to generate a physical authorization code that matches the digital authorization token. This physical authorization code is a short, specific-format digital sequence. After receiving the instruction, the platform module will load the physical authorization code into its generated modulated wireless energy field through a specific modulation method, such as superimposing a short-duration, specific-frequency FSK (Frequency Shift Keying) signal onto the main energy transmission field.

[0070] On the intelligent production unit 30 side, its third communication module 35 is responsible for receiving and caching the digital authorization token. At the same time, its status decoding module 32 continuously monitors the wireless energy field and is configured to be able to identify and decode the specific FSK signal used to carry the physical authorization code.

[0071] The local decision-making module 33 of the intelligent production unit 30 is configured to perform an AND logic judgment, issuing the final execution instruction to the operation execution module 34 only when both conditions are met simultaneously. This unlocking logic can be described by the following formula: ; In the formula: This is a Boolean value that indicates whether the critical operation is allowed to be executed. When its value is True, it means that the critical operation is authorized to be executed. This is an asymmetric encryption verification function used to verify the authenticity and integrity of digital authorization tokens; The digital authorization token received by the intelligent production unit; The public key for the central management unit; For logical AND operator; This is a signal decoding function, executed by the state decoding module 32, used to decode the total electromagnetic field. Extract the physical authorization code; The expected value of the physical authorization code that matches the digital authorization token, generated for instructions from the central management unit; This represents the logical equality comparison operator.

[0072] Through this mechanism, the intelligent production unit 30 must simultaneously receive authorization from the data channel (digital authorization token) and authorization from the physical field channel (physical authorization code) in order to execute critical operations. This dual authentication method, which binds data layer authorization with physical layer authorization, ensures that even if data communication is forged or intercepted, critical operations cannot be executed as long as the execution unit is not in the designated physical location (i.e., cannot receive the correct physical authorization code), thereby guaranteeing the security of the production process.

[0073] In other embodiments of the invention, the production line uses a distributed digital archive as a medium to achieve distributed consensus among multiple intelligent production units 30 or product information bodies 10, enabling collaborative responses to demanding tasks. This mechanism eliminates the need for direct coordination by a central server, instead achieving consensus through proposals and voting on a shared distributed digital archive.

[0074] The criteria for reaching a consensus can be described by the following formula: ; In the formula: It is a Boolean value that indicates whether consensus has been reached; a true value indicates that consensus has been reached. The total number of units (intelligent production unit 30 or product information body 10) participating in this consensus decision-making; The summation operator represents summation for all numbers from 1 to 1. Participants Perform a traversal and summation; This is an indicator function that takes the value 1 when its internal expression is true, and 0 otherwise; This is an asymmetric encryption verification function; For participants After reading the task proposal, a digital signature indicating agreement is generated using its own private key; For participants The public key is used to verify the signature of other entities; A preset consensus threshold, such as 0.8, means that at least 80% of the participants must agree for consensus to be reached.

[0075] In a specific application scenario, this consensus mechanism is used for energy scheduling of high-energy-consuming tasks. When an intelligent production unit 30 needs to perform a task with high instantaneous power consumption, such as laser welding or heavy-load handling, it first creates a proposal containing task requirements and energy requests, and writes this proposal as a new record in the distributed digital archive of its neighboring product information body 10. Other intelligent production units 30 related to the task will read the proposal after sensing an update to the distributed digital archive.

[0076] If they agree to the energy request, they will sign the proposal using their respective private keys and write the signature as a new record back into the distributed digital archive. The initiating unit or any participating unit can continuously monitor the distributed digital archive and determine whether consensus has been reached based on the aforementioned criteria.

[0077] Once a consensus is reached, one or more units output a resource scheduling consensus signal through their third communication module. Upon receiving this signal, the corresponding platform module of the modular intelligent production platform 20 immediately increases the output power of the main energy transmission field in the wireless energy field of its local working area, for example, by increasing the gain of its internal power amplifier to increase the amplitude of the main energy transmission field. This is to meet the instantaneous energy requirements of this high-energy-consuming task.

[0078] In another specific application scenario, this consensus mechanism is used for the physical anchoring of high-precision collaborative tasks.

[0079] When two or more intelligent production units 30 need to perform tasks that require extremely high relative pose accuracy, such as the collaborative installation of solar panels by two arms, they also reach a physical anchoring consensus through the above-mentioned method of proposing and signing in a distributed digital archive.

[0080] Once a consensus is reached, the intelligent production unit 30 outputs a physical anchoring consensus signal. Upon receiving this signal, the modular intelligent production platform 20 activates its internal electromagnetic coil assembly dedicated to anchoring, generating an anchoring magnetic field with a high spatial gradient.

[0081] The intelligent production unit 30 also includes a gradient sensor, such as an array of multiple Hall sensors, for sensing the spatial gradient of the anchoring magnetic field. Since this gradient field is stable and pre-calibrated in space, it can serve as an absolute physical reference.

[0082] The intelligent production unit 30 corrects its own pose based on the gradient values ​​sensed by the gradient sensor. Its pose correction model can be described as follows: ; In the formula: The final pose vector of the intelligent production unit 30 after correction; The initial pose vector calculated by the intelligent production unit 30 through its own vision system; It is a pre-calibrated mapping function that maps the magnetic field gradient value measured by the gradient sensor to a specific pose correction amount. This function is generated during the production line deployment stage by measuring the known gradient at a known location, and is used to map the sensed magnetic field gradient to the pose correction amount. This is the gradient operator, used to calculate the spatial rate of change of the anchoring magnetic field; A high-gradient magnetic field generated for the modular intelligent production platform 20, used solely for pose anchoring.

[0083] Through this mechanism, multiple intelligent production units 30 participating in the collaboration can eliminate their respective positioning errors based on the same physical reference system, thereby achieving high-precision relative pose alignment.

[0084] The overall workflow of the fully flexible production line for new energy streetlights based on multiple robots provided by this invention is summarized.

[0085] After a product to be processed is bound to an initialized product information body 10, it is placed on a modular intelligent production platform 20. The product information body 10 outputs a status signal based on the status information defined by its internal distributed digital archive. This signal is received by the modular intelligent production platform 20 and used to modulate the wireless energy field it generates, so that the physical field simultaneously carries energy and information.

[0086] Any intelligent production unit 30 located within this physical field can decode the state information contained therein while acquiring energy. If the state information matches its preset skill set, the intelligent production unit 30 will autonomously execute the corresponding production operation.

[0087] After the operation is completed, the operation result record, including the identity identifier and process parameters, will be written into the distributed digital archive of the product information body 10. This writing behavior will trigger the microprocessor unit of the product information body 10 to update its own status according to the preset process flow, thereby starting the next round of decentralized production cycle of "status broadcasting, field modulation, autonomous execution, and data write-back".

[0088] Building upon this basic cycle, when the system encounters a pre-defined critical operation, a dual authentication step is added to the workflow. The intelligent production unit 30 must receive a digital authorization token issued by the central management unit 40 at the data level and simultaneously decode a matching physical authorization code from the wireless energy field at the physical level. Only when both conditions are met can the critical operation be executed, thereby ensuring operational security.

[0089] Furthermore, when faced with high-energy-consuming or high-precision collaborative tasks, multiple intelligent production units 30 can achieve distributed consensus by proposing and signing in a distributed digital archive.

[0090] Once a consensus is reached, the modular intelligent production platform 20 will be triggered to perform corresponding physical field regulation: either locally enhance the power of the energy field to meet the high energy consumption requirements, or generate a high gradient anchoring magnetic field for multiple units to perform high-precision pose correction.

[0091] Through the synergistic operation of the above mechanisms, this invention realizes a self-organizing, secure, and resource-efficient fully flexible production system.

Claims

1. A fully flexible production line for new energy streetlights based on multiple robots, characterized in that, include: At least one product information body, which carries the product to be processed, and includes a distributed digital archive and a first communication module; The distributed digital archive is used to record and update the status information of the product information body, and the first communication module is used to output a status signal according to the status information. Modular intelligent production platform, which includes a wireless power transmission module and a second communication module; The second communication module is used to receive the status signal, and the wireless power transmission module is used to generate a modulated wireless power field based on the received status signal, wherein the modulated wireless power field carries the status information. At least one intelligent production unit, which is located on the modular intelligent production platform and includes an energy receiving module, a status decoding module, an operation execution module and a third communication module; The energy receiving module is used to receive the modulated wireless energy field to obtain energy; The state decoding module is used to decode the state information from the modulated wireless energy field; The operation execution module is used to perform a preset operation on the product to be processed carried by the product information body based on the decoded status information; the third communication module is used to record the operation result in the distributed digital archive of the product information body after the preset operation is completed, so as to update the status information.

2. The fully flexible production line for new energy streetlights based on multiple robots according to claim 1, characterized in that, The modulated wireless energy field includes a main energy transmission field and an information modulation field: The main energy transmission field is used to provide working energy for the intelligent production unit; The information modulation field is a ripple signal superimposed on the main energy transmission field, and the characteristics of the ripple signal carry the state information.

3. The fully flexible production line for new energy streetlights based on multiple robots according to claim 1, characterized in that, It also includes a central management unit: The central management unit is used to issue digital authorization tokens to the intelligent production unit for key operations of the preset operation, and instruct the modular intelligent production platform to generate physical authorization codes that match the digital authorization tokens. The physical authorization codes are carried by modulating the wireless energy field. The operation execution module of the intelligent production unit is configured as follows: The key operation is only unlocked and executed after the third communication module of the intelligent production unit receives the digital authorization token and the status decoding module decodes the physical authorization code from the modulated wireless energy field. Among the preset operations, operations that are pre-set to be of high value, high risk, or irreversible and require authorization to execute are defined as key operations.

4. The fully flexible production line for new energy streetlights based on multiple robots according to claim 1, characterized in that, The operation result record written by the third communication module into the distributed digital archive includes: the identity of the intelligent production unit that performed the operation, the operation type, and at least one process parameter during the operation.

5. A fully flexible production line for new energy streetlights based on multiple robots according to claim 2, characterized in that, The multiple intelligent production units or the product information bodies are also used to reach a resource scheduling consensus through the distributed digital archive for high-energy-consuming tasks, and the product information bodies or the intelligent production units output a resource scheduling consensus signal through the first communication module or the third communication module. The modular intelligent production platform is also configured as follows: Upon receiving the resource scheduling consensus signal, the output power of the main energy transmission field in the wireless energy field of the local operating area is increased.

6. The fully flexible production line for new energy streetlights based on multiple robots according to claim 1, characterized in that, The multiple intelligent production units are also used to achieve physical anchoring consensus through the distributed digital archives for high-precision collaborative tasks, and the intelligent production units output the physical anchoring consensus achievement signal through the third communication module; The modular intelligent production platform is also configured as follows: Upon receiving the physical anchoring consensus signal, an anchoring magnetic field with a high spatial gradient is generated. The intelligent production unit also includes a gradient sensor, which is used to sense the spatial gradient of the anchoring magnetic field and correct the pose of the intelligent production unit based on the spatial gradient.

7. A fully flexible production line for new energy streetlights based on multiple robots according to claim 1, characterized in that, The product information body also includes a microprocessor unit, which is configured as follows: After the distributed digital archive is written with a new operation result record, the status information is updated from the current status to the next status according to the preset process flow. The preset process flow defines a series of production operations and sequences that the product to be processed must undergo.

8. A fully flexible production line for new energy streetlights based on multiple robots according to claim 1, characterized in that, The intelligent production unit also includes a local decision-making module: The local decision-making module is used to match the state information decoded by the state decoding module with the preset skill set of the intelligent production unit, and when the match is successful, trigger the operation execution module to execute the preset operation; The preset skill set includes one or more preset operations that the intelligent production unit can perform.

9. A fully flexible production line for new energy streetlights based on multiple robots according to claim 1, characterized in that, The modular intelligent production platform consists of multiple platform modules that can be freely spliced ​​and reconfigured. Each platform module includes the wireless energy transmission module and the second communication module. The preset operations include at least one of the following in the production process of new energy streetlights: material handling, light pole installation, solar panel installation, battery pack assembly, light source module installation, and quality inspection.

10. A fully flexible production line for new energy streetlights based on multiple robots according to claim 1, characterized in that, The distributed digital archive consists of multiple blocks linked in chronological order. Each block contains a block header, which records a hash value pointing to the previous block, thereby forming a chain structure based on the hash value linking the multiple blocks.

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