Real-time monitoring and energy-saving optimization system and method for energy consumption of automation equipment

Abstract

The present application belongs to the technical field of computer control system, and discloses an automatic equipment energy consumption real-time monitoring and energy saving optimization system and method, which comprises the following steps: obtaining automatic equipment operation records; generating corresponding process memory records according to the effective action completion state of the target execution component in the automatic equipment operation records; constructing a process memory inheritance graph based on the inheritance correspondence between the process memory records and the process capacity requirements of subsequent processes; generating a process memory calling mode by analyzing the difference between the attenuation state of each process memory in the process memory inheritance graph and the subsequent process inheritance demand; generating a process memory calling control sequence based on the current memory allowance and memory gap corresponding to the process memory calling mode; and performing energy saving control on the target execution component of the automatic equipment. The present application reduces the energy consumption of continuous maintenance and full reconstruction.

Description

Technical Field

[0001] This invention relates to the field of computer control system technology, and more specifically, to a system and method for real-time monitoring and energy-saving optimization of energy consumption in automated equipment. Background Technology

[0002] With the increasing application of automated production lines in assembly, testing, pressing, and conveying, the energy consumption of various components during equipment operation is gradually becoming an important factor affecting production costs and operating efficiency.

[0003] Existing automated equipment typically acquires process stages, action completion status, quality feedback, and real-time energy consumption data through industrial controllers, power acquisition units, and sensors. It can also control the start / stop or standby operation of actuators such as clamping, positioning, adsorption, heating, and pressure holding based on the process cycle time to reduce energy consumption during non-operational phases. However, during the transition between adjacent processes, residual process capabilities such as stable positioning, stable clamping, maintained adsorption, available heat, and maintained pressure, formed after the completion of the preceding process, usually remain as auxiliary states of the actuators. There is a lack of a mechanism to systematically record these capabilities and establish a correspondence between them and the process requirements of subsequent processes. This means that subsequent processes often rely on continuous operation or complete recovery to maintain the process state. Furthermore, even if some operating states can be identified as releasable, the lack of continuous analysis of the degree of residual process capability decay, the inherited requirements of subsequent processes, and the collaborative sharing relationships among multiple process capabilities makes it difficult to obtain energy-saving control schemes that match the entry time, supplementary requirements, and control execution sequence of subsequent processes. This limits the refined control effect of automated equipment energy consumption optimization during process transitions. Summary of the Invention

[0004] To overcome the aforementioned deficiencies of the prior art and to achieve the above objectives, the present invention provides the following technical solution: a method for real-time monitoring and energy-saving optimization of energy consumption in automated equipment, comprising: S1. Acquire process stage signals, target execution component action completion signals, quality feedback signals, and real-time energy consumption data during the operation of automated equipment, and generate automated equipment operation records; S2. Generate a corresponding process memory record based on the effective action completion status of the target execution component in the automated equipment operation record; S3. Based on the inheritance correspondence between the process memory records and the process capability requirements of subsequent processes, construct a process memory inheritance graph; S4. By analyzing the difference between the release and decay status of each process memory in the process memory inheritance map and the inheritance requirements of subsequent processes, a process memory recall method is generated. S5. Based on the current memory balance and memory gap corresponding to the process memory recall method, generate a process memory recall control sequence; S6. Based on the process memory, call the control sequence to perform energy-saving control on the target execution components of the automated equipment.

[0005] Preferably, the method for constructing a process memory inheritance map includes: Read the process stage identifier, entry conditions, completion conditions and process sequence information of the subsequent process, and extract the process capability requirement type of the subsequent process based on the entry conditions and completion conditions; Read the process effect type, serviceable process identifier, and source execution component identifier from each process memory record, and match the process effect type with the process capability requirement type; When the process effect type covers the process capability requirement type of the subsequent process, establish an inheritance correspondence between the process memory and the subsequent process; The process memory is used as the first type of graph node, the subsequent process is used as the second type of graph node, and the inheritance relationship is used as the graph edge to generate the process memory inheritance graph.

[0006] Preferably, the method for generating process memory recall includes: Based on the process progress record, identify the non-operational stage where the preceding process is completed and the subsequent process has not yet started, and read the target execution component that is still in a continuously driven state within the non-operational stage; Output a continuous drive release command to the target execution component that is in a continuous drive state, and record the release time; From the moment of release, collect the decay characterization value corresponding to the process memory, and update the current memory balance of the process memory according to the decay characterization value; Read the inheritance requirements of the subsequent process corresponding to the process memory along the process memory inheritance map, and compare the current memory reserve with the inheritance requirements of the subsequent process. When the current memory capacity is not less than the inheritance requirement of the subsequent process, the calling method corresponding to the process memory is determined to be the direct inheritance calling method. When the current memory reserve is lower than the inheritance requirement of the subsequent process, the calling method corresponding to the process memory is determined as the write inheritance calling method, and the difference between the current memory reserve and the inheritance requirement of the subsequent process is recorded as the memory gap.

[0007] Preferably, the method for updating the current memory balance of the process memory based on the decay characterization includes: Retrieve the process effect type, initial memory size, formation time, and release time from the corresponding process memory record; The initial memory amount is used as the starting value for decay tracking, and the release time is used as the starting point for updating the current memory balance. The decay representation in the release decay status record is read according to the preset sampling period. By comparing the attenuation characteristics at adjacent sampling times, the attenuation change within the current sampling period can be obtained. The current memory balance at the current sampling time is obtained by subtracting the corresponding process capability loss from the initial memory based on the decay change.

[0008] Preferably, the method for generating the process memory call control sequence includes: Determine the number of process memories corresponding to the same subsequent process. When the same subsequent process corresponds to one process memory, read the process memory calling method and the target process memory identifier corresponding to the calling method. When the process memory calling method is the direct inheritance calling method, generate a direct inheritance control fragment. When the process memory is accessed via a supplementary inheritance method, read the memory gap, the identifier of the source execution component, and the start time of the subsequent process. The amount of process capacity that needs to be supplemented is determined based on the memory gap, and the time window for supplementation is intercepted backward from the start time of the subsequent process. Based on the source execution component identifier, read the controllable action granularity of the corresponding execution component and generate candidate rewrite fragments within the rewrite time window; The candidate fill-in fragments are spliced ​​together in the order of their start times, and the shortest splicing result that makes the current memory remaining amount after fill-in reach the inheritance requirements of the subsequent process is selected as the fill-in control fragment. The directly inherited control fragments and the supplemented control fragments will be written into the process memory call control sequence according to the execution order of subsequent processes; When the same subsequent process corresponds to multiple process memories, multiple process memories are called in a coordinated manner. Based on the matching relationship between the current memory capacity of multiple process memories and the process capability requirements of the subsequent process, a primary and secondary inheritance and sharing relationship is constructed. Based on the primary and secondary inheritance sharing relationship and the collaborative coverage of the inheritance requirements of different process memories for subsequent processes, multi-memory collaborative inheritance control fragments and collaborative write control fragments are generated. By analyzing the timing relationship between the completion timing of the collaborative write control segment and the inheritance binding of the multi-memory collaborative inheritance control segment, the process memory call control sequence is obtained.

[0009] Preferably, the method for energy-saving control of target execution components of automated equipment based on process memory recall control sequences includes: Read the process memory to recall the control sequence, and extract the control segment corresponding to the current subsequent process according to the subsequent process identifier; When a directly inherited control segment is extracted, the industrial controller keeps the source actuator in the state after continuous drive release. When a rewrite control segment is extracted, the industrial controller outputs a rewrite control command to the corresponding source execution component according to the start time, duration and source execution component identifier in the rewrite control segment. After the rewrite control command is executed, the industrial controller re-acquires the attenuation characteristics corresponding to the target process memory and updates the current memory balance of the target process memory. When the updated current memory capacity reaches the inheritance requirement of subsequent processes, the industrial controller allows the subsequent processes to begin execution; If the updated current memory capacity does not meet the inheritance requirements of subsequent processes, the industrial controller will suspend the execution of subsequent processes.

[0010] Preferably, the method for constructing the primary-secondary inheritance sharing relationship includes: Read the current memory balance of each of the multiple process memory units, and determine the primary inherited process memory unit according to the current memory balance size; The process memory with the highest current memory margin and that matches the main process capability requirements of subsequent processes is marked as the primary inherited process memory, and the process memory with a lower current memory margin is marked as the auxiliary process memory. Read the main process capacity requirements and supplementary process capacity requirements of subsequent processes, allocate the main process capacity requirements to the main inherited process memory, and allocate the supplementary process capacity requirements to the auxiliary process memory.

[0011] Preferably, the method for generating multi-memory collaborative inheritance control segments and collaborative write control segments includes: Based on the current memory capacity of the primary inherited process memory, determine its coverage of the main process capacity requirements, obtain the primary inheritance coverage result, and record the portion not covered by the primary inherited process memory as the primary inheritance remaining requirement. Based on the current memory capacity of the auxiliary process memory, determine its coverage of the supplementary process capacity requirement and the remaining requirement of the main inheritance, and obtain the auxiliary inheritance coverage result; When the primary inheritance overriding result and the secondary inheritance overriding result together meet the inheritance requirements of subsequent processes, a multi-memory collaborative inheritance control segment is generated. When the results of primary inheritance overriding and secondary inheritance overriding are both lower than the inheritance requirements of subsequent processes, a collaborative write requirement is generated based on the insufficient portion, and the source execution component that needs to be written is determined. Based on the collaborative writing requirements, the controllable action granularity of the source execution component, and the start time of subsequent processes, a collaborative writing control segment is generated.

[0012] Preferably, the method for analyzing the timing relationship between the completion timing of the collaborative completion control segment and the inheritance binding of the multi-memory collaborative inheritance control segment includes: Read the start time of subsequent processes, the inherited requirements, and the corresponding main inherited process memory and auxiliary process memory; The list of inherited control segments and the list of supplementary control segments are sequentially arranged according to the order in which supplementary control segments are executed before inherited control segments to obtain the initial call segment sequence. Based on the initial call segment sequence, calculate the expected memory margin of the main inherited process memory and the auxiliary process memory before the start of the subsequent process. When the expected memory reserve reaches the inheritance requirement of subsequent processes, the initial call segment sequence is marked as the process memory call control sequence; When the expected memory reserve does not meet the inheritance requirements of subsequent processes, an additional write control segment is generated based on the insufficient part, and the additional write control segment is incorporated into the initial call segment sequence. The expected memory margin after incorporating the additional control segment is recalculated. When the recalculated expected memory margin reaches the inheritance requirement of subsequent processes, the call segment sequence after incorporating the additional control segment is marked as the process memory call control sequence. If the recalculated expected memory margin still does not meet the inheritance requirements of subsequent processes, the complete recovery control segment is written into the call segment sequence, and the call segment sequence after writing the complete recovery control segment is marked as the process memory call control sequence.

[0013] This invention also provides a real-time energy consumption monitoring and energy-saving optimization system for automated equipment, applied to the aforementioned real-time energy consumption monitoring and energy-saving optimization method for automated equipment, comprising: The operation record generation module acquires process stage signals, target execution component action completion signals, quality feedback signals, and real-time energy consumption data during the operation of automated equipment, and generates operation records for the automated equipment. The memory record generation module generates a corresponding process memory record based on the effective action completion status of the target execution component in the automated equipment operation record. The inheritance graph construction module constructs a process memory inheritance graph based on the inheritance correspondence between the process memory records and the process capability requirements of subsequent processes. The calling method generation module generates the process memory calling method by analyzing the difference between the decay state of each process memory in the process memory inheritance map and the inheritance requirements of subsequent processes. The control sequence generation module generates a process memory call control sequence based on the current memory margin and memory gap corresponding to the process memory call method. The energy-saving control execution module performs energy-saving control on the target execution components of the automated equipment by calling the control sequence according to the process memory.

[0014] The technical effects and advantages of the real-time energy consumption monitoring and energy-saving optimization system and method for automated equipment of this invention are as follows: This invention generates an automated equipment operation record by first acquiring process stage signals, target execution component action completion signals, quality feedback signals, and real-time energy consumption data; then, it generates a process memory record based on the effective action completion status of the target execution component; further, it maps the process memory record to the process capability requirements of subsequent processes to construct a process memory inheritance map; thus, the process capability residues formed in previous processes are no longer a process state that decays naturally over time, but are transformed into process memory resources that can be identified, matched, and called upon by subsequent processes, solving the problem that existing methods have difficulty organizing energy-saving control around process capability reuse.

[0015] This invention further analyzes the difference between the decay state of each process memory in the process memory inheritance map and the inheritance requirements of subsequent processes, generating a direct inheritance call method or a supplementary inheritance call method; then, it generates a process memory call control sequence based on the current memory reserve and memory gap; when the same subsequent process corresponds to multiple process memories, it also constructs a primary and secondary inheritance sharing relationship, and generates multi-memory collaborative inheritance control fragments and collaborative supplementary write control fragments according to the collaborative coverage; enabling subsequent processes to prioritize the call of existing process memories, and only supplementing the gap when the memory reserve is insufficient, thus solving the problem that even if the equipment is identified as releasable, it is difficult to further form an executable energy-saving control sequence that matches the requirements of subsequent processes. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall process of the method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment according to the present invention.

[0017] Figure 2 This is a schematic diagram of the method for generating process memory recall control sequences in the real-time monitoring and energy-saving optimization method for automated equipment of the present invention.

[0018] Figure 3 This is a schematic diagram of the module structure of the automated equipment energy consumption real-time monitoring and energy-saving optimization system of the present invention. Detailed Implementation

[0019] The technical solutions of 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.

[0020] This application provides a method for real-time monitoring and energy-saving optimization of energy consumption in automated equipment. This method can be applied to automated assembly lines, automated testing lines and automated processing equipment, and is especially suitable for automated equipment with continuous energy-consuming processes such as clamping, vacuum holding, positioning, preheating, pressure holding and standby preparation between adjacent processes.

[0021] In this embodiment, the automated assembly line includes a loading station, a positioning station, a clamping station, a preheating station, a pressing station, an inspection station, a conveying station, and a resetting station. The corresponding actuators include a servo positioning module, a clamping assembly, a vacuum adsorption assembly, a preheating unit, a pressing execution assembly, and a conveying drive assembly. The industrial controller is communicatively connected to the aforementioned actuators, power acquisition unit, position sensor, pressure sensor, temperature sensor, vacuum pressure sensor, workpiece positioning sensor, and quality inspection unit.

[0022] This invention defines the residual process capability formed by the target execution component after it completes an effective action as a process memory. By generating the process memory, constructing an inheritance map, determining the calling method, and generating a control sequence, subsequent processes prioritize calling the residual process capability left by the preceding process. When the residual process capability is insufficient, partial write-over is performed, thereby reducing the energy consumption caused by continuous retention and full reconstruction.

[0023] Example 1, please refer to Figure 1 and Figure 2 In Embodiment 1 of the present invention, the method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment is implemented in detail through the following steps: S1. Acquire process stage signals, target execution component action completion signals, quality feedback signals, and real-time energy consumption data during the operation of automated equipment, and generate automated equipment operation records; S1 specifically includes the following steps: Read the process stage signals within the current operating cycle of the automated equipment to obtain the process progress record; specifically, the industrial controller reads the process stage signals in real time during the operation of the automated equipment, including the process stage identifiers of the feeding stage, positioning stage, clamping stage, preheating stage, pressing stage, detection stage, conveying stage and reset stage, and generates the process progress record; Process progress records are used to characterize the process flow of automated equipment within the current operating cycle. For example, the loading process is numbered X1, the positioning process is numbered X2, the clamping process is numbered X3, the preheating process is numbered X4, the pressing process is numbered X5, the inspection process is numbered X6, the conveying process is numbered X7, and the reset process is numbered X8. The industrial controller is used to collect process stage signals, target execution component action completion signals, quality feedback signals, and real-time energy consumption data during the operation of automated equipment. Among them, the process stage signals are used to indicate the current stage of the process, the target execution component action completion signals are used to indicate that actions such as clamping, positioning, adsorption, preheating, and pressing have reached the predetermined completion state, the quality feedback signals are used to indicate the process results of the workpiece after pressing, inspection, and conveying, and the real-time energy consumption data are used to indicate the power, current, voltage, and stage energy consumption of the corresponding execution component at different stages. Read the action completion signal of the target execution component to obtain the action completion record; specifically, this includes: the industrial controller reading the clamping completion signal of the clamping component, the positioning completion signal of the servo positioning module, the adsorption completion signal of the vacuum adsorption component, the preheating completion signal of the preheating unit, and the pressing completion signal of the pressing execution component; The industrial controller reads the quality feedback signal and obtains the process result record; specifically, this includes: the industrial controller reading the pressing position result, workpiece posture qualification result, inspection qualification result, and conveying position result fed back by the quality detection unit; The industrial controller reads real-time energy consumption data to obtain stage energy consumption records; specifically, the industrial controller reads the real-time power and stage energy consumption of each actuator fed back by the power acquisition unit. The industrial controller associates process progress records, action completion records, process result records, and stage energy consumption records according to the time of data collection to generate automated equipment operation records.

[0024] S2. Generate the corresponding process memory record based on the effective action completion status of the target execution component in the automated equipment operation record; S2 specifically includes the following steps: Extract the action completion record of the target execution component from the operation record of the automated equipment, and read the target execution component identifier, action category identifier, and action completion time from the action completion record; the industrial controller determines the type of process effect corresponding to the effective action completed by the target execution component based on the action category identifier; In this embodiment, the process effect types include positioning stability effect, clamping stability effect, adsorption maintenance effect, heat availability effect, and pressure holding maintenance effect; the positioning stability effect corresponds to the position stability capability formed after the servo positioning module completes positioning; the clamping stability effect corresponds to the attitude maintenance capability formed after the clamping component completes clamping; the adsorption maintenance effect corresponds to the adsorption maintenance capability formed after the vacuum adsorption component completes adsorption; the heat availability effect corresponds to the temperature availability capability formed after the preheating unit completes temperature rise; and the pressure holding maintenance effect corresponds to the pressure holding capability formed after the pressure holding execution component completes pressure holding. Based on the process result record, determine whether the process result corresponding to the process effect type has reached the predetermined formation condition. If the predetermined formation condition is reached, determine that the effective action forms a residual process capability.

[0025] For example, if the position deviation is within the allowable range after the servo positioning module completes the positioning action, the positioning stability effect is confirmed; if the clamping force reaches the predetermined range and the workpiece posture is stable after the clamping component completes the clamping action, the clamping stability effect is confirmed. After confirming the formation of residual process capability, the industrial controller process effect type is indexed, and a process memory record is constructed that includes process memory identifier, source execution component identifier, formation time, initial memory amount, and serviceable process identifier; For example, after the clamping component completes the clamping action in the clamping process S3, it generates a clamping process memory record. The source execution component in the record is identified as the clamping component number, the formation time is the time when the clamping action is completed, the process effect type is clamping stability effect, and the service process is identified as pressing process S5 and inspection process S6.

[0026] S3. Based on the inheritance correspondence between process memory records and the process capability requirements of subsequent processes, construct a process memory inheritance graph; S3 specifically includes the following steps: The industrial controller reads the process stage identifier, entry conditions, completion conditions and process sequence information of the subsequent process, and extracts the process capability requirement type of the subsequent process based on the entry conditions and completion conditions. For example, the entry conditions for pressing process X5 include workpiece position stability, workpiece posture stability, and available temperature in the pressing area. Therefore, the process capability requirements for pressing process X5 include positioning stability requirements, clamping stability requirements, and available heat requirements. The entry conditions for inspection process X6 include workpiece posture stability and inspection field of view stability. Therefore, the process capability requirements for inspection process X6 include clamping stability requirements and positioning stability requirements. The industrial controller reads the process effect type, serviceable process identifier, and source execution component identifier from the process memory records, and matches the process effect type with the process capability requirement type; When the process effect type covers the process capability requirement type of the subsequent process, establish an inheritance correspondence between the process memory and the subsequent process; For example, the process effect type of the clamping process memory is clamping stability effect, which can cover the clamping stability requirements in the pressing process SX5 and the clamping stability requirements in the inspection process X6. Therefore, an inheritance correspondence is established between the clamping process memory and the pressing process X5 and the inspection process X6. The process memory is used as the first type of graph node, the subsequent process is used as the second type of graph node, and the inheritance relationship is used as the graph edge to generate a process memory inheritance graph. The first type of graph node is used to represent the process memory that can be inherited and called, the second type of graph node is used to represent the subsequent process to be executed, and the graph edge is used to represent the process memory that can serve the corresponding subsequent process. In the process memory inheritance graph, the industrial controller writes the inheritance requirement, the allowed call period and the corresponding process capability requirement type for each graph edge, so that subsequent steps can read the call relationship between the process memory and the subsequent process along the graph edge. For example, the clamping stability requirement, the allowed call-up period before pressing, and the clamping stability requirement type are written in the graph edge of the clamping process memory to pressing process X5; the available temperature requirement, the allowed call-up period before pressing, and the available heat requirement type are written in the graph edge of the heat-available process memory to pressing process X5.

[0027] To address the issue in existing energy-saving control of automated equipment where residual process capabilities such as positioning stability, clamping stability, adsorption maintenance, heat availability, and pressure maintenance formed after previous processes are not systematically recorded and correlated with the requirements of subsequent processes, leading to the need for subsequent processes to re-establish a complete process state to ensure the desired process state, this invention first acquires process stage signals, target execution component action completion signals, quality feedback signals, and real-time energy consumption data to generate an automated equipment operation record; then, it generates a process memory record based on the effective action completion status of the target execution component; and finally, it correlates the process memory record with the process capability requirements of subsequent processes to construct a process memory inheritance map. Through the above steps, the residual process capabilities formed in the preceding process are no longer just a process state that naturally decays over time, but are transformed into process memory resources that can be identified, matched, and called upon in subsequent processes. This solves the problem that existing methods have difficulty organizing energy-saving control around the reuse of process capabilities.

[0028] S4. By analyzing the differences between the release and decay status of each process memory in the process memory inheritance map and the inheritance requirements of subsequent processes, process memory calling methods are generated. S4 specifically includes the following steps: The industrial controller reads the target actuator that is still in a continuously driven state during the non-operational phase; the non-operational phase refers to the phase in which the preceding process has been completed, the subsequent process has not yet started, and the target actuator does not perform new effective process actions temporarily; For example, if the clamping process X3 has been completed but the pressing process X5 has not yet started, and the clamping component is still in a continuous clamping state, then the clamping component is identified as the target execution component that is still in a continuously driven state during the non-operation phase; if the preheating process X4 has been completed but the pressing process X5 has not yet started, and the preheating unit is still in a continuously heating state, then the preheating unit is identified as the target execution component that is still in a continuously driven state during the non-operation phase.

[0029] The industrial controller outputs a continuous drive release command to the target execution component in the continuous drive state and records the release time. After release, the clamping component exits the continuous high load clamping state, the preheating unit exits the continuous high power output state, the vacuum adsorption component exits the continuous full load suction state, and the servo positioning module exits the continuous position holding state.

[0030] From the moment of release, collect the decay characterization value corresponding to the process memory, and update the current memory balance of the process memory according to the decay characterization value; Specific methods for updating the current memory capacity of the process memory based on the attenuation characterization include: Retrieve the process effect type, initial memory size, formation time, and release time from the corresponding process memory record; The initial memory amount is used as the starting value for decay tracking, and the release time is used as the starting point for updating the current memory balance. The decay characterization quantity is read according to the preset sampling period. The decay characterization quantity is a detection quantity used to reflect the change in residual process capability, and its specific content is determined according to the process effect type. For example, when the process effect type is positioning stabilization effect, the residual process capability is the ability of the workpiece to remain near the target position after positioning is completed. In this case, the attenuation characteristics include position offset and attitude fluctuation. The position offset can be obtained from the feedback data of the displacement sensor, vision inspection unit or servo encoder installed at the positioning station, and is used to represent the position change of the workpiece relative to the moment of positioning completion. The attitude fluctuation can be obtained by the vision inspection unit to identify the angle changes of the workpiece edge, reference hole or positioning mark, and is used to represent the change of the workpiece attitude relative to the moment of positioning completion. When the position offset and attitude fluctuation continue to increase, it indicates that the positioning stabilization effect is gradually attenuating.

[0031] In this embodiment, after the automated assembly line completes the clamping process, the clamping components release the continuous high-load clamping. The industrial controller determines the process effect type as clamping stability effect and uses the clamping force drop and workpiece micro-motion as the corresponding attenuation characteristics. The industrial controller collects the clamping force change through the gripper force sensor and collects the position change of the workpiece reference edge relative to the release time through the vision detection unit. When the clamping force drop is small and the workpiece micro-motion is within the allowable range, the clamping stability process memory still has a high current memory margin. When the clamping force drop increases and the workpiece micro-motion exceeds the allowable range, the industrial controller determines that the clamping stability process memory no longer meets the inheritance requirements of the subsequent pressing process and generates a short-term re-clamping control segment.

[0032] The industrial controller reads the inheritance requirements of the subsequent process corresponding to the process memory along the process memory inheritance map, and compares the current memory reserve with the inheritance requirements of the subsequent process. When the current memory capacity is not less than the inheritance requirement of subsequent processes, the industrial controller determines the calling method corresponding to the process memory as the direct inheritance calling method; the direct inheritance calling method means that subsequent processes can directly call the current process memory without re-establishing the complete process state. When the current memory margin is lower than the inheritance requirement of subsequent processes, the industrial controller determines the calling method corresponding to the process memory as the write inheritance calling method, and records the difference between the current memory margin and the inheritance requirement of subsequent processes as the memory gap; the write inheritance calling method means that subsequent processes cannot directly call the current process memory, and need to first supplement the memory gap locally; For example, before the start of pressing process X5, if the current memory margin of the clamping process memory is not lower than the clamping stability inheritance requirement of pressing process X5, the industrial controller determines that the clamping process memory adopts the direct inheritance call method; if the current memory margin of the hot-available process memory is lower than the hot-available inheritance requirement of pressing process S5, the industrial controller determines that the hot-available process memory adopts the supplementary inheritance call method and generates a hot-available memory gap.

[0033] S5. Generate a process memory call control sequence based on the current memory balance and memory gap corresponding to the process memory call method; S5 specifically includes the following steps: Determine the number of process memories corresponding to the same subsequent process. When the same subsequent process corresponds to one process memory, read the process memory calling method and the target process memory identifier corresponding to the calling method. When the process memory calling method is the direct inheritance calling method, generate a direct inheritance control segment. The direct inheritance control segment includes the target process memory identifier, the subsequent process identifier, the inheritance start time, and the source execution component being kept in a released state. The direct inheritance control segment is used to instruct the industrial controller to keep the source execution unit in the state after continuous drive release and to use the target process memory as the inheritance source for subsequent processes; keeping the source execution unit in the released state means that after the continuous drive is released, the source execution unit does not re-enter the continuous drive, but only maintains a low-power standby state that allows subsequent processes to call the process memory. For example, before the start of inspection step X6, when the positioning stabilization process memory meets the positioning stabilization inheritance requirements of inspection step S6, the industrial controller generates a positioning stabilization memory direct inheritance control segment and calls the positioning stabilization process memory when inspection step X6 starts.

[0034] When the process memory is accessed via a supplementary inheritance method, the industrial controller reads the memory gap, the identifier of the source execution component, and the start time of the subsequent process. The industrial controller determines the amount of process capacity that needs to be supplemented based on the memory gap, and extracts the time window for supplementation backward from the start time of the subsequent process. The industrial controller reads the controllable action granularity of the corresponding actuator based on the source actuator identifier and generates candidate rewrite segments within the rewrite time window. The controllable action granularity represents the smallest control segment that the source actuator can execute. For example, the controllable action granularity of the preheating unit is a short-time reheating segment, the controllable action granularity of the clamping assembly is a short-time reclamping segment, the controllable action granularity of the vacuum adsorption assembly is a short-time re-extraction segment, and the controllable action granularity of the servo positioning module is a short-time positioning compensation segment.

[0035] The industrial controller splices the candidate rewrite segments in the order of their start times, and selects the shortest splicing result that makes the current memory margin after rewrite reach the inheritance requirement of the subsequent process as the rewrite control segment. For example, when the current memory margin of the hot-available process memory is lower than the hot-available inheritance requirement of the pressing process S5, the industrial controller generates a short-term heat replenishment control segment before the pressing process X5 begins, so that the hot-available process memory is restored to a state that meets the inheritance requirement. The industrial controller will directly inherit and supplement the control segments, and write them into the process memory to call the control sequence according to the execution order of subsequent processes.

[0036] When the same subsequent process corresponds to multiple process memories, multiple process memories are called in a coordinated manner. Based on the matching relationship between the current memory capacity of multiple process memories and the process capability requirements of the subsequent process, a primary and secondary inheritance and sharing relationship is constructed. Based on the primary and secondary inheritance sharing relationship and the collaborative coverage of the inheritance requirements of different process memories for subsequent processes, multi-memory collaborative inheritance control fragments and collaborative write control fragments are generated. By analyzing the timing relationship between the completion timing of the collaborative write control segment and the inheritance binding of the multi-memory collaborative inheritance control segment, the process memory call control sequence is obtained.

[0037] S6. Based on the process memory, recall the control sequence to perform energy-saving control on the target execution components of the automated equipment; In S6, the energy-saving control of the target execution components of automated equipment based on the process memory recall control sequence includes the following steps: The industrial controller reads the process memory to recall the control sequence and extracts the control segment corresponding to the current subsequent process according to the subsequent process identifier; When a directly inherited control segment is extracted, the industrial controller keeps the source execution component in a state after continuous drive release; in this way, when subsequent processes enter execution, they directly call the process memory. For example, when the pressing process X5 calls the clamping process memory, the industrial controller does not re-execute the complete clamping action, but writes the clamping process memory identifier into the inheritance source field of the pressing process X5 and allows the pressing process X5 to enter execution; When a rewrite control segment is extracted, the industrial controller outputs a rewrite control command to the corresponding source execution component according to the start time, duration and source execution component identifier in the rewrite control segment. For example, when the supplementary control segment is a short-term supplementary heating control segment, the industrial controller outputs a supplementary heating control command to the preheating unit; After the rewrite control command is executed, the industrial controller re-acquires the attenuation characteristics corresponding to the target process memory and updates the current memory balance of the target process memory. When the updated current memory capacity reaches the inheritance requirement of subsequent processes, the industrial controller allows the subsequent processes to begin execution; If the updated current memory capacity does not meet the inheritance requirements of subsequent processes, the industrial controller will pause the execution of subsequent processes. For example, before the pressing process X5 starts, it reads the clamping process memory and the hot-available process memory. When the clamping process memory meets the inheritance requirements, the industrial controller maintains the state after the clamping component is released and binds the clamping process memory to the pressing process. Through the above steps, subsequent processes can utilize the residual process capabilities formed by the preceding processes without continuously maintaining the high energy consumption state of the preceding processes, and can be executed by partial rewriting when necessary.

[0038] The method for constructing a master-slave inheritance and sharing relationship specifically includes the following steps: The industrial controller reads the current memory margin of each of the multiple process memories and determines the primary inherited process memory according to the current memory margin size; the process memory with the highest current memory margin and that matches the main process capability requirements of the subsequent process is marked as the primary inherited process memory, and the process memory with a current memory margin that is not the highest is marked as the auxiliary process memory. The industrial controller reads the main process capacity requirements and supplementary process capacity requirements of subsequent processes, allocates the main process capacity requirements to the main inherited process memory, and allocates the supplementary process capacity requirements to the auxiliary process memory. The main process capability requirements refer to the core process capability requirements that must be met before subsequent processes can be executed, such as the positioning stability requirement in the pressing process, the field of vision stability requirement in the inspection process, and the adsorption maintenance requirement in the conveying process. The supplementary process capability requirements refer to the additional process capability requirements used to assist the stable completion of subsequent processes, such as the clamping stability requirement in the pressing process, the posture maintenance requirement in the inspection process, and the posture limiting requirement in the conveying process. The industrial controller allocates the main process capacity requirements to the primary inherited process memory and the supplementary process capacity requirements to the auxiliary process memory. The method for generating multi-memory collaborative inheritance control segments and collaborative write-up control segments specifically includes the following steps: The industrial controller determines the coverage of the main process capacity requirement based on the current memory capacity of the main inherited process memory, and obtains the main inheritance coverage result. The part not covered by the main inherited process memory is recorded as the main inheritance remaining requirement. Specifically, if the current memory capacity of the main inherited process memory is not less than the main process capacity requirement, the main inheritance coverage result is complete coverage; if the current memory capacity of the main inherited process memory is less than the main process capacity requirement, the main inheritance coverage result is partial coverage, and the part not covered by the main inherited process memory is recorded as the main inheritance remaining requirement. The industrial controller determines the extent to which the auxiliary process memory covers the supplementary process capacity requirement and the remaining primary inherited requirement based on its current memory capacity. Specifically, if the current memory capacity of the auxiliary process memory can cover both the supplementary process capacity requirement and the remaining primary inherited requirement, the auxiliary inheritance coverage result is considered successful. If the current memory capacity of the auxiliary process memory can only cover the supplementary process capacity requirement and not the remaining primary inherited requirement, the auxiliary inheritance coverage result is considered insufficient primary demand coverage. If the current memory capacity of the auxiliary process memory is lower than the supplementary process capacity requirement, the auxiliary inheritance coverage result is considered insufficient auxiliary demand coverage. When the primary inheritance overriding result and the secondary inheritance overriding result together meet the inheritance requirements of subsequent processes, a multi-memory collaborative inheritance control segment is generated. For example, the inspection process needs to simultaneously satisfy the stability of the workpiece position and the stability of the workpiece posture. If the current memory margin of the positioning stabilization process memory can meet the main position stability requirements of the inspection process, and the current memory margin of the clamping process memory can meet the posture maintenance requirements of the inspection process, then the industrial controller generates a multi-memory collaborative inheritance control segment and binds the positioning stabilization process memory and the clamping process memory to the inspection process, so that the inspection process can enter execution without re-executing the complete positioning action and the complete clamping action.

[0039] When the results of primary inheritance overriding and secondary inheritance overriding are both lower than the inheritance requirements of subsequent processes, a collaborative write requirement is generated based on the insufficient portion, and the source execution component that needs to be written is determined. The collaborative write requirement consists of the remaining requirement of the primary inheritance and the insufficient requirement of the auxiliary process memory. The remaining requirement of the primary inheritance corresponds to the main process capability requirements not covered by the primary inheritance process memory. The insufficient requirement of the auxiliary process memory corresponds to the supplementary process capability requirements not covered by the auxiliary process memory.

[0040] The industrial controller generates collaborative write control segments based on the collaborative write demand, the controllable action granularity of the source execution component, and the start time of subsequent processes. Specifically, for the remaining demand of the primary inheritance process memory, the corresponding source execution unit of the primary inheritance process memory will be given priority to complete the writing; for the insufficient demand of the auxiliary process memory, the corresponding source execution unit of the auxiliary process memory will be given priority to complete the writing. For example, before the pressing process begins, if the positioning stable process memory can cover the main positioning requirements, but the hot-available process memory is lower than the hot-available requirements, the industrial controller will only generate a short-term heat compensation control segment for the hot-available process memory; if the positioning stable process memory is lower than the main positioning requirements, and the clamping process memory can cover the attitude holding requirements, the industrial controller will only generate a short-term positioning compensation control segment for the positioning stable process memory; if both the positioning stable process memory and the hot-available process memory are insufficient, the industrial controller will generate a short-term positioning compensation control segment and a short-term heat compensation control segment respectively.

[0041] Methods for analyzing the timing relationship between the completion timing of collaborative completion control segments and the inheritance binding of multi-memory collaborative inheritance control segments include: The industrial controller reads the start time of subsequent processes, the inherited requirements, and the corresponding main inherited process memory and auxiliary process memory; The industrial controller sequentially arranges the inherited control fragment list and the supplementary control fragment list according to the order in which the supplementary control fragment is executed before the inherited control fragment, thus obtaining the initial call fragment sequence; The industrial controller calculates the expected memory margin of the primary inherited process memory and the auxiliary process memory before the start of the subsequent process based on the initial call segment sequence; The expected memory capacity is determined based on the current memory capacity, the amount of supplementation corresponding to the write control segment, and the amount of decay from the current moment to the start of the subsequent process.

[0042] When the expected memory reserve reaches the inheritance requirement of subsequent processes, the initial call segment sequence is marked as the process memory call control sequence; When the expected memory reserve does not meet the inheritance requirements of subsequent processes, an additional write control segment is generated based on the insufficient part, and the additional write control segment is incorporated into the initial call segment sequence. The shortfall is the difference between the inherited requirements of subsequent processes and the expected memory capacity. The supplementary write control segment is used to supplement the process capabilities that still have gaps in the main inherited process memory and auxiliary process memory. After the supplementary write control segment is generated, the industrial controller will incorporate the supplementary write control segment into the initial call segment sequence and rearrange it according to the execution sequence. During the rearrangement, the supplementary write control segment is set before the start of the subsequent process and before the multi-memory collaborative inheritance control segment to ensure that the supplementary write action is completed before the subsequent process begins execution.

[0043] The industrial controller recalculates the expected memory margin after incorporating the additional control segments. When the recalculated expected memory margin reaches the inheritance requirement of subsequent processes, the call segment sequence after incorporating the additional control segments is marked as the process memory call control sequence. If the recalculated expected memory margin still does not meet the inheritance requirements of subsequent processes, the complete recovery control segment is written into the call segment sequence, and the call segment sequence after writing the complete recovery control segment is marked as the process memory call control sequence. Among them, the complete recovery control segment is used to enable the source execution component to re-establish the complete process state required for subsequent processes; for example, when the clamping stability memory margin is insufficient and the pressing process requirements cannot be met even after additional writing, the industrial controller writes the complete clamping recovery control segment; when the heat availability memory margin is insufficient and the pressing process requirements cannot be met even after additional heating, the industrial controller writes the complete heating recovery control segment; when the adsorption maintenance memory margin is insufficient and the conveying process requirements cannot be met even after additional extraction, the industrial controller writes the complete adsorption recovery control segment.

[0044] Based on the fact that the residual process capabilities have been recorded and formed into an inheritance map, this invention further analyzes the difference between the decay state of each process memory in the process memory inheritance map and the inheritance requirements of subsequent processes, and generates a direct inheritance call method or a supplementary inheritance call method, in order to address the problem that it is still necessary to determine whether the process memory is sufficient before the subsequent process actually enters, and how multiple process memories are coordinated and called. Then, based on the current memory balance and memory gap, a process memory call control sequence is generated. When the same subsequent process corresponds to multiple process memories, a primary and secondary inheritance sharing relationship is also constructed, and multi-memory collaborative inheritance control fragments and collaborative supplementary writing control fragments are generated according to the collaborative coverage. Through the above steps, subsequent processes can prioritize calling existing process memory. When the memory margin is insufficient, only the missing part is written, and the timing of the writing completion is connected with the inheritance binding timing. This solves the problem that even if the equipment is identified as releaseable, it is difficult to further form an executable energy-saving control sequence that matches the needs of subsequent processes.

[0045] Example 2, please refer to Figure 3 In Embodiment 2 of the present invention, the real-time energy consumption monitoring and energy-saving optimization system for automated equipment is implemented in detail through the following modules: The operation record generation module acquires process stage signals, target execution component action completion signals, quality feedback signals, and real-time energy consumption data during the operation of automated equipment, and generates operation records for the automated equipment. The memory record generation module generates a corresponding process memory record based on the effective action completion status of the target execution component in the automated equipment operation record. The inheritance graph construction module constructs a process memory inheritance graph based on the inheritance correspondence between the process memory records and the process capability requirements of subsequent processes. The calling method generation module generates the process memory calling method by analyzing the difference between the decay state of each process memory in the process memory inheritance map and the inheritance requirements of subsequent processes. The control sequence generation module generates a process memory call control sequence based on the current memory margin and memory gap corresponding to the process memory call method. The energy-saving control execution module performs energy-saving control on the target execution components of the automated equipment by calling the control sequence according to the process memory.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0047] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0048] All formulas in this manual are dimensionless and calculated numerically. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters and thresholds in the formulas are set by those skilled in the art according to the actual situation.

[0049] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for real-time monitoring and energy-saving optimization of energy consumption in automated equipment, characterized in that, include: S1. Acquire process stage signals, target execution component action completion signals, quality feedback signals, and real-time energy consumption data during the operation of automated equipment, and generate automated equipment operation records; S2. Generate a corresponding process memory record based on the effective action completion status of the target execution component in the automated equipment operation record; S3. Based on the inheritance correspondence between the process memory records and the process capability requirements of subsequent processes, construct a process memory inheritance graph; S4. By analyzing the difference between the decay state of each process memory in the process memory inheritance map and the inheritance requirements of subsequent processes, a process memory calling method is generated. S5. Based on the current memory balance and memory gap corresponding to the process memory recall method, generate a process memory recall control sequence; S6. Based on the process memory, call the control sequence to perform energy-saving control on the target execution components of the automated equipment.

2. The method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment according to claim 1, characterized in that, The method for constructing a process memory inheritance graph includes: Read the process stage identifier, entry conditions, completion conditions and process sequence information of the subsequent process, and extract the process capability requirement type of the subsequent process based on the entry conditions and completion conditions; Read the process effect type, serviceable process identifier, and source execution component identifier from each process memory record, and match the process effect type with the process capability requirement type; When the process effect type covers the process capability requirement type of the subsequent process, establish an inheritance correspondence between the process memory and the subsequent process; The process memory is used as the first type of graph node, the subsequent process is used as the second type of graph node, and the inheritance relationship is used as the graph edge to generate the process memory inheritance graph.

3. The method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment according to claim 2, characterized in that, The method for recalling the generation process memory includes: Based on the process progress record, identify the non-operational stage where the preceding process is completed and the subsequent process has not yet started, and read the target execution component that is still in a continuously driven state within the non-operational stage; Output a continuous drive release command to the target execution component that is in a continuous drive state, and record the release time; From the moment of release, collect the decay characterization value corresponding to the process memory, and update the current memory balance of the process memory according to the decay characterization value; Read the inheritance requirements of the subsequent process corresponding to the process memory along the process memory inheritance map, and compare the current memory reserve with the inheritance requirements of the subsequent process. When the current memory capacity is not less than the inheritance requirement of the subsequent process, the calling method corresponding to the process memory is determined to be the direct inheritance calling method. When the current memory reserve is lower than the inheritance requirement of the subsequent process, the calling method corresponding to the process memory is determined as the write inheritance calling method, and the difference between the current memory reserve and the inheritance requirement of the subsequent process is recorded as the memory gap.

4. The method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment according to claim 3, characterized in that, The method for updating the current memory balance of the process memory based on the attenuation characterization includes: Retrieve the process effect type, initial memory size, formation time, and release time from the corresponding process memory record; The initial memory amount is used as the starting value for decay tracking, and the release time is used as the starting point for updating the current memory balance. The decay representation in the release decay status record is read according to the preset sampling period. By comparing the attenuation characteristics at adjacent sampling times, the attenuation change within the current sampling period can be obtained. The current memory balance at the current sampling time is obtained by subtracting the corresponding process capability loss from the initial memory based on the decay change.

5. The method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment according to claim 4, characterized in that, The method for generating process memory call control sequences includes: Determine the number of process memories corresponding to the same subsequent process. When the same subsequent process corresponds to one process memory, read the process memory calling method and the target process memory identifier corresponding to the calling method. When the process memory calling method is the direct inheritance calling method, generate a direct inheritance control fragment. When the process memory is accessed via a supplementary inheritance method, read the memory gap, the identifier of the source execution component, and the start time of the subsequent process. The amount of process capacity that needs to be supplemented is determined based on the memory gap, and the time window for supplementation is intercepted backward from the start time of the subsequent process. Based on the source execution component identifier, read the controllable action granularity of the corresponding execution component and generate candidate rewrite fragments within the rewrite time window; The candidate fill-in fragments are spliced ​​together in the order of their start times, and the shortest splicing result that makes the current memory remaining amount after fill-in reach the inheritance requirements of the subsequent process is selected as the fill-in control fragment. The directly inherited control fragments and the supplemented control fragments will be written into the process memory call control sequence according to the execution order of subsequent processes; When the same subsequent process corresponds to multiple process memories, multiple process memories are called in a coordinated manner. Based on the matching relationship between the current memory capacity of multiple process memories and the process capability requirements of the subsequent process, a primary and secondary inheritance and sharing relationship is constructed. Based on the primary and secondary inheritance sharing relationship and the collaborative coverage of the inheritance requirements of different process memories for subsequent processes, multi-memory collaborative inheritance control fragments and collaborative write control fragments are generated. By analyzing the timing relationship between the completion timing of the collaborative write control segment and the inheritance binding of the multi-memory collaborative inheritance control segment, the process memory call control sequence is obtained.

6. The method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment according to claim 5, characterized in that, The method for energy-saving control of target execution components of automated equipment based on process memory recall control sequences includes: Read the process memory to recall the control sequence, and extract the control segment corresponding to the current subsequent process according to the subsequent process identifier; When a directly inherited control segment is extracted, the industrial controller keeps the source actuator in the state after continuous drive release. When a rewrite control segment is extracted, the industrial controller outputs a rewrite control command to the corresponding source execution component according to the start time, duration and source execution component identifier in the rewrite control segment. After the rewrite control command is executed, the industrial controller re-acquires the attenuation characteristics corresponding to the target process memory and updates the current memory balance of the target process memory. When the updated current memory capacity reaches the inheritance requirement of subsequent processes, the industrial controller allows the subsequent processes to enter execution; If the updated current memory capacity does not meet the inheritance requirements of subsequent processes, the industrial controller will suspend the execution of subsequent processes.

7. The method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment according to claim 6, characterized in that, The method for constructing a primary-secondary inheritance sharing relationship includes: Read the current memory balance of each of the multiple process memory units, and determine the primary inherited process memory unit according to the current memory balance size; The process memory with the highest current memory margin and that matches the main process capability requirements of subsequent processes is marked as the primary inherited process memory, and the process memory with a lower current memory margin is marked as the auxiliary process memory. Read the main process capacity requirements and supplementary process capacity requirements of subsequent processes, allocate the main process capacity requirements to the main inherited process memory, and allocate the supplementary process capacity requirements to the auxiliary process memory.

8. The method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment according to claim 7, characterized in that, The method for generating multi-memory collaborative inheritance control segments and collaborative write control segments includes: Based on the current memory capacity of the primary inherited process memory, determine its coverage of the main process capacity requirements, obtain the primary inheritance coverage result, and record the portion not covered by the primary inherited process memory as the primary inheritance remaining requirement. Based on the current memory capacity of the auxiliary process memory, determine its coverage of the supplementary process capacity requirement and the remaining requirement of the main inheritance, and obtain the auxiliary inheritance coverage result; When the primary inheritance overriding result and the secondary inheritance overriding result together meet the inheritance requirements of subsequent processes, a multi-memory collaborative inheritance control segment is generated. When the results of primary inheritance overriding and secondary inheritance overriding are both lower than the inheritance requirements of subsequent processes, a collaborative write requirement is generated based on the insufficient portion, and the source execution component that needs to be written is determined. Based on the collaborative writing requirements, the controllable action granularity of the source execution component, and the start time of subsequent processes, a collaborative writing control segment is generated.

9. The method for real-time monitoring and energy-saving optimization of energy consumption of automated equipment according to claim 8, characterized in that, The method for analyzing the timing relationship between the completion timing of the collaborative completion control segment and the inheritance binding of the multi-memory collaborative inheritance control segment includes: Read the start time of subsequent processes, the inherited requirements, and the corresponding main inherited process memory and auxiliary process memory; The list of inherited control segments and the list of supplementary control segments are sequentially arranged according to the order in which supplementary control segments are executed before inherited control segments to obtain the initial call segment sequence. Based on the initial call segment sequence, calculate the expected memory margin of the main inherited process memory and the auxiliary process memory before the start of the subsequent process. When the expected memory reserve reaches the inheritance requirement of subsequent processes, the initial call segment sequence is marked as the process memory call control sequence; When the expected memory reserve does not meet the inheritance requirements of subsequent processes, an additional write control segment is generated based on the insufficient part, and the additional write control segment is incorporated into the initial call segment sequence. The expected memory margin after incorporating the additional control segment is recalculated. When the recalculated expected memory margin reaches the inheritance requirement of subsequent processes, the call segment sequence after incorporating the additional control segment is marked as the process memory call control sequence. If the recalculated expected memory margin still does not meet the inheritance requirements of subsequent processes, the complete recovery control segment is written into the call segment sequence, and the call segment sequence after writing the complete recovery control segment is marked as the process memory call control sequence.

10. A real-time energy consumption monitoring and energy-saving optimization system for automated equipment, applied to the real-time energy consumption monitoring and energy-saving optimization method for automated equipment as described in any one of claims 1 to 9, characterized in that, include: The operation record generation module acquires process stage signals, target execution component action completion signals, quality feedback signals, and real-time energy consumption data during the operation of automated equipment, and generates operation records for the automated equipment. The memory record generation module generates a corresponding process memory record based on the effective action completion status of the target execution component in the automated equipment operation record. The inheritance graph construction module constructs a process memory inheritance graph based on the inheritance correspondence between the process memory records and the process capability requirements of subsequent processes. The calling method generation module generates the process memory calling method by analyzing the difference between the decay state of each process memory in the process memory inheritance map and the inheritance requirements of subsequent processes. The control sequence generation module generates a process memory call control sequence based on the current memory margin and memory gap corresponding to the process memory call method. The energy-saving control execution module performs energy-saving control on the target execution components of the automated equipment by calling the control sequence according to the process memory.

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