Operation and maintenance method, system and computer equipment of scrap car dismantling workshop based on digital twin

Abstract

The present invention relates to a method, system and computer equipment for operating and maintaining a scrap car dismantling workshop based on digital twins, the method comprising the following steps: constructing a geometric model of a scrap car dismantling workshop; assigning corresponding physical properties to the geometric model, adding material properties to each part of the geometric model, characterizing the energy consumption behavior of the dismantling workshop, and obtaining a virtual model of the scrap car dismantling workshop; constructing a knowledge base of the virtual model of the scrap car dismantling workshop; constructing constraints for each dismantling equipment of the virtual model of the scrap car dismantling workshop; using ant colony algorithm, genetic algorithm, particle swarm algorithm combined with knowledge base to plan the dismantling sequence of scrap cars according to the desired target. The above-mentioned operation and maintenance method overcomes the shortcomings of the traditional dismantling workshop, such as extensive dismantling method, low dismantling efficiency and lagging perception of dismantling progress, and realizes the discovery of unknown problems in virtual space through repeated iterative simulation before dismantling, and real-time interaction between virtual space and physical space during dismantling, so as to fully perceive the state of the dismantling process.

Description

Technical Field

[0001] The present invention belongs to the field of scrapping and dismantling of vehicles, and in particular relates to a method and system for operating and maintaining a scrap automobile dismantling workshop based on digital twins, and computer equipment thereof. Background Art

[0002] With the continuous development of the economy and society and the continuous improvement of people's living standards, cars have begun to enter thousands of households. Since 2009, my country's automobile production and sales have ranked first in the world for 11 consecutive years. As of 2020, my country's cumulative automobile ownership has reached 281 million. While new cars are pouring into the market, the number of scrapped cars in my country is also increasing. In 2020, the number of scrapped cars is nearly 18.5 million. China has gradually entered the peak period of scrapped cars. However, my country is relatively backward in the construction and operation and maintenance of scrap car dismantling lines. The mechanization and large-scale construction and implementation of scrap car dismantling lines and the application of intelligent technology are still in the primary stage. At present, most domestic scrap car recycling companies adopt workshop-style or single-station mode, dismantling and crushing scrap cars through rough mechanical extrusion or violent crushing methods, with high energy consumption, low dismantling efficiency, low intact rate of parts, and lagging perception of dismantling progress. With the continuous development of information technology, digital modeling technology, and sensor technology, digital twins have begun to be widely used. Based on the idea of ​​digital twins, a virtual disassembly workshop is constructed to perceive the disassembly status in all directions, dimensions and scales, realize real-time monitoring of the disassembly process, and iterate the disassembly process repeatedly in the workshop to reduce the uncertainty of the disassembly process. Summary of the invention

[0003] Based on this, in view of the shortcomings of the prior art, the first object of the present invention is to provide an operation and maintenance method for a scrap car dismantling workshop based on digital twins.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A method for operating and maintaining a scrap automobile dismantling workshop based on digital twins, the method comprising the following steps:

[0006] S1: Acquire the geometric features of the scrap car dismantling workshop and construct a geometric model of the scrap car dismantling workshop; wherein the geometric features include the scrap car dismantling assembly line model and its various dismantling equipment models and auxiliary facilities models;

[0007] S2: assign corresponding physical properties to the geometric model, add material properties to each part of the geometric model, characterize the energy consumption behavior of the dismantling workshop, and obtain a virtual model of the scrap car dismantling workshop;

[0008] S3: Acquire the physical dismantling workshop data of scrapped cars, clean and store it, and build a knowledge base of the virtual model of the scrapped car dismantling workshop; wherein the physical dismantling workshop data includes personnel data, dismantling equipment data, material data, tool and fixture data, and environmental data;

[0009] S4: Construct the constraints of each dismantling equipment of the virtual model of the scrap car dismantling workshop; the constraints are the position, speed, acceleration of each dismantling equipment, and the speed constraints of the scrap car transfer between each section;

[0010] S5: Using ant colony algorithm, genetic algorithm, particle swarm algorithm and knowledge base, the dismantling sequence planning of scrapped cars is carried out according to the required objectives; the required objectives are dismantling time, cost and energy consumption;

[0011] S6: Build a virtual disassembly workshop information integration and data interaction mechanism, iteratively simulate disassembly operations, perform disassembly operations in the physical workshop, use mixed reality to guide workers’ work, and then optimize disassembly operations where the deviation between manual disassembly progress and virtual model space simulation progress exceeds the threshold.

[0012] In step S1, the scrap car dismantling line model includes a ground dismantling line model and an aerial dismantling line model; the ground dismantling line model includes a pre-treatment section model, an interior and exterior decoration dismantling section model, and a parts processing section model; the aerial dismantling line model includes a chassis dismantling section model and an engine dismantling section model. In step S2, the energy consumption behavior of the dismantling workshop includes the fixed energy consumption of the workshop, the energy consumption of the dismantling equipment, and the energy consumption of the vehicle transfer. The energy consumption of the dismantling equipment includes the working energy consumption and the no-load energy consumption. The energy consumption of the dismantling workshop is calculated using formula (1).

[0013]

[0014] Where p1 is the fixed power of the workshop, T is the operating time of the dismantling workshop, w2 is the energy consumption of transferring the scrapped car once, d con Total number of scrap car transfers, p mr Disassembled equipment no-load power, P mw Dismantling equipment processing power, T mr Dismantling equipment idle time, T mw The working time of dismantling equipment, M is the number of dismantled equipment.

[0015] In step S3, radio frequency identification RFID, wireless sensor network WSN and sensors are used to collect real-time data of the physical dismantling workshop process of scrapped cars.

[0016] Step S3 specifically includes:

[0017] Obtain actual data of the physical dismantling process of scrapped cars;

[0018] Lagrange interpolation was used to process missing and incomplete data, K-nearest neighbor algorithm was used to find outliers and misread data, and multivariate regression was used to fit smooth data;

[0019] The cleaned data is reduced in dimension based on principal component analysis, and then hidden disassembly knowledge is mined using FP-growth, support vector machine, random forest, and deep neural network algorithms to build a knowledge base of the virtual model of a scrap car disassembly workshop; wherein the knowledge base includes data dimensionality reduction, knowledge mining, process knowledge base, equipment capability base, and worker capability base.

[0020] Furthermore, the process knowledge base includes a process terminology library, a process description library, a process resource library and a technical document library; the equipment capability library includes the mean time between failures, the number of adaptable workstations and the utilization rate; the worker capability library includes the average daily workload, length of service and the number of available workstations.

[0021] The step S6 specifically includes: using the mechatronics product concept design MCD, realizing information integration and data interaction between mechanics, electrical and control through the data interface of the PLC database platform Teamcenter, and repeatedly iterating simulation in the virtual disassembly workshop based on the PLC advanced simulator PLCSIM Advanced, the virtual controlled object simulation platform SIMIT, and the automation programming software TIA Portal; when disassembling scrapped cars, the virtual space interacts with the physical space in real time, and the disassembly operation is carried out in the physical space according to the disassembly sequence plan generated by the virtual model workshop, and the workers are guided by mixed reality; when the deviation between the manual disassembly progress and the virtual model space simulation progress exceeds the set threshold, the virtual model will issue an early warning, and at the same time the virtual space will re-optimize the remaining disassembly operations, and convert the re-optimization results into control instructions and transmit them to the physical disassembly workshop, so as to maximize the efficiency of the disassembly process, reduce the machine standby time, and form a disassembly mechanism with virtual-real response, virtual-real interaction, virtual-real control, and iterative optimization.

[0022] On the other hand, the second object of the present invention is to provide a waste automobile dismantling workshop operation and maintenance system based on digital twin, comprising:

[0023] A geometric model building module is used to obtain geometric features of a scrap car dismantling workshop and build a geometric model of the scrap car dismantling workshop; wherein the geometric features include a scrap car dismantling assembly line model and various dismantling equipment models and auxiliary facilities models;

[0024] A virtual model building module is used to assign corresponding physical properties to the geometric model, add material properties to each part of the geometric model, characterize the energy consumption behavior of the dismantling workshop, and obtain a virtual model of the scrap car dismantling workshop;

[0025] The knowledge base construction module is used to obtain the physical dismantling workshop data of scrapped cars, clean and store it, and build a knowledge base of the virtual model of the scrapped car dismantling workshop;

[0026] The dismantling equipment constraint module is used to constrain the position, speed, and acceleration of each dismantling equipment model, as well as the transfer speed of scrapped cars between various work sections, and to construct the constraint conditions of each dismantling equipment model of the virtual model of the scrapped car dismantling workshop;

[0027] The operation and maintenance module is used to plan the dismantling sequence of scrapped cars according to the required objectives by using ant colony algorithm, genetic algorithm, particle swarm algorithm and knowledge base; the required objectives are dismantling time, cost and energy consumption;

[0028] Iterative simulation module, which is used to design MCD using mechatronic product concepts, realize information integration and data interaction between mechanics, electrical and control through the data interface of Teamcenter, a PLC database platform, and iterate simulation in a virtual disassembly workshop based on PLCSIM Advanced, a virtual controlled object simulation platform SIMIT, and automation programming software TIA Portal;

[0029] The virtual teaching module is used for dismantling scrapped cars. The virtual space interacts with the physical space in real time. The dismantling operation is carried out in the physical space according to the dismantling sequence plan generated by the virtual model workshop, and mixed reality is used to guide the workers' work.

[0030] The virtual interaction module is used to issue an early warning when the deviation between the manual disassembly progress and the virtual model space simulation progress exceeds the set threshold. At the same time, the virtual space re-optimizes the remaining disassembly operations and converts the re-optimization results into control instructions to transmit to the physical disassembly workshop, so as to maximize the efficiency of the disassembly process, reduce the machine standby time, and form a disassembly mechanism with virtual-reality response, virtual-reality interaction, virtual-reality control of the real, and iterative optimization.

[0031] In addition, the third object of the present invention is to provide a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the operation and maintenance method of a scrap automobile dismantling workshop described in any one of the above-mentioned embodiments when executing the computer program.

[0032] Due to the adoption of the above technical scheme, the beneficial effects obtained by the present invention include: overcoming the shortcomings of the traditional disassembly workshop, such as extensive disassembly method, low disassembly efficiency and delayed perception of disassembly progress, realizing repeated iterative simulation in the virtual space before disassembly to discover unknown problems, reducing the uncertainty of the production process, optimizing energy consumption and reducing carbon emissions; during disassembly, the virtual space and the physical space interact in real time to fully perceive the status of the disassembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Create schematics for a virtual model of a scrap car dismantling shop;

[0034] Figure 2 This is a schematic diagram of data collection in a physical dismantling workshop for scrapped cars;

[0035] Figure 3 Schematic diagram for data cleaning storage and knowledge base construction;

[0036] Figure 4 Schematic diagram of the operation and maintenance strategy of a scrap car dismantling workshop based on digital twins. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0038] See also Figure 1-4 The present invention provides a method for operating and maintaining a scrap automobile dismantling workshop based on digital twins, the method comprising the following steps:

[0039] S1: Acquire the geometric features of the scrap car dismantling workshop and construct a geometric model of the scrap car dismantling workshop; wherein the geometric features include the scrap car dismantling assembly line model and its various dismantling equipment models and auxiliary facilities models;

[0040] Specifically, the geometric model of the scrap car dismantling workshop is first constructed using the 3D drawing software UG. The geometric model of the scrap car dismantling workshop includes the scrap car dismantling line model and its various dismantling equipment and auxiliary facilities models; the scrap car dismantling line model includes the ground dismantling line model and the aerial dismantling line model; the ground dismantling line model includes the pre-processing model, the interior and exterior decoration dismantling model, and the parts processing model, and the aerial dismantling line model includes the chassis dismantling model and the engine dismantling model. The auxiliary facilities include the safety fence model and the locker model.

[0041] In this embodiment, the geometric features of the scrap car dismantling workshop are collected: a forklift is used to put the small scrapped vehicle to be dismantled on the rail trolley for online processing, and the trolley is moved to the first station vehicle pretreatment station for vehicle pretreatment to effectively recycle vehicle waste liquid, Freon and other substances. Then the vehicle is moved to the second station chassis dismantling station, and the scrapped car is turned 90° using the vehicle flipping platform, and the vehicle chassis components are removed: front and rear axles, shock absorbers, exhaust pipes, three-way catalytic converters, and shock absorber bolts on the bottom of the engine. After the dismantling is completed, the vehicle is turned upright and moved to the third station body parts dismantling station, and the tires are dismantled and recycled. After the front and rear covers, front and rear bumpers, doors, front and rear glass, fenders, etc. of the vehicle are removed using hydraulic shears, glass removal equipment and other tools, the center console, airbags, steering wheels, etc. of the vehicle cockpit are removed and detonated using airbag detonators for recycling. After removing the body parts, move the rail trolley to the fourth station, the interior disassembly station of the vehicle cabin, remove the vehicle seats, interior decoration, wires and other parts, and then move to the fifth station, the engine compartment component disassembly station, remove various parts in the engine compartment, and put them into the designated recycling bin for recycling. Finally, use the rail trolley to move the car shell to the exit, and wait for the forklift to move the processed car shell to the post-processing workshop for briquetting or crushing.

[0042] S2: assign corresponding physical properties to the geometric model, add material properties to each part of the geometric model, characterize the energy consumption behavior of the dismantling workshop, and obtain a virtual model of the scrap car dismantling workshop;

[0043] Specifically, the energy consumption behavior of the dismantling workshop includes the fixed energy consumption of the workshop, the energy consumption of the dismantling equipment and the energy consumption of the vehicle transfer. The energy consumption of the dismantling equipment includes the working energy consumption and the no-load energy consumption. The energy consumption of the dismantling workshop is calculated using formula (1):

[0044]

[0045] Where p1 is the fixed power of the workshop, T is the operating time of the dismantling workshop, w2 is the energy consumption of transferring the scrapped car once, d con Total number of scrap car transfers, p mr Disassembled equipment no-load power, P mw Dismantling equipment processing power, T mr Dismantling equipment idle time, T mw The working time of dismantling equipment, M is the number of dismantled equipment.

[0046] S3: Acquire the physical dismantling workshop data of scrapped cars, clean and store it, and build a knowledge base of the virtual model of the scrapped car dismantling workshop; wherein the physical dismantling workshop data (real scrapped car dismantling workshop data) includes personnel data, dismantling equipment data, material data, tool and fixture data, and environmental data;

[0047] Specifically, Figure 2 As shown in the figure, the data of the physical dismantling workshop of scrapped cars is collected by using radio frequency identification RFID, wireless sensor network WSN and sensors. The physical dismantling workshop data includes personnel data, dismantling equipment data, material data, tool and tool data, and environmental data. The collected personnel data, dismantling equipment data, material data, and tool and tool data include basic information, location information, and status information. The environmental data includes workshop temperature, workshop humidity, and workshop noise data. Especially for automated and intelligent dismantling equipment, the internal program, instructions, and status of the equipment are collected through OPC.

[0048] In this embodiment, there may be missed and misread data in the process of physical disassembly data collection. Lagrange interpolation is used to process missing and incomplete data, K nearest neighbor algorithm is used to find outlier misread data, multivariate regression is used to fit smooth data, and the cleaned data is stored in the database. First, the cleaned data is reduced in dimension based on principal component analysis, and then FP-growth, support vector machine, random forest, deep neural network and other algorithms are used to mine hidden disassembly knowledge, and a scrap car disassembly process knowledge base, equipment capability base, and worker capability base are established. The process knowledge base includes a process terminology base, a process description base, a process resource base, and a technical document base. The equipment capability base includes the mean time between failures, the number of adaptable workstations, and the utilization rate. The worker capability base includes the average daily workload, length of service, and the number of workstations.

[0049] S4: Construct the constraints of each dismantling equipment of the virtual model of the scrap car dismantling workshop; the constraints are the position, speed, acceleration of each dismantling equipment, and the speed constraints of the scrap car transfer between each section;

[0050] S5: Using ant colony algorithm, genetic algorithm, particle swarm algorithm and knowledge base, the dismantling sequence planning of scrapped cars is carried out according to the required objectives; the required objectives are dismantling time, cost and energy consumption;

[0051] Specifically, Figure 4 As shown in the figure, according to the dismantling orders, for vehicles of different types and scrapping degrees, the ant colony algorithm, genetic algorithm, particle swarm algorithm combined with the knowledge in the process knowledge base are used to plan the dismantling sequence of scrapped cars with the dismantling time, cost and energy consumption as the goals.

[0052] S6: Build a virtual disassembly workshop information integration and data interaction mechanism, iteratively simulate disassembly operations, perform disassembly operations in the physical workshop, use mixed reality to guide workers’ work, and then optimize disassembly operations where the deviation between manual disassembly progress and virtual model space simulation progress exceeds the threshold.

[0053] Specifically, Figure 4As shown in the figure, the MCD is designed by using the concept of mechatronics products, and the information integration and data interaction between mechanics, electrical and control are realized through the data interface of the PLC database platform Teamcenter. Based on the PLC advanced simulator PLCSIM Advanced, the virtual controlled object simulation platform SIMIT, and the automation programming software TIA Portal, the control instructions are repeatedly iterated and simulated in the virtual disassembly workshop to verify the feasibility of the disassembly sequence in all aspects. When disassembling scrapped cars, the virtual space interacts with the physical space in real time, and the disassembly operation is carried out in the physical space according to the disassembly sequence plan generated by the virtual workshop. For some processes involving workers' operations, the augmented reality and virtual reality in the digital twin are used to guide the workers' disassembly operations, so that the workers can quickly participate in any disassembly section. When the deviation between the disassembly progress and the virtual space simulation progress exceeds the set threshold, the system will issue an early warning, and the virtual space will re-optimize the remaining disassembly operations, and convert the re-optimization results into control instructions and transmit them to the physical disassembly workshop, so as to maximize the efficiency of the disassembly process, reduce the standby time of the machine, and form a disassembly mechanism with virtual-real response, virtual-real interaction, virtual-real control, and iterative optimization.

[0054] On the other hand, the second object of the present invention is to provide a waste automobile dismantling workshop operation and maintenance system based on digital twin, comprising:

[0055] A geometric model building module is used to obtain geometric features of a scrap car dismantling workshop and build a geometric model of the scrap car dismantling workshop; wherein the geometric features include a scrap car dismantling assembly line model and various dismantling equipment models and auxiliary facilities models;

[0056] A virtual model building module is used to assign corresponding physical properties to the geometric model, add material properties to each part of the geometric model, characterize the energy consumption behavior of the dismantling workshop, and obtain a virtual model of the scrap car dismantling workshop;

[0057] The knowledge base construction module is used to obtain the physical dismantling workshop data of scrapped cars, clean and store it, and build a knowledge base of the virtual model of the scrapped car dismantling workshop. The physical dismantling workshop data includes personnel data, dismantling equipment data, material data, tool and fixture data, and environmental data.

[0058] The dismantling equipment constraint module is used to constrain the position, speed, and acceleration of each dismantling equipment model, as well as the transfer speed constraints of scrapped cars between various work sections, and to construct the constraints of each dismantling equipment in the virtual model of the scrapped car dismantling workshop;

[0059] The operation and maintenance module is used to utilize ant colony algorithm, genetic algorithm, particle swarm algorithm and knowledge base to plan the dismantling sequence of scrapped cars according to the desired objectives; wherein the desired objectives are dismantling time, cost and energy consumption.

[0060] Iterative simulation module, which is used to design MCD using mechatronic product concepts, realize information integration and data interaction between mechanics, electrical and control through the data interface of Teamcenter, a PLC database platform, and iterate simulation in a virtual disassembly workshop based on PLCSIM Advanced, a virtual controlled object simulation platform SIMIT, and automation programming software TIA Portal;

[0061] The virtual teaching module is used for dismantling scrapped cars. The virtual space interacts with the physical space in real time. The dismantling operation is carried out in the physical space according to the dismantling sequence plan generated by the virtual model workshop, and mixed reality is used to guide the workers' work.

[0062] The virtual interaction module is used to issue an early warning when the deviation between the manual disassembly progress and the virtual model space simulation progress exceeds the set threshold. At the same time, the virtual space re-optimizes the remaining disassembly operations and converts the re-optimization results into control instructions to transmit to the physical disassembly workshop, so as to maximize the efficiency of the disassembly process, reduce the machine standby time, and form a disassembly mechanism with virtual-reality response, virtual-reality interaction, virtual-reality control of the real, and iterative optimization.

[0063] Each module in the above system can be selected and applied in any combination according to specific application requirements, and can be configured to work in a local or remote distributed system.

[0064] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiments can be implemented by hardware related to computer program instructions. The various modules can be independent of each other or can be combined as a whole or in part. According to specific application requirements, only some of the hardware that can be used and can be arbitrarily combined can be selected; the program can be stored in a computer-readable storage medium and sold or used as an independent product. When the program is executed, all or part of the steps in the embodiments of the above-mentioned methods can be executed. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0065] In addition, the third object of the present invention is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for operating and maintaining a scrap automobile dismantling workshop described below is implemented.

[0066] A method for operating and maintaining a scrap automobile dismantling workshop based on digital twins, the method comprising the following steps:

[0067] S1: Acquire the geometric features of the scrap car dismantling workshop and construct a geometric model of the scrap car dismantling workshop; wherein the geometric features include the scrap car dismantling assembly line model and its various dismantling equipment models and auxiliary facilities models;

[0068] S2: assign corresponding physical properties to the geometric model, add material properties to each part of the geometric model, characterize the energy consumption behavior of the dismantling workshop, and obtain a virtual model of the scrap car dismantling workshop;

[0069] S3: Acquire the actual data of the physical dismantling process of scrapped cars, clean and store it, and build a knowledge base of the virtual model of the scrapped car dismantling workshop; wherein the physical dismantling process includes personnel data, dismantling equipment data, material data, tool and fixture data, and environmental data;

[0070] S4: Construct the constraints of each dismantling equipment of the virtual model of the scrap car dismantling workshop; the constraints are the position, speed, acceleration of each dismantling equipment, and the speed constraints of the scrap car transfer between each section;

[0071] S5: Using ant colony algorithm, genetic algorithm, particle swarm algorithm and knowledge base, the dismantling sequence planning of scrapped cars is carried out according to the required objectives; the required objectives are dismantling time, cost and energy consumption;

[0072] S6: Construct the information integration and data interaction mechanism of the virtual disassembly workshop, iteratively simulate the disassembly operation, perform the disassembly operation in the physical workshop, guide the workers' work with mixed reality, and then optimize the disassembly operation where the deviation between the manual disassembly progress and the virtual model space simulation progress exceeds the threshold. In step S1, the scrap car disassembly line model includes a ground disassembly line model and an aerial disassembly line model; the ground disassembly line model includes a pre-treatment section model, an interior and exterior decoration disassembly section model, and a parts processing section model; the aerial disassembly line model includes a chassis disassembly section model and an engine disassembly section model.

[0073] In step S2, the energy consumption behavior of the dismantling workshop includes the fixed energy consumption of the workshop, the energy consumption of the dismantling equipment and the energy consumption of the vehicle transfer. The energy consumption of the dismantling equipment includes the working energy consumption and the no-load energy consumption. The energy consumption of the dismantling workshop is calculated using formula (1).

[0074]

[0075] Where p1 is the fixed power of the workshop, T is the operating time of the dismantling workshop, w2 is the energy consumption of transferring the scrapped car once, d con Total number of scrap car transfers, p mr Disassembled equipment no-load power, P mw Dismantling equipment processing power, T mr Dismantling equipment idle time, T mwThe working time of dismantling equipment, M is the number of dismantled equipment.

[0076] In step S3, radio frequency identification RFID, wireless sensor network WSN and sensors are used to collect data from the physical dismantling workshop of scrapped vehicles.

[0077] Step S3 specifically includes: obtaining actual data of the physical dismantling process of scrapped cars; using Lagrange interpolation to process missing and incomplete data, using the K nearest neighbor algorithm to find outlier misread data, and using multivariate regression to fit smooth data; using the principal component analysis method to achieve dimensionality reduction processing of the cleaned data, and then using FP-growth, support vector machine, random forest, and deep neural network algorithms to mine hidden dismantling knowledge, and construct a knowledge base of the virtual model of the scrapped car dismantling workshop; wherein the knowledge base includes data dimensionality reduction, knowledge mining, process knowledge base, equipment capability base, and worker capability base.

[0078] Furthermore, the process knowledge base includes a process terminology library, a process description library, a process resource library and a technical document library; the equipment capability library includes the mean time between failures, the number of adaptable workstations and the utilization rate; the worker capability library includes the average daily workload, length of service and the number of available workstations.

[0079] The step S6 specifically includes: using the mechatronics product concept design MCD, realizing information integration and data interaction between mechanics, electrical and control through the data interface of the PLC database platform Teamcenter, and repeatedly iterating simulation in the virtual disassembly workshop based on the PLC advanced simulator PLCSIM Advanced, the virtual controlled object simulation platform SIMIT, and the automation programming software TIA Portal; when disassembling scrapped cars, the virtual space interacts with the physical space in real time, and the disassembly operation is carried out in the physical space according to the disassembly sequence plan generated by the virtual model workshop, and the workers are guided by mixed reality; when the deviation between the manual disassembly progress and the virtual model space simulation progress exceeds the set threshold, the virtual model will issue an early warning, and at the same time the virtual space will re-optimize the remaining disassembly operations, and convert the re-optimization results into control instructions and transmit them to the physical disassembly workshop, so as to maximize the efficiency of the disassembly process, reduce the machine standby time, and form a disassembly mechanism with virtual-real response, virtual-real interaction, virtual-real control, and iterative optimization.

[0080] The above related explanations and descriptions of the embodiments are for the convenience of those skilled in the art to understand and apply the present invention. It is obvious that those familiar with the art can easily make various modifications to these contents and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above related explanations and descriptions of the embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the protection scope of the present invention.

Claims

1. A method for operating and maintaining a scrap car dismantling workshop based on digital twins, characterized in that: The method comprises the following steps: S1: Obtain the geometric features of the scrap car dismantling workshop and construct a geometric model of the scrap car dismantling workshop; wherein the geometric features include the scrap car dismantling assembly line model and its various dismantling equipment models and auxiliary facilities models; S2: Assign corresponding physical properties to the geometric model of the scrap car dismantling workshop, add material properties to each part of the geometric model, characterize the energy consumption behavior of the dismantling workshop, and obtain a virtual model of the scrap car dismantling workshop; S3: Acquire the physical dismantling workshop data of scrapped cars, clean and store it, and build a knowledge base of the virtual model of the scrapped car dismantling workshop; wherein the physical dismantling workshop data includes personnel data, dismantling equipment data, material data, tool and fixture data, and environmental data; S4: Construct the constraints of each dismantling equipment model of the virtual model of the scrap car dismantling workshop; the constraints are the position, speed, acceleration of each dismantling equipment, and the speed constraints of the scrap car transfer between each section; S5: Using ant colony algorithm, genetic algorithm, particle swarm algorithm combined with knowledge base, the dismantling sequence planning of scrapped cars is carried out according to the required objectives; wherein the required objectives are dismantling time, cost and energy consumption; S6: Build an information integration and data interaction mechanism for the virtual disassembly workshop, iteratively simulate disassembly operations, perform disassembly operations in the physical workshop, use mixed reality to guide workers’ work, and then optimize disassembly operations where the deviation between the manual disassembly progress and the virtual model space simulation progress exceeds the threshold.

2. The method for operating and maintaining a scrap automobile dismantling workshop based on digital twins according to claim 1 is characterized in that: In step S1, the scrap car disassembly line model includes a ground disassembly line model and an aerial disassembly line model; the ground disassembly line model includes a pretreatment section model, an interior and exterior decoration disassembly section model, and a parts processing section model; the aerial disassembly line model includes a chassis disassembly section model and an engine disassembly section model.

3. The method for operating and maintaining a scrap automobile dismantling workshop based on digital twin according to claim 1 is characterized in that: In step S2, the energy consumption behavior of the dismantling workshop includes the fixed energy consumption of the workshop, the energy consumption of the dismantling equipment and the energy consumption of the vehicle transfer. The energy consumption of the dismantling equipment includes the working energy consumption and the no-load energy consumption. The energy consumption of the dismantling workshop is calculated using formula (1). Where p1 is the fixed power of the workshop, T is the operating time of the dismantling workshop, w2 is the energy consumption of transferring the scrapped car once, d con Total number of scrap car transfers, p mr Dismantling equipment no-load power, P mw Dismantling equipment processing power, T mr Dismantling equipment idle time, T mw The working time of dismantling equipment, M is the number of dismantled equipment.

4. The method for operating and maintaining a scrap automobile dismantling workshop based on digital twin according to claim 1 is characterized in that: In step S3, radio frequency identification RFID, wireless sensor network WSN and sensors are used to collect data from the physical dismantling workshop of scrapped cars.

5. The method for operating and maintaining a scrap automobile dismantling workshop based on digital twin according to claim 1 is characterized in that: Step S3 specifically includes: Obtain actual data of the physical dismantling process of scrapped cars; Lagrange interpolation was used to process missing and incomplete data, K-nearest neighbor algorithm was used to find outliers and misread data, and multivariate regression was used to fit smooth data; The cleaned data is reduced in dimension based on principal component analysis, and then hidden disassembly knowledge is mined using FP-growth, support vector machine, random forest, and deep neural network algorithms to build a knowledge base of the virtual model of a scrap car disassembly workshop; wherein the knowledge base includes data dimensionality reduction, knowledge mining, process knowledge base, equipment capability base, and worker capability base.

6. The method for operating and maintaining a scrap automobile dismantling workshop based on digital twins according to claim 5 is characterized in that: The process knowledge base includes a process terminology library, a process description library, a process resource library and a technical document library; the equipment capability library includes the mean time between failures, the number of adaptable workstations and the utilization rate; the worker capability library includes the average daily workload, length of service and the number of available workstations.

7. The method for operating and maintaining a scrap automobile dismantling workshop based on digital twin according to claim 1 is characterized in that: Step S6 specifically includes: Using the mechatronics product concept design MCD, the data interface of the PLC database platform Teamcenter is used to realize the information integration and data interaction between mechanics, electrical and control. Based on the PLC advanced simulator PLCSIM Advanced, the virtual controlled object simulation platform SIMIT, and the automation programming software TIA Portal, the simulation is repeatedly iterated in the virtual disassembly workshop. When dismantling scrapped cars, the virtual space and the physical space interact in real time. Dismantling operations are carried out in the physical space according to the dismantling sequence plan generated by the virtual model workshop, and mixed reality is used to guide workers' work; When the deviation between the manual disassembly progress and the virtual model space simulation progress exceeds the set threshold, the virtual model will issue a warning. At the same time, the virtual space will re-optimize the remaining disassembly operations and convert the re-optimization results into control instructions to transmit to the physical disassembly workshop, so as to maximize the efficiency of the disassembly process, reduce the machine standby time, and form a disassembly mechanism with virtual-reality response, virtual-reality interaction, virtual-reality control of the real, and iterative optimization.

8. A digital twin-based scrap car dismantling workshop operation and maintenance system, characterized in that: include: A geometric model building module is used to obtain geometric features of a scrap car dismantling workshop and build a geometric model of the scrap car dismantling workshop; wherein the geometric features include a scrap car dismantling assembly line model and various dismantling equipment models and auxiliary facilities models; A virtual model building module is used to assign corresponding physical properties to the geometric model, add material properties to each part of the geometric model, characterize the energy consumption behavior of the dismantling workshop, and obtain a virtual model of the scrap car dismantling workshop; The knowledge base construction module is used to obtain the physical dismantling workshop data of scrapped cars, clean and store it, and build a knowledge base of the virtual model of the scrapped car dismantling workshop; The dismantling equipment constraint module is used to constrain the position, speed, and acceleration of each dismantling equipment model, as well as the speed constraints of the transfer of scrapped cars between various work sections; The operation and maintenance module is used to plan the dismantling sequence of scrapped cars according to the required objectives by using ant colony algorithm, genetic algorithm, particle swarm algorithm and knowledge base; the required objectives are dismantling time, cost and energy consumption; Iterative simulation module, which is used to design MCD using mechatronic product concepts, realize information integration and data interaction between mechanics, electrical and control through the data interface of Teamcenter, a PLC database platform, and iterate simulation in a virtual disassembly workshop based on PLCSIM Advanced, a virtual controlled object simulation platform SIMIT, and automation programming software TIA Portal; The virtual teaching module is used for dismantling scrapped cars. The virtual space interacts with the physical space in real time. The dismantling operation is carried out in the physical space according to the dismantling sequence plan generated by the virtual model workshop, and mixed reality is used to guide the workers' work. The virtual interaction module is used to issue an early warning when the deviation between the manual disassembly progress and the virtual model space simulation progress exceeds the set threshold. At the same time, the virtual space re-optimizes the remaining disassembly operations and converts the re-optimization results into control instructions to transmit to the physical disassembly workshop, so as to maximize the efficiency of the disassembly process, reduce the machine standby time, and form a disassembly mechanism with virtual-reality response, virtual-reality interaction, virtual-reality control of the real, and iterative optimization.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for operating and maintaining a scrap car dismantling workshop as described in any one of claims 1 to 7 is implemented.

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