# US 2025/0165327 A1 · Assembly method and apparatus, electronic device, and storage medium

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- Number: US 2025/0165327 A1
- Document ID: US20250165327A1
- Status: Published application
- Kind: A1
- Application number: 18/957,580
- Filed: 2024-11-22
- Published: 2025-05-22
- Earliest claimed: 2023-11-22
- Assignees: Cosmo Institute of Industrial Intelligence (Qingdao) Co., Ltd.; Haier Cosmo IOT Technology Co., Ltd.
- Applicants: Cosmo Institute of Industrial Intelligence (Qingdao) Co., LTD.; Haier Cosmo IOT Technology Co., Ltd.
- Inventors: Lucheng CHEN; Liyang Dong; Chenggang Qin; Xiangxiu Meng; Shuo Zhang; Shuxiao Cui
- Web page: https://patentgrep.com/patent/US20250165327A1

## CPC

- G06F 11/0769: {Readable error formats, e.g. cross-platform generic formats, human understandable formats}
- G05B 19/4184: {characterised by fault tolerance, reliability of production system}
- G06F 9/3016: {Decoding the operand specifier, e.g. specifier format}
- G06F 11/0721: {within a central processing unit [CPU]}
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

An assembly method includes acquiring process text, inputting the process text into a unimodal model, and generating machine instructions, where the machine instructions are represented in computer language; controlling an assembly device to execute the machine instructions; in response to receiving a first error message sent by the assembly device, determining the remaining text based on the first error message, using the remaining text as new process text, and returning to the step of inputting the process text into the unimodal model and generating the machine instructions; and in response to receiving no first error message sent by the assembly device, completing assembly.

## Claims

### Claim 1

An assembly method, comprising:
acquiring process text, inputting the process text into a unimodal model, and generating machine instructions, wherein the machine instructions are represented in computer language;
controlling an assembly device to execute the machine instructions;
in response to receiving a first error message sent by the assembly device, determining remaining text based on the first error message, using the remaining text as new process text, and returning to a step of inputting the process text into the unimodal model and generating the machine instructions, wherein the first error message is acquired based on an exception capturing module of the assembly device, the exception capturing module has a fixed pattern, and the remaining text comprises at least part of the process text; and
in response to receiving no first error message sent by the assembly device, completing assembly.

### Claim 2 (depends on 1)

The assembly method of claim 1, wherein acquiring the process text comprises:
acquiring assembly information, inputting the assembly information into a multimodal model, and determining a process step, wherein the assembly information comprises assembly text and an assembly drawing, and the process step is represented in natural language; and
determining the process text based on the process step and a process knowledge graph associated with the assembly drawing.

### Claim 3 (depends on 2)

The assembly method of claim 2, wherein determining the remaining text comprises:
determining executed instructions, wherein the executed instructions are instructions that are among the machine instructions and that have been executed when the assembly device sends the first error message;
determining executed text based on the executed instructions; and
determining the remaining text based on the executed text and the process text.

### Claim 4 (depends on 2)

The assembly method of claim 2, after determining the process step, the method further comprising:
determining a matching degree between the process step and a standard step corresponding to the assembly drawing;
in response to determining that the matching degree between the process step and the standard step corresponding to the assembly drawing is less than a preset threshold, generating a second error message; and
updating the assembly information based on the second error message, and returning to a step of inputting the assembly information into the multimodal model and determining the process step until the matching degree between the process step and the standard step corresponding to the assembly drawing is greater than or equal to the preset threshold.

### Claim 5 (depends on 2)

The assembly method of claim 2, wherein determining the process text based on the process step and the process knowledge graph associated with the assembly drawing comprises:
decomposing the process step to obtain process actions and an action topology, wherein the action topology is configured to indicate a position and a dependency relationship of each of the process actions in the process step;
determining action text corresponding to each of the process actions based on the process knowledge graph; and
combining action text corresponding to the process actions according to the action topology to obtain the process text.

### Claim 6 (depends on 5)

The assembly method of claim 5, wherein the process step comprises process requirements, and the process knowledge graph comprises a basic graph and an encapsulation function; and
for any of the process actions, determining action text corresponding to a process action based on the process knowledge graph comprises:
determining a workpiece feature and an assembly feature of the process action based on the basic graph;
determining a control parameter of the process action based on the encapsulation function, with the process requirements as constraints; and
determining the action text corresponding to the process action based on the workpiece feature, the assembly feature, and the control parameter.

### Claim 7 (depends on 1)

The assembly method of claim 1, wherein an input end of the unimodal model is provided with a primitive function library, the primitive function library comprises an instruction function, the instruction function is represented in the computer language, and the computer language comprises at least one of machine language, assembly language, high-level language, or specialized language; and
inputting the process text into the unimodal model and generating the machine instructions comprises:
constructing a model prompt based on the process text and the primitive function library; and
inputting the model prompt into the unimodal model and generating the machine instructions.

### Claim 8 (depends on 7)

The assembly method of claim 7, after completing the assembly, the assembly method further comprising:
acquiring an assembly result;
in response to determining that the assembly result does not match a preset result corresponding to an assembly drawing, generating a third error message; and
updating the model prompt based on the third error message and returning to a step of inputting the process text into the unimodal model and generating the machine instructions until the assembly result matches the preset result corresponding to the assembly drawing.

### Claim 9

An electronic device, comprising a processor and a memory communicatively connected to the processor,
wherein the memory stores a computer program executable by the processor to enable the processor to perform an assembly method;
wherein the assembly method comprises:
acquiring process text, inputting the process text into a unimodal model, and generating machine instructions, wherein the machine instructions are represented in computer language;
controlling an assembly device to execute the machine instructions;
in response to receiving a first error message sent by the assembly device, determining remaining text based on the first error message, using the remaining text as new process text, and returning to a step of inputting the process text into the unimodal model and generating the machine instructions, wherein the first error message is acquired based on an exception capturing module of the assembly device, the exception capturing module has a fixed pattern, and the remaining text comprises at least part of the process text; and
in response to receiving no first error message sent by the assembly device, completing assembly.

### Claim 11 (depends on 9)

The electronic device of claim 9, wherein acquiring the process text comprises:
acquiring assembly information, inputting the assembly information into a multimodal model, and determining a process step, wherein the assembly information comprises assembly text and an assembly drawing, and the process step is represented in natural language; and
determining the process text based on the process step and a process knowledge graph associated with the assembly drawing.

### Claim 12 (depends on 11)

The electronic device of claim 11, wherein determining the remaining text comprises:
determining executed instructions, wherein the executed instructions are instructions that are among the machine instructions and that have been executed when the assembly device sends the first error message;
determining executed text based on the executed instructions; and
determining the remaining text based on the executed text and the process text.

### Claim 13 (depends on 11)

The electronic device of claim 11, after determining the process step, the method further comprising:
determining a matching degree between the process step and a standard step corresponding to the assembly drawing;
in response to determining that the matching degree between the process step and the standard step corresponding to the assembly drawing is less than a preset threshold, generating a second error message; and
updating the assembly information based on the second error message, and returning to a step of inputting the assembly information into the multimodal model and determining the process step until the matching degree between the process step and the standard step corresponding to the assembly drawing is greater than or equal to the preset threshold.

### Claim 14 (depends on 11)

The electronic device of claim 11, wherein determining the process text based on the process step and the process knowledge graph associated with the assembly drawing comprises:
decomposing the process step to obtain process actions and an action topology, wherein the action topology is configured to indicate a position and a dependency relationship of each of the process actions in the process step;
determining action text corresponding to each of the process actions based on the process knowledge graph; and
combining action text corresponding to the process actions according to the action topology to obtain the process text.

### Claim 15 (depends on 14)

The electronic device of claim 14, wherein the process step comprises process requirements, and the process knowledge graph comprises a basic graph and an encapsulation function; and
for any of the process actions, determining action text corresponding to a process action based on the process knowledge graph comprises:
determining a workpiece feature and an assembly feature of the process action based on the basic graph;
determining a control parameter of the process action based on the encapsulation function, with the process requirements as constraints; and
determining the action text corresponding to the process action based on the workpiece feature, the assembly feature, and the control parameter.

### Claim 16 (depends on 9)

The electronic device of claim 9, wherein an input end of the unimodal model is provided with a primitive function library, the primitive function library comprises an instruction function, the instruction function is represented in the computer language, and the computer language comprises at least one of machine language, assembly language, high-level language, or specialized language; and
inputting the process text into the unimodal model and generating the machine instructions comprises:
constructing a model prompt based on the process text and the primitive function library; and
inputting the model prompt into the unimodal model and generating the machine instructions.

### Claim 17 (depends on 16)

The electronic device of claim 16, after completing the assembly, the assembly method further comprising:
acquiring an assembly result;
in response to determining that the assembly result does not match a preset result corresponding to an assembly drawing, generating a third error message; and
updating the model prompt based on the third error message and returning to a step of inputting the process text into the unimodal model and generating the machine instructions until the assembly result matches the preset result corresponding to the assembly drawing.

### Claim 18

A non-transitory computer-readable storage medium, storing computer instructions, wherein the computer instructions are configured to enable a processor to perform an assembly method when the computer instructions are executed by the processor;
wherein the assembly method comprises:
acquiring process text, inputting the process text into a unimodal model, and generating machine instructions, wherein the machine instructions are represented in computer language;
controlling an assembly device to execute the machine instructions;
in response to receiving a first error message sent by the assembly device, determining remaining text based on the first error message, using the remaining text as new process text, and returning to a step of inputting the process text into the unimodal model and generating the machine instructions, wherein the first error message is acquired based on an exception capturing module of the assembly device, the exception capturing module has a fixed pattern, and the remaining text comprises at least part of the process text; and
in response to receiving no first error message sent by the assembly device, completing assembly.

### Claim 19 (depends on 18)

The non-transitory computer-readable storage medium of claim 18, wherein acquiring the process text comprises:
acquiring assembly information, inputting the assembly information into a multimodal model, and determining a process step, wherein the assembly information comprises assembly text and an assembly drawing, and the process step is represented in natural language; and
determining the process text based on the process step and a process knowledge graph associated with the assembly drawing.

### Claim 20 (depends on 19)

The non-transitory computer-readable storage medium of claim 19, wherein determining the remaining text comprises:
determining executed instructions, wherein the executed instructions are instructions that are among the machine instructions and that have been executed when the assembly device sends the first error message;
determining executed text based on the executed instructions; and
determining the remaining text based on the executed text and the process text.