Virtual reconstruction and simulation running method and system for complex equipment manufacturing process

Abstract

The application discloses a kind of complex equipment manufacturing process virtual reconstruction and simulation running method and system, the method includes: unified representation to complex equipment manufacturing process, including the representation of workshop element, the representation of production relationship, the representation of logistics relationship;Complex equipment manufacturing process is modeled logically using the workshop element, production relationship, logistics relationship after unified representation, and simulation is run on the basis of logic model constructed by logic modeling.This application studies the workshop simulation modeling based on discrete event system, and the workshop manufacturing execution process simulation architecture facing digital twin, and designs simulation scheduling strategy and algorithm according to complex equipment manufacturing execution process simulation demand, solves the problem of complex equipment manufacturing stage simulation.

Description

Technical Field

[0001] This invention belongs to the field of digital twin technology, and in particular relates to a method and system for virtual reconstruction and simulation operation of complex equipment manufacturing processes oriented towards digital twins. Background Technology

[0002] Digital twins fully utilize data from physical models, sensor updates, and operational history to integrate multi-disciplinary, multi-physical, multi-scale, and multi-probabilistic simulation processes, completing a mapping in virtual space to reflect the entire lifecycle of the corresponding physical equipment. Digital twins are a concept that transcends reality, and can be viewed as a digital mapping system of one or more important, interdependent equipment systems.

[0003] Complex equipment refers to mechanical equipment with complex structures and numerous components, such as high-speed rail and tunnel boring machines.

[0004] Digital twins are one of the top ten strategic technology trends for the future, providing new concepts and tools for innovation and development in the current manufacturing industry. They offer an implementation path for the cyber-physical integration of complex dynamic systems, elevating the innovation, manufacturing efficiency, and operation and maintenance levels of complex equipment to a new level. The manufacturing process is a crucial link in the formation of complex equipment; its quality reflects both the quality of product design and significantly impacts product operation and maintenance. Therefore, it is necessary to study how to achieve high-quality and high-efficiency product manufacturing based on digital twins during the manufacturing stage.

[0005] Virtual reconstruction and simulation of complex equipment manufacturing processes is a crucial aspect of digital twins. However, the manufacturing processes and environments for complex equipment are extremely complex, involving multiple factors such as people, machines, materials, methods, and environment, as well as diverse data including equipment operating parameters, process information, test information, and simulation data. This presents significant challenges to the construction of digital twin models of products and manufacturing processes during the manufacturing phase. Summary of the Invention

[0006] In view of this, the present invention provides a method and system for virtual reconstruction and simulation of complex equipment manufacturing processes, which is oriented towards digital twins for virtual reconstruction and simulation of complex equipment manufacturing processes.

[0007] To solve the above technical problems, the technical solution of the present invention is to adopt a virtual reconstruction and simulation operation method for complex equipment manufacturing processes, including:

[0008] A unified representation of complex equipment manufacturing processes is provided, including the representation of workshop elements, production relations, and logistics relations.

[0009] The complex equipment manufacturing process is logically modeled using workshop elements, production relations, and logistics relations after unified representation, and simulation is performed based on the logical model constructed by the logical modeling.

[0010] As an improvement, methods for uniformly representing workshop elements in complex equipment manufacturing processes include:

[0011] Workshop elements are represented as controllers, which are used to map various control systems, equipment or decision-makers, and provide decision-making services for system operation;

[0012] The processor is used to map various processing equipment and provide operation-related services to the workpiece under the drive of production tasks;

[0013] Actuators are used to map various logistics equipment and provide logistics transfer services for workpieces based on logistics scheduling rules under the drive of logistics tasks.

[0014] A cache is used to map various caches and storage devices to provide temporary or long-term storage services for artifacts.

[0015] Flow entities are used to map workpieces and receive services from processors, actuators, and buffers;

[0016] Logistics routes are used to map logistics relationships;

[0017] Virtual service nodes are used to map production organization relationships, logistics relationships, and production logic.

[0018] As a further improvement, methods for uniformly representing production relations in complex equipment manufacturing processes include:

[0019] Service units are formed by combining workshop elements with a unified representation. The service units include types with no input buffer station, no output buffer station, no buffer station, and no internal actuator.

[0020] Production relations are formed by combining service units.

[0021] As another further improvement, methods for uniformly representing the logistical relationships in complex equipment manufacturing processes include:

[0022] A logistics path network model is constructed to describe logistics relationships. The logistics path network model is...

[0023] LPN=<G,E_Set,VSN_Set>

[0024] Wherein, LPN is the logistics path network model, E_Set is the executor set, VSN_Set is the virtual service node set, and G = (V, E', W) is an undirected graph, including the vertex set V, the edge set E', and the edge weights W. ij =Distance(V i V j );

[0025] Route planning is based on a logistics route network model, specifically by taking an initial point O from the logistics route network set. i (x i ,y i ) and target point O j (x j ,y j ), get from O i To O j The shortest logistics path LP(O) i O j );

[0026] Logistics scheduling is based on a logistics path network model, specifically by using the workshop logistics path network set and logistics tasks T = {F:O}. i →O j If the object F to be moved is to be moved from point O... i Transport to point O j ; Obtain the actuator E(O) with the shortest transportation distance for performing the logistics task T.

[0027] As an improvement, the method for logically modeling complex equipment manufacturing processes and performing simulations based on the logical model constructed by logical modeling includes:

[0028] Generate a logical simulation model of the complex equipment manufacturing process;

[0029] The logic simulation model is run using a simulation scheduling strategy;

[0030] Collect and analyze simulation data.

[0031] As an improvement, the method for generating a logical simulation model of a complex equipment manufacturing process includes:

[0032] Analyze the production task and map all workpieces to a set of flow entities. Specifically, if there are n workpieces to be processed that will receive services on m service units SCs, map each workpiece to be processed to a flow entity F, then a set of flow entities F_Set = {F i |1≤i≤n};

[0033] Parse the process information and associate it with the corresponding flow entities in the flow entity set, specifically by letting Ji ＝ {O ij |1≤j≤l i} represents F i The task, of which, l i For J i operands; O ij = k ,TS ij ​,TP ij ,TC ij >For J i The j-th operation, where S k O ij Completed by the k-th service unit (1≤k≤m), TS ij TP ij TC ij Representing O ij If the start time, service duration, and completion time are specified, then a task set J_Set = {J} is generated. i |1≤i≤n};

[0034] The scheduling scheme is analyzed and associated with the corresponding flow entities in the flow entity set, specifically by... For pointing to J i The current operation, the scope of which is operation O i1 arrive when If the next operation exceeds the range pointed to, then F will be... i Removed from F_Set; simulation ends when F_Set is empty.

[0035] As an improvement, the method for implementing the execution of a logic simulation model using a simulation scheduling strategy includes:

[0036] Simulation initialization: obtain simulation start time, simulation scaling factor, and simulation step size;

[0037] As the simulation progresses, a Boolean variable is used as a marker to indicate the end of the simulation. When the Boolean variable is true, the simulation ends; otherwise, within the simulation step, all flow entity processes are traversed and advanced once, and the status of related resources is updated. This includes: selecting executable operations in each flow entity process and decomposing them into logistics subprocesses and service subprocesses; moving the fluid entity from the previous operation position to the next operation position and calling the service subprocess; using the service subprocess to execute and advance the current service and returning a Boolean variable.

[0038] Update the simulation clock. If the Boolean variable is true, the simulation ends; otherwise, repeat the simulation progress steps.

[0039] This invention also provides a virtual reconstruction and simulation system for complex equipment manufacturing processes, comprising:

[0040] The representation module is used to uniformly represent the complex equipment manufacturing process, including the representation of workshop elements, production relations, and logistics relations.

[0041] The logic modeling and simulation module is used to logically model complex equipment manufacturing processes using uniformly represented workshop elements, production relationships, and logistics relationships, and to perform simulations based on the logical models constructed through logic modeling.

[0042] As an improvement, the characterization module includes a workshop element characterization module, a production relationship characterization module, and a logistics relationship characterization module.

[0043] As an improvement, the workshop element representation module is used to represent workshop elements as:

[0044] A controller is used to map various control systems, equipment, or decision-makers, providing decision-making services for system operation.

[0045] The processor is used to map various processing equipment and provide operation-related services to the workpiece under the drive of production tasks;

[0046] Actuators are used to map various logistics equipment and provide logistics transfer services for workpieces based on logistics scheduling rules under the drive of logistics tasks.

[0047] A cache is used to map various caches and storage devices to provide temporary or long-term storage services for artifacts.

[0048] Flow entities are used to map workpieces and receive services from processors, actuators, and buffers;

[0049] Logistics routes are used to map logistics relationships;

[0050] Virtual service nodes are used to map production organization relationships, logistics relationships, and production logic.

[0051] As an improvement, the production relations representation module includes:

[0052] The service unit combination module is used to combine workshop elements with a unified representation into service units, including no-input buffer station type, no-output buffer station type, no-buffer station type, and no-internal actuator type.

[0053] The production relations combination module is used to combine service units into production relations.

[0054] As an improvement, the logistics relationship representation module includes:

[0055] The logistics route network model construction module is used to construct a logistics route network model to describe logistics relationships. The logistics route network model is...

[0056] LPN =<G,E_Set,VSN_Set>

[0057] Wherein, LPN is the logistics path network model, E_Set is the executor set, VSN_Set is the virtual service node set, and G = (V, E', W) is an undirected graph, including the vertex set V, the edge set E', and the edge weights W. ij =Distance(V i V j );

[0058] The path planning module is used for path planning based on the logistics path network model, specifically by taking the initial point O from the logistics path network set. i (x i ,y i ) and target point O j (x j ,y j ), get from O i To O j The shortest logistics path LP(O) i O j );

[0059] The logistics scheduling module is used for logistics scheduling based on the logistics path network model. Specifically, it schedules logistics tasks based on the workshop logistics path network set and the logistics task T = {F:O}. i →O j If the object F to be moved is to be moved from point O... i Transport to point O j ; Obtain the actuator E(O) with the shortest transportation distance for performing the logistics task T.

[0060] As an improvement, the logic modeling and simulation execution module includes:

[0061] The simulation model building module is used to generate logical simulation models of complex equipment manufacturing processes;

[0062] The simulation execution module is used to run the logical simulation model using simulation scheduling strategies.

[0063] As an improvement, the simulation model building module includes:

[0064] The production task parsing module is used to map all workpieces into a set of flowing entities;

[0065] The process information parsing module is used to associate process information with the corresponding flow entities in the flow entity set;

[0066] The scheduling scheme parsing module is used to associate scheduling schemes with the corresponding flow entities in the flow entity set.

[0067] As an improvement, the simulation execution module includes:

[0068] The simulation initialization module obtains the simulation start time, simulation scaling factor, and simulation step size.

[0069] The simulation advancement module is used to complete a traversal and advancement of all flow entity processes within the simulation step size, and update the status of related resources. This includes: selecting executable operations in each flow entity process and decomposing them into logistics subprocesses and service subprocesses; transferring the fluid entity from the previous operation position to the next operation position and calling the service subprocess; and using the service subprocess to implement the execution and advancement of the current service.

[0070] The advantages of this invention are:

[0071] This invention studies workshop simulation modeling based on discrete event systems and a simulation architecture for workshop manufacturing execution process oriented towards digital twins. It also designs simulation scheduling strategies and algorithms based on the simulation requirements of complex equipment manufacturing execution process, thus solving the problem of simulation difficulties in the complex equipment manufacturing stage. Attached Figure Description

[0072] Figure 1 This is a flowchart of the present invention.

[0073] Figure 2 for Figures 3 to 12 Legend of the diagram.

[0074] Figure 3 This is a production service unit model.

[0075] Figure 4 This is a model for warehouse service units.

[0076] Figure 5 There are four configuration options for the service unit.

[0077] Figure 6 There are four possible combinations of service units.

[0078] Figure 7 The process of Fi as a flowing entity.

[0079] Figure 8 This refers to the logistics subprocess of the mobile entity Fi.

[0080] Figure 9 This is a service subprocess for the mobile entity Fi.

[0081] Figure 10 for Figure 8 , Figure 9 The meaning of each letter in the Chinese alphabet.

[0082] Figure 11 This is a diagram illustrating the interaction principle of the logistics subprocesses.

[0083] Figure 12This is a diagram illustrating the interaction principle between service subprocesses.

[0084] Figure 13 This is a schematic diagram of the structural principle of the present invention. Detailed Implementation

[0085] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to specific embodiments.

[0086] like Figure 1 As shown, this invention provides a method for virtual reconstruction and simulation operation of complex equipment manufacturing processes, including:

[0087] S1 provides a unified representation of complex equipment manufacturing processes, including the representation of workshop elements, production relations, and logistics relations.

[0088] The basic components of a discrete manufacturing system can be summarized as people, machines, materials, methods, and environment. The fundamental relationships can be described as hierarchical production organization relationships and network-structured logistics organization relationships. Hierarchical structure and layering are essential attributes of manufacturing systems. Basic production elements constitute production units or subsystems, which in turn constitute the components of higher-level systems. Network-structured logistics relationships establish material interaction relationships between various logistics equipment, processing equipment, and warehousing equipment. Depending on the scope of logistics and the objects of material interaction, logistics relationships can be divided into intra-unit logistics and inter-unit logistics. Intra-unit logistics is relatively simple, mainly using loading and unloading equipment, such as robotic arms, to provide material transfer services for machine tools and buffer stations. Inter-unit logistics relationships are more complex, mainly due to the greater number of participating equipment, longer logistics distances, and more complex logistics paths, such as AGV logistics systems and conveyor belt logistics systems.

[0089] In order to achieve a unified representation of heterogeneous discrete manufacturing systems, this step characterizes the heterogeneous discrete manufacturing systems from three aspects: workshop components, production relations, and logistics relations.

[0090] S11 uniformly represents workshop elements as:

[0091] Controller C is used to map various control systems, equipment, or decision-makers, providing decision-making services for system operation. On one hand, it converts input messages from the higher-level controller into operation instructions according to predefined message processing rules. On the other hand, it is responsible for feeding back the real-time status and execution results of the controlled equipment as output messages to the higher-level controller.

[0092] Processor P is used to map various processing equipment and provide operation-related services to the workpiece under the drive of production tasks, such as milling and drilling. The processor has three current states: waiting to process, processing in progress, and processing completed.

[0093] Actuator E is used to map various logistics equipment and provide logistics transfer services for workpieces based on logistics scheduling rules driven by logistics tasks. These logistics task execution rules include the robot control program, AGV logistics path planning, and scheduling mechanisms. The execution results of the logistics tasks are fed back to the controller as output messages. Execution results include four categories: task waiting to execute, task started, task execution failed, and task execution successful.

[0094] Buffer B is used to map various buffers and storage devices to provide temporary or long-term storage services for artifacts; there are three current loading options for the buffer: disable output, enable input / output, and disable input.

[0095] The flow entity F is used to map workpieces and receive services from processors, actuators, and buffers. Workpieces include blanks, semi-finished products, and finished products, which are identified and tracked through globally unique codes. Workpieces also act as information carriers, linking production process information, production plans, historical trajectory information, and simulation information.

[0096] The logistics path L is used to map logistics relationships and characterize the direction of workpiece flow between two elements or units.

[0097] Virtual Service Nodes (VSNs) are used to map production organization relationships, logistics relationships, and production logic.

[0098] Based on the above characterization methods, the formal definition of manufacturing system relations is as follows:

[0099] System Structure =<SC,LPN>

[0100] In the formula: SC stands for Service Unit, which is a collection of workshop elements with specific service functions. Depending on the service content, it can be further divided into Production Service Cell (PSC) and Buffer Service Cell (BSC). LPN: Logistics Path Network, which is a mapping of the actual logistics layout and relationships.

[0101] The specific methods for uniformly representing S12 production relations include:

[0102] S121 uses workshop elements with unified representation to form service units, which include input-free buffer station type, output-free buffer station type, buffer station type and internal actuator-free type.

[0103] Production activities can be viewed as a series of orderly organized "services." Therefore, all production-related activities, such as processing, assembly, monitoring, and warehousing, can be abstracted as a service. A group of elements related to a specific service is combined into a unit, called a service unit. At the service unit level, the actuator E is called the internal actuator E. int The logistics path represents the direction of logistics between elements. Based on the interaction between the buffer in the service unit and the external environment materials, buffer B can be divided into input buffer B. in and output buffer B out Accordingly, at the system level, the actuator is referred to as the external actuator E. ext The physical path represents the logistics direction between service units.

[0104] like Figure 3 As shown, in the Production Service Unit (PSC), the processor P is a fundamental component, providing workpiece processing services such as machining, inspection, disassembly, and assembly. The flowing entity F enters the service unit through a virtual service node and sequentially passes through the input buffer B. in Processor P and output buffer B out The service is received and finally leaves the service unit through a virtual service node. Controller C controls the internal actuator E. int This enables the flow of the flow entity F within the aforementioned elements. The logic described above is defined as a template and encapsulated within the service unit controller.

[0105] like Figure 4 As shown, in the warehousing service unit (PBC), the buffer B is a basic component, providing workpiece buffering and shipping services for the service unit. Aside from the different service content, the warehousing service unit and the production service unit are not fundamentally different in structure and operational logic.

[0106] like Figure 5 As shown, by configuring the constituent elements, service units of different forms and structures can be derived from typical service units. For example, by configuring buffers, three basic forms of production service units can be generated: no input buffer, no output buffer, and no buffer. By configuring internal actuators, another basic form of production service unit, the no-internal-actuator type, can be generated.

[0107] S122 utilizes service units to form production relations. Complex production relations are composed of several service units, and the combination of service units includes serial, parallel, assembly, and decomposition, such as... Figure 6 As shown.

[0108] Service units are intermediate levels within a system. Composed of basic workshop elements, service units, in turn, act as basic elements for higher-level systems. Combining and merging service units simplifies the structure of complex systems, thereby reducing system modeling complexity through hierarchical modeling.

[0109] The specific methods for uniformly representing S13 logistics relationships include:

[0110] S131 constructs a logistics path network model to describe logistics relationships. The logistics path network model is...

[0111] LPN =<G,E_Set,VSN_Set>

[0112] Wherein, LPN is the logistics path network model, E_Set is the executor set, VSN_Set is the virtual service node set, and G = (V, E', W) is an undirected graph, including the vertex set V, the edge set E', and the edge weights W. ij =Distance(V i V j ).

[0113] In manufacturing systems, there are various logistics equipment (such as AGVs, stacker cranes, and robotic arms), different logistics layouts (such as linear, ring, and network layouts), and different logistics control logics (such as robotic arm control programs and AGV scheduling rules). To accurately reflect the logistics relationships in the physical workshop, a Logistics Path Network (LPN) model is used to describe these relationships.

[0114] The Logistics Path Network (LPN) model describes the set of properties of logistics layout, let G(V) i ×V j Let G be the adjacency matrix of an undirected graph. Then:

[0115]

[0116] Among them, V i and V j A is a vertex of an undirected graph. ij Represents vertex V i and V j Adjacency relationship.

[0117] E_Set = {E1, E2, ..., En} is a finite non-empty set of actuators. It unifies different types of logistics equipment.

[0118] VSN_Set = {VSN1, VSN2, ..., VSNn} is a finite, non-empty set of virtual service nodes. It describes discrete control points distributed along the logistics path, where logistics equipment and service units exchange workpieces.

[0119] Multiple logistics route networks are connected through virtual service nodes, forming an electronic map in a virtual environment, thus fully depicting the complex logistics structure of the physical workshop. This provides a model foundation for shortest path planning and logistics scheduling.

[0120] S132 performs path planning based on the logistics path network model, specifically by selecting an initial point O from the logistics path network set (LPN_Set). i (x i ,y i ) and target point O j (x j ,y j ), get from O i To O j The shortest logistics path LP(O) i O j ).

[0121] Obtain the shortest logistics path LP(O) i O j The specific method is as follows:

[0122] First, determine O. i and O j Are they located on the same LPN? If O i and O j If the paths are located on the same LPN, it becomes a single-source shortest path problem. According to Dijkstra's algorithm, a shortest path LP(O) can be obtained. i O j If O i and O j Located on different LPNs, assuming O i Located in LPN i O j Located in LPN j And LPN i and LPN j Through point P i and point P j If connected, it can be decomposed into two single-source shortest path problems, and LP1(O) can be solved separately. i ,P i ) and LP2 (P j O j Two calls to Dijkstra's algorithm can yield the shortest path LP(O). i O j ) = LP1(O i ,P i )+LP2(P j O j ).

[0123] S133 performs logistics scheduling based on a logistics path network model, specifically by using the workshop logistics path network set (LPN_Set) and logistics tasks T = {F:O}. i →O j If the object F to be moved is to be moved from point O... i Transport to point O j ; Obtain the actuator E(O) with the shortest transportation distance for performing the logistics task T.

[0124] The specific method for obtaining the actuator E(O) with the shortest transport distance is as follows:

[0125] First, read the logistics task T = {FO} i →O j}, determine O i and O j Are they located on the same LPN? If O i and O j Located on the same LPN, traverse the executor set E_Set of the LPN to obtain the set of optional executors E(Idle)_Set that are in an idle state; then traverse E(Idle)_Set again, using executor E i Current position P(E) i (O) is the source point, and the current position of the object to be moved is the location of the object. i For the target point, Dijkstra's algorithm is called sequentially to find the logistics path LP(P) i O i The shortest actuator E(O) is selected; finally, the logistics task T is assigned to E(O). If O i and O j Located on different LPNs, assuming O i Located in LPN i O j Located in LPN j And LPN i and LPN j Through point P i and point P j If the connection is established, then the logistics task T can be decomposed into two subtasks T1 = {F: Oi → Pi} and T2 = {F: Pi → Oj}.

[0126] Traversing LPN i Executor set E_Set i This yields the set of available executors E(Idle)_Set that are in an idle state. i Then iterate through E(Idle)_Set i With actuator E i Current position P(E) i (O) is the source point, and the initial position of the object to be transported is O. iFor the target point, Dijkstra's algorithm is called sequentially to find the logistics path LP(P) i O i The shortest actuator E(O)1; assign logistics task T1 to actuator E(O)1;

[0127] And traverse LPN j The executor E_Set j This yields the set of available executors E(Idle)_Set that are in an idle state. j Then iterate through E(Idle)_Set j With actuator E j Current position P(E) j (P) is the source point, and the initial position of the object to be transported is P. j For the target point, Dijkstra's algorithm is called sequentially to find the logistics path LP(P) j O j The shortest actuator E(O)2; assign logistics task T2 to actuator E(O)2.

[0128] S2 uses the unified representation of workshop elements, production relations, and logistics relations to perform logical modeling of complex equipment manufacturing processes, and then performs simulation operation based on the logical model constructed by logical modeling.

[0129] Specifically, it includes:

[0130] S21 generates a logical simulation model of the complex equipment manufacturing process.

[0131] Production activities can be decomposed into a series of alternating production operations and logistics activities. The operational logic and mechanism of production activities can be described as the interaction between flowing entities, service units, and the logistics path network. Therefore, the production logic model can be defined as a triple:

[0132] Production Logical Model =<F_Set,SC_Set,LPN_Set>

[0133] Here, F_Set is a finite non-empty set of flow entities, defining the inputs and outputs of the manufacturing system. SC_Set is a finite non-empty set of service units, describing a hierarchical production organization structure. LPN_Set is a finite non-empty set of logistics path networks, describing a networked logistics organization structure.

[0134] The operation process of a complex discrete manufacturing system is described as follows:

[0135] (1) Input phase. Let F i This represents a flow entity, where `inf_process` represents the process information associated with that flow entity. Assume flow entity F...i There are n processes, numbered from 1 to n, which correspond to service units SC1 to SC2 respectively. n Then inf_process can be described as a sequence of service units {SC1,SC2,…,SC}. n Since virtual service nodes and service units have a one-to-one correspondence, inf_process can also describe the sequence of virtual service nodes {VSN1,VSN2,…,VSN…}. n}

[0136] (2) Execution phase. Based on the input information, F can be automatically generated. i The production logic model, firstly, F i Located in service unit S1, waiting to be transferred to the next service unit S i-1 Receiving service in the middle. This generates a logistics task IT = (F i :S1→S i-1 ), soon F i Transfer from S1 to S i-1 Assume S1 and S i-1 The logistics path network LPN1 is connected, and the executor set E_Set1 is bound to LPN1. Based on the logistics scheduling algorithm described in step S133, a suitable executor E can be selected from E_Set1, and the logistics task IT can be assigned to E for execution. Then, based on the shortest path planning algorithm described in step S132, by connecting VSN1 and VSN... i-1 Adding it to the adjacency matrix of LPN1 will give us a path from S1 to S. i-1 The shortest logistics path is LP1. Therefore, F i Transferred to S i-1 The service logic is determined by the controller within the service unit. When F... i After accepting S i-1 After the service is completed, a new logistics task will be created. Following the method described above, F... i It flows in an orderly manner under the control of the production logic model.

[0137] (3) Output phase. Service activities and logistics activities alternate until F i After receiving all services, it leaves the production system. During execution, information such as logistics, caching, and processing will be collected in F. i The simulation information will be used for production planning / process verification and system performance evaluation.

[0138] Based on discrete event system simulation modeling theory, a workshop simulation model is constructed from simulation elements such as events, activities, and states to describe the internal operating mechanism of the workshop. Workshop activities are essentially the process by which workpieces move from raw materials to semi-finished or finished products. Therefore, the workshop simulation model can be described by the processes of all workpieces to be processed (represented as flowing entities). Figure 7 The diagram illustrates the process of the i-th flow entity Fi, which starts from the raw material warehouse, alternately receives logistics services and production services, and finally returns to the finished goods warehouse. Based on the given processing tasks, process information, and scheduling scheme, an activity process can be created for each flow entity. As mentioned earlier, shop floor activities can be divided into intra-unit production activities (i.e., services) and inter-unit logistics activities. Accordingly, the process of a flow entity can be decomposed into a series of alternating service subprocesses and logistics subprocesses.

[0139] In this invention, a logistics activity and a service are referred to as an operation. Using F... i The j-th operation O ij For example, it includes a logistics subprocess LP ij and a service subprocess SP ij That is, O ij =LP ij +SP ij ,like Figure 7 As shown. A process consists of several activities and events. Therefore, LPij and SPij can be further expressed as activities and events, as shown below. Figure 8 and Figure 9 As shown. Figure 8 , Figure 9 For the symbols used and their meanings, please refer to [link / reference]. Figure 10 .

[0140] The purpose of this step is to convert the physical workshop's production tasks, process information, and scheduling schemes into the aforementioned executable simulation model. Specific steps include:

[0141] S211 parses the production task, mapping all workpieces to a flow entity set Fs. Specifically, if there are n workpieces to be processed that will receive services on m service units SCs, each workpiece to be processed is mapped to a flow entity F, then a flow entity set F_Set = {F i |1≤i≤n};

[0142] S212 parses the process information and associates it with the corresponding flow entity F in the flow entity set, specifically by letting J... i ={O ij |1≤j≤l i} represents F i The task, of which, l iFor J i operands; O ij = k ,TS ij ,TP ij ,TC ij >For J i The j-th operation, where S k O ij Completed by the k-th service unit (1≤k≤m), TS ij TP ij TC ij Representing O ij If the start time, service duration, and completion time are specified, then a task set J_Set = {J} is generated. i |1≤i≤n};

[0143] S213 parses the scheduling scheme, associating the scheduling scheme with the corresponding flow entity F in the flow entity set, specifically by... For pointing to J i The current operation, the scope of which is operation O i1 arrive when If the next operation exceeds the range pointed to, then F will be... i Removed from F_Set; simulation ends when F_Set is empty. This represents the current operation set of J. It ensures that only J operates on this set. i The current operation will be executed. Furthermore, to ensure that operations with earlier start times are traversed first, Ocur_Set will be initialized according to TS. ij Sort the values ​​in ascending order.

[0144] The flow entity set F_Set = {F} is obtained by parsing production tasks, process information, and scheduling schemes. i |1≤i≤n}、Task set J_Set={J i |1≤i≤n}、Current Operation Set A logical simulation model for the production process of complex equipment, oriented towards digital twins, was constructed.

[0145] S22 utilizes a simulation scheduling strategy to run the logical simulation model. The simulation scheduling strategy is a descriptive mechanism for the dynamic operation of the production system under the interaction of flow entities, service units, and logistics path network models, specifically including:

[0146] S221 simulation initialization obtains the simulation start time t0, simulation rate Rate, and simulation step size ΔT = 30ms. Subsequent adjustments to ΔT reflect the actual time taken for one simulation cycle, with the simulation clock T set to t0.

[0147] ​The S222 simulation process progresses, with a Boolean variable `bStop` serving as the indicator for ending the simulation. When `bStop` is true, the simulation ends; otherwise, within the simulation step, a complete traversal and progression of all flow entity processes is performed, and the status of related resources is updated, including:

[0148] S2221 selects the executable operations in each flow entity process and decomposes them into logistics subprocesses and service subprocesses; similarly, using... Figures 7-9 The flow entity F shown i The j-th operation O ij For example, the purpose of this step is to select the operation O that meets the execution conditions by traversing Ocur_Set. ij And decompose it into a logistics subprocess LP ij and a service subprocess SP ij To ensure that all operations are executed correctly until the simulation ends, F_Set, J_Set, and Ocur_Set are dynamically updated once within each simulation step ΔT.

[0149] S2222 moves the fluid entity from the previous operation position to the next operation position and calls the service subprocess; the purpose of this step is to handle the logistics subprocess LP. ij The process involves the advancement of logistics and the interaction between logistics equipment, service units, and logistics paths. The logistics sub-process includes 5 activities (A1–A5) and 5 events (E1–E5), and is based on a logistics path network model, logistics equipment scheduling algorithm, and shortest path planning algorithm (see step S13) to realize the flow of entities from service unit S. k-1 Transport to service unit S k Taking a typical AGV logistics service as an example, from the perspective of the mobile entity, the five main activities of its logistics sub-process and the models involved in these activities are as follows: Figure 11 As shown. Each activity involves the interaction of multiple simulated entities, and the start, progress, and end of the activity depend on the real-time state of the simulated entities participating in the activity. Taking A2 as an example, this activity involves the flow entity F. i F i The current service unit S i-1 Output buffer B in out and internal actuator E int (e.g., a robotic arm), and external actuators E ext (For example, AGV) There are 4 simulated entities. The arrival of the AGV and the completion of loading are the key events for the start and end of the activity, while the current state of the robot (idle, busy, faulty, etc.) and its changes are the key factors that trigger the events in the activity.

[0150] The specific process is as follows:

[0151] First, obtain the flow entity Fi from service unit S k-1 Transport to the next service unit S k Logistics task LP ij Then, by invoking a logistics equipment scheduling algorithm based on the logistics path network, the logistics equipment E to perform the logistics task is obtained. ext Assign it the logistics task IT = (Fi:S k-1 →S k ).

[0152] Then, the shortest path planning algorithm based on the logistics route network is invoked to obtain the shortest logistics path, and the logistics process is advanced until a delay is encountered, including conditional delays and unconditional delays. For conditional delays, the process will be suspended until subsequent traversals determine whether the condition has been met. A conditional delay refers to a delay period whose length is related to the system state and cannot be determined in advance; the delay ends and the process continues once a specific condition is met. An unconditional delay, on the other hand, means that the entity remains at a certain point in the process, and the delay time is known; the process continues until the predetermined delay period expires.

[0153] S2223 utilizes a service subprocess to execute and advance the current service and returns a boolean variable; the purpose of this step is to manage the service subprocess SP within the service unit. ij The process involves the advancement of the process and the interaction between control equipment, processing equipment, logistics equipment, and buffering equipment. The service subprocess is based on the service unit model (A6~A6). 10 ) and 5 events (E6~E 10 Taking a typical processing service unit as an example, the five main activities of this process and the model involved in these activities are as follows: Figure 12 As shown.

[0154] The specific process is as follows:

[0155] First, the flowing entity F i Entering Service Unit S k Input buffer B in They queue in the middle until they reach the front of the queue. Then, it is determined whether the loading conditions are met, i.e., whether the loading / unloading equipment E... int If processor P is idle, a conditional delay occurs, and the processor continues to queue for service; if the condition is met, the loading / unloading device E is loaded / unloaded. int With processor P state locked, loading activity A7 begins. If the loading, service, and unloading activity times are set to fixed values, all three activities are considered unconditionally delayed. (F) i Taking the P service activity as an example, if the service duration t8 is a fixed value, then an unconditional delay will occur, and the service child process SP will... ijIt is suspended and will be automatically woken up after a delay of t8. If the duration of the above activities is unknown in advance (calculated from resource status and attributes or driven by real-time field data), it is a conditional delay.

[0156] S223 Update the simulation clock. If the Boolean variable is true, the simulation ends; otherwise, repeat step S222 to advance the simulation process.

[0157] S23 collects and analyzes simulation data.

[0158] Flowing entities permeate all production activities, including service, logistics, and buffering activities. They not only carry simulation input information such as production tasks, process information, and scheduling schemes, but also collect and aggregate simulation process data. Using flowing entities as information carriers, all data from the entry to exit of workpieces into the system is recorded. Simulation process data is collected and analyzed from five dimensions: basic simulation information, production plan, logistics information, buffering information, and service information, to obtain system performance evaluation indicators and provide data support for subsequent simulation applications.

[0159] Simulation data includes: simulation start time, simulation end time, simulation multiplier, real-time equipment status, current production progress, original production plan, actual operation process, logistics equipment utilization rate, logistics equipment mileage, logistics equipment scheduling information, buffer equipment utilization rate, processing equipment utilization rate, equipment blockage rate, etc.

[0160] This invention also provides a virtual reconstruction and simulation system for complex equipment manufacturing processes, comprising:

[0161] The representation module is used to uniformly represent the complex equipment manufacturing process, including the representation of workshop elements, production relations, and logistics relations.

[0162] The logic modeling and simulation module is used to logically model complex equipment manufacturing processes using uniformly represented workshop elements, production relationships, and logistics relationships, and to perform simulations based on the logical models constructed through logic modeling.

[0163] The representation modules specifically include: workshop element representation module, production relationship representation module, and logistics relationship representation module.

[0164] The workshop element representation module is used to represent workshop elements as:

[0165] A controller is used to map various control systems, equipment, or decision-makers, providing decision-making services for system operation.

[0166] The processor is used to map various processing equipment and provide operation-related services to the workpiece under the drive of production tasks;

[0167] Actuators are used to map various logistics equipment and provide logistics transfer services for workpieces based on logistics scheduling rules under the drive of logistics tasks.

[0168] A cache is used to map various caches and storage devices to provide temporary or long-term storage services for artifacts.

[0169] Flow entities are used to map workpieces and receive services from processors, actuators, and buffers;

[0170] Logistics routes are used to map logistics relationships;

[0171] Virtual service nodes are used to map production organization relationships, logistics relationships, and production logic.

[0172] The production relations representation module includes:

[0173] The service unit combination module is used to combine workshop elements with a unified representation into service units, including no-input buffer station type, no-output buffer station type, no-buffer station type, and no-internal actuator type.

[0174] The production relations combination module is used to combine service units into production relations.

[0175] The logistics relationship representation module includes:

[0176] The logistics route network model construction module is used to construct a logistics route network model to describe logistics relationships. The logistics route network model is...

[0177] LPN =<G,E_Set,VSN_Set>

[0178] Wherein, LPN is the logistics path network model, E_Set is the executor set, VSN_Set is the virtual service node set, and G = (V, E', W) is an undirected graph, including the vertex set V, the edge set E', and the edge weights W. ij =Distance(V i V j );

[0179] The path planning module is used for path planning based on the logistics path network model, specifically by taking the initial point O from the logistics path network set. i (x i ,y i ) and target point O j (x j ,y j ), get from O i To O j The shortest logistics path LP(O) i O j );

[0180] The logistics scheduling module is used for logistics scheduling based on the logistics path network model. Specifically, it schedules logistics tasks based on the workshop logistics path network set and the logistics task T = {F:O}. i →O j If the object F to be moved is to be moved from point O... i Transport to point O j ; Obtain the actuator E(O) with the shortest transportation distance for performing the logistics task T.

[0181] The logic modeling and simulation execution module includes:

[0182] The simulation model building module is used to generate logical simulation models of complex equipment manufacturing processes;

[0183] The simulation execution module is used to run the logical simulation model using simulation scheduling strategies.

[0184] The simulation model building module includes:

[0185] The production task parsing module is used to map all workpieces into a set of flowing entities;

[0186] The process information parsing module is used to associate process information with the corresponding flow entities in the flow entity set;

[0187] The scheduling scheme parsing module is used to associate scheduling schemes with the corresponding flow entities in the flow entity set.

[0188] The simulation execution module includes:

[0189] The simulation initialization module obtains the simulation start time, simulation scaling factor, and simulation step size.

[0190] The simulation advancement module is used to complete a traversal and advancement of all flow entity processes within the simulation step size, and update the status of related resources. This includes: selecting executable operations in each flow entity process and decomposing them into logistics subprocesses and service subprocesses; transferring the fluid entity from the previous operation position to the next operation position and calling the service subprocess; and using the service subprocess to implement the execution and advancement of the current service.

[0191] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be considered as limitations on the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for virtual reconstruction and simulation operation of complex equipment manufacturing processes, characterized in that... include: A unified representation of complex equipment manufacturing processes is provided, including the representation of workshop elements, production relations, and logistics relations. The complex equipment manufacturing process is logically modeled using workshop elements, production relations, and logistics relations after unified representation, and simulation is performed based on the logical model constructed by the logical modeling. The method for logically modeling complex equipment manufacturing processes and simulating the process based on the logical model constructed by the logical model includes: Generate a logical simulation model of the complex equipment manufacturing process; The logic simulation model is run using a simulation scheduling strategy; Collect and analyze simulation data; The method for generating a logical simulation model of a complex equipment manufacturing process includes: The production task is analyzed, and all workpieces are mapped to a set of flow entities. Specifically, if there are n workpieces to be processed that will receive services on m service units (SCs), each workpiece to be processed is mapped to a flow entity F, thus generating a set of flow entities. ; Parse the process information and associate it with the corresponding flow entities in the flow entity set, specifically by... F represents i The task, of which, l i For J i operands; O ij = < S k TS ij , TP ij TC ij > For J i The j-th operation, where S k O ij Completed by the k-th service unit (1≤k≤m), TS ij TP ij TC ij Representing O ij The start time, service duration, and completion time are used to generate a task set. ; The scheduling scheme is analyzed and associated with the corresponding flow entities in the flow entity set, specifically by... For pointing to J i The current operation, the scope of which is operation O i1 arrive ;when If the next operation exceeds the range pointed to, then F will be... i Removed from F_Set; simulation ends when F_Set is empty.

2. The method for virtual reconstruction and simulation operation of a complex equipment manufacturing process according to claim 1, characterized in that... Methods for uniformly representing workshop elements in complex equipment manufacturing processes include: Workshop elements are represented as controllers, which are used to map various control systems, equipment or decision-makers, and provide decision-making services for system operation; The processor is used to map various processing equipment and provide operation-related services to the workpiece under the drive of production tasks; Actuators are used to map various logistics equipment and provide logistics transfer services for workpieces based on logistics scheduling rules under the drive of logistics tasks. A cache is used to map various caches and storage devices to provide temporary or long-term storage services for artifacts. Flow entities are used to map workpieces and receive services from processors, actuators, and buffers; Logistics routes are used to map logistics relationships; Virtual service nodes are used to map production organization relationships, logistics relationships, and production logic.

3. The method for virtual reconstruction and simulation operation of a complex equipment manufacturing process according to claim 1, characterized in that... Methods for uniformly representing production relations in complex equipment manufacturing processes include: Service units are formed by combining workshop elements with a unified representation. The service units include types with no input buffer station, no output buffer station, no buffer station, and no internal actuator. Production relations are formed by combining service units.

4. The method for virtual reconstruction and simulation operation of a complex equipment manufacturing process according to claim 1, characterized in that... Methods for uniformly representing the logistics relationships in complex equipment manufacturing processes include: A logistics path network model is constructed to describe logistics relationships. The logistics path network model is... ； Wherein, LPN is the logistics path network model, E_Set is the executor set, VSN_Set is the virtual service node set, and G = (V, E', W) is an undirected graph, including the vertex set V, the edge set E', and the edge weights W. ij = Distance(V i V j ); Route planning is based on a logistics route network model, specifically by taking an initial point O from the logistics route network set. i (x i ,y i ) and target point O j (x j , y j ), get from O i To O j The shortest logistics path LP(O) i O j ); Logistics scheduling is based on a logistics path network model, specifically by using the workshop logistics path network set and logistics tasks T = {F:O} i →O j If the object F to be moved is to be moved from point O... i Transport to point O j ; Obtain the actuator E(O) with the shortest transportation distance for performing the logistics task T.

5. The method for virtual reconstruction and simulation operation of a complex equipment manufacturing process according to claim 1, characterized in that... The method for running a logic simulation model using a simulation scheduling strategy includes: Simulation initialization: obtain simulation start time, simulation scaling factor, and simulation step size; As the simulation progresses, a Boolean variable is used as a marker to indicate the end of the simulation. When the Boolean variable is true, the simulation ends; otherwise, within the simulation step, all flow entity processes are traversed and advanced once, and the status of related resources is updated. This includes: selecting executable operations in each flow entity process and decomposing them into logistics subprocesses and service subprocesses; moving the fluid entity from the previous operation position to the next operation position and calling the service subprocess; using the service subprocess to execute and advance the current service and returning a Boolean variable. Update the simulation clock. If the Boolean variable is true, the simulation ends; otherwise, repeat the simulation progress steps.

6. A virtual reconstruction and simulation system for complex equipment manufacturing processes, characterized in that... include: The representation module is used to uniformly represent the complex equipment manufacturing process, including the representation of workshop elements, production relations, and logistics relations. The logic modeling and simulation module is used to logically model complex equipment manufacturing processes using unified representations of workshop elements, production relationships, and logistics relationships, and to perform simulations based on the logical models constructed through logic modeling. The logic modeling and simulation execution module includes: The simulation model building module is used to generate logical simulation models of complex equipment manufacturing processes; The simulation execution module is used to run the logical simulation model using simulation scheduling strategies; The simulation model construction module includes: The production task parsing module is used to map all workpieces into a set of flowing entities; The process information parsing module is used to associate process information with the corresponding flow entities in the flow entity set; The scheduling scheme parsing module is used to associate scheduling schemes with the corresponding flow entities in the flow entity set.

7. A virtual reconstruction and simulation system for complex equipment manufacturing processes according to claim 6, characterized in that... The representation module includes a workshop element representation module, a production relationship representation module, and a logistics relationship representation module.

8. The virtual reconstruction and simulation system for complex equipment manufacturing processes according to claim 7, characterized in that... The workshop element representation module is used to represent workshop elements as: A controller is used to map various control systems, equipment, or decision-makers, providing decision-making services for system operation. The processor is used to map various processing equipment and provide operation-related services to the workpiece under the drive of production tasks; Actuators are used to map various logistics equipment and provide logistics transfer services for workpieces based on logistics scheduling rules under the drive of logistics tasks. A cache is used to map various caches and storage devices to provide temporary or long-term storage services for artifacts. Flow entities are used to map workpieces and receive services from processors, actuators, and buffers; Logistics routes are used to map logistics relationships; Virtual service nodes are used to map production organization relationships, logistics relationships, and production logic.

9. A virtual reconstruction and simulation system for complex equipment manufacturing processes according to claim 7, characterized in that... The production relations representation module includes: The service unit combination module is used to combine workshop elements with a unified representation into service units, including no-input buffer station type, no-output buffer station type, no-buffer station type, and no-internal actuator type. The production relations combination module is used to combine service units into production relations.

10. A virtual reconstruction and simulation system for complex equipment manufacturing processes according to claim 7, characterized in that... The logistics relationship representation module includes: The logistics route network model construction module is used to construct a logistics route network model to describe logistics relationships. The logistics route network model is... ； Wherein, LPN is the logistics path network model, E_Set is the executor set, VSN_Set is the virtual service node set, and G = (V, E', W) is an undirected graph, including the vertex set V, the edge set E', and the edge weights W. ij = Distance(V i V j ); The path planning module is used for path planning based on the logistics path network model, specifically by taking the initial point O from the logistics path network set. i (x i , y i ) and target point O j (x j , y j ), get from O i To O j The shortest logistics path LP(O) i O j ); The logistics scheduling module is used for logistics scheduling based on the logistics path network model. Specifically, it schedules logistics tasks based on the workshop logistics path network set and the logistics task T = {F:O}. i →O j If the object F to be moved is to be moved from point O... i Transport to point O j ; Obtain the actuator E(O) with the shortest transportation distance for performing the logistics task T.

11. The virtual reconstruction and simulation system for complex equipment manufacturing processes according to claim 6, characterized in that... The simulation operation module includes: The simulation initialization module obtains the simulation start time, simulation scaling factor, and simulation step size. The simulation advancement module is used to complete a traversal and advancement of all flow entity processes within the simulation step size, and update the status of related resources. This includes: selecting executable operations in each flow entity process and decomposing them into logistics subprocesses and service subprocesses; transferring the fluid entity from the previous operation position to the next operation position and calling the service subprocess; and using the service subprocess to implement the execution and advancement of the current service.

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