Software robot or driver system based on digital twin five-dimensional model and modeling method thereof

Abstract

The invention discloses a software robot or driver modeling method based on a digital twinning five-dimensional model. A software robot or driver system comprises a physical model, a virtual model, atwinning data information chain and a service system, wherein twinning data is transmitted through the twinning data information chain; the physical model comprises a soft robot or driver body, a sensor and a control system. Real-time state information of a physical software robot or a driver is collected through various sensors, and a five-dimensional visualization engine is driven to render andgenerate a virtual software robot or driver model consistent with the physical software robot or driver based on the data; the loyalty twin mapping of the physical software robot or driver and the virtual software robot or driver is realized, multi-view visual display can be carried out on line in real time and off line in non-real time, working conditions can be naturally interacted and displayedin real time, visual display and prediction are carried out on information such as the working conditions, and the intelligent level of the software robot or driver is improved.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a soft robot or driver system based on a digital twin five-dimensional model and a modeling method thereof. Background technique [0002] Soft robots and drivers are made of soft materials, theoretically have unlimited degrees of freedom, and have the advantages of good compliance, adaptability and safety. Compared with traditional rigid robots, they have huge advantages and are more and more widely used. It has become a hot spot in academia and engineering circles. But at present, the digitization level of soft robots and drives is relatively low. Improving the digitization level of soft robots and drives is a key issue facing soft robots and drives. [0003] At present, most of the models related to soft robots or actuators are limited to a certain aspect. For example, Chinese patent document CN103978485 B discloses a kinematics and dynamics model of a snake-like soft ro...

AI Technical Summary

Problems solved by technology

For example, Chinese patent document CN103978485 B discloses a kinematics and dynamics model of a snake-like soft robot or a driver, and designs a snake-like soft robot control system and control method, realizing the purpose of simplifying the robot control system. At the same time, it also avoids the defects that ordinary robots are not flexible enough to control; Chinese patent document CN 109664312A utilizes three-dimensional modeling software to model the outer envelope contour of the soft robot or the driver, and the shape of the soft robot required by the three-dimensional scanner Carry out three-dimensional scanning, and then use three-dimensional modeling software for modeling, and disclose a method of preset deformation of growing soft robots based on thermal deformation

The soft robot or driver model proposed in the above patents solves the corresponding problems, but it is not convenient for real-time display and prediction of working conditions, it is not convenient for providing intelligent services, and the management level is low

Images