A digital twin motion simulation system and method for industrial stacker

A motion simulation and stacker technology, applied in the field of digital twins, to achieve the effect of real and beautiful data synchronization, lower data update rate, and lower hardware requirements

Active Publication Date: 2022-07-01
YANTAI JIERUI NETWORK TRADING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a digital twin simulation system and method for real-time motion of industrial stackers to solve the problem of virtual mapping between the real motion of the stacker and the three-dimensional scene, and to realize the movement, removal and removal of the stacker in the three-dimensional scene. Carrying out goods, releasing goods and other actions to restore

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] A digital twin motion simulation method for an industrial stacker in this embodiment makes a simple model according to a real stacker container, forks and shelves within the range of motion; obtains the preset logic control module in the stacker PLC Good column position data, layer position data, and fork position data; obtain and record the point coordinates corresponding to the stacker column position, layer position, and fork position in the 3D scene. Finally, the current column, layer and fork position data of the stacker in the PLC are obtained in real time through the network communication module, the real position data is converted into 3D scene position data, and the movement process of the stacker within one frame is judged, and the Unity3D simulation is used. Animate the model movement.

[0040] The specific process includes the following steps:

[0041] S1. Make a simple model according to the real stacker cargo box, fork and shelf within the range of motion...

Embodiment 2

[0063] The difference between this embodiment and the first embodiment is that in a real factory environment, the stacker is mainly used in an automated warehouse. In addition to the shelves for storing goods, there will also be pick-up platforms at both ends of the stacker track, which are used to connect the conveyor line and serve as the end point for receiving goods and the starting point for delivering goods. The pick-up table can be used as a shelf with only one layer of height, and is constructed in the scene together with other shelves in the warehouse. Through the method and process described in Embodiment 1, the motion simulation of the stacker between the pick-up table and the shelf is realized.

Embodiment 3

[0065] The difference between this embodiment and the first embodiment is that in the factory digital twin project, it is often necessary to simulate the entire process of picking and placing goods in the warehouse. Appropriate collision boxes are added, and cargo models with collision boxes are added to shelves and pick-up platforms. The method and process described in Embodiment 1 can also be used to simulate the entire process of picking and placing goods in a three-dimensional scene.

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PUM

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Abstract

The invention relates to a digital twin motion simulation system and method for an industrial stacker, which is characterized by comprising: S1. According to the column, layer and fork position of the stacker on the stacker PLC in a real scene, find The coordinate data of the corresponding points of the stacker model in the 3D scene are recorded and recorded; S2. Obtain the real-time position coordinate data of the stacker on the stacker PLC; S3. Convert the real-time position coordinate data of the stacker into the position corresponding to the 3D scene data; S4, start the three-dimensional scene, use the received first frame data directly as the initial data of the model in the scene, and then compare the next frame data with the previous frame data to judge the movement state of the stacker within one frame time, and Control the movement of the stacker model in the scene. The invention reduces the difficulty of model making, facilitates and quickly builds a three-dimensional scene, the scene model data synchronization is more realistic and beautiful, and the movement state of the stacker is more accurate.

Description

technical field [0001] The invention relates to a digital twin technology, in particular to a digital twin motion simulation system and method for an industrial stacker. Background technique [0002] As an important part of the factory automation warehouse, the stacker is an indispensable part of the digital twin of the factory. By simulating the motion state of the stacker in a three-dimensional scene, the working state of the factory automation warehouse can be visualized. [0003] The real motion data of the stacker comes from reading its PLC data, and the 3D scene simulation model mainly includes the stacker and its corresponding shelves. At present, the motion simulation of stacker cranes mainly encounters two problems: First, the size and position of the shelves are not evenly distributed in reality, and it is difficult to model the real model in full scale in the 3D scene, resulting in the inability of the real data of the stacker. It directly corresponds to the pos...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65G1/04G06F30/20G06T17/00G06T13/20
CPCB65G1/0421G06F30/20G06T17/00G06T13/20
Inventor 李腾王涛李文淼崔翔张伟顺姚舜天
Owner YANTAI JIERUI NETWORK TRADING
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