A control instruction driving kinematic pair implementation method for virtual simulation of an equipment digital twin system
By defining control command-driven kinematic pairs in a virtual simulation environment, the mapping problem between twin data and kinematic pairs in the digital twin system of manufacturing equipment is solved, achieving accurate data correspondence and simulation verification, reducing motion simulation deviation, and making it suitable for online and offline real-time simulation.
Patent Information
- Application Number
- CN202310257747.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-03-17
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2043-03-17
AI Technical Summary
In existing digital twin systems for manufacturing equipment, a rapid mapping relationship cannot be established between the twin data collected by the equipment and the kinematic pairs, resulting in motion simulation deviations. Furthermore, existing systems lack effective control command-driven methods.
By defining control commands-driven kinematic pairs in a virtual simulation environment, including motion trajectory, direction, and parameters, the system supports the correspondence between twin data and physical systems. It uses a human-computer interaction method to select motion components, generate trajectories, and define motion parameters, ensuring that the data corresponds one-to-one.
It achieves accurate mapping between twin data and physical system in digital twin system of manufacturing equipment, reduces deviation in motion simulation, supports online and offline real-time simulation, and improves the accuracy and efficiency of simulation verification.
Smart Images
Figure CN116305928B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to a control instruction driven motion pair implementation method for virtual simulation of a digital twin system of equipment, belongs to the technical field of digital twin of manufacturing equipment, and specifically relates to a method for defining a motion pair of a digital twin system, thereby accurately mapping the position relationship of the motion pair between an actual manufacturing equipment and a digital twin manufacturing equipment, and solving the inconsistency in expressing the motion pair of the twin system and the physical system, and even the inconsistency in coordinate systems. The method can be used for virtual simulation implementation of a digital twin system of various manufacturing equipment, and can be used for online twin and offline simulation by using a determination method of a motion pair based on a motion control instruction to accurately and virtually simulate and display the equipment motion process of the physical system and the twin system in real time. BACKGROUND
[0002] Digital twin technology has received extensive attention in recent years, and many companies regard digital twin as one of the most important technologies in the industry. The development of Internet technology and the emerging and increasingly thriving artificial intelligence and Internet of Things technology make more and more people realize the possibility of digital twin, and start to accept and try to apply it in some fields. Digital twin gradually becomes a digital link for the exchange of various data information, so that products can communicate and integrate with digital twin models at various life stages, and manage the design analysis and production and manufacturing process at various stages.
[0003] At present, most of the twin systems of manufacturing equipment directly display the collected data on the twin model, but the motion state of the equipment is only a demonstration, and does not focus on the actual pose state, and even uses an animation instead. This results in that the twin system of the equipment is a false twin, which can only roughly reflect the general state of the equipment and cannot reflect the actual production process.
[0004] In most of the current motion simulation platforms, more attention is paid to the motion simulation of the model itself, such as setting the constraint relationship between mechanisms, adding various motion pairs in CATIA DMU, and enabling the model to move in the desired and required manner.
[0005] There is also a part of digital twin systems that can realize the connection between the motion simulation platform and the data, and drive the motion of the model through data or user instructions. However, these systems only artificially adjust the interaction for each device, so that the collected data and the motion in the twin system are similar, and there is still a big difference between this matching and the internal driving mode of the real twin motion. Therefore, how to define a motion pair for virtual simulation of a digital twin system of manufacturing equipment, and solve the mapping relationship between the twin data collected by the equipment and the motion pair, is a key problem currently faced by the digital twin system of manufacturing equipment. SUMMARY
[0006] The purpose of the present application is to solve the problem that the twin data collected by the equipment cannot be quickly mapped with the kinematic pair, and to invent a control instruction driven kinematic pair implementation method for virtual simulation of an equipment digital twin system.
[0007] The technical solution of the present application is:
[0008] A control instruction driven kinematic pair implementation method for virtual simulation of an equipment digital twin system supports the control instruction driven kinematic mode of mapping the twin data collected by the actual equipment, characterized in that:
[0009] The instruction driven kinematic pair needs to be determined in two aspects, one is the simulation motion implementation aspect, including the kinematic pair relative motion trajectory and motion direction, this part can be realized on the virtual simulation platform through an interactive definition method; the second is the data driven aspect, including the data corresponding to the actual equipment driving instruction and parameter, including but not limited to, the zero position of the kinematic pair (motion shaft), the current position, the set target position, the current motion speed, the set motion speed, the motion start flag, the driving element signal acquisition (such as motor current, etc.).
[0010] The specific determination steps of the instruction driven kinematic pair include: first, the selection of the kinematic pair component in the virtual simulation environment should have a convenient and fast man-machine interaction form; second, the selected kinematic pair component is quickly generated and selected, this part can be realized by selecting the typical features of a certain constraint part of the component, including but not limited to the surface of the part, the axis, the edge, etc., and the trajectory can also be defined by pop-up interaction for equidistant offset, etc.; third, the motion direction of the motion component along the motion trajectory is selected and defined, including the direction of movement or rotation; fourth, the motion parameter definition of the control instruction driven kinematic pair is realized, typically the zero position of the kinematic pair (motion shaft), the current position, the set target position, the current motion speed, the set motion speed, the motion start flag, the driving element signal acquisition, etc. can be filled in a motion parameter pop-up box or page; fifth, in the digital twin or virtual simulation system, according to the control instruction collected or offline issued, write into the motion parameters of the kinematic pair, and according to the parameters, along the defined motion trajectory and motion direction, run to the specified position.
[0011] The beneficial effects of the present application are:
[0012] The present application aims at the mapping relationship between the twin data collected by the equipment and the motion pair, and provides a motion pair determination method for virtual simulation of a manufacturing equipment digital twin system, supports a control instruction driving motion mode for mapping the twin data collected by the actual equipment, and provides a quick and accurate definition method for supporting the collected data to realize the equipment digital twin system. The method has the following obvious advantages:
[0013] Firstly, the method normatively expresses the motion pair information required by the virtual simulation of the equipment, and can one-to-one correspond to the collected instruction data, thereby forming a normative definition method of the manufacturing equipment simulation system.
[0014] Secondly, the method can define two sets of data (such as the twin zero position of the motion shaft and the actual calibration zero position) of the twin system and the physical system in the motion pair at the same time, so that after the data in the physical system is collected, the conversion can be performed internally, thereby avoiding the deviation of the motion simulation caused by the inconsistency between the twin system and the physical system model.
[0015] The method is not only suitable for online real-time motion simulation of the digital twin system, but also can be used for offline simulation, and compared with the offline simulation of the general simulation platform, the simulation verification at the control instruction level can be better realized, and the verification effect and verification ability of the offline program have better performance. BRIEF DESCRIPTION OF DRAWINGS
[0016] Figure 1 Control instruction driving motion pair implementation method schematic diagram.
[0017] Figure 2 Motion pair assembly interaction determination implementation example.
[0018] Figure 3 motion pair direction indication example. DETAILED DESCRIPTION
[0019] The present application will be further described below in combination with the drawings and embodiments.
[0020] As Figure 1 shown.
[0021] A control instruction driving motion pair implementation method for virtual simulation of an equipment digital twin system, which comprises the following steps:
[0022] Firstly, the selection of the motion pair assembly is realized in the virtual simulation environment, and the selection process should have a convenient and fast man-machine interaction form (such as Figure 2 shown). In the implementation process, the translational motion assembly (such as a guide rail), the rotational motion assembly (such as a rotating shaft), or even the curved motion assembly (moving on a curve or a surface, such as a deformable track, a cam, etc.) can be selected.
[0023] Second, the quick trajectory generation and selection of the selected kinematic pair assembly, which can be achieved by selecting the typical features of a constraint component of the assembly, including but not limited to the surface of a component, axis, edge, etc., and also pop-up interaction to define the equidistant offset of the trajectory. Since different kinematic assemblies are selected in the previous step, the default trajectory can be recommended according to the assembly. For example, if a rotating kinematic assembly is selected, the axis or surface generatrix of the assembly can be recommended when a component is selected, and the user is asked to select whether to offset the trajectory. Similarly, if a review assembly is selected, the surface generatrix or axis of the assembly can be recommended when a component is selected, and the user is asked to select whether to offset the trajectory (most of which do not need to be offset).
[0024] Third, the direction of the kinematic assembly along the trajectory is selected and defined, including the direction of movement or rotation. Movement has a positive direction, so it needs to be pointed out when defining the kinematic pair, which should be consistent with the actual equipment direction. The direction of movement is more intuitive, and the direction of rotation can be defined by the direction of the rotation axis, and the right-hand rule or left-hand rule is used to express the rotation, as shown in Figure 3 .
[0025] Fourth, the motion parameter definition of the control instruction driven kinematic pair is implemented, which can typically be filled in a motion parameter pop-up box or page. The zero position, current position, set target position, current motion speed, set motion speed, start motion flag, and drive element signal acquisition of the kinematic pair (motion axis) are defined. This step is the key to implementing control instruction driving, because the motion data collected by the actual equipment is the current position, target position, speed, and drive element data (such as motor current) of the kinematic axis. However, the current position and target position are not in a certain coordinate system, but relative to the zero position of the kinematic axis, so the zero position needs to be given for calculation. In specific implementation, two sets of data (e.g., kinematic axis twin zero position and actual calibration zero position) can be defined in the kinematic pair at the same time, because each set of equipment has a deviation, and the zero position defined on the twin system and the zero position on the physical system will be different. After collecting data in the physical system, the internal conversion can be performed according to the different zero positions, thereby avoiding the deviation of the kinematic simulation caused by the inconsistency between the twin system and the physical system model. It is worth mentioning that directly adjusting the zero position on the twin system is not a good way in most cases, because many equipment often have many sets on the production line, each set has a different deviation, and this way of directly writing the actual deviation on the twin system often brings inconvenience and hidden dangers to deployment and maintenance, and the comparison of the two sets of data is easier to define and troubleshoot.
[0026] Fifth, in the digital twin or virtual simulation system, according to the control instruction collected or offline, write into the motion parameters of the kinematic pair, and according to the parameters, run to the specified position along the defined motion trajectory and motion direction at the corresponding speed. In specific implementation, it can run to the final position according to the control instruction sequence (offline simulation) or the sequence of collected data changes (online twin) according to the corresponding speed and direction.
[0027] In particular, in the implementation, the fourth step of defining the motion parameters of the kinematic pair driven by the control instruction can also be batch input by using the configuration file.
[0028] The part of the application not involved is the same as the prior art or can be realized by using the prior art.
Claims
1. A method for implementing control command-driven motion pairs in virtual simulation of equipment digital twin systems, supporting control command-driven motion based on twin data acquired from actual equipment, characterized by: The instruction-driven kinematic pair needs to be determined from two aspects: one is the simulation motion implementation aspect, including the relative motion trajectory and motion direction of the kinematic pair; the second is the data driving aspect, including the data corresponding to the actual equipment driving instruction and parameters; including the following steps: a control instruction-driven kinematic pair implementation method for equipment digital twin system virtual simulation, which comprises the following steps: Firstly, the selection of the kinematic pair assembly is realized in the virtual simulation environment, and the selection process adopts the form of human-computer interaction; in the implementation process, the translational motion assembly, the rotational motion assembly, and even the curved motion assembly are selected; Secondly, the selected kinematic pair assembly is quickly generated and selected, which is realized by selecting the typical features of a constraint part of the assembly, including the surface of a part, an axis, an edge, or a pop-up interaction to define the equidistant offset of the trajectory; since different motion assemblies are selected in the previous step, the default trajectory is recommended according to the assembly in this step; if the rotational motion assembly is selected, when a part is selected, the axis or the surface generatrix of the assembly is taken as the reference line, and the user is prompted to select whether to offset the trajectory equidistantly; similarly, when the translational assembly is selected, when a part is selected, the surface generatrix or the axis of the part is taken as the reference line, and the user is prompted to select whether to offset the trajectory equidistantly; Thirdly, the motion direction of the motion assembly along the motion trajectory is selected and defined, including the direction of movement or rotation; the direction of motion is positive or negative, so the direction needs to be corrected when the kinematic pair is defined; the direction of rotation is defined by the direction of the rotation axis, and the rotation direction is expressed by the right-hand rule or the left-hand rule, which is convenient for operation and understanding; Fourthly, the motion parameter definition of the control instruction-driven kinematic pair is realized, and the zero position, the current position, the set target position, the current motion speed, the set motion speed, the motion start flag, and the drive element signal acquisition of the kinematic pair are filled in a motion parameter pop-up box or page; this is the key to realizing the control instruction driving, because the motion data collected by the actual equipment is the current position, the target position, the speed, and the drive element data of the motion shaft, but the current position and the target position are not in a certain coordinate system, but relative to the zero position of the motion shaft, so the zero position needs to be given for calculation; two sets of data of the twin system and the physical system are defined in the kinematic pair, because each set of equipment has a deviation, the zero position defined on the twin system and the zero position on the physical system will be different, so after the data in the physical system is collected, the zero position is converted internally according to the different zero positions, thereby avoiding the deviation of the motion simulation caused by the inconsistency between the twin system and the physical system model; Fifthly, in the digital twin or virtual simulation system, the control instruction collected or offline issued is written into the motion parameters of the kinematic pair, and the corresponding speed is used to run to the specified position along the defined motion trajectory and motion direction according to the parameters; according to the control instruction sequence or the data change sequence, the corresponding speed and direction are used to run to the final position.
2. The method of claim 1, wherein: The control instruction drives the motion parameter definition of the motion pair through batch input by a configuration file.