Material dynamic control method and system based on conveying line and medium

Abstract

The embodiment of the invention provides a material dynamic control method and system based on a conveying line and a medium, and the method comprises the steps: building a virtual conveying line based on a virtual environment, configuring the motion parameters of the virtual conveying line, generating the type of each node on the virtual conveying line, the relation between different nodes, and the function information of each node; the dynamic behavior of the materials on the virtual conveying line is calculated through a kinematic model, and a material conveying path is obtained; comparing the material conveying path direction with a pre-configured path direction to obtain a path deviation ratio; judging whether the path deviation rate is greater than or equal to a set path deviation rate threshold value or not; if yes, motion parameters of the virtual conveying line are adjusted based on the correction information; if yes, the material movement data stream is transmitted to the terminal, real production can be guided through virtual design, entity operation data can also be fed back to the virtual environment, closed-loop control is formed, and continuous performance monitoring and optimization are promoted.

Description

Technical Field

[0001] The present application relates to the technical field of material control, and in particular to a material dynamic control method, system and medium based on a conveyor line. Background Art

[0002] With the rapid development of intelligent manufacturing, traditional conveyor line virtual assets appear to be inflexible when faced with changing production simulation and virtual-reality integration needs.

[0003] For example, in the visual component software, the direction and speed of the conveyor line are derived from the path, the origin of the conveyor line is not calculated, and the mounted motor is also a virtual motor without the motor parameters of the real machine; For example, Siemens PDPs relies on the material path flow, without the concept of conveyor line drive; Therefore, it is particularly important to develop a virtual design system that can adapt to production tasks and efficiently manage conveyor line assets. The present invention aims to solve this problem by building a virtual environment to simulate real production scenarios and realize rapid debugging and intelligent control solutions for conveyor lines. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a material dynamic control method, system and medium based on a conveyor line, which can guide real production through virtual design, and the data of physical operation can also be fed back to the virtual environment to form a closed-loop control, promote continuous performance monitoring and optimization, and enhance the timeliness and accuracy of decision support.

[0005] The embodiment of the present application also provides a material dynamic control method based on a conveyor line, comprising: Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node; Based on the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path; Compare the material conveying path direction with the pre-configured path direction to obtain a path deviation rate, and determine whether the path deviation rate is greater than or equal to a set path deviation rate threshold; If it is greater than or equal to, then generate correction information, and adjust the motion parameters of the virtual conveyor line based on the correction information; If it is less than, a parameter data stream for material movement is generated, the material movement parameter data stream is transmitted to the terminal, and movement is performed according to the received parameter data stream.

[0006] Optionally, in the material dynamic control method based on the conveyor line described in the embodiment of the present application, a virtual conveyor line is constructed based on a virtual environment, and the motion parameters of the virtual conveyor line are configured to generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, specifically including: Create a digital twin of the conveyor line based on the virtual environment and generate a virtual conveyor line; Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight line segments and arc segments based on the conveying direction; Establish several marking points on the straight line segment and the arc segment, configure the motion parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship and node function information; Node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics; The node relationship includes the motor node driving the virtual axis node, and the encoder node feeding back to the servo control node for closed-loop control.

[0007] Optionally, in the material dynamic control method based on the conveyor line described in the embodiment of the present application, the operating parameters of each node are obtained, and the dynamic behavior of the material on the virtual conveyor line is calculated using a kinematic model based on the operating parameters of each node to obtain the material conveying path, which specifically includes: Obtain the operating parameters of each node, and analyze the material operation status information based on the operating parameters of each node; Calculate the initial offset information and rotation information of the material based on the material running status information; Analyze the dynamic behavior of the material during movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered per unit time. The real-time moving path of materials is dynamically adjusted based on dynamic behavior to obtain the material transportation path.

[0008] Optionally, in the material dynamic control method based on the conveyor line described in the embodiment of the present application, the material conveying path direction is compared with the pre-configured path direction to obtain the path deviation rate, which specifically includes: Obtain the material conveying path, analyze the material movement trajectory, and calculate the Euclidean distance between the material movement trajectory and the set path; Compare the Euclidean distance with the set distance threshold to obtain the distance difference; Set the detection time point, divide the distance difference corresponding to the current detection time point by the distance difference of the next detection time point, and analyze the path deviation rate.

[0009] Optionally, in the material dynamic control method based on the conveyor line described in the embodiment of the present application, generating correction information, and adjusting the motion parameters of the virtual conveyor line based on the correction information specifically includes: Obtaining the position information of the marking points, and analyzing the spline curve of the transportation path based on the position information of the marking points; Get the initial position of the material, and analyze whether the material is on the spline curve of the transportation path based on the initial position of the material; If yes, then analyze the position offset of the material when it passes through each marking point, generate first correction information according to the position offset, and adjust the parameters of the virtual conveyor line based on the first correction information; If not, the initial offset information and rotation information of the material are calculated, the second correction information is generated, and the initial position of the material is adjusted based on the second correction information.

[0010] Optionally, in the material dynamic control method based on the conveyor line described in the embodiment of the present application, generating a material movement data stream and transmitting the material movement data stream to the terminal specifically includes: Obtain material movement data flow and track the transportation status of materials, including product location and processing progress; Display the material movement data flow in the form of graphical programming or flow chart to obtain the data flow and control relationship between nodes; Based on the data flow and control relationship between nodes, the operating status of the conveyor line is displayed in real time, including speed, load rate and fault warning.

[0011] In a second aspect, an embodiment of the present application provides a material dynamic control system based on a conveyor line, the system comprising: a memory and a processor, the memory comprising a program of a material dynamic control method based on a conveyor line, and the program of the material dynamic control method based on a conveyor line is executed by the processor to implement the following steps: Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node; Based on the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path; Compare the material conveying path direction with the pre-configured path direction to obtain a path deviation rate, and determine whether the path deviation rate is greater than or equal to a set path deviation rate threshold; If it is greater than or equal to, then generate correction information, and adjust the motion parameters of the virtual conveyor line based on the correction information; If it is less than, a parameter data stream for material movement is generated, the material movement parameter data stream is transmitted to the terminal, and movement is performed according to the received parameter data stream.

[0012] Optionally, in the material dynamic control system based on the conveyor line described in the embodiment of the present application, a virtual conveyor line is constructed based on a virtual environment, and the motion parameters of the virtual conveyor line are configured, and the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node are generated, specifically including: Create a digital twin of the conveyor line based on the virtual environment and generate a virtual conveyor line; Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight line segments and arc segments based on the conveying direction; Establish several marking points on the straight line segment and the arc segment, configure the motion parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship and node function information; Node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics; The node relationship includes the motor node driving the virtual axis node, and the encoder node feeding back to the servo control node for closed-loop control.

[0013] Optionally, in the material dynamic control system based on the conveyor line described in the embodiment of the present application, the operating parameters of each node are obtained, and the dynamic behavior of the material on the virtual conveyor line is calculated using a kinematic model based on the operating parameters of each node to obtain the material conveying path, which specifically includes: Obtain the operating parameters of each node, and analyze the material operation status information based on the operating parameters of each node; Calculate the initial offset information and rotation information of the material based on the material running status information; Analyze the dynamic behavior of the material during movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered per unit time. The real-time moving path of materials is dynamically adjusted based on dynamic behavior to obtain the material transportation path.

[0014] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium includes a material dynamic control method program based on a conveyor line. When the material dynamic control method program based on a conveyor line is executed by a processor, the steps of the material dynamic control method based on a conveyor line as described in any one of the above items are implemented.

[0015] As can be seen from the above, the embodiment of the present application provides a material dynamic control method, system and medium based on a conveyor line. By constructing a virtual conveyor line based on a virtual environment and configuring the motion parameters of the virtual conveyor line, the types of each node on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node are generated; based on the types of each node on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, the dynamic behavior of the material on the virtual conveyor line is calculated using a kinematic model to obtain a material conveying path; the material conveying path direction is compared with the pre-configured path direction to obtain a path deviation rate; it is determined whether the path deviation rate is greater than or equal to a set path deviation rate threshold; if greater than or equal to, correction information is generated, and the motion parameters of the virtual conveyor line are adjusted based on the correction information; if less than, a parameter data stream of material movement is generated, the material movement parameter data stream is transmitted to the terminal, and movement is performed according to the received parameter data stream. Virtual design can guide real production, and the data of physical operation can also be fed back to the virtual environment to form a closed-loop control, which promotes continuous performance monitoring and optimization and enhances the timeliness and accuracy of decision support. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flow chart of a material dynamic control method based on a conveyor line provided in an embodiment of the present application; Figure 2 A flow chart of configuring virtual conveyor line parameters for a material dynamic control method based on a conveyor line provided in an embodiment of the present application; Figure 3 A flow chart of a material conveying path acquisition method based on a material dynamic control method of a conveying line provided in an embodiment of the present application; Figure 4 A flow chart of a path calculation method for a material dynamic control method based on a conveyor line provided in an embodiment of the present application; Figure 5 A flow chart of calculating path tangents and normalizing the material dynamic control method based on the conveyor line provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0019] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0020] Please refer to Figure 1 , Figure 1 The following is a flow chart of a material dynamic control method based on a conveyor line in some embodiments of the present application. The material dynamic control method based on a conveyor line is used in a terminal device, and the material dynamic control method based on a conveyor line includes the following steps: S101, constructing a virtual conveyor line based on a virtual environment, configuring motion parameters of the virtual conveyor line, generating types of nodes on the virtual conveyor line, relationships between different nodes, and functional information of each node; S102, based on the types of nodes on the virtual conveyor line and the relationships between different nodes, as well as the functional information of each node, a kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line to obtain a material conveying path; S103, comparing the material conveying path direction with the pre-configured path direction to obtain a path deviation rate, and determining whether the path deviation rate is greater than or equal to a set path deviation rate threshold; S104, if it is greater than or equal to, generating correction information, and adjusting the motion parameters of the virtual conveyor line based on the correction information; S105: If it is less than, generate a parameter data stream for material movement, transmit the parameter data stream for material movement to the terminal, and move according to the received parameter data stream.

[0021] It should be noted that the set path is automatically set according to the parameters of the virtual conveyor line and the dynamic behavior of the material on the virtual conveyor line. The data flow is an ordered data sequence of bytes with a starting point and an end point, including input flow and output flow. A virtual debugging environment is provided, and users can perform individual or joint debugging on specific conveyor line segments, motors, etc., to achieve efficient simulation of the actual layout planning of the conveyor line, asset allocation optimization, flexible path control during operation, and two-way connection of virtual and real data, so as to improve production efficiency, flexibility and resource utilization.

[0022] Please refer to Figure 2 , Figure 2 It is a flow chart of configuring virtual conveyor line parameters for a material dynamic control method based on a conveyor line in some embodiments of the present application. According to an embodiment of the present invention, a virtual conveyor line is constructed based on a virtual environment, and the motion parameters of the virtual conveyor line are configured to generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, specifically including: S201, creating a digital twin of the conveyor line based on the virtual environment (which can be understood as a mapping of the conveyor line in the real industrial environment) to generate a virtual conveyor line; S202, analyzing the conveying direction of the virtual conveyor line, and dividing the virtual conveyor line into straight line segments and arc segments based on the conveying direction; S203, establishing a number of marking points on the straight line segment and the arc segment, configuring the motion parameters of the virtual conveyor line based on the marking points, and generating node type, node relationship and node function information.

[0023] Specifically, the node types include transport range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, transport expression, and material statistics. The node relationship includes the motor node driving the virtual axis node and the encoder node feeding back to the servo control node for closed-loop control.

[0024] It should be noted that creating a digital twin of the conveyor line enables real-time monitoring and predictive maintenance, ensuring that the speed matches the motor performance or automatically adjusts the task allocation of the work station based on the signal.

[0025] Specifically, a digital twin maps an object in the physical world to the digital space in the form of data. For example, the digital twin of a conveyor line can fully reflect the current status of each part of the conveyor belt and the current environment. It is updated in real time. If there is a problem at a certain position on the conveyor line, the data will feedback the abnormality. The digital twin can automatically handle the abnormal situation and feedback from the digital space to the physical world, thereby solving real-world problems.

[0026] Please refer to Figure 3 , Figure 3This is a flow chart of a material conveying path acquisition method based on a material dynamic control method of a conveyor line in some embodiments of the present application. According to an embodiment of the present invention, the operating parameters of each node are acquired, and the dynamic behavior of the material on the virtual conveyor line is calculated using a kinematic model based on the operating parameters of each node to obtain the material conveying path, which specifically includes: S301, obtaining the operating parameters of each node, and analyzing the material operating status information based on the operating parameters of each node; S302, calculating initial offset information and rotation information of the material based on the material running status information; S303, analyzing the dynamic behavior of the material during movement based on the initial offset information and rotation information of the material, the dynamic behavior including acceleration, deceleration, pause, and area covered in unit time; S304, dynamically adjusting the real-time moving path of the material based on the dynamic behavior to obtain the material transportation path.

[0027] It should be noted that by analyzing the running status of the material, the acceleration, deceleration and pause of the material during the movement process are analyzed, so as to dynamically adjust the real-time movement path of the material and ensure the accuracy of the material transportation path.

[0028] According to an embodiment of the present invention, the material conveying path direction is compared with the pre-configured path direction to obtain the path deviation rate, which specifically includes: Obtain the material conveying path, analyze the material movement trajectory, and calculate the Euclidean distance between the material movement trajectory and the set path; Compare the Euclidean distance with the set distance threshold to obtain the distance difference; Set the detection time point, divide the distance difference corresponding to the current detection time point by the distance difference of the next detection time point, and analyze the path deviation rate.

[0029] It should be noted that in order to ensure that the moving trajectory of the material is always close to the set path, the path deviation rate is dynamically analyzed according to the distance difference to improve the flexibility of the correction of the moving trajectory.

[0030] According to an embodiment of the present invention, generating correction information and adjusting the motion parameters of the virtual conveyor line based on the correction information specifically includes: Obtaining the position information of the marking points, and analyzing the spline curve of the transportation path based on the position information of the marking points; Get the initial position of the material, and analyze whether the material is on the spline curve of the transportation path based on the initial position of the material; If yes, then analyze the position offset of the material when it passes through each marking point, generate first correction information according to the position offset, and adjust the parameters of the virtual conveyor line based on the first correction information; If not, the initial offset information and rotation information of the material are calculated, the second correction information is generated, and the initial position of the material is adjusted based on the second correction information.

[0031] It should be noted that the path spline curve is generated and resampled to ensure that the points on the path are evenly distributed. By using the extended path calculation method, the path can continue to extend in the starting or ending direction outside the path definition range. The position, tangent and normal on the path are dynamically calculated to ensure the smooth movement and accurate positioning of the object on the path. The situation where the initial position of the object is not on the path is handled. By calculating the initial offset and rotation, the alignment and smooth transition of the object and the path are achieved.

[0032] According to an embodiment of the present invention, generating a material movement data stream and transmitting the material movement data stream to a terminal specifically includes: Obtain material movement data flow and track the transportation status of materials, including product location and processing progress; Display the material movement data flow in the form of graphical programming or flow chart to obtain the data flow and control relationship between nodes; Based on the data flow and control relationship between nodes, the operating status of the conveyor line is displayed in real time, including speed, load rate and fault warning.

[0033] It should be noted that Guid is used to uniquely identify each entity, and the ECS architecture is built internally to use Component as a carrier to share and transfer data. External modules provide interfaces to access real-time context objects through Guid, and directly access and modify data through context objects, avoiding redundant data transfer and duplication, and improving data transmission efficiency.

[0034] According to an embodiment of the present invention, in order to generate a smooth path, the present invention adopts a Catmull-Rom spline interpolation algorithm and generates evenly distributed path points by resampling.

[0035] Catmull-Rom spline interpolation is a special form based on Hermite interpolation polynomials. Its characteristic is that it generates a smooth curve on a given set of control points, and the curve passes through each control point. This spline curve uses a matrix-based interpolation method in calculation.

[0036] The matrix form of the interpolation formula is: , in: , in, is a parameter variable with a value range of . This matrix represents the time parameter The polynomial form of .

[0037] , This is the basis matrix of the Catmull-Rom spline, which defines the shape and properties of the spline. Basis Matrix It is composed of fixed coefficients, ensuring that the generated curve has the characteristics of a Catmull-Rom spline.

[0038] G is a geometric vector of control points, containing the four control points associated with the current curve. For each curve segment, it is a 4×3 or 4×2 matrix (depending on the dimension) representing the four control points under the influence of the current curve segment: , in, are the coordinates of the four control points on which the curve segment depends.

[0039] The calculation of interpolation points is converted into matrix multiplication to ensure the smoothness and accuracy of the interpolation curve.

[0040] The goal of path resampling is to generate uniformly distributed sampling points to ensure uniform movement of the object on the path. The total length of the path needs to be calculated and the target distance between every two sampling points needs to be determined based on the required number of sampling points.

[0041] The calculation formula for calculating the total length of the path is as follows: , in, is the first Points, is the total number of path points and L is the total length of the path.

[0042] Determine target distance: , Where M is the number of points that need to be resampled and d is the target distance.

[0043] Starting from the starting point, move along the path. When the cumulative moving distance reaches the target distance d, record the current point and reset the cumulative moving distance value.

[0044] The generated sampling points are evenly distributed on the path to ensure smooth movement of the object on the path.

[0045] In a second aspect, an embodiment of the present application provides a material dynamic control system based on a conveyor line, the system comprising: a memory and a processor, the memory comprising a program of a material dynamic control method based on a conveyor line, and when the program of the material dynamic control method based on a conveyor line is executed by the processor, the following steps are implemented: Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node; Based on the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path; Compare the material conveying path direction with the pre-configured path direction to obtain the path deviation rate; Determine whether the path deviation rate is greater than or equal to a set path deviation rate threshold; If it is greater than or equal to, then generate correction information, and adjust the motion parameters of the virtual conveyor line based on the correction information; If it is less than, a parameter data stream for material movement is generated, the material movement parameter data stream is transmitted to the terminal, and movement is performed according to the received parameter data stream.

[0046] It should be noted that a virtual debugging environment is provided, and users can perform individual or joint debugging on specific conveyor line segments, motors, etc., to achieve efficient simulation of the actual layout planning of the conveyor line, asset allocation optimization, flexible path control during operation, and two-way connection of virtual and real data; so as to improve production efficiency, flexibility and resource utilization.

[0047] Specifically, the entire conveyor line system is divided into multiple modules, each module is responsible for a specific function. The modular design has the following advantages: Maintainability: Each module can be independently developed, tested and maintained.

[0048] Scalability: New modules or functions can be easily added without affecting the existing system.

[0049] Reusability: Some modules can be reused in other projects.

[0050] The system includes the following modules: Path Generation Module: Responsible for generating and resampling paths, and providing external encapsulation of common path calculation interfaces.

[0051] Motion Control Module: Responsible for the movement control of the object, and also references modules including path motor and area.

[0052] Physics Area Module: Responsible for determining the scope of access to the physics engine.

[0053] User Interaction Module: responsible for user input and path editing.

[0054] Motor Drive Module: Responsible for mapping the physical motor parameters in reality and the calculation synchronization of the motor during virtual-real linkage.

[0055] The methods of data flow control are as follows: In the motor module, Guid is used to uniquely identify each entity. Internally, the ECS architecture is built to use Component as a carrier to share and transfer data. Externally, the module provides an interface to access the real-time context object RunContext through Guid. The specific implementation includes the following steps: Initialize the ECS system: Build the ECS system and generate a unique Guid for each entity.

[0056] System processing data: implements Component's internal data processing and real-time update of RunContext data.

[0057] Data flow: Data is processed only through Component within ECS, and the Guid interface for accessing RunContext is provided externally.

[0058] In the ECS architecture, all data is stored in the component layer, the system layer is responsible for logical processing, and the entity layer is only used for data indexing and management. The specific implementation includes the following steps: Initialize entities and components: Create entity objects and add components to them. Components store specific data, such as the speed and position of the motor.

[0059] System processes data: The system layer is responsible for processing data from the components and updating the speed and position of the motor according to the logic.

[0060] Data flow: Data flows between components and the system, the system processes the data according to logic, and stores the updated data back to the components.

[0061] The motor object is uniquely identified by Guid, and the speed and position of the motor are provided through the context object RunContext, which realizes efficient access and transmission of data. Other modules can directly access and modify the context information of the motor object through Guid without knowing the specific implementation details of the motor object. The modules transfer data through Guid and context objects, which reduces the dependence between modules and improves the flexibility and maintainability of the system. The data is directly accessed and modified through the context object, which avoids redundant data transmission and duplication and improves the efficiency of the system.

[0062] According to an embodiment of the present invention, a virtual conveyor line is constructed based on a virtual environment, and motion parameters of the virtual conveyor line are configured to generate types of nodes on the virtual conveyor line and relationships between different nodes, as well as functional information of each node, specifically including: Create a digital twin of the conveyor line based on the virtual environment and generate a virtual conveyor line; Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight line segments and arc segments based on the conveying direction; Establish several marking points on the straight line segment and the arc segment, configure the motion parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship and node function information; Node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics; The node relationship includes the motor node driving the virtual axis node, and the encoder node feeding back to the servo control node for closed-loop control.

[0063] It should be noted that creating a digital twin of the conveyor line enables real-time monitoring and predictive maintenance, ensuring that the speed matches the motor performance or automatically adjusts the task allocation of the work station based on the signal.

[0064] According to an embodiment of the present invention, the operating parameters of each node are obtained, and the dynamic behavior of the material on the virtual conveyor line is calculated using a kinematic model based on the operating parameters of each node to obtain a material conveying path, which specifically includes: Obtain the operating parameters of each node, and analyze the material operation status information based on the operating parameters of each node; Calculate the initial offset information and rotation information of the material based on the material running status information; Analyze the dynamic behavior of the material during movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered per unit time. The real-time moving path of materials is dynamically adjusted based on dynamic behavior to obtain the material transportation path.

[0065] It should be noted that by analyzing the running status of the material, the acceleration, deceleration and pause of the material during the movement process are analyzed, so as to dynamically adjust the real-time movement path of the material and ensure the accuracy of the material transportation path.

[0066] According to an embodiment of the present invention, the material conveying path direction is compared with the pre-configured path direction to obtain the path deviation rate, which specifically includes: Obtain the material conveying path, analyze the material movement trajectory, and calculate the Euclidean distance between the material movement trajectory and the set path; Compare the Euclidean distance with the set distance threshold to obtain the distance difference; Set the detection time point, divide the distance difference corresponding to the current detection time point by the distance difference of the next detection time point, and analyze the path deviation rate.

[0067] It should be noted that in order to ensure that the moving trajectory of the material is always close to the set path, the path deviation rate is dynamically analyzed according to the distance difference to improve the flexibility of the correction of the moving trajectory.

[0068] According to an embodiment of the present invention, if it is greater than or equal to, then correction information is generated, and the motion parameters of the virtual conveyor line are adjusted based on the correction information, specifically including: Obtaining the position information of the marking points, and analyzing the spline curve of the transportation path based on the position information of the marking points; Get the initial position of the material, and analyze whether the material is on the spline curve of the transportation path based on the initial position of the material; If yes, then analyze the position offset of the material when it passes through each marking point, generate first correction information according to the position offset, and adjust the parameters of the virtual conveyor line based on the first correction information; If not, the initial offset information and rotation information of the material are calculated, the second correction information is generated, and the initial position of the material is adjusted based on the second correction information.

[0069] It should be noted that the path spline curve is generated and resampled to ensure that the points on the path are evenly distributed. By using the extended path calculation method, the path can continue to extend in the starting or ending direction outside the path definition range. The position, tangent and normal on the path are dynamically calculated to ensure the smooth movement and accurate positioning of the object on the path. The situation where the initial position of the object is not on the path is handled. By calculating the initial offset and rotation, the alignment and smooth transition of the object and the path are achieved.

[0070] According to an embodiment of the present invention, if it is less than, a parameter data stream of material movement is generated, the material movement parameter data stream is transmitted to the terminal, and movement is performed according to the received parameter data stream, specifically including: Obtain material movement data flow and track the transportation status of materials, including product location and processing progress; Display the material movement data flow in the form of graphical programming or flow chart to obtain the data flow and control relationship between nodes; Based on the data flow and control relationship between nodes, the operating status of the conveyor line is displayed in real time, including speed, load rate and fault warning.

[0071] It should be noted that Guid is used to uniquely identify each entity, and the ECS architecture is built internally to use Component as a carrier to share and transfer data. External modules provide interfaces to access real-time context objects through Guid, and directly access and modify data through context objects, avoiding redundant data transfer and duplication, and improving data transmission efficiency.

[0072] According to an embodiment of the present invention, in order to generate a smooth path, the present invention adopts a Catmull-Rom spline interpolation algorithm and generates evenly distributed path points by resampling.

[0073] Catmull-Rom spline interpolation is a special form based on Hermite interpolation polynomials. Its characteristic is that it generates a smooth curve on a given set of control points, and the curve passes through each control point. This spline curve uses a matrix-based interpolation method in calculation.

[0074] like Figure 4 As shown, in order to solve the problem of the movement of the object when it exceeds the path definition range, this application expands the path calculation method so that when t exceeds the range [0,1], the path can continue to extend in the starting or ending direction. Specifically, the following methods are included: Get the position on the path: When t exceeds the range [0, 1], the direction vectors of the start or end points can be used for extension calculation: , in, and They are the starting and ending points of the path respectively.

[0075] like Figure 5 As shown, get the tangent line on the path: The path tangent can be calculated by taking the difference between two adjacent points: , in, and are two adjacent points on the path.

[0076] Get the normals on the path: In computer graphics, the normal vector of a curve plays an important role in path planning, animation, and physical simulation. In order to calculate the normal vector of a curve at a certain position, the GetNormalAt(float t) function is implemented. This function calculates and returns the normal vector of the curve at position t based on the input parameter t. In the logic containing the normal vector, the tangent vector in t is first obtained, and then the Vector.up vector in the world space and the tangent vector are cross-multiplied to obtain the normal vector, and then the vector is normalized according to the modulus of the vector.

[0077] In three-dimensional space, the normal can be obtained by taking the cross product of the tangent line and a reference vector (such as the y-axis): .

[0078] The third aspect of the present invention provides a computer-readable storage medium, which includes a material dynamic control method program based on a conveyor line. When the material dynamic control method program based on a conveyor line is executed by a processor, the steps of the material dynamic control method based on a conveyor line as described above are implemented.

[0079] The present invention discloses a material dynamic control method, system and medium based on a conveyor line. A virtual conveyor line is constructed based on a virtual environment, and motion parameters of the virtual conveyor line are configured to generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node; based on the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, a kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line to obtain a material conveying path; the material conveying path direction is compared with a pre-configured path direction to obtain a path deviation rate; it is determined whether the path deviation rate is greater than or equal to a set path deviation rate threshold; if greater than or equal to, correction information is generated, and the motion parameters of the virtual conveyor line are adjusted based on the correction information; if less than, a parameter data stream of material movement is generated, the material movement parameter data stream is transmitted to a terminal, and movement is performed according to the received parameter data stream, so that real production can be guided by virtual design, and the data of entity operation can also be fed back to the virtual environment to form a closed-loop control, thereby promoting continuous performance monitoring and optimization, and enhancing the timeliness and accuracy of decision support.

[0080] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0081] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0082] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0083] Those skilled in the art can understand that: all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, the aforementioned program can be stored in a readable storage medium, and when the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), disks or optical disks, and other media that can store program codes.

[0084] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

Claims

1. A material dynamic control method based on a conveyor line, characterized in that: include: Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node; Based on the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path; Compare the material conveying path direction with the pre-configured path direction to obtain a path deviation rate, and determine whether the path deviation rate is greater than or equal to a set path deviation rate threshold; If it is greater than or equal to, then generate correction information, and adjust the motion parameters of the virtual conveyor line based on the correction information; If it is less than, a parameter data stream for material movement is generated, the material movement parameter data stream is transmitted to the terminal, and movement is performed according to the received parameter data stream.

2. The material dynamic control method based on the conveyor line according to claim 1 is characterized in that: Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, including: Create a digital twin of the conveyor line based on the virtual environment and generate a virtual conveyor line; Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight line segments and arc segments based on the conveying direction; Establish several marking points on the straight line segment and the arc segment, configure the motion parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship and node function information; Node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics; The node relationship includes the motor node driving the virtual axis node, and the encoder node feeding back to the servo control node for closed-loop control.

3. The material dynamic control method based on the conveyor line according to claim 2 is characterized in that: Obtain the operating parameters of each node, and use the kinematic model to calculate the dynamic behavior of the material on the virtual conveyor line based on the operating parameters of each node to obtain the material conveying path, including: Obtain the operating parameters of each node, and analyze the material operation status information based on the operating parameters of each node; Calculate the initial offset information and rotation information of the material based on the material running status information; Analyze the dynamic behavior of the material during movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered per unit time. The real-time moving path of materials is dynamically adjusted based on dynamic behavior to obtain the material transportation path.

4. The material dynamic control method based on the conveyor line according to claim 3 is characterized in that: Compare the material conveying path direction with the pre-configured path direction to obtain the path deviation rate, including: Obtain the material conveying path, analyze the material movement trajectory, and calculate the Euclidean distance between the material movement trajectory and the set path; Compare the Euclidean distance with the set distance threshold to obtain the distance difference; Set the detection time point, divide the distance difference corresponding to the current detection time point by the distance difference of the next detection time point, and analyze the path deviation rate.

5. The material dynamic control method based on the conveyor line according to claim 4 is characterized in that: Generate correction information and adjust the motion parameters of the virtual conveyor line based on the correction information, including: Obtaining the position information of the marking points, and analyzing the spline curve of the transportation path based on the position information of the marking points; Get the initial position of the material, and analyze whether the material is on the spline curve of the transportation path based on the initial position of the material; If yes, then analyze the position offset of the material when it passes through each marking point, generate first correction information according to the position offset, and adjust the parameters of the virtual conveyor line based on the first correction information; If not, the initial offset information and rotation information of the material are calculated, the second correction information is generated, and the initial position of the material is adjusted based on the second correction information.

6. The material dynamic control method based on the conveyor line according to claim 5 is characterized in that: Generate material movement data flow and transmit the material movement data flow to the terminal, including: Obtain material movement data flow and track the transportation status of materials, including product location and processing progress; Display the material movement data flow in the form of graphical programming or flow chart to obtain the data flow and control relationship between nodes; Based on the data flow and control relationship between nodes, the operating status of the conveyor line is displayed in real time, including speed, load rate and fault warning.

7. A material dynamic control system based on a conveyor line, characterized in that: The system includes: a memory and a processor, wherein the memory includes a program of a material dynamic control method based on a conveyor line, and when the program of the material dynamic control method based on a conveyor line is executed by the processor, the following steps are implemented: Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node; Based on the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path; Compare the material conveying path direction with the pre-configured path direction to obtain a path deviation rate, and determine whether the path deviation rate is greater than or equal to a set path deviation rate threshold; If it is greater than or equal to, then generate correction information, and adjust the motion parameters of the virtual conveyor line based on the correction information; If it is less than, a parameter data stream for material movement is generated, the material movement parameter data stream is transmitted to the terminal, and movement is performed according to the received parameter data stream.

8. The material dynamic control system based on the conveyor line according to claim 7 is characterized in that: Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, including: Create a digital twin of the conveyor line based on the virtual environment and generate a virtual conveyor line; Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight line segments and arc segments based on the conveying direction; Establish several marking points on the straight line segment and the arc segment, configure the motion parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship and node function information; Node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics; The node relationship includes the motor node driving the virtual axis node, and the encoder node feeding back to the servo control node for closed-loop control.

9. The material dynamic control system based on the conveyor line according to claim 8, characterized in that: Obtain the operating parameters of each node, and use the kinematic model to calculate the dynamic behavior of the material on the virtual conveyor line based on the operating parameters of each node to obtain the material conveying path, including: Obtain the operating parameters of each node, and analyze the material operation status information based on the operating parameters of each node; Calculate the initial offset information and rotation information of the material based on the material running status information; Analyze the dynamic behavior of the material during movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered per unit time. The real-time moving path of materials is dynamically adjusted based on dynamic behavior to obtain the material transportation path.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a material dynamic control method program based on a conveyor line. When the material dynamic control method program based on a conveyor line is executed by a processor, the steps of the material dynamic control method based on a conveyor line as described in any one of claims 1 to 6 are implemented.

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