With the progressive digitalization in industrial manufacturing, the usage of complex robotic systems in both intralogistics and production is expected to increase. This proposes a challenge for planners and shop floor workers, as programming and interacting with these various systems leads to a high cognitive load. Especially the broad range of different manufacturer specific software leads to a number of problems, e.g. the program-synchronization between different systems and the often necessary workshops for workers. These problems can lead to inefficient programming and planning operations, bad worker satisfaction and human errors. In this paper, we present a modular, system agnostic and human centered software framework that unifies the programming of different systems, to enable centralized and intuitive system programming for non-expert operators. Our software framework utilizes visual programming concepts together with an integrated digital twin of the factory and a novel graph-based programming interface. We explain our concept in detail and describe our validation through integration into a realistic industrial setup with three different systems. In addition, we provide an evaluation of our concept's usability with an experimental user study and discuss the results of the study and the software implementation. Our study results show that even non-technical users are able to use our software after a brief introduction to create complex processes that involve multiple machines working in parallel. All users reported high usability and expert users reported that the visual process editor has enough features to create processes for industrial applications. Finally, we conclude this paper by providing an outlook on future work and use-cases of our software.

随着工业制造的逐步数字化，复杂机器人系统在内部物流和生产中的使用预计会增加。这对规划人员和车间工人提出了挑战，因为对这些不同的系统进行编程和交互会导致很高的认知负荷。尤其是范围广泛的不同制造商专用软件会导致许多问题，例如不同系统之间的程序同步和工人经常需要的车间。这些问题会导致编程和规划操作效率低下、员工满意度低和人为错误。在本文中，我们提出了一个模块化的、系统不可知的和以人为中心的软件框架，它统一了不同系统的编程，为非专业操作员提供集中和直观的系统编程。我们的软件框架利用可视化编程概念以及工厂的集成数字双胞胎和新颖的基于图形的编程界面。我们详细解释了我们的概念，并通过将三个不同系统集成到现实的工业设置中来描述我们的验证。此外，我们通过实验性用户研究对概念的可用性进行评估，并讨论研究结果和软件实施。我们的研究结果表明，即使是非技术用户在简单介绍后也能够使用我们的软件来创建涉及多台机器并行工作的复杂流程。所有用户都报告了高可用性，专家用户报告说可视化流程编辑器具有足够的功能来为工业应用程序创建流程。最后，我们通过展望我们软件的未来工作和用例来结束本文。