Digital workshop model sharing and synchronization method, system and medium based on digital twin

Abstract

The present invention provides a digital workshop model sharing and synchronization method, system and medium based on digital twin, which relates to the technical field of digital twin models, including: establishing a digital twin workshop, obtaining a physical implementation model in the digital twin workshop; obtaining an operation controllable model; judging whether to perform a synchronous update on the actual operation of the physical implementation model based on the operation status analysis result of the physical implementation model; the present invention is used to solve the problem in the prior art that in the process of using a digital twin model for digital synchronization, even if the variation range of the production equipment is within the normal variation range, the operation status of the production equipment still needs to be frequently synchronized and updated in the digital twin model to ensure the accuracy of the synchronization, thereby causing unnecessary waste of resources.

Description

Technical Field

[0001] The present invention relates to the technical field of digital twin models, and in particular to a digital workshop model sharing and synchronization method, system and medium based on digital twins. Background Art

[0002] The digital twin model is a technical means to create a virtual model of a physical entity in a digital way, using historical data, real-time data, and algorithmic models to simulate, verify, predict, and control the entire life cycle of a physical entity. It is essentially a digital mirror of a physical entity or process, a digital expression of a specific physical entity or process with data connection, ensuring the same-rate convergence between the physical state and the virtual state, and providing an integrated view of the entire life cycle of the physical entity or process, helping to optimize overall performance.

[0003] Existing improvements for digital twin models are usually used to improve the accuracy of the model compared to the physical building, and the accuracy of the model is improved by efficiently adjusting the position parameters or size parameters of the workshop equipment model, thereby achieving better digital synchronization. In the process of using the digital twin model for digital synchronization, as the accuracy of the model increases, more resources will be consumed during synchronization to ensure that the changes in the model are consistent with the changes in the actual equipment, resulting in the need to continuously obtain the operation status of the actual equipment and synchronize it during the operation of multiple equipment in the workshop, thereby consuming more resources. For example, in the Chinese patent application with publication number CN118192479A, a factory workshop digital twin model correction method and system based on data acquisition is disclosed. This solution is to obtain the operating data of the production equipment, thereby improving the accuracy of the prediction of the factory workshop production situation in the obtained workshop digital twin model. To achieve the above improvement, even if the change range of the production equipment is within the normal change range, it is still necessary to frequently synchronize the operation status of the production equipment in the digital twin model to ensure the accuracy of the synchronization, thereby causing unnecessary waste of resources. In view of this, it is necessary to improve the existing method for sharing and synchronizing digital workshop models. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a digital workshop model sharing and synchronization method, system and medium based on digital twin, which is used to solve the problem in the prior art that in the process of using digital twin models for digital synchronization, as the accuracy of the model increases, more resources will be consumed during synchronization to ensure that the changes in the model are consistent with the changes in the actual equipment, resulting in the need to continuously obtain the operating conditions of the actual equipment and synchronize them during the operation of multiple equipment in the workshop, thereby consuming more resources. At the same time, even if the change range of the production equipment is within the normal range of change, the operating status of the production equipment still needs to be frequently synchronized and updated in the digital twin model to ensure the accuracy of the synchronization, thereby causing unnecessary waste of resources.

[0005] In order to achieve the above objectives, in a first aspect, the present invention provides a digital workshop model sharing and synchronization method based on digital twin, comprising:

[0006] Establish a digital twin workshop based on the digital twin and digital workshop model, and obtain the physical implementation model, physical workshop and virtual workshop in the digital twin workshop;

[0007] Obtain the operational controllable model of each physical implementation model based on the operational status of the physical implementation model and the digital twin workshop;

[0008] The operating status of the production equipment in the physical workshop during operation is analyzed based on the operation controllable model, and based on the analysis results, it is determined whether to synchronously update the actual operation of the production equipment in the virtual workshop.

[0009] Furthermore, the digital twin workshop includes a physical workshop, a virtual workshop and a workshop service system. The data in the physical workshop and the virtual workshop are recorded as workshop twin data. The workshop server system is used to manage and control the virtual workshop and the physical workshop based on the workshop twin data; the model of the production equipment in the physical workshop is recorded as a physical implementation model.

[0010] Furthermore, obtaining the operational controllable model of each physical implementation model based on the operational status of the physical implementation model and the digital twin workshop includes:

[0011] Establish a three-dimensional rectangular coordinate system, denoted as the model analysis coordinate system, where the units of the X-axis, Y-axis, and Z-axis of the model analysis coordinate system are all in meters; for any production equipment SC in the physical workshop α , based on production equipment SC α The 3D drawing is used to build a model in the model analysis coordinate system, which is recorded as the equipment model SB α , the device model SB αAll unit cubes are recorded as model cubes, where a unit cube is a cube of 1m×1m×1m in the model analysis coordinate system and the vertex coordinates are all positive integers;

[0012] For any model cube MX β , the model cube MX β Medium Equipment Model SB α The area is recorded as device area QY αβ , when the device area QY αβ The volume is smaller than the model cube MX β When the volume of the device area QY is obtained αβ The midpoint of the region is recorded as the midpoint ZD αβ , get the midpoint ZD of the area αβ Production equipment SC in the physical workshop α The position of the distance zone is ZD αβ Production equipment SC in the physical workshop α The nearest production equipment SC α The surface is recorded as the placement point FZD αβ .

[0013] Furthermore, obtaining the operational controllable model of each physical implementation model based on the operational status of the physical implementation model and the digital twin workshop also includes:

[0014] Obtain all the placeable points corresponding to the model cubes, and place vibration sensors at all the placeable points. The value of dividing the number of placeable points by the number of model cubes is recorded as the placement ratio, wherein the output of the vibration sensor is the vibration displacement;

[0015] Establish a plane rectangular coordinate system, recorded as the vibration analysis coordinate system, where the unit of the X-axis of the vibration analysis coordinate system is the start-up time, and the unit of the Y-axis is the displacement length; α One cycle at startup is recorded as cycle time, and the production equipment SC is started α And the startup time is the cycle time; in the production equipment SC α After startup, based on production equipment SC α The data received by all vibration sensors on the system are used to generate the curve corresponding to each vibration sensor in the vibration analysis coordinate system, which is recorded as the vibration curve. The absolute values ​​of the slopes of all straight lines after each vibration curve is fitted into a straight line are obtained and recorded as K1 to K z , where z is the number of vibration curves.

[0016] Furthermore, obtaining the operational controllable model of each physical implementation model based on the operational status of the physical implementation model and the digital twin workshop also includes:

[0017] The value obtained by multiplying z by the placement ratio and rounding up is recorded as L, and K1 to K z The vibration curves corresponding to the larger L absolute values ​​in are recorded as selectable vibration curves, and the placement points corresponding to the selectable vibration curves are recorded as selectable placement points; the production equipment SC α The vibration sensors that are not recorded as possible placement points are removed.

[0018] Furthermore, obtaining the operational controllable model of each physical implementation model based on the operational status of the physical implementation model and the digital twin workshop also includes:

[0019] Based on production equipment SC α The positions of all remaining vibration sensors in the model analysis coordinate system are marked as vibration placement points; restart the production equipment SC α The startup time is the cycle time. For any vibration placement point, the position of the vibration sensor corresponding to the vibration placement point within the cycle time is obtained in real time, and the trajectory of the vibration sensor movement is recorded in the model analysis coordinate system, which is recorded as the vibration trajectory. α After the operation is completed, the point in the vibration trajectory that is farthest from the vibration placement point is recorded as the vibration circle point, and a sphere is made with the vibration placement point as the center and the distance between the vibration placement point and the vibration circle point as the radius, which is recorded as the vibration fault tolerance sphere;

[0020] Get the vibration tolerance balls corresponding to all vibration placement points and convert the device model SB α The area formed by all vibration tolerance balls is recorded as production equipment SC α The operation of the controllable model.

[0021] Further, analyzing the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and judging whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis result includes:

[0022] When the production equipment in the physical workshop is operating, for any production equipment SC α , obtain the production equipment SC in the model analysis coordinate system α The operation controllable model is based on the production equipment SC in the physical workshop in the workshop service system. α The command sent is ZL γ , control the production equipment SC in the virtual workshop α Execute instruction ZL γ ; Production equipment SC in the physical workshop α Based on instruction ZL γ During the operation, obtain the production equipment SC in real time α The position of the vibration sensor in the production equipment SCα When the corresponding operation is within the controllable model, the production equipment SC in the virtual workshop is maintained α Continue to execute instruction ZL γ .

[0023] Furthermore, analyzing the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and judging whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis result also includes:

[0024] When the production equipment SC α When the position of any vibration sensor in the production equipment SC is outside the running controllable model, obtain the vibration sensor α The trajectory after the start of operation is recorded as the offset trajectory; the offset sharing algorithm is used to obtain the offset ratio of the vibration sensor. The offset sharing algorithm is: , where F is the offset ratio, s0 is the trajectory coefficient, and t0 is the production equipment SC α Executed command ZL γ time, t1 is the production equipment SC α Execute instruction ZL γ The time when the offset trajectory overlaps with the vibration trajectory, g0 is the length of the offset trajectory, g1 is the length of the vibration trajectory, g2 is the length of the overlap between the offset trajectory and the vibration trajectory, and f1 is the number of vibration sensors outside the running controllable model when the position of the vibration sensor is outside the running controllable model.

[0025] Furthermore, analyzing the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and judging whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis result also includes:

[0026] The production equipment SC in the virtual workshop α Executed command ZL γ The time is recorded as T, and the value obtained by multiplying T by the offset ratio is recorded as the real-time synchronization time; the production equipment SC in the physical workshop α Execute instruction ZL γ The moving trajectory of all vibration sensors after the duration is longer than the real-time synchronization time is recorded as the correction trajectory; the production equipment SC corresponding to the correction trajectory of all vibration sensors α The actual operating data is recorded as revised data.

[0027] Furthermore, analyzing the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and judging whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis result also includes:

[0028] Correction of production equipment SC in virtual workshop αExecute instruction ZL γ After the time is greater than the real-time synchronization time, the production equipment SC α The operating status of the modified production equipment SC α The operation trajectory of the placement point can be selected to coincide with the correction trajectory of the corresponding vibration sensor, and the corrected production equipment SC α The operating data is adjusted to revised data.

[0029] In a second aspect, the present invention also provides a digital workshop model sharing and synchronization system based on digital twins, including a twin workshop establishment module, a controllable model extraction module, and a dynamic update module;

[0030] The twin workshop establishment module is used to establish a digital twin workshop based on the digital twin and digital workshop model, and obtain the physical implementation model, physical workshop and virtual workshop in the digital twin workshop;

[0031] The controllable model extraction module is used to obtain the operational controllable model of each physical implementation model based on the operational status of the physical implementation model and the digital twin workshop;

[0032] The dynamic update module is used to analyze the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and determine whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis results.

[0033] In a third aspect, the present invention provides a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps in the above method are performed.

[0034] Beneficial effects of the present invention: The present invention first establishes a digital twin workshop based on the digital twin and the digital workshop model, and obtains the physical implementation model, the physical workshop and the virtual workshop in the digital twin workshop; then, based on the running state of the physical implementation model and the digital twin workshop, the operation controllable model of each physical implementation model is obtained. The advantage of this is that by obtaining the operation controllable model, the normal variation range of the production equipment corresponding to the physical implementation model in the actual operation process can be obtained, which is helpful for subsequent judgment of synchronous update based on the normal variation range of each production equipment, so that the judgment result conforms to the actual operation state of the production equipment;

[0035] The present invention also analyzes the operating status of the production equipment in the physical workshop during runtime based on the operation controllable model, and determines whether to synchronize the actual operation of the production equipment in the virtual workshop based on the analysis results. The advantage of this is that by analyzing the operating status of the production equipment in the physical workshop during runtime based on the operation controllable model, it is possible to determine whether the operation of the production equipment in the physical workshop is within a controllable normal variation range, so that during synchronization updates, there is no need to frequently and accurately update the operating status of the production equipment within the normal variation range in the digital twin model, thereby avoiding wasting unnecessary resources when the production equipment is operating normally.

[0036] Advantages of additional aspects of the present invention will be given in part in the description of the following specific embodiments, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0038] Figure 1 It is a principle block diagram of the digital workshop model sharing and synchronization system based on digital twin of the present invention;

[0039] Figure 2 It is a flowchart of the steps of the digital workshop model sharing and synchronization method based on digital twin of the present invention;

[0040] Figure 3 It is a structural schematic diagram of the digital twin workshop of the present invention;

[0041] Figure 4 It is a schematic diagram of fitting the vibration curve of the vibration analysis coordinate system of the present invention into a straight line. DETAILED DESCRIPTION

[0042] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0043] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0044] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0045] Example 1

[0046] See also Figure 1As shown, the present invention provides a digital workshop model sharing and synchronization system based on digital twins, including a twin workshop establishment module, a controllable model extraction module and a dynamic update module;

[0047] The twin workshop establishment module is used to establish a digital twin workshop based on the digital twin and digital workshop model, and to obtain the physical implementation model, physical workshop and virtual workshop in the digital twin workshop.

[0048] The digital twin workshop includes a physical workshop, a virtual workshop and a workshop service system. The data in the physical workshop and the virtual workshop are recorded as workshop twin data. The workshop server system is used to manage and control the virtual workshop and the physical workshop based on the workshop twin data; the model of the production equipment in the physical workshop is recorded as the physical implementation model.

[0049] In the specific implementation process, please refer to Figure 3 As shown in the figure, the structure of the digital twin workshop includes the physical workshop, virtual workshop, workshop service system and connection. Among them, the physical workshop is a collection of production equipment, personnel, products, materials and other entities that objectively exist in the workshop. It is mainly responsible for receiving production tasks issued by the workshop service system, and strictly following the predefined production instructions after virtual workshop simulation optimization, executing production activities and completing production tasks; the real-time status data of production factors such as equipment, personnel, products, materials and other production factors in the physical workshop can be effectively collected through various sensors; the virtual workshop is a faithful and completely digital mirror of the physical workshop, describing and characterizing the physical workshop from multiple levels of geometry, physics, behavior and rules. It is mainly responsible for simulating, evaluating and optimizing the production resources and production activities of the physical workshop, and real-time monitoring, prediction and regulation of the actual production process; the virtual workshop is essentially a collection of models composed of multiple geometric, physical, behavioral and rule models, which can comprehensively describe and characterize the physical workshop in multiple dimensions;

[0050] The controllable model extraction module is used to obtain the operating controllable model of each physical implementation model based on the operating status of the physical implementation model and the digital twin workshop.

[0051] The controllable model extraction module includes a controllable model acquisition unit, and the controllable model acquisition unit is configured with a controllable model acquisition strategy. The controllable model acquisition strategy includes:

[0052] Establish a three-dimensional rectangular coordinate system, denoted as the model analysis coordinate system, where the units of the X-axis, Y-axis, and Z-axis of the model analysis coordinate system are all in meters; for any production equipment SC in the physical workshop α , based on production equipment SC α The 3D drawing is used to build a model in the model analysis coordinate system, which is recorded as the equipment model SB α , the device model SB αAll unit cubes are recorded as model cubes, where a unit cube is a cube of 1m×1m×1m in the model analysis coordinate system and the vertex coordinates are all positive integers;

[0053] In the specific implementation process, the production equipment that can be used in this embodiment can be a laser cutting machine. During the production process of laser cutting by the laser cutting machine, the laser cutting machine may vibrate due to different cutting materials. When the laser cutting machine under vibration is synchronized in real time in the virtual workshop through the acquisition equipment, more resources need to be consumed, but the actual effect only reflects that the laser cutting machine is cutting. Therefore, by obtaining the controllable operation model of the laser cutting machine, the frequency of real-time synchronization in the virtual workshop can be reduced when the laser cutting machine is performing normal cutting, thereby accurately reflecting the operating status of the laser cutting machine while reducing the resources consumed by real-time synchronization;

[0054] For any model cube MX β , the model cube MX β Medium Equipment Model SB α The area is recorded as device area QY αβ , when the device area QY αβ The volume is smaller than the model cube MX β When the volume of the device area QY is obtained αβ The midpoint of the region is recorded as the midpoint ZD αβ , get the midpoint ZD of the area αβ Production equipment SC in the physical workshop α The location of the production equipment SC α The surface is recorded as the placement point FZD αβ .

[0055] In the specific implementation process, when the device area QY αβ The volume is smaller than the model cube MX β When the volume is αβ It is probably the outer area of ​​the production equipment, so we can get the equipment area QY αβ The corresponding area midpoint then obtains the placement point;

[0056] Obtain all the placeable points corresponding to the model cubes, and place vibration sensors at all the placeable points. The value of dividing the number of placeable points by the number of model cubes is recorded as the placement ratio, wherein the output of the vibration sensor is the vibration displacement;

[0057] In the specific implementation process, when the number of model cubes is large, more placement points will be obtained. If vibration sensors are placed at all placement points, too much data will need to be analyzed. Therefore, by establishing a vibration analysis coordinate system, the placement points can be screened, so that vibration sensors can be placed at the placement points where the vibration amplitude of the production equipment is larger during operation.

[0058] Establish a plane rectangular coordinate system, recorded as the vibration analysis coordinate system, where the unit of the X-axis of the vibration analysis coordinate system is the start-up time, and the unit of the Y-axis is the displacement length; α One cycle at startup is recorded as cycle time, and the production equipment SC is started α And the startup time is the cycle time; in the production equipment SC α After startup, based on production equipment SC α The data received by all vibration sensors on the system are used to generate the curve corresponding to each vibration sensor in the vibration analysis coordinate system, which is recorded as the vibration curve. The absolute values ​​of the slopes of all straight lines after each vibration curve is fitted into a straight line are obtained and recorded as K1 to K z , where z is the number of vibration curves.

[0059] In the specific implementation process, please refer to Figure 4 As shown, the curves corresponding to D1 to D4 are all vibration curves, and the straight lines obtained by fitting D1 to D4 are LL1 to LL4, and the slopes of the straight lines LL1 to LL4 are LL1, LL2, LL3 and LL4 from high to low;

[0060] The value obtained by multiplying z by the placement ratio and rounding up is recorded as L, and K1 to K z The vibration curves corresponding to the larger L absolute values ​​in are recorded as selectable vibration curves, and the placement points corresponding to the selectable vibration curves are recorded as selectable placement points; the production equipment SC α The vibration sensors that are not recorded as possible placement points are removed.

[0061] In the specific implementation process, the value of L can be adjusted according to the number of vibration sensors that can be placed in the actual production equipment. When more vibration sensors cannot be placed in the actual production equipment, the value of L can be lowered;

[0062] Based on production equipment SC α The positions of all remaining vibration sensors in the model analysis coordinate system are marked as vibration placement points; restart the production equipment SC αThe startup time is the cycle time. For any vibration placement point, the position of the vibration sensor corresponding to the vibration placement point within the cycle time is obtained in real time, and the trajectory of the vibration sensor movement is recorded in the model analysis coordinate system, which is recorded as the vibration trajectory. α After the operation is completed, the point in the vibration trajectory that is farthest from the vibration placement point is recorded as the vibration circle point, and a sphere is made with the vibration placement point as the center and the distance between the vibration placement point and the vibration circle point as the radius, which is recorded as the vibration fault tolerance sphere;

[0063] In the specific implementation process, by obtaining the vibration tolerance ball and establishing an operation controllable model based on the vibration tolerance ball, the space where the production equipment is actually located during normal operation, that is, the internal area of ​​the operation controllable model, can be obtained;

[0064] Get the vibration tolerance balls corresponding to all vibration placement points and convert the device model SB α The area formed by all vibration tolerance balls is recorded as production equipment SC α The operation of the controllable model.

[0065] The dynamic update module is used to analyze the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and determine whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis results.

[0066] The dynamic update module includes a synchronization judgment unit, and the synchronization judgment unit is configured with a synchronization judgment correction strategy, and the synchronization judgment correction strategy includes:

[0067] When the production equipment in the physical workshop is operating, for any production equipment SC α , obtain the production equipment SC in the model analysis coordinate system α The operation controllable model is based on the production equipment SC in the physical workshop in the workshop service system. α The command sent is ZL γ , control the production equipment SC in the virtual workshop α Execute instruction ZL γ ; Production equipment SC in the physical workshop α Based on instruction ZL γ During the operation, obtain the production equipment SC in real time α The position of the vibration sensor in the production equipment SC α When the corresponding operation is within the controllable model, the production equipment SC in the virtual workshop is maintained α Continue to execute instruction ZL γ .

[0068] In the specific implementation process, when the production equipment SC αAll vibration sensors are located in the production equipment SC α When the corresponding operation is within the controllable model, it indicates that the production equipment SC α It is operating normally and within the normal range, so it is only necessary to ensure that the production equipment SC in the virtual workshop α Continue to execute instruction ZL γ It can be used without consuming more resources to synchronize the production equipment SC α , thus causing unnecessary waste of resources;

[0069] When the production equipment SC α When the position of any vibration sensor in the production equipment SC is outside the running controllable model, obtain the vibration sensor α The trajectory after the start of operation is recorded as the offset trajectory; the offset sharing algorithm is used to obtain the offset ratio of the vibration sensor. The offset sharing algorithm is: , where F is the offset ratio, s0 is the trajectory coefficient, and t0 is the production equipment SC α Executed command ZL γ time, t1 is the production equipment SC α Execute instruction ZL γ The time when the offset trajectory overlaps with the vibration trajectory, g0 is the length of the offset trajectory, g1 is the length of the vibration trajectory, g2 is the length of the overlap between the offset trajectory and the vibration trajectory, and f1 is the number of vibration sensors outside the running controllable model when the position of the vibration sensor is outside the running controllable model.

[0070] In the specific implementation process, by obtaining the offset ratio, the offset of the vibration sensor before the position of the vibration sensor is outside the controllable model during the actual operation of the production equipment can be obtained, which is helpful to synchronize the production equipment with offset in the virtual workshop. When f1≥2, it means that multiple vibration sensors are outside the controllable model. At this time, the position of the production equipment in the physical workshop may change. If the offset trajectory and vibration trajectory are analyzed at this time, the actual offset of the production equipment cannot be effectively judged through multiple groups of different offset trajectories and vibration trajectories. Therefore, the offset ratio should be obtained according to the time when the offset occurs; and when f1<2, it means that there is only one vibration sensor outside the controllable model. Only one group of offset trajectories and vibration trajectories need to be analyzed to obtain the actual offset of the production equipment. Therefore, the trajectory can be analyzed at this time to obtain the offset ratio;

[0071] In this embodiment, since the number of trajectories to be analyzed is only the offset trajectory and the vibration trajectory, the value of s0 is 2; for example, in a data processing process, when the laser cutting machine is running, the position of a vibration sensor is outside the controllable operation model of the laser cutting machine, and the length of the offset trajectory is 10 cm, the length of the vibration trajectory is 12 cm, and g2 is the length of the overlap of the offset trajectory and the vibration trajectory, which is 8 cm. Then, by calculation, it can be obtained that the offset ratio is about 0.73;

[0072] The production equipment SC in the virtual workshop α Executed command ZL γ The time is recorded as T, and the value obtained by multiplying T by the offset ratio is recorded as the real-time synchronization time; the production equipment SC in the physical workshop α Execute instruction ZL γ The moving trajectory of all vibration sensors after the duration is longer than the real-time synchronization time is recorded as the correction trajectory; the production equipment SC corresponding to the correction trajectory of all vibration sensors α The actual operating data is recorded as revised data.

[0073] In the specific implementation process, for example, in a data processing process, it is obtained that the offset ratio of a vibration sensor of the laser cutting machine after being outside the controllable operation model of the laser cutting machine is 0.73, and the time for the laser cutting machine to execute the instruction is 100 minutes, which means that within the first 73 minutes of the execution of the instruction by the laser cutting machine in the virtual workshop, the laser cutting machine in the virtual workshop maintains real-time synchronization with the laser cutting machine in the physical workshop. Therefore, the first 73 minutes of the execution of the instruction by the laser cutting machine can be recorded as the real-time synchronization time, that is, the time that the laser cutting machine in the virtual workshop has executed the instruction multiplied by the offset ratio; and the time other than the real-time synchronization time in the time when the laser cutting machine executes the instruction should be used to correct the operation of the laser cutting machine in the virtual workshop based on the trajectory of the movement of the vibration sensor, that is, to obtain and correct the operation status and operation data of the laser cutting machine in the virtual workshop based on the correction data;

[0074] Correction of production equipment SC in virtual workshop α Execute instruction ZL γ After the time is greater than the real-time synchronization time, the production equipment SC α The operating status of the modified production equipment SC α The operation trajectory of the placement point can be selected to coincide with the correction trajectory of the corresponding vibration sensor, and the corrected production equipment SC α The operating data is adjusted to revised data.

[0075] Example 2

[0076] See also Figure 2As shown, the present invention also provides a digital workshop model sharing and synchronization method based on digital twin, including:

[0077] Step S1, establishing a digital twin workshop based on the digital twin and the digital workshop model, and obtaining a physical implementation model, a physical workshop, and a virtual workshop in the digital twin workshop.

[0078] The digital twin workshop includes a physical workshop, a virtual workshop and a workshop service system. The data in the physical workshop and the virtual workshop are recorded as workshop twin data. The workshop server system is used to manage and control the virtual workshop and the physical workshop based on the workshop twin data; the model of the production equipment in the physical workshop is recorded as the physical implementation model.

[0079] Step S2: obtaining an operational controllable model of each physical implementation model based on the operational status of the physical implementation model and the digital twin workshop.

[0080] Step S2 includes the following sub-steps: Step S201, establish a three-dimensional rectangular coordinate system, recorded as the model analysis coordinate system, wherein the units of the X-axis, Y-axis and Z-axis of the model analysis coordinate system are all m; for any production equipment SC in the physical workshop α , based on production equipment SC α The 3D drawing is used to build a model in the model analysis coordinate system, which is recorded as the equipment model SB α , the device model SB α All unit cubes are recorded as model cubes, where a unit cube is a cube of 1m×1m×1m in the model analysis coordinate system and the vertex coordinates are all positive integers;

[0081] Step S202: for any model cube MX β , the model cube MX β Medium Equipment Model SB α The area is recorded as device area QY αβ , when the device area QY αβ The volume is smaller than the model cube MX β When the volume of the device area QY is obtained αβ The midpoint of the region is ZD αβ , get the midpoint ZD of the area αβ Production equipment SC in the physical workshop α The location of the production equipment SC α The surface is recorded as the placement point FZD αβ .

[0082] Step S203, obtaining all the placeable points corresponding to the model cubes, and placing vibration sensors at all the placeable points, and recording the value of the number of placeable points divided by the number of model cubes as the placement ratio, wherein the output of the vibration sensor is the vibration displacement;

[0083] Step S204, establish a plane rectangular coordinate system, recorded as the vibration analysis coordinate system, wherein the unit of the X-axis of the vibration analysis coordinate system is the start-up time, and the unit of the Y-axis is the displacement length; α One cycle at startup is recorded as cycle time, and the production equipment SC is started α And the startup time is the cycle time; in the production equipment SC α After startup, based on production equipment SC α The data received by all vibration sensors on the system are used to generate the curve corresponding to each vibration sensor in the vibration analysis coordinate system, which is recorded as the vibration curve. The absolute values ​​of the slopes of all straight lines after each vibration curve is fitted into a straight line are obtained and recorded as K1 to K z , where z is the number of vibration curves.

[0084] Step S205: multiply z by the placement ratio and round up to get a value L, and set K1 to K z The vibration curves corresponding to the larger L absolute values ​​in are recorded as selectable vibration curves, and the placement points corresponding to the selectable vibration curves are recorded as selectable placement points; the production equipment SC α The vibration sensors that are not recorded as possible placement points are removed.

[0085] Step S206, based on the production equipment SC α The positions of all remaining vibration sensors in the model analysis coordinate system are marked as vibration placement points; restart the production equipment SC α The startup time is the cycle time. For any vibration placement point, the position of the vibration sensor corresponding to the vibration placement point within the cycle time is obtained in real time, and the trajectory of the vibration sensor movement is recorded in the model analysis coordinate system, which is recorded as the vibration trajectory. α After the operation is completed, the point in the vibration trajectory that is farthest from the vibration placement point is recorded as the vibration circle point, and a sphere is made with the vibration placement point as the center and the distance between the vibration placement point and the vibration circle point as the radius, which is recorded as the vibration fault tolerance sphere;

[0086] Get the vibration tolerance balls corresponding to all vibration placement points and convert the device model SB α The area formed by all vibration tolerance balls is recorded as production equipment SC α The operation of the controllable model.

[0087] Step S3, analyzing the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and judging whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis result.

[0088] Step S3 includes: Step S301, when the production equipment in the physical workshop is in operation, for any production equipment SC α , obtain the production equipment SC in the model analysis coordinate system α The operation controllable model is based on the production equipment SC in the physical workshop in the workshop service system. α The command sent is ZL γ , control the production equipment SC in the virtual workshop α Execute instruction ZL γ ; Production equipment SC in the physical workshop α Based on instruction ZL γ During the operation, obtain the production equipment SC in real time α The position of the vibration sensor in the production equipment SC α When the corresponding operation is within the controllable model, the production equipment SC in the virtual workshop is maintained α Continue to execute instruction ZL γ .

[0089] Step S302, when the production equipment SC α When the position of any vibration sensor in the production equipment SC is outside the running controllable model, obtain the vibration sensor α The trajectory after the start of operation is recorded as the offset trajectory; the offset sharing algorithm is used to obtain the offset ratio of the vibration sensor. The offset sharing algorithm is: , where F is the offset ratio, s0 is the trajectory coefficient, and t0 is the production equipment SC α Executed command ZL γ time, t1 is the production equipment SC α Execute instruction ZL γ The time when the offset trajectory overlaps with the vibration trajectory, g0 is the length of the offset trajectory, g1 is the length of the vibration trajectory, g2 is the length of the overlap between the offset trajectory and the vibration trajectory, and f1 is the number of vibration sensors outside the running controllable model when the position of the vibration sensor is outside the running controllable model.

[0090] Step S303: The production equipment SC in the virtual workshop α Executed command ZL γ The time is recorded as T, and the value obtained by multiplying T by the offset ratio is recorded as the real-time synchronization time; the production equipment SC in the physical workshop α Execute instruction ZL γThe moving trajectory of all vibration sensors after the duration is longer than the real-time synchronization time is recorded as the correction trajectory; the production equipment SC corresponding to the correction trajectory of all vibration sensors α The actual operating data is recorded as revised data.

[0091] Step S304, modify the production equipment SC in the virtual workshop α Execute instruction ZL γ After the time is greater than the real-time synchronization time, the production equipment SC α The operating status of the modified production equipment SC α The operation trajectory of the placement point can be selected to coincide with the correction trajectory of the corresponding vibration sensor, and the corrected production equipment SC α The operating data is adjusted to revised data.

[0092] Example 3

[0093] The present application provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the digital workshop model sharing and synchronization method based on digital twin are executed. Through the above technical solution, when the computer program is executed by the processor, the method in any optional implementation of the above embodiment is executed to achieve the following functions: first, a digital twin workshop is established based on the digital twin and the digital workshop model, and a physical implementation model, a physical workshop and a virtual workshop are obtained in the digital twin workshop; then, based on the running status of the physical implementation model and the digital twin workshop, an operation controllable model of each physical implementation model is obtained; finally, based on the operation controllable model, the running status of the production equipment in the physical workshop at runtime is analyzed, and based on the analysis results, it is determined whether to synchronize and update the actual operation of the production equipment in the virtual workshop.

[0094] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes. Among them, the storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, referred to as EPROM), programmable read-only memory (Programmable Red-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0095] The above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A digital workshop model sharing and synchronization method based on digital twins, characterized in that: include: Establish a digital twin workshop based on the digital twin and digital workshop model, and obtain the physical implementation model, physical workshop and virtual workshop in the digital twin workshop; Obtain the operational controllable model of each physical implementation model based on the operational status of the physical implementation model and the digital twin workshop; Based on the operating status of the physical implementation model and the digital twin workshop, the operating controllable model of each physical implementation model is obtained, including: Establish a three-dimensional rectangular coordinate system, denoted as the model analysis coordinate system, where the units of the X-axis, Y-axis, and Z-axis of the model analysis coordinate system are all in meters; for any production equipment SC in the physical workshop α , based on production equipment SC α The 3D drawing is used to build a model in the model analysis coordinate system, which is recorded as the equipment model SB α , the device model SB α All unit cubes are recorded as model cubes, where a unit cube is a cube of 1m×1m×1m in the model analysis coordinate system and the vertex coordinates are all positive integers; For any model cube MX β , the model cube MX β Medium Equipment Model SB α The area is recorded as device area QY αβ , when the device area QY αβ The volume is smaller than the model cube MX β When the volume of the device area QY is obtained αβ The midpoint of the region is ZD αβ , get the midpoint ZD of the area αβ Production equipment SC in the physical workshop α The position of the distance zone is ZD αβ Production equipment SC in the physical workshop α The nearest production equipment SC α The surface is recorded as the placement point FZD αβ ; Analyze the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and determine whether to synchronize and update the actual operation of the production equipment in the virtual workshop based on the analysis results; The digital twin workshop includes a physical workshop, a virtual workshop, and a workshop service system. The data in the physical workshop and the virtual workshop are recorded as workshop twin data. The workshop server system is used to manage and control the virtual workshop and the physical workshop based on the workshop twin data. The model of the production equipment in the physical workshop is recorded as the physical implementation model. Based on the operating status of the physical implementation model and the digital twin workshop, the operating controllable model of each physical implementation model also includes: Obtain all the placeable points corresponding to the model cubes, and place vibration sensors at all the placeable points. The value of dividing the number of placeable points by the number of model cubes is recorded as the placement ratio, wherein the output of the vibration sensor is the vibration displacement; Establish a plane rectangular coordinate system, recorded as the vibration analysis coordinate system, where the unit of the X-axis of the vibration analysis coordinate system is the start-up time, and the unit of the Y-axis is the displacement length; α One cycle at startup is recorded as cycle time, and the production equipment SC is started α And the startup time is the cycle time; in the production equipment SC α After startup, based on production equipment SC α The data received by all vibration sensors on the system are used to generate the curve corresponding to each vibration sensor in the vibration analysis coordinate system, which is recorded as the vibration curve. The absolute values ​​of the slopes of all straight lines after each vibration curve is fitted into a straight line are obtained and recorded as K1 to K z , where z is the number of vibration curves; Based on the operating status of the physical implementation model and the digital twin workshop, the operating controllable model of each physical implementation model also includes: The value obtained by multiplying z by the placement ratio and rounding up is recorded as L, and K1 to K z The vibration curves corresponding to the larger L absolute values ​​in are recorded as selectable vibration curves, and the placement points corresponding to the selectable vibration curves are recorded as selectable placement points; the production equipment SC α The vibration sensors that are not recorded as possible placement points are removed.

2. The digital workshop model sharing and synchronization method based on digital twin according to claim 1 is characterized in that: Based on the operating status of the physical implementation model and the digital twin workshop, the operating controllable model of each physical implementation model also includes: Based on production equipment SC α The positions of all remaining vibration sensors in the model analysis coordinate system are marked as vibration placement points; restart the production equipment SC α The startup time is the cycle time. For any vibration placement point, the position of the vibration sensor corresponding to the vibration placement point within the cycle time is obtained in real time, and the trajectory of the vibration sensor movement is recorded in the model analysis coordinate system, which is recorded as the vibration trajectory. α After the operation is completed, the point in the vibration trajectory that is farthest from the vibration placement point is recorded as the vibration circle point, and a sphere is made with the vibration placement point as the center and the distance between the vibration placement point and the vibration circle point as the radius, which is recorded as the vibration fault tolerance sphere; Get the vibration tolerance balls corresponding to all vibration placement points and convert the device model SB α The area formed by all vibration tolerance balls is recorded as production equipment SC α The operation of the controllable model.

3. The digital workshop model sharing and synchronization method based on digital twin according to claim 2 is characterized in that: Analyze the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and determine whether to synchronize and update the actual operation of the production equipment in the virtual workshop based on the analysis results, including: When the production equipment in the physical workshop is operating, for any production equipment SC α , obtain the production equipment SC in the model analysis coordinate system α The operation controllable model is based on the production equipment SC in the physical workshop in the workshop service system. α The command sent is ZL γ , control the production equipment SC in the virtual workshop α Execute instruction ZL γ ; Production equipment SC in the physical workshop α Based on instruction ZL γ During the operation, obtain the production equipment SC in real time α The position of the vibration sensor in the production equipment SC α When the corresponding operation is within the controllable model, the production equipment SC in the virtual workshop is maintained α Continue to execute instruction ZL γ .

4. The digital workshop model sharing and synchronization method based on digital twin according to claim 3 is characterized in that: Analyzing the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and judging whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis result also includes: When the production equipment SC α When the position of any vibration sensor in the production equipment SC is outside the running controllable model, obtain the vibration sensor α The trajectory after the start of operation is recorded as the offset trajectory; the offset sharing algorithm is used to obtain the offset ratio of the vibration sensor. The offset sharing algorithm is: , where F is the offset ratio, s0 is the trajectory coefficient, and t0 is the production equipment SC α Executed command ZL γ time, t1 is the production equipment SC α Execute instruction ZL γ The time when the offset trajectory and the vibration trajectory overlap, g0 is the length of the offset trajectory, g1 is the length of the vibration trajectory, g2 is the length of the overlap between the offset trajectory and the vibration trajectory, and f1 is the number of vibration sensors outside the running controllable model when the position of the vibration sensor is outside the running controllable model.

5. The digital workshop model sharing and synchronization method based on digital twin according to claim 4 is characterized in that: Analyzing the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and judging whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis result also includes: The production equipment SC in the virtual workshop α Executed command ZL γ The time is recorded as T, and the value obtained by multiplying T by the offset ratio is recorded as the real-time synchronization time; the production equipment SC in the physical workshop α Execute instruction ZL γ The moving trajectory of all vibration sensors after the duration is longer than the real-time synchronization time is recorded as the correction trajectory; the production equipment SC corresponding to the correction trajectory of all vibration sensors α The actual operating data is recorded as revised data.

6. The digital workshop model sharing and synchronization method based on digital twin according to claim 5 is characterized in that: Analyzing the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and judging whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis result also includes: Correction of production equipment SC in virtual workshop α Execute instruction ZL γ After the time is greater than the real-time synchronization time, the production equipment SC α The operating status of the modified production equipment SC α The operation trajectory of the placement point can be selected to coincide with the correction trajectory of the corresponding vibration sensor, and the corrected production equipment SC α The operating data is adjusted to revised data.

7. A digital workshop model sharing and synchronization system based on digital twin, used to implement the digital workshop model sharing and synchronization method based on digital twin according to any one of claims 1 to 6, characterized in that: It includes twin workshop establishment module, controllable model extraction module and dynamic update module; The twin workshop establishment module is used to establish a digital twin workshop based on the digital twin and digital workshop model, and obtain the physical implementation model, physical workshop and virtual workshop in the digital twin workshop; The controllable model extraction module is used to obtain the operational controllable model of each physical implementation model based on the operational status of the physical implementation model and the digital twin workshop; The dynamic update module is used to analyze the operating status of the production equipment in the physical workshop during operation based on the operation controllable model, and determine whether to synchronously update the actual operation of the production equipment in the virtual workshop based on the analysis results.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps in the digital workshop model sharing and synchronization method based on digital twin are executed.

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