Simulation method, device, system and storage medium for automated assembly line

Abstract

The present application relates to a simulation method, device, system and storage medium for an automated assembly line, wherein the simulation method for the automated assembly line comprises: establishing a virtual simulation time system; wherein the time flow rate of the simulation time system is greater than the time flow rate of physical time; based on the simulation time system, simulating the operation process of the automated assembly line to obtain simulation results; and determining the performance parameters of the automated assembly line based on the simulation results. Through the present application, while ensuring that the operation process of the automated assembly line is completely simulated, the simulation time consumption is reduced and the simulation speed is increased, so that users can obtain simulation results faster, and then quickly measure and analyze the automated assembly line. This solves the problem that the existing conventional simulation software for simulating automated assembly lines has low simulation efficiency and cannot quickly obtain simulation results.

Description

Technical Field

[0001] The present application relates to the field of pipeline simulation, and in particular to a simulation method, device and system for an automated pipeline. Background Art

[0002] Whether in the pre-sales design stage or in the after-sales operation and maintenance stage, the automated assembly line needs to undergo operational performance testing to obtain information such as the assembly line capacity and the operating status of the dedicated machine, so as to determine whether the performance of the automated assembly line meets the expected design requirements, or to provide a basis for the operation and maintenance of the automated assembly line.

[0003] In one approach, technical personnel perform calculations based on the design principles of the automated assembly line. For example, during the pre-sales design phase, designers estimate the operating performance of the automated assembly line based on design drawings and explain the calculated operating performance to users. Because the manually calculated operating performance is inaccurate, it can easily lead to the user's automated assembly line failing to meet expectations. However, at this point, the automated assembly line is already in operation, and rework and maintenance will incur huge costs. For example, during the after-sales maintenance phase, if the automated assembly line needs to be tested for operating performance to determine whether overhaul and maintenance are necessary without affecting the automated assembly line's production capacity, manual calculations are usually performed by experienced management personnel. Similarly, the manually calculated operating performance is inaccurate.

[0004] Alternatively, the performance of automated production lines can be simulated using simulation software. However, automated production lines operate continuously, and many of their performance parameters, such as daily production capacity, are dependent on operating time. This means that simulation software requires a long period of simulation to obtain these performance parameters. Therefore, using conventional simulation software to simulate automated production lines suffers from low efficiency and inability to quickly obtain simulation results.

[0005] The existing conventional simulation software used to simulate automated assembly lines has the problems of low simulation efficiency and inability to quickly obtain simulation results. No effective solution has been proposed so far. Summary of the Invention

[0006] The present invention provides a simulation method, device, system and storage medium for an automated pipeline to solve the problems of low simulation efficiency and inability to quickly obtain simulation results when simulating automated pipelines using existing conventional simulation software.

[0007] In a first aspect, the present invention provides a simulation method for an automated assembly line, the method comprising:

[0008] Establishing a virtual simulation time system; wherein the time flow rate of the simulation time system is greater than the time flow rate of physical time;

[0009] Based on the simulation time system, the operation process of the automated assembly line is simulated to obtain simulation results;

[0010] According to the simulation results, performance parameters of the automated assembly line are determined.

[0011] In some embodiments, establishing a virtual simulation time system includes:

[0012] Virtually compressing the physical time axis according to a preset compression ratio to obtain a virtual simulation time axis; wherein the compression ratio is determined according to the computing power of the computer;

[0013] Determining the performance parameters of the automated assembly line based on the simulation results includes:

[0014] The simulation results are traversed frame by frame according to the simulation time axis to obtain performance parameters of the automated pipeline.

[0015] In some embodiments, the automated assembly line includes a plurality of dedicated equipment and a transport track connecting the dedicated equipment;

[0016] The simulating the operation process of the automated assembly line includes:

[0017] A preset task scheduling mechanism based on the dedicated equipment is adopted to schedule the execution of the motion simulation task of the object on the automated assembly line, and simulate the motion trajectory of the object in the transport track.

[0018] In some embodiments, the scheduling of the execution of the motion simulation task of the object by using a preset task scheduling mechanism based on the dedicated device includes:

[0019] When the current dedicated machine device meets the release time of the current object and the target dedicated machine device meets the receiving condition of the current object, the current motion simulation task of the current object is scheduled.

[0020] In some embodiments, the release time of the current object is determined according to the last time the current object entered the current dedicated device and the beat time of the current dedicated device;

[0021] The receiving condition of the current object includes that the target dedicated device has no faults and that the target dedicated device is not full and is idle.

[0022] In some embodiments, simulating the motion trajectory of the object in the transport track includes:

[0023] According to the transportation state of the transportation track, the minimum posture change of the object in a unit time interval is determined, and based on the minimum posture change of the object, the posture of the object is updated in real time.

[0024] In some embodiments, simulating the motion trajectory of the object in the transport track further comprises:

[0025] When the object is in a straight portion of the transport track, performing one-dimensional collision detection on the object;

[0026] When the object is in a curved portion of the transport track, a two-dimensional collision detection is performed on the object.

[0027] In a second aspect, the present invention provides a simulation device for an automated assembly line, the device comprising:

[0028] A pre-preparation module is used to establish a virtual simulation time system; wherein the time flow rate of the simulation time system is greater than the flow rate of physical time;

[0029] A simulation test module, configured to simulate the operation process of the automated assembly line based on the simulation time system to obtain simulation results;

[0030] The performance calculation module is used to determine the performance parameters of the automated assembly line according to the simulation results.

[0031] In a third aspect, the present invention provides a simulation system for an automated pipeline, comprising an automated pipeline to be simulated and a simulation device, wherein the simulation device is used to execute the simulation method described in the first aspect to simulate the automated pipeline.

[0032] In a fourth aspect, the present invention provides a storage medium on which a computer program is stored, and when the program is executed by a processor, the simulation method of the automated pipeline described in the first aspect is implemented.

[0033] Compared to related technologies, the automated assembly line simulation method, device, system, and storage medium provided in the present invention first establish a simulation time system in which the passage of time is faster than physical time. This system is then used to simulate the automated assembly line's operation. Ultimately, while ensuring the complete simulation of the automated assembly line's operation, this method reduces simulation time and increases simulation speed, allowing users to obtain simulation results more quickly and thus rapidly perform measurement and analysis on the automated assembly line. This solves the problem of low simulation efficiency and the inability to quickly obtain simulation results when simulating automated assembly lines using existing conventional simulation software.

[0034] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0036] Figure 1 This is a hardware structure diagram of a terminal that executes the simulation method of the automated pipeline provided by the present invention;

[0037] Figure 2 It is a flow chart of the simulation method of the automated assembly line provided by the present invention;

[0038] Figure 3 It is a structural block diagram of the simulation device of the automated assembly line provided by the present invention. DETAILED DESCRIPTION

[0039] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0040] Unless otherwise defined, the technical terms or scientific terms involved in this application should have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "an", "a", "the", "these" and the like in this application do not indicate quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Generally, the character " / " indicates that the related objects are in an "or" relationship. The terms "first," "second," "third," etc. used in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0041] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 This is a hardware block diagram of a terminal that executes the simulation method of the automated pipeline provided by the present invention. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown) a processor 102 and a memory 104 for storing data, wherein the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0042] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the simulation method of the automated assembly line provided by the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implementing the above-mentioned method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0043] The transmission device 106 is used to receive or send data via a network. The network may include a wireless network provided by the terminal's telecommunications provider. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0044] The present invention provides a simulation method for an automated assembly line. Figure 2 This is a flow chart of the simulation method of the automated assembly line provided by the present invention, such as Figure 2 As shown, the process includes the following steps:

[0045] Step S210: establishing a virtual simulation time system; wherein the time flow rate of the simulation time system is greater than the time flow rate of physical time.

[0046] In this step, a virtual simulated time system is established in the computer system. The time flow rate of this simulated time system is greater than the actual flow rate of physical time. For example, when the actual physical time passes for 5 minutes, 1 hour has passed in the simulated time system. Specifically, the time flow rate of the simulated time system can be set according to actual conditions. For example, the time flow rate of the simulated time system can be set to 10 times or 20 times the flow rate of physical time.

[0047] Step S220: Based on the simulation time system, the operation process of the automated assembly line is simulated to obtain simulation results.

[0048] In this step, when simulating the operation process of the automated assembly line, the simulation time system is used as a time reference. That is, the operation change process of the automated assembly line is simulated based on the time flow rate of the simulation time system. For example, in a simulation scenario, it is necessary to simulate the production capacity of the automated assembly line for 10 hours. If a conventional simulation method is used, it is necessary to simulate the automated assembly line running for 10 hours (physical time). If the simulation is performed using the simulation time system, the automated assembly line is run for 10 hours (simulation time) in the simulation time system. However, the time flow rate of the simulation time system is greater than the actual physical time flow rate, so the actual physical time required for the simulation process is less than 10 hours. For example, when the time flow rate of the simulation time system is 10 times the physical time flow rate, it only takes 1 hour to obtain the simulation result of the automated assembly line running for 10 hours. This speeds up the simulation speed of the automated assembly line and allows the simulation results to be obtained quickly.

[0049] Step S230: determining the performance parameters of the automated assembly line based on the simulation results.

[0050] In this step, the simulation results include the operating process data of the automated assembly line within a preset time range. By analyzing these operating process data, the performance parameters of the automated assembly line can be calculated. The performance parameters include information such as the dedicated machine beat, production capacity, and bottlenecks of the automated assembly line.

[0051] Through the above steps, a simulation time system is first established in which the passage of time is faster than physical time. The simulation time system is then used to simulate the operation of the automated assembly line. Ultimately, while ensuring that the operation of the automated assembly line is fully simulated, the simulation time consumption is reduced and the simulation speed is increased, allowing users to obtain simulation results more quickly and thus quickly perform measurement and analysis on the automated assembly line. This solves the problem of low simulation efficiency and the inability to quickly obtain simulation results when simulating automated assembly lines using existing conventional simulation software.

[0052] In some embodiments, step S210, establishing a virtual simulation time system, specifically includes:

[0053] Step S211 , virtually compressing the physical time axis according to a preset compression ratio to obtain a virtual simulation time axis; wherein the compression ratio is determined according to the computing power of the computer.

[0054] Step S230, determining the performance parameters of the automated assembly line based on the simulation results, specifically includes:

[0055] Step S231 , traverse the simulation results frame by frame according to the simulation time axis to obtain performance parameters of the automated pipeline.

[0056] In the present embodiment, a specific construction form of a simulation time system is provided. A virtual simulation timeline can be established in a computer system. The simulation timeline can be obtained by performing virtual compression with reference to an actual physical timeline. For example, the compression ratio can be set to the physical time length of the simulation timeline compared to the physical time length of the physical timeline. For example, the compression ratio can be set to 1 / 10. At this time, the physical timeline with a time span of 10 hours can be compressed into a simulation timeline with a duration of 1 hour (physical time), and the time span in the simulation timeline is still 10 hours (simulation time). This means that the time passage speed in the simulation timeline is 10 times that in the physical timeline.

[0057] Furthermore, a lower preset compression ratio means a shorter physical time on the simulation timeline, and a higher frequency of data calculations required by the computer system for simulation. This requires a higher computing power. Therefore, if the computing power supports it, the preset compression ratio can be minimized to increase the simulation speed of the automated pipeline.

[0058] After obtaining the simulation results or during the simulation process, the complete simulation results or existing simulation results can be traversed and tested frame by frame according to the simulation timeline, so as to quickly understand the operation process of the automated pipeline and obtain the corresponding performance parameters.

[0059] In some of the embodiments, the automated assembly line includes a plurality of dedicated equipment and a transport track connecting the dedicated equipment;

[0060] In step S220, the operation process of the automated assembly line is simulated, specifically including:

[0061] In step S221 , a preset task scheduling mechanism based on a dedicated device is used to schedule the execution of motion simulation tasks of objects on the automated assembly line, and to simulate the motion trajectory of the objects in the transport track.

[0062] In this embodiment, a specific simulation process of an automated assembly line is provided. Special equipment is a special processing mechanical equipment installed at each processing node. The transport track is a transmission device installed between two special equipment, which is used to transport the object from the previous special equipment to the next transmission device. The motion simulation task of the object includes the motion simulation of the object in the transport track of the assembly line. When the computer system performs this task, it simulates the motion trajectory of the object in the transport track. The motion of the object includes moving forward, stopping, turning, shaking and rotating. Usually, the motion simulation task of a certain object is to simulate the motion trajectory of the object from the previous special equipment to the next special equipment. Therefore, the scheduling of the motion simulation task of the object is related to the special equipment. Usually, when the previous special equipment can release the object and the next special equipment can receive the object, the motion simulation task of the object is scheduled to simulate its motion trajectory from the previous special equipment to the next special equipment.

[0063] Furthermore, in some embodiments, in step S221, a preset task scheduling mechanism based on a dedicated device is used to schedule the execution of the motion simulation task of the object on the automated assembly line, specifically including:

[0064] When the current dedicated equipment meets the release time of the current object and the target dedicated equipment meets the receiving condition of the current object, the current motion simulation task of the current object is scheduled.

[0065] In this embodiment, a specific preset task scheduling mechanism is provided. The target dedicated device is the next node of the current dedicated device, that is, after the object is processed by the current dedicated device, it needs to enter the target dedicated device, and then there is a transmission track between the current dedicated device and the target dedicated device. Correspondingly, the computer system is preset with motion simulation tasks for each object object on the transmission track. Usually, only when the current dedicated device meets the release time of the current object object and the target dedicated device meets the receiving conditions of the current object object, the current moving object will move from the current dedicated device to the target dedicated device, and then the task scheduler will schedule the execution of the current moving object at this time, so that the simulation process is more consistent with the actual operation process of the automated assembly line.

[0066] To be more specific, the release time of the current object is determined based on the last time the current object entered the current dedicated equipment and the beat time of the current dedicated equipment; the receiving conditions of the current object include that the target dedicated equipment has no faults, and the target dedicated equipment is not full and idle.

[0067] If the dedicated machine has only a single workstation, the time the object enters the dedicated machine is recorded. The takt time of the dedicated machine is then added to this time to determine the release time of the object. The dedicated machine will only release the object when the release time is reached or after the release time. If the dedicated machine has multiple workstations, the takt time is not counted until all objects have entered the dedicated machine. Therefore, the time when the last object enters the dedicated machine is recorded. The takt time of the dedicated machine is then added to this time to determine the release time of the object. The dedicated machine will only release the objects one by one when the release time is reached or after the release time. Once the release time is determined to be met, the target dedicated machine will continue to check its operating status, specifically whether the target dedicated machine is faulty or whether its workstation is full. The acceptance conditions for the object are met only when the target dedicated machine is not faulty and its workstation is not full and available. When it is detected that the release time and reception conditions of the current object are met, the motion simulation task of the current object will be scheduled to simulate the motion trajectory of the current object from the current dedicated equipment to the target dedicated equipment.

[0068] In some embodiments, in step S221, the motion trajectory of the simulated object in the transport track includes:

[0069] According to the transportation status of the transportation track, the minimum posture change of the object in a unit time interval is determined, and the posture of the object is updated in real time based on the minimum posture change of the object.

[0070] In this embodiment, the transport state of the transport track includes information such as the speed of movement and the track path (straight or curved). Based on the transport state of the transport track, the posture transformation of the object on the transport track, that is, the change in position and posture, can be determined. Thus, the minimum posture change of the object in a unit time interval can be determined. Among them, the unit time interval is determined based on the simulation time system, which is the time interval between two moments before and after. The computer system continuously updates the posture of the object in real time based on the unit time interval. Specifically, based on the posture of the object at the previous moment and combined with the minimum posture change, the posture of the next object at the next moment can be obtained.

[0071] For example, during the simulation process, an object can be represented by a two-dimensional rectangle. The pose transformation of the two-dimensional rectangle is the spatial coordinate transformation of the two-dimensional rectangle in the graphics engine. The minimum pose change is then represented by a transformation matrix. That is, the transformation matrix acts on the spatial coordinates of the two-dimensional rectangle to obtain the spatial coordinates of the two-dimensional rectangle after the pose change. The transformation matrix includes a translation matrix corresponding to the position transformation, a rotation matrix corresponding to the angle transformation, and a scaling matrix corresponding to the scaling transformation. When a two-dimensional rectangle has multiple transformations at the same time, a two-dimensional composite matrix can be used.

[0072] Furthermore, in some embodiments, in step S221, the motion trajectory of the simulated object in the transport track includes:

[0073] When the object is in the straight part of the transport track, one-dimensional collision detection is performed on the object; when the object is in the curved part of the transport track, two-dimensional collision detection is performed on the object.

[0074] In this embodiment, since there are multiple objects on the transport track at the same time, when simulating the displacement of the object on the transport track, the object will also be subjected to collision detection. Specifically, when the object is in the straight part of the transport track, since the object moves in only one direction, a one-dimensional collision detection can be performed on it, that is, to detect whether it interferes with another object in the direction of movement of the object. Specifically, when the object is represented by a two-dimensional rectangle, it can be detected whether the current two-dimensional rectangle intersects with another two-dimensional rectangle in the direction of movement. When the object is in the curved part of the transport track, since the direction of movement of the object is constantly changing, it is necessary to perform a two-dimensional collision detection on it, that is, to monitor whether it interferes with another object in the plane of movement of the object. Specifically, when the object is represented by a two-dimensional rectangle, it can be detected whether the current two-dimensional rectangle intersects with another two-dimensional rectangle in the plane of movement.

[0075] As follows, the technical solution of the present invention is described in detail through a specific embodiment.

[0076] In this specific embodiment, the simulation method of the automated assembly line can be mainly divided into three parts.

[0077] 1. Moving object trajectory simulation based on spatial collision detection.

[0078] On the one hand, there's front-end task scheduling. The task scheduler is responsible for scheduling the execution of motion object simulation tasks within the scene. Motion simulation tasks include the object's movement and animation. Movement includes forward movement, pause, and cornering, while animation includes jitter and rotation. During simulation, objects can be represented using two-dimensional graphics.

[0079] On the other hand, there is channel collision detection. When simulating displacement, the object needs to simulate displacement collision detection. One-dimensional collision detection is used for movement in a straight track, and two-dimensional collision detection is used for movement in a curve. For example, every time a task is to be executed, it is necessary to detect whether there are any interfering tooling plates in the specified range in front of the tooling plate (object) and the specified range behind it. Specifically, each straight line segment of the path is judged in a one-dimensional way to determine whether interference occurs. The front and back can be judged based on the length and step size of the two-dimensional graphics. The corners of the path need to be processed in a two-dimensional range to determine whether different two-dimensional graphics have intersections.

[0080] Object movement simulation is achieved through spatial coordinate transformation of 2D graphics within the graphics engine. Each movement of an object within the SVG (Scalable Vector Graphics) scene requires position and posture calculation. Distance calculations correspond to translational transformation matrices, angle conversions correspond to rotational transformation matrices, and scaling calculations correspond to scaling matrices. 2D graphics of objects can be adaptively scaled with each channel. Composite transformations correspond to 2D composite matrices. When a 2D graphic has multiple transformations, a 2D composite matrix can be used.

[0081] 2. Task scheduling mechanism based on dedicated equipment.

[0082] In order to facilitate the description of the task scheduling mechanism, one of the dedicated devices is selected as the current dedicated device, the object on the current dedicated device is the current object object, and the next dedicated device of the current dedicated device is the target dedicated device.

[0083] First, determine whether the current dedicated equipment meets the release time. If not, wait for the next cycle inspection. If satisfied, proceed to the subsequent steps. Secondly, determine the workstation status of the target dedicated equipment. If the workstation is full or faulty, wait for the next cycle inspection. If the workstation is not full and idle, push the release instruction. Then the current object moves from the current dedicated equipment to the target dedicated equipment, and records the time when the current object enters the target dedicated equipment. Finally, determine whether the workstation of the target dedicated equipment is full. If so, calculate the release time of the target dedicated equipment, that is, update the next round of release time of each current object in the target dedicated equipment. The release time is the time when the last current object enters the target dedicated equipment plus the set beat of the target dedicated equipment.

[0084] 3. Rapid simulation calculation.

[0085] Through the computing power of computers, the real time axis is replaced by a relative time axis, that is, the physical time axis is replaced by a virtual simulation time axis. The time flow rate of the relative time axis is greater than that of the real time axis. By traversing and testing the relative time axis frame by frame, the beat, bottleneck, and line capacity of each automated special machine can be quickly calculated, which can eliminate the virtual simulation detection process and quickly obtain the final results and suggestions.

[0086] The above provides a specific simulation method for automated assembly lines. This method, combined with the production line operation scenario constructed by the modeling design engine, can more intuitively reflect the operation logic of the assembly line, quickly shorten the interaction between designers and users, foresee and avoid defects in the design process, and reduce trial and error costs.

[0087] The invention also provides a simulation device for an automated assembly line, which is used to implement the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated. The terms "module," "unit," "subunit," etc. used below may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0088] Figure 3 This is a structural block diagram of the simulation device for the automated assembly line provided by the present invention, such as Figure 3 As shown, the device includes:

[0089] The pre-preparation module 310 is used to establish a virtual simulation time system; wherein the time flow rate of the simulation time system is greater than the flow rate of physical time;

[0090] The simulation test module 320 is used to simulate the operation process of the automated assembly line based on the simulation time system to obtain simulation results;

[0091] The performance measurement module 330 is used to determine the performance parameters of the automated assembly line based on the simulation results.

[0092] The above device first establishes a simulation time system in which the passage of time is faster than physical time. The simulation time system is then used to simulate the operation of the automated assembly line. Ultimately, while ensuring the complete simulation of the automated assembly line's operation, the simulation time is reduced and the simulation speed is increased, allowing users to obtain simulation results more quickly and thus rapidly perform measurement and analysis on the automated assembly line. This solves the problem of low simulation efficiency and the inability to quickly obtain simulation results when simulating automated assembly lines using existing conventional simulation software.

[0093] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0094] The invention also provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0095] It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0096] In addition, in conjunction with the automated pipeline simulation method provided in the above embodiments, the present invention may further provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by a processor, it implements any of the automated pipeline simulation methods in the above embodiments.

[0097] At the same time, the present invention also provides a simulation system for an automated pipeline, including an automated pipeline to be simulated and a simulation device, wherein the simulation device is used to execute any one of the simulation methods for automated pipelines in the above embodiments to simulate the automated pipeline.

[0098] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0099] It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0100] Obviously, the accompanying drawings are merely examples or embodiments of the present application. A person skilled in the art can also apply the present application to other similar situations based on these drawings without inventive effort. Furthermore, it is understandable that, although the work involved in this development process may be complex and lengthy, certain design, manufacturing, or production changes based on the technical content disclosed in this application are merely routine technical means for a person skilled in the art and should not be considered to constitute a deficiency in the disclosure of the present application.

[0101] The term "embodiment" as used in this application refers to specific features, structures, or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily mean that the embodiment is the same, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is understood, either explicitly or implicitly, by those skilled in the art that the embodiments described in this application can be combined with other embodiments when there is no conflict.

[0102] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A simulation method for an automated assembly line, characterized in that: The method comprises: Establishing a virtual simulation time system, comprising: virtually compressing a physical time axis according to a preset compression ratio to obtain a virtual simulation time axis; wherein the compression ratio is determined based on computer computing power; and reducing the compression ratio if the computer computing power supports it; and wherein the time passage speed of the simulation time system is greater than the passage speed of physical time; Based on the simulation time system, the operation process of the automated assembly line is simulated to obtain simulation results, which includes: using a preset task scheduling mechanism based on dedicated equipment to schedule the execution of motion simulation tasks of objects on the automated assembly line, and simulating the motion trajectory of the objects on the transportation track; the automated assembly line includes multiple dedicated equipment and transportation tracks connecting the dedicated equipment; Wherein, simulating the motion trajectory of the object in the transport track further includes: performing one-dimensional collision detection on the object when the object is in a straight portion of the transport track; and performing two-dimensional collision detection on the object when the object is in a curved portion of the transport track; According to the simulation results, performance parameters of the automated assembly line are determined.

2. The method for simulating an automated assembly line according to claim 1, wherein: Determining the performance parameters of the automated assembly line based on the simulation results includes: The simulation results are traversed frame by frame according to the simulation time axis to obtain performance parameters of the automated pipeline.

3. The simulation method of the automated assembly line according to claim 1, characterized in that: The method of scheduling the execution of the motion simulation task of the object by using the preset task scheduling mechanism based on the dedicated machine device includes: When the current dedicated machine device meets the release time of the current object and the target dedicated machine device meets the receiving condition of the current object, the current motion simulation task of the current object is scheduled.

4. The method for simulating an automated assembly line according to claim 3, wherein: The release time of the current object is determined according to the last time the current object entered the current dedicated device and the beat time of the current dedicated device; The receiving condition of the current object includes that the target dedicated device has no faults and that the target dedicated device is not full and is idle.

5. The method for simulating an automated assembly line according to claim 1, wherein: The simulating the motion trajectory of the object in the transport track includes: According to the transportation state of the transportation track, the minimum posture change of the object in a unit time interval is determined, and based on the minimum posture change of the object, the posture of the object is updated in real time.

6. A simulation device for an automated assembly line, characterized in that: The device comprises: A pre-preparation module is used to establish a virtual simulation time system, which includes: virtually compressing the physical time axis according to a preset compression ratio to obtain a virtual simulation time axis; wherein the compression ratio is determined according to the computing power of the computer; if the computing power of the computer supports it, the compression ratio is reduced; the time flow rate of the simulation time system is greater than the flow rate of physical time; a simulation test module, configured to simulate the operation of the automated assembly line based on the simulation time system to obtain simulation results, including: using a preset task scheduling mechanism based on dedicated equipment to schedule the execution of motion simulation tasks for objects on the automated assembly line, and simulating the motion trajectory of the objects on the transport track; the automated assembly line includes a plurality of dedicated equipment and a transport track connecting the dedicated equipment; Wherein, simulating the motion trajectory of the object in the transport track further includes: performing one-dimensional collision detection on the object when the object is in a straight portion of the transport track; and performing two-dimensional collision detection on the object when the object is in a curved portion of the transport track; The performance calculation module is used to determine the performance parameters of the automated assembly line according to the simulation results.

7. A simulation system for an automated assembly line, comprising an automated assembly line to be simulated and a simulation device, characterized in that: The simulation device is used to execute the simulation method described in any one of claims 1 to 5 to simulate the automated assembly line.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the simulation method of the automated pipeline according to any one of claims 1 to 5 are implemented.

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