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文中将机器人装配单元的各类设备定义为独立的Ａｇｅｎｔ，采用ＰｅｔｒｉＮｅｔ模型，为各Ａｇｅｎｔ的作业定义了有关操作的基本模型结构，作为基于多Ａｇｅｎｔ的模型库．通过对Ａｇｅｎｔ模型库元素的可视化组合重构，不仅可以实现机器人作业单元几何元素的重组，而且可以方便地实现作业任务的重组．文中提出的基于层次化节点及节点槽结构，实现了对可视基元的分类管理和组织，解决了可视图符与操作任务间的映射问题，可为用户提供基于直接操作的可视化任务程序制作界面．通过采用基于面向目标层次化可视基元的可视交互流程导引，定义了Ａｇｅｎｔ间的作业关系，最终完成对于用户单元组合布置与重构过程的导航，从而实现具有良好用户界面的机器人作业单元可视化组合重构系统和机器人单元任务可视化编程平台
In this paper, all kinds of equipment of the robot assembly unit are defined as independent agents. The PetriNet model is used to define the basic model structure of operation for each Agent as a model library based on multi-agent. Through the visual combination and reconstruction of the Agent model library elements, not only the geometric elements of the robot work unit can be reorganized, but also the task reorganization can be conveniently realized. The hierarchical node and node slot structure proposed in this paper realizes the classification management and organization of visual primitives, solves the mapping problem between visual icons and operational tasks, and provides the user with a visual task program based on direct operation interface. Through the use of visual interactive process guidance based on the goal-oriented visual element, the operating relationship between Agents is defined, and finally the navigation of the user unit assembly arrangement and reconstruction process is completed, so as to realize a robot job with a good user interface Unit Visual Reconstruction System and Robot Unit Mission Visualization Programming Platform