A data simulation system and method based on industrial Internet

Abstract

The present invention relates to the field of industrial Internet technology, and in particular to a data simulation system and method based on the industrial Internet, the system comprising: an acquisition module generates a three-dimensional workpiece actual model according to a scanning result of a workpiece; a first locking unit compares initial workpiece information with standard workpiece information, and preliminarily locks a standard model in a standard model library to obtain a number of three-dimensional workpiece models to be calibrated; a second locking unit compares the initial workpiece information with the model to be calibrated and performs secondary locking to obtain a three-dimensional workpiece final model; an orientation unit marks the direction according to the comparison of the axis between the actual model and the final model, and determines the deviation; a collaborative service end determines whether the workpiece is a part to be assembled, and marks the workpiece based on the fact that the workpiece is a part to be assembled; a control module determines the placement posture of the part to be assembled, or the way to grasp the part to be assembled, according to the deviation. The present invention improves the accuracy of the workpiece simulation result.

Description

Technical Field

[0001] The present invention relates to the field of industrial Internet technology, and in particular to a data simulation system and method based on industrial Internet. Background Art

[0002] At present, the industrial Internet is developing rapidly. It combines Internet technology with traditional industries, realizes the interconnection between equipment, and provides strong support for the intelligent and automated industrial production.

[0003] The patent document with Chinese patent application publication number CN106484965A discloses a method for simulating the installation of industrial components based on point cloud data. Starting from the point cloud data, the geometric relationship of surface coupling and axis alignment of cylindrical components is utilized to construct geometric constraints, list linear equations, and obtain the transformation matrix of the simulated installation between components through iterative solution, thereby realizing the simulated installation of industrial components based on point cloud data.

[0004] Although the existing technology can use the geometric relationship of surface coupling and axis alignment of cylindrical components to construct geometric constraints and calculate the transformation matrix of simulated installation between components through iterative solution, the point cloud data processing is affected by noise and resolution, resulting in deviations between the constructed model and the actual workpiece. Summary of the invention

[0005] To this end, the present invention provides a data simulation system and method based on the industrial Internet. Through multiple rounds of comparison and locking by the first locking unit and the second locking unit, the final model of the three-dimensional workpiece that best matches the actual model of the three-dimensional workpiece is screened out from the standard model library, which can solve the problem of inaccurate workpiece model simulation results.

[0006] To achieve the above object, the present invention provides a data simulation system based on industrial Internet, which includes:

[0007] An acquisition module is used to generate a three-dimensional workpiece actual model according to the scanning result of the workpiece;

[0008] The finalization module includes: a first locking unit, a second locking unit and an orientation unit; the first locking unit is used to compare the initial workpiece information of the three-dimensional workpiece actual model with the standard workpiece information of each three-dimensional workpiece standard model in the standard model library, and preliminarily lock each three-dimensional workpiece standard model in the standard model library according to the comparison result to obtain a number of three-dimensional workpiece models to be calibrated; the second locking unit is used to compare the initial workpiece information of the three-dimensional workpiece actual model with each three-dimensional workpiece model to be calibrated, and secondarily lock each three-dimensional workpiece model to be calibrated according to the comparison result to obtain a three-dimensional workpiece final model; the orientation unit is used to mark the direction of the three-dimensional workpiece actual model according to the comparison of the axis between the three-dimensional workpiece actual model and the three-dimensional workpiece final model, so as to determine the deviation of the three-dimensional workpiece actual model;

[0009] The collaborative server determines whether the workpiece is a to-be-assembled part according to a preset control instruction, and marks the workpiece when the workpiece is the to-be-assembled part;

[0010] The control module is used to determine the placement posture of the to-be-assembled parts, or the grasping method of the to-be-assembled parts according to the deviation.

[0011] Further, the acquisition module includes: a scanning unit and a modeling unit;

[0012] The scanning unit is used to perform three-dimensional scanning on the workpiece to generate the initial workpiece information;

[0013] The modeling unit is used for performing three-dimensional modeling according to the initial workpiece information to generate the three-dimensional workpiece actual model;

[0014] The initial workpiece information includes: the initial volume, the initial minimum cross section and the initial maximum cross section.

[0015] Further, the collaborative server includes: an instruction receiving unit, a first analyzing unit and a marking unit;

[0016] The instruction receiving unit is used to receive a control instruction sent by the terminal; the control instruction includes: the type of the part to be assembled and the three-dimensional standard model of the part to be assembled;

[0017] The first analysis unit is used to identify the final model of the three-dimensional workpiece according to the type of the part to be assembled, and determine whether the final model of the three-dimensional workpiece is consistent with the standard model of the three-dimensional part to be assembled;

[0018] The marking unit is used to mark the workpiece as the part to be assembled and mark the actual model of the three-dimensional workpiece as the actual model of the three-dimensional part to be assembled when the first analyzing unit determines that the final model of the three-dimensional workpiece is consistent with the standard model of the three-dimensional part to be assembled.

[0019] Further, the control module includes: a first calculation unit, an adjustment unit and a grasping unit;

[0020] The first calculation unit is used to determine the placement posture of the to-be-assembled part and the deviation level between the three-dimensional to-be-assembled part actual model and the three-dimensional to-be-assembled part standard model according to the actual deviation angle obtained from the direction mark;

[0021] The adjustment unit is used to adjust the placement posture of the to-be-assembled parts according to the deviation level;

[0022] The grabbing unit is used to grab the to-be-assembled parts to the assembly point according to the real-time grabbing position coordinates determined by the deviation level.

[0023] Furthermore, the first locking unit can preliminarily lock each three-dimensional workpiece standard model in the standard model library according to the initial volume;

[0024] For any of the three-dimensional workpiece standard models, if the first locking unit determines that the standard initial volume of the three-dimensional workpiece standard model is consistent with the initial volume, the three-dimensional workpiece standard model is determined to be the three-dimensional workpiece model to be calibrated.

[0025] Furthermore, the second locking unit includes a calculation subunit, a locking subunit and a determination subunit, wherein

[0026] The calculation subunit is used to calculate the actual value of the contour similarity according to the initial feature parameters in the initial maximum cross section combined with the standard feature parameters in the standard maximum cross section of the three-dimensional workpiece model to be calibrated;

[0027] The locking subunit is used to perform secondary locking on each 3D workpiece to-be-calibrated model in the second standard model library according to the contour similarity evaluation value combined with the set contour similarity standard evaluation value;

[0028] The determination subunit is used to determine that the to-be-calibrated model of the three-dimensional workpiece is the final model of the three-dimensional workpiece when the contour similarity evaluation value is determined to be less than or equal to the standard evaluation value of the contour similarity;

[0029] The contour similarity evaluation value is the absolute value of the difference between the actual contour similarity value and the set contour similarity standard value.

[0030] Further, the orientation unit includes a first determining subunit, a second determining subunit and a deviation angle determining subunit, wherein the first determining subunit is used to determine the initial axis vector according to the first normal vector of the initial maximum cross section combined with the second normal vector of the initial minimum cross section;

[0031] The second determining subunit is used to determine the final axis vector of the final model of the three-dimensional workpiece according to the third normal vector of the final maximum cross section and the fourth normal vector of the final minimum cross section of the final model of the three-dimensional workpiece;

[0032] The deviation angle determination subunit is used to determine the actual deviation angle between the three-dimensional actual model of the to-be-assembled part and the three-dimensional standard model of the to-be-assembled part according to the initial axis vector and the final axis vector, and to mark the direction of the three-dimensional actual model of the to-be-assembled part with the actual deviation angle.

[0033] Further, the first calculation unit determines the deviation level between the actual model of the three-dimensional part to be assembled and the standard model of the three-dimensional part to be assembled according to the actual deviation angle;

[0034] If the first calculation unit determines that the actual deviation angle is less than the minimum deviation angle, it is determined that the placement posture of the to-be-assembled component is appropriate, and the deviation level is level one;

[0035] The first calculation unit determines that the actual deviation angle is greater than or equal to the minimum deviation angle, and then determines that the placement posture of the to-be-assembled component is inappropriate;

[0036] The first calculation unit is provided with a deviation angle evaluation interval, and the interval critical values ​​of the deviation angle evaluation interval are the minimum deviation angle and the maximum deviation angle respectively.

[0037] Further, the first calculation unit determines that the placement posture of the to-be-assembled part is inappropriate;

[0038] When the first calculation unit determines that the actual deviation angle is less than or equal to the maximum deviation angle, the deviation level is determined to be level 2, and the grasping unit is started to adjust the preset grasping position coordinates to grasp the to-be-assembled part at the real-time grasping position coordinates;

[0039] If the first calculation unit determines that the actual deviation angle is greater than the maximum deviation angle, the deviation level is determined to be level three, and the adjustment unit is activated to adjust the placement posture of the to-be-assembled component.

[0040] On the other hand, the present invention also provides a method for a data simulation system based on the industrial Internet, the method comprising:

[0041] Step S1, scanning each workpiece on the conveyor belt, and obtaining a three-dimensional workpiece actual model and each initial workpiece information of the workpiece according to the scanning result of any workpiece;

[0042] Step S2, performing preliminary locking and secondary locking on the standard model library in sequence according to the initial workpiece information, and determining the final three-dimensional workpiece model in the standard model library corresponding to the workpiece according to the secondary locking result;

[0043] Step S3, identifying the final model of the three-dimensional workpiece according to the control instruction, and determining whether the workpiece is the required part to be assembled according to the identification result;

[0044] Step S4, determining whether to directly grab or adjust the position before grabbing according to the deviation between the actual model of the to-be-assembled part and the standard model of the to-be-assembled part in the standard model library corresponding to the to-be-assembled part;

[0045] Step S5, grabbing the to-be-assembled part to the assembly point, performing a virtual-real transformation on the actual model of the three-dimensional to-be-assembled part to obtain a simulated assembly part model, and determining an assembly part to be assembled with the to-be-assembled part according to the simulated assembly part model;

[0046] Step S6, assembling the to-be-assembled parts and the assembled parts to complete the assembly process.

[0047] Compared with the prior art, the beneficial effect of the present invention lies in that, by acquiring the actual model of the three-dimensional workpiece generated by the module, the actual situation of the workpiece can be reflected more accurately, and the problems caused by the inaccuracy of the traditional measurement method are reduced. By setting the shaping module, automatic comparison and calibration of the workpiece model are realized, which reduces manual intervention and improves production efficiency. By setting the control module, the placement posture or grasping method of the parts to be assembled can be determined in real time according to the deviation between the actual model of the three-dimensional workpiece and the standard model, which is beneficial to the real-time control and optimization of the production process. By determining the direction marking and deviation of the workpiece, the wrong assembly method can be avoided, thereby improving production efficiency and safety.

[0048] In particular, the three-dimensional data of the workpiece can be quickly acquired through the three-dimensional scanning technology, which greatly shortens the detection time and improves the work efficiency compared with the traditional measurement method. Through the high-precision point cloud data acquisition and computer processing technology, the key information such as the initial volume, initial minimum cross-section and initial maximum cross-section of the workpiece can be accurately reflected, thereby avoiding measurement errors and improving the accuracy of subsequent modeling. By setting the modeling unit to perform three-dimensional modeling according to the initial workpiece information, a three-dimensional actual model of the workpiece is generated, which intuitively displays the shape and size of the workpiece, facilitates the analysis of the workpiece, and improves the efficiency of the analysis process.

[0049] In particular, by setting the first calculation unit to obtain the actual deviation angle based on the direction mark, the placement posture of the parts to be assembled is accurately determined, and the deviation level between the three-dimensional actual model of the parts to be assembled and the standard model is calculated, thereby providing an accurate basis for subsequent adjustments. By setting the adjustment unit to accurately adjust the placement posture of the parts to be assembled according to the deviation level, the accuracy and efficiency of the adjustment are ensured. By setting the grasping unit to grasp the parts to be assembled according to the real-time grasping position coordinates determined by the deviation level, the assembly accuracy is improved, and the grasping error rate is reduced. The determination of the real-time grasping position coordinates makes the grasping process more accurate and efficient, further improving the efficiency of assembly.

[0050] In particular, by setting a calculation subunit to compare the characteristic parameters of the initial maximum cross-section with the standard maximum cross-section, the actual value of the contour similarity is accurately calculated, thereby ensuring that the final selected model is highly consistent with the actual situation, and greatly improving the accuracy of calibration. By setting the locking subunit to perform secondary locking on the model in the second standard model library according to the contour similarity evaluation value, the search range is effectively narrowed, making subsequent processing more efficient, while avoiding unnecessary calculations and waste of resources. By setting the judgment subunit to set the contour similarity standard evaluation value as a threshold, when the contour similarity evaluation value meets the conditions, the corresponding three-dimensional workpiece model to be calibrated is determined to be the final model, thereby improving the efficiency of the entire calibration process.

[0051] In particular, by setting the first determining subunit to accurately determine the initial axis vector through the first normal vector of the initial maximum cross-section and the second normal vector of the initial minimum cross-section, the method for determining the normal vector based on the cross-section provides an accurate benchmark for subsequent axis comparison, and by setting the second determining subunit to accurately determine the final axis vector of the final model of the three-dimensional workpiece according to the third normal vector of the final maximum cross-section and the fourth normal vector of the final minimum cross-section, the final axis vector of the final model of the three-dimensional workpiece can also be accurately determined, ensuring an axis benchmark consistent with actual assembly requirements, and by setting the deviation angle determination subunit to use the initial axis vector and the final axis vector, the actual deviation angle between the actual model of the three-dimensional accessory to be assembled and the standard model of the three-dimensional accessory to be assembled can be accurately calculated, which is directly related to the precision and efficiency of assembly, thereby improving the accuracy and efficiency of assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A structural block diagram of a data simulation system based on the industrial Internet provided by an embodiment of the present invention;

[0053] Figure 2 A second structural block diagram of the data simulation system based on the industrial Internet provided by an embodiment of the present invention;

[0054] Figure 3A third structural block diagram of the data simulation system based on the industrial Internet provided by an embodiment of the present invention;

[0055] Figure 4 A flow chart of a data simulation method based on the industrial Internet provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0057] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0058] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0059] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] See also Figure 1 As shown, an embodiment of the present invention provides a data simulation system based on industrial Internet, the system comprising:

[0061] An acquisition module 10 is used to generate a three-dimensional workpiece actual model according to the scanning result of the workpiece;

[0062] The finalization module 20 includes: a first locking unit 21, a second locking unit 22 and an orientation unit 23; the first locking unit 21 is used to compare the initial workpiece information of the three-dimensional workpiece actual model with the standard workpiece information of each three-dimensional workpiece standard model in the standard model library, and preliminarily lock each three-dimensional workpiece standard model in the standard model library according to the comparison result to obtain a number of three-dimensional workpiece models to be calibrated; the second locking unit 22 is used to compare the initial workpiece information of the three-dimensional workpiece actual model with each three-dimensional workpiece model to be calibrated, and secondarily lock each three-dimensional workpiece model to be calibrated according to the comparison result to obtain a three-dimensional workpiece final model; the orientation unit 23 is used to mark the direction of the three-dimensional workpiece actual model according to the comparison of the axis between the three-dimensional workpiece actual model and the three-dimensional workpiece final model, so as to determine the deviation of the three-dimensional workpiece actual model;

[0063] The collaboration server 30 determines whether the workpiece is a to-be-assembled part according to a preset control instruction, and marks the workpiece when the workpiece is the to-be-assembled part;

[0064] The control module 40 is used to determine the placement posture of the to-be-assembled component, or the grasping method of the to-be-assembled component according to the deviation.

[0065] Specifically, the embodiment of the present invention generates a three-dimensional workpiece actual model through an acquisition module, which can more accurately reflect the actual situation of the workpiece and reduce the problems caused by the inaccuracy of traditional measurement methods. By setting the shaping module, automatic comparison and calibration of the workpiece model is realized, which reduces manual intervention and improves production efficiency. By setting the control module, the placement posture or grasping method of the parts to be assembled is determined in real time according to the deviation between the actual model of the three-dimensional workpiece and the standard model, which is conducive to real-time control and optimization of the production process. By determining the direction marking and deviation of the workpiece, the wrong assembly method is avoided, thereby improving production efficiency and safety.

[0066] Specifically, the acquisition module includes: a scanning unit and a modeling unit;

[0067] The scanning unit is used to perform three-dimensional scanning on the workpiece to generate the initial workpiece information;

[0068] The modeling unit is used for performing three-dimensional modeling according to the initial workpiece information to generate the three-dimensional workpiece actual model;

[0069] The initial workpiece information includes: the initial volume, the initial minimum cross section and the initial maximum cross section.

[0070] Specifically, in the embodiment of the present invention, the step of performing three-dimensional scanning on the workpiece to obtain initial workpiece information includes:

[0071] Scanning the workpiece with a scanner to obtain a number of three-dimensional coordinate data;

[0072] The initial volume, the initial minimum cross section and the initial maximum cross section are acquired based on the three-dimensional data.

[0073] Specifically, the embodiment of the present invention uses three-dimensional scanning technology to quickly acquire three-dimensional data of a workpiece, which greatly shortens the detection time and improves work efficiency compared to traditional measurement methods. Through high-precision point cloud data acquisition and computer processing technology, it accurately reflects key information such as the initial volume, initial minimum cross-section and initial maximum cross-section of the workpiece, avoids measurement errors, and improves the accuracy of subsequent modeling. By setting the modeling unit to perform three-dimensional modeling according to the initial workpiece information, a three-dimensional actual model of the workpiece is generated, which intuitively displays the shape and size of the workpiece, facilitates analysis of the workpiece, and improves the efficiency of the analysis process.

[0074] Specifically, the collaborative server includes: an instruction receiving unit, a first analyzing unit and a marking unit;

[0075] The instruction receiving unit is used to receive a control instruction sent by the terminal; the control instruction includes: the type of the part to be assembled and the three-dimensional standard model of the part to be assembled;

[0076] The first analysis unit is used to identify the final model of the three-dimensional workpiece according to the type of the part to be assembled, and determine whether the final model of the three-dimensional workpiece is consistent with the standard model of the three-dimensional part to be assembled;

[0077] The marking unit is used to mark the workpiece as the part to be assembled and mark the actual model of the three-dimensional workpiece as the actual model of the three-dimensional part to be assembled when the first analyzing unit determines that the final model of the three-dimensional workpiece is consistent with the standard model of the three-dimensional part to be assembled.

[0078] Specifically, the first analysis unit of the embodiment of the present invention may determine whether the final model of the three-dimensional workpiece is consistent with the standard model of the three-dimensional part to be assembled by:

[0079] Extracting model features of the final model of the three-dimensional workpiece and generating corresponding feature vectors;

[0080] Comparing the feature vector with the feature vector of the standard model of the three-dimensional part to be assembled to determine whether the two are consistent;

[0081] If they are consistent, it is determined that the final model of the three-dimensional workpiece is consistent with the standard model of the three-dimensional part to be assembled;

[0082] If they are inconsistent, it is determined that the three-dimensional workpiece final model is inconsistent with the three-dimensional standard model of the to-be-assembled part.

[0083] Specifically, the embodiment of the present invention ensures the timeliness and accuracy of information by setting the instruction receiving unit to receive the control instructions issued by the terminal, providing a rich data basis for subsequent analysis and marking, and accurately identifies the final model of the three-dimensional workpiece according to the type of parts to be assembled by the first analysis unit to ensure the accuracy of the analysis. By comparing the final model of the three-dimensional workpiece with the three-dimensional standard model of the parts to be assembled, the first analysis unit can determine whether the two are consistent, providing a basis for subsequent marking and improving processing efficiency. By setting the marking unit to mark the workpiece as a part to be assembled, and marking the actual model of the three-dimensional workpiece as the actual model of the three-dimensional part to be assembled, clear instructions are provided for subsequent assembly work, reducing the possibility of errors and improving work efficiency.

[0084] See also Figure 2 As shown, the control module 40 includes: a first calculation unit 41, an adjustment unit 42 and a grasping unit 43;

[0085] The first calculation unit 41 is used to determine the placement posture of the to-be-assembled part and the deviation level between the actual model of the to-be-assembled part and the standard model of the to-be-assembled part according to the actual deviation angle obtained by the direction mark;

[0086] The adjusting unit 42 is used to adjust the placement posture of the to-be-assembled parts according to the deviation level;

[0087] The grabbing unit 43 is used to grab the to-be-assembled part to the assembly point according to the real-time grabbing position coordinates determined by the deviation level.

[0088] Specifically, the embodiment of the present invention accurately determines the placement posture of the parts to be assembled by setting the first calculation unit to obtain the actual deviation angle based on the direction mark, calculates the deviation level between the three-dimensional actual model of the parts to be assembled and the standard model, thereby providing an accurate basis for subsequent adjustments. The adjustment unit is set to accurately adjust the placement posture of the parts to be assembled according to the deviation level, thereby ensuring the accuracy and efficiency of the adjustment. The grasping unit is set to grasp the parts to be assembled according to the real-time grasping position coordinates determined by the deviation level, thereby improving the assembly accuracy and reducing the grasping error rate. The determination of the real-time grasping position coordinates makes the grasping process more accurate and efficient, thereby further improving the efficiency of the assembly.

[0089] Specifically, the first locking unit 21 can preliminarily lock each three-dimensional workpiece standard model in the standard model library according to the initial volume;

[0090] For any of the three-dimensional workpiece standard models, the first locking unit 21 determines that the standard initial volume of the three-dimensional workpiece standard model is consistent with the initial volume, and then determines that the three-dimensional workpiece standard model is the three-dimensional workpiece model to be calibrated.

[0091] See also Figure 3 As shown, the second locking unit 22 includes a calculation subunit 221, a locking subunit 222 and a determination subunit 223, wherein

[0092] The calculation subunit 221 is used to calculate the actual value of the contour similarity according to the initial feature parameters in the initial maximum cross section combined with the standard feature parameters in the standard maximum cross section of the three-dimensional workpiece model to be calibrated;

[0093] The locking subunit 222 is used to perform secondary locking on each 3D workpiece to-be-calibrated model in the second standard model library according to the contour similarity evaluation value combined with the set contour similarity standard evaluation value;

[0094] The determination subunit 223 is used to determine that the three-dimensional workpiece to-be-calibrated model is the three-dimensional workpiece final model when the contour similarity evaluation value is determined to be less than or equal to the contour similarity standard evaluation value;

[0095] The contour similarity evaluation value is the absolute value of the difference between the actual contour similarity value and the set contour similarity standard value.

[0096] Specifically, the standard value of the contour similarity in the embodiment of the present invention is 90%.

[0097] Specifically, the embodiment of the present invention sets a calculation subunit to compare the characteristic parameters of the initial maximum cross-section and the standard maximum cross-section, accurately calculates the actual value of the contour similarity, thereby ensuring that the finally selected model is highly consistent with the actual situation, and greatly improving the accuracy of calibration. By setting the locking subunit to perform secondary locking on the model in the second standard model library according to the contour similarity evaluation value, the search range is effectively narrowed, making subsequent processing more efficient, and avoiding unnecessary calculations and waste of resources. By setting the judgment subunit to set the contour similarity standard evaluation value as a threshold, when the contour similarity evaluation value meets the conditions, the corresponding three-dimensional workpiece model to be calibrated is determined to be the final model, thereby improving the efficiency of the entire calibration process.

[0098] Specifically, the orientation unit includes a first determining subunit, a second determining subunit and a deviation angle determining subunit, wherein the first determining subunit is used to determine the initial axis vector according to the first normal vector of the initial maximum cross section combined with the second normal vector of the initial minimum cross section;

[0099] The second determining subunit is used to determine the final axis vector of the final model of the three-dimensional workpiece according to the third normal vector of the final maximum cross section and the fourth normal vector of the final minimum cross section of the final model of the three-dimensional workpiece;

[0100] The deviation angle determination subunit is used to determine the actual deviation angle between the three-dimensional actual model of the to-be-assembled part and the three-dimensional standard model of the to-be-assembled part according to the initial axis vector and the final axis vector, and to mark the direction of the three-dimensional actual model of the to-be-assembled part with the actual deviation angle.

[0101] Specifically, the step of the first determining subunit in the embodiment of the present invention determining the initial axis vector according to the first normal vector of the initial maximum cross section combined with the second normal vector of the initial minimum cross section includes:

[0102] Calculating the area and center of gravity of the initial maximum cross section to obtain the first normal vector;

[0103] Calculating the area and center of gravity of the initial minimum cross section to obtain the second normal vector;

[0104] The first normal vector and the second normal vector are multiplied to obtain the initial axis vector.

[0105] Specifically, the embodiment of the present invention sets the first determining subunit to accurately determine the initial axis vector through the first normal vector of the initial maximum cross-section and the second normal vector of the initial minimum cross-section, and provides an accurate reference for subsequent axis comparison based on the determination method of the cross-section normal vector. By setting the second determining subunit according to the third normal vector of the final maximum cross-section and the fourth normal vector of the final minimum cross-section of the final model of the three-dimensional workpiece, the final axis vector of the final model of the three-dimensional workpiece can also be accurately determined, ensuring an axis reference consistent with actual assembly requirements. By setting the deviation angle determination subunit to use the initial axis vector and the final axis vector, the actual deviation angle between the actual model of the three-dimensional accessory to be assembled and the standard model of the three-dimensional accessory to be assembled can be accurately calculated, which is directly related to the precision and efficiency of assembly, thereby improving the accuracy and efficiency of assembly.

[0106] Specifically, the first calculation unit determines the deviation level between the actual model of the three-dimensional part to be assembled and the standard model of the three-dimensional part to be assembled according to the actual deviation angle;

[0107] If the first calculation unit determines that the actual deviation angle is less than the minimum deviation angle, it is determined that the placement posture of the to-be-assembled component is appropriate, and the deviation level is level one;

[0108] The first calculation unit determines that the actual deviation angle is greater than or equal to the minimum deviation angle, and then determines that the placement posture of the to-be-assembled component is inappropriate;

[0109] The first calculation unit is provided with a deviation angle evaluation interval, and the interval critical values ​​of the deviation angle evaluation interval are the minimum deviation angle and the maximum deviation angle respectively.

[0110] Specifically, the minimum deviation angle in the embodiment of the present invention is the minimum deviation value between the actual model of the three-dimensional part to be assembled and the standard model of the three-dimensional part to be assembled during historical grabbing;

[0111] The maximum deviation angle is the maximum deviation value between the actual model of the three-dimensional part to be assembled and the standard model of the three-dimensional part to be assembled during historical matching.

[0112] Specifically, the embodiment of the present invention compares the actual deviation angle with the preset deviation angle evaluation interval to accurately evaluate the degree of deviation between the actual model of the three-dimensional part to be assembled and the standard model, thereby obtaining an accurate deviation grade. Based on the deviation grade, it is determined whether the placement posture of the part to be assembled is appropriate, thereby improving the efficiency of the assembly process, and taking corresponding adjustment measures according to different deviation degrees to improve the adaptability and assembly efficiency of the assembly process.

[0113] Specifically, the first computing unit determines that the placement posture of the to-be-assembled component is inappropriate;

[0114] When the first calculation unit determines that the actual deviation angle is less than or equal to the maximum deviation angle, the deviation level is determined to be level 2, and the grasping unit is started to adjust the preset grasping position coordinates to grasp the to-be-assembled part at the real-time grasping position coordinates;

[0115] If the first calculation unit determines that the actual deviation angle is greater than the maximum deviation angle, the deviation level is determined to be level three, and the adjustment unit is activated to adjust the placement posture of the to-be-assembled component.

[0116] Specifically, the preset grabbing position coordinates in the embodiment of the present invention are position coordinates corresponding to the historical grabbing process.

[0117] Specifically, the embodiment of the present invention compares the actual deviation angle with the set maximum deviation angle to accurately divide the deviation level, thereby providing a clear basis for the selection of subsequent adjustment measures. For the case where the deviation level is level two, the preset grasping position coordinates are fine-tuned to achieve accurate grasping of the parts to be assembled, thereby improving assembly efficiency. For the case where the deviation level is level three, the placement posture of the parts to be assembled is comprehensively adjusted to ensure that the parts to be assembled are aligned with the standard model, thereby meeting the requirements of high-precision assembly. By timely detecting and accurately adjusting the placement posture of the parts to be assembled, assembly errors and waste caused by inappropriate placement posture are reduced, thereby improving assembly quality and assembly efficiency.

[0118] See also Figure 4 As shown, an embodiment of the present invention also provides a method for a data simulation system based on the industrial Internet, the method comprising:

[0119] Step S1, scanning each workpiece on the conveyor belt, and obtaining a three-dimensional workpiece actual model and each initial workpiece information of the workpiece according to the scanning result of any workpiece;

[0120] Step S2, performing preliminary locking and secondary locking on the standard model library in sequence according to the initial workpiece information, and determining the final three-dimensional workpiece model in the standard model library corresponding to the workpiece according to the secondary locking result;

[0121] Step S3, identifying the final model of the three-dimensional workpiece according to the control instruction, and determining whether the workpiece is the required part to be assembled according to the identification result;

[0122] Step S4, determining whether to directly grab or adjust the position before grabbing according to the deviation between the actual model of the to-be-assembled part and the standard model of the to-be-assembled part in the standard model library corresponding to the to-be-assembled part;

[0123] Step S5, grabbing the to-be-assembled part to the assembly point, performing a virtual-real transformation on the actual model of the three-dimensional to-be-assembled part to obtain a simulated assembly part model, and determining an assembly part to be assembled with the to-be-assembled part according to the simulated assembly part model;

[0124] Step S6, assembling the to-be-assembled parts and the assembled parts to complete the assembly process.

[0125] Specifically, the data simulation method based on the industrial Internet provided by the embodiment of the present invention can be applied to the above-mentioned data simulation system based on the industrial Internet to achieve the same technical effect, which will not be repeated here.

[0126] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A data simulation system based on industrial Internet, characterized in that: include: An acquisition module is used to generate a three-dimensional workpiece actual model according to the scanning result of the workpiece; The finalization module includes: a first locking unit, a second locking unit and an orientation unit; the first locking unit is used to compare the initial workpiece information of the three-dimensional workpiece actual model with the standard workpiece information of each three-dimensional workpiece standard model in the standard model library, and preliminarily lock each three-dimensional workpiece standard model in the standard model library according to the comparison result to obtain a number of three-dimensional workpiece models to be calibrated; the second locking unit is used to compare the initial workpiece information of the three-dimensional workpiece actual model with each three-dimensional workpiece model to be calibrated, and secondarily lock each three-dimensional workpiece model to be calibrated according to the comparison result to obtain a three-dimensional workpiece final model; the orientation unit is used to mark the direction of the three-dimensional workpiece actual model according to the comparison of the axis between the three-dimensional workpiece actual model and the three-dimensional workpiece final model, so as to determine the deviation of the three-dimensional workpiece actual model; The collaborative server determines whether the workpiece is a to-be-assembled part according to a preset control instruction, and marks the workpiece when the workpiece is the to-be-assembled part; The control module is used to determine the placement posture of the to-be-assembled parts, or the grasping method of the to-be-assembled parts according to the deviation.

2. The data simulation system based on industrial Internet according to claim 1 is characterized in that: The acquisition module includes: a scanning unit and a modeling unit; The scanning unit is used to perform three-dimensional scanning on the workpiece to generate the initial workpiece information; The modeling unit is used for performing three-dimensional modeling according to the initial workpiece information to generate the three-dimensional workpiece actual model; The initial workpiece information includes: initial volume, initial minimum cross section and initial maximum cross section.

3. The data simulation system based on industrial Internet according to claim 2 is characterized in that: The collaborative server includes: an instruction receiving unit, a first analyzing unit and a marking unit; The instruction receiving unit is used to receive a control instruction sent by the terminal; the control instruction includes: the type of the part to be assembled and the three-dimensional standard model of the part to be assembled; The first analysis unit is used to identify the final model of the three-dimensional workpiece according to the type of the part to be assembled, and determine whether the final model of the three-dimensional workpiece is consistent with the standard model of the three-dimensional part to be assembled; The marking unit is used to mark the workpiece as the part to be assembled and mark the actual model of the three-dimensional workpiece as the actual model of the three-dimensional part to be assembled when the first analyzing unit determines that the final model of the three-dimensional workpiece is consistent with the standard model of the three-dimensional part to be assembled.

4. The data simulation system based on industrial Internet according to claim 3 is characterized in that: The control module includes: a first calculation unit, an adjustment unit and a grasping unit; The first calculation unit is used to determine the placement posture of the to-be-assembled part and the deviation level between the three-dimensional to-be-assembled part actual model and the three-dimensional to-be-assembled part standard model according to the actual deviation angle obtained from the direction mark; The adjustment unit is used to adjust the placement posture of the to-be-assembled parts according to the deviation level; The grabbing unit is used to grab the to-be-assembled parts to the assembly point according to the real-time grabbing position coordinates determined by the deviation level.

5. The data simulation system based on industrial Internet according to claim 4 is characterized in that: The first locking unit can preliminarily lock each three-dimensional workpiece standard model in the standard model library according to the initial volume; For any of the three-dimensional workpiece standard models, if the first locking unit determines that the standard initial volume of the three-dimensional workpiece standard model is consistent with the initial volume, the three-dimensional workpiece standard model is determined to be the three-dimensional workpiece model to be calibrated.

6. The data simulation system based on industrial Internet according to claim 5 is characterized in that: The second locking unit includes a calculation subunit, a locking subunit and a determination subunit, wherein The calculation subunit is used to calculate the actual value of the contour similarity according to the initial feature parameters in the initial maximum cross section combined with the standard feature parameters in the standard maximum cross section of the three-dimensional workpiece model to be calibrated; The locking subunit is used to perform secondary locking on each 3D workpiece to-be-calibrated model in the second standard model library according to the contour similarity evaluation value combined with the set contour similarity standard evaluation value; The determination subunit is used to determine that the to-be-calibrated model of the three-dimensional workpiece is the final model of the three-dimensional workpiece when the contour similarity evaluation value is determined to be less than or equal to the standard evaluation value of the contour similarity; The contour similarity evaluation value is the absolute value of the difference between the actual contour similarity value and the set contour similarity standard value.

7. The data simulation system based on industrial Internet according to claim 6 is characterized in that: The orientation unit comprises a first determining subunit, a second determining subunit and a deviation angle determining subunit, wherein the first determining subunit is used to determine an initial axis vector according to a first normal vector of the initial maximum cross section combined with a second normal vector of the initial minimum cross section; The second determining subunit is used to determine the final axis vector of the final model of the three-dimensional workpiece according to the third normal vector of the final maximum cross section and the fourth normal vector of the final minimum cross section of the final model of the three-dimensional workpiece; The deviation angle determination subunit is used to determine the actual deviation angle between the three-dimensional actual model of the to-be-assembled part and the three-dimensional standard model of the to-be-assembled part according to the initial axis vector and the final axis vector, and to mark the direction of the three-dimensional actual model of the to-be-assembled part with the actual deviation angle.

8. The data simulation system based on industrial Internet according to claim 7 is characterized in that: The first calculation unit determines the deviation level between the actual model of the three-dimensional part to be assembled and the standard model of the three-dimensional part to be assembled according to the actual deviation angle; The first calculation unit determines that the actual deviation angle is less than the minimum deviation angle, then determines that the placement posture of the to-be-assembled part is appropriate, and the deviation level is level one; The first calculation unit determines that the actual deviation angle is greater than or equal to the minimum deviation angle, and then determines that the placement posture of the to-be-assembled component is inappropriate; The first calculation unit is provided with a deviation angle evaluation interval, and the interval critical values ​​of the deviation angle evaluation interval are the minimum deviation angle and the maximum deviation angle respectively.

9. The data simulation system based on industrial Internet according to claim 8 is characterized in that: The first computing unit determines that the placement posture of the to-be-assembled component is inappropriate; When the first calculation unit determines that the actual deviation angle is less than or equal to the maximum deviation angle, the deviation level is determined to be level 2, and the grasping unit is started to adjust the preset grasping position coordinates to grasp the to-be-assembled part at the real-time grasping position coordinates; If the first calculation unit determines that the actual deviation angle is greater than the maximum deviation angle, the deviation level is determined to be level three, and the adjustment unit is activated to adjust the placement posture of the to-be-assembled component.

10. A data simulation method based on the industrial Internet, based on the data simulation system based on the industrial Internet according to any one of claims 1 to 9, characterized in that: include: Step S1, scanning each workpiece on the conveyor belt, and obtaining a three-dimensional workpiece actual model and each initial workpiece information of the workpiece according to the scanning result of any workpiece; Step S2, performing preliminary locking and secondary locking on the standard model library in sequence according to the initial workpiece information, and determining the final three-dimensional workpiece model in the standard model library corresponding to the workpiece according to the secondary locking result; Step S3, identifying the final model of the three-dimensional workpiece according to the control instruction, and determining whether the workpiece is the required part to be assembled according to the identification result; Step S4, determining whether to directly grab or adjust the position before grabbing according to the deviation between the actual model of the to-be-assembled part and the standard model of the to-be-assembled part in the standard model library corresponding to the to-be-assembled part; Step S5, grabbing the to-be-assembled part to the assembly point, performing a virtual-real transformation on the actual model of the three-dimensional to-be-assembled part to obtain a simulated assembly part model, and determining an assembly part to be assembled with the to-be-assembled part according to the simulated assembly part model; Step S6, assembling the to-be-assembled parts and the assembled parts to complete the assembly process.

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