A Material Dynamic Control Method, System and Medium Based on a Conveyor Line

Abstract

An embodiment of the present application provides a method, system and medium for dynamic control of materials based on a conveyor line. The method includes: constructing a virtual conveyor line based on a virtual environment, configuring the motion parameters of the virtual conveyor line, generating the types of each node on the virtual conveyor line and the relationships between different nodes, as well as the function information of each node; calculating the dynamic behavior of the material on the virtual conveyor line using a kinematic model to obtain the material conveying path; comparing the direction of the material conveying path with a pre-configured path direction to obtain a path deviation rate; determining whether the path deviation rate is greater than or equal to a set path deviation rate threshold; if it is greater than or equal to, adjusting the motion parameters of the virtual conveyor line based on correction information; if it is less than, transmitting the material movement data stream to the terminal. Through virtual design, it can guide real production, and the data of entity operation can also be fed back into the virtual environment to form a closed-loop control, promoting continuous performance monitoring and optimization.

Description

Technical Field

[0001] The present application relates to the technical field of material control. Specifically, it relates to a method, system and medium for dynamic material control based on a conveyor line. Background Art

[0002] With the rapid development of intelligent manufacturing, traditional virtual assets of conveyor lines appear to be inflexible when facing the requirements of variable production simulations and integration of virtual and physical scenarios.

[0003] For example, in the visual component software, the movement direction and speed of the conveyor line are derived from the path, the origin position of the conveyor line is not calculated, and the mounted motor is also a virtual motor without the motor parameters of the actual machine.

[0004] For example, in Siemens pdps, it relies on the material path flow, and there is no concept of conveyor line drive.

[0005] Therefore, it is particularly important to develop a virtual design system that can adaptively and efficiently manage conveyor line assets according to production tasks. The present invention aims to solve this problem by constructing a virtual environment to simulate the real production scenario and realizing a fast commissioning and intelligent control solution for the conveyor line. Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a method, system and medium for dynamic material control based on a conveyor line. Through virtual design, it can guide real production, and the data of physical operation can also be fed back into the virtual environment to form a closed-loop control, which promotes continuous performance monitoring and optimization, and enhances the timeliness and accuracy of decision support.

[0007] The embodiments of the present application also provide a method for dynamic material control based on a conveyor line, including:

[0008] Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of each node on the virtual conveyor line and the relationships between different nodes, as well as the function information of each node.

[0009] Based on the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node, use the kinematic model to calculate the dynamic behavior of the material on the virtual conveyor line and obtain the material conveying path.

[0010] Compare the direction of the material conveying path with the pre-configured path direction to obtain the path deviation rate, and determine whether the path deviation rate is greater than or equal to the set path deviation rate threshold.

[0011] If it is greater than or equal to, generate correction information and adjust the motion parameters of the virtual conveyor line based on the correction information.

[0012] If it is less than, generate a parameter data stream for material movement, transmit the parameter data stream for material movement to the terminal, and move according to the received parameter data stream.

[0013] Optionally, in the material dynamic control method based on a conveyor line described in the embodiments of the present application, a virtual conveyor line is constructed based on a virtual environment, and the movement parameters of the virtual conveyor line are configured to generate the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node, specifically including:

[0014] Create a digital twin of the conveyor line based on the virtual environment to generate a virtual conveyor line;

[0015] Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight line segments and arc line segments based on the conveying direction;

[0016] Establish a number of marking points on the straight line segments and arc line segments, configure the movement parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship, and node function information;

[0017] The node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics;

[0018] The node relationships include that the motor node drives the virtual axis node, and the encoder node feeds back to the servo control node for closed-loop control.

[0019] Optionally, in the material dynamic control method based on a conveyor line described in the embodiments of the present application, obtain the operation parameters of each node, and calculate the dynamic behavior of the material on the virtual conveyor line by using a kinematic model based on the operation parameters of each node to obtain the material conveying path, specifically including:

[0020] Obtain the operation parameters of each node, and analyze the material operation state information based on the operation parameters of each node;

[0021] Calculate the initial offset information and rotation information of the material based on the material operation state information;

[0022] Analyze the dynamic behavior during the material movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered within a unit time;

[0023] Dynamically adjust the real-time movement path of the material based on the dynamic behavior to obtain the material transportation path.

[0024] Optionally, in the material dynamic control method based on a conveyor line described in the embodiments of the present application, compare the material conveying path direction with a pre-configured path direction to obtain a path deviation rate, specifically including:

[0025] Obtain the material conveying path, analyze the material movement trajectory, and calculate the Euclidean distance between the material movement trajectory and the set path;

[0026] Compare the Euclidean distance with the set distance threshold to obtain the distance difference;

[0027] Set the detection time point, divide the distance difference corresponding to the current detection time point by the distance difference of the next detection time point, and analyze the path deviation rate.

[0028] Optionally, in the material dynamic control method based on the conveyor line described in the embodiments of the present application, generate correction information and adjust the motion parameters of the virtual conveyor line based on the correction information, specifically including:

[0029] Obtain the position information of the marking points, and analyze the spline curve of the transportation path based on the position information of the marking points;

[0030] Obtain the initial position of the material, and analyze whether the material is on the spline curve of the transportation path based on the initial position of the material;

[0031] If it is, analyze the position offset when the material passes through each marking point, generate the first correction information according to the position offset, and adjust the parameters of the virtual conveyor line based on the first correction information;

[0032] If not, calculate the initial offset information and rotation information of the material, generate the second correction information, and adjust the initial position of the material based on the second correction information.

[0033] Optionally, in the material dynamic control method based on the conveyor line described in the embodiments of the present application, generate a material movement data stream and transmit the material movement data stream to the terminal, specifically including:

[0034] Obtain the material movement data stream, track the transportation status of the material, and the transportation status of the material includes the product position and the processing progress;

[0035] Graphically program or display the material movement data stream in the form of a flowchart to obtain the data stream and control relationship between nodes;

[0036] According to the data stream and control relationship between nodes, display the operating status of the conveyor line in real time, including speed, load rate, and fault warning.

[0037] In a second aspect, the embodiments of the present application provide a material dynamic control system based on a conveyor line. The system includes: a memory and a processor. The memory includes a program of the material dynamic control method based on the conveyor line. When the program of the material dynamic control method based on the conveyor line is executed by the processor, the following steps are implemented:

[0038] Build a virtual conveyor line based on a virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node;

[0039] Based on the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node, use a kinematic model to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path;

[0040] Compare the material conveying path direction with a pre-configured path direction to obtain a path deviation rate, and determine whether the path deviation rate is greater than or equal to a set path deviation rate threshold;

[0041] If it is greater than or equal to, generate correction information and adjust the motion parameters of the virtual conveyor line based on the correction information;

[0042] If it is less than, generate a parameter data stream for the movement of the material, transmit the material movement parameter data stream to the terminal, and move according to the received parameter data stream.

[0043] Optionally, in the material dynamic control system based on a conveyor line described in the embodiments of the present application, building a virtual conveyor line based on a virtual environment, configuring the motion parameters of the virtual conveyor line, generating the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node specifically includes:

[0044] Create a digital twin of the conveyor line based on the virtual environment to generate a virtual conveyor line;

[0045] Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight segments and arc segments based on the conveying direction;

[0046] Establish a number of marking points on the straight segments and arc segments, configure the motion parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship, and node function information;

[0047] The node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics;

[0048] The node relationships include that the motor node drives the virtual axis node, and the encoder node feeds back to the servo control node for closed-loop control.

[0049] Optionally, in the material dynamic control system based on a conveyor line described in the embodiments of the present application, obtaining the operating parameters of each node, and using a kinematic model to calculate the dynamic behavior of the material on the virtual conveyor line based on the operating parameters of each node to obtain the material conveying path specifically includes:

[0050] Obtain the operating parameters of each node, and analyze the material operation status information based on the operating parameters of each node;

[0051] Calculate the initial offset information and rotation information of the material based on the material operation status information;

[0052] Analyze the dynamic behavior during the material movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered within a unit time;

[0053] Dynamically adjust the real-time movement path of the material based on the dynamic behavior to obtain the material transportation path.

[0054] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, which includes a program for the material dynamic control method based on a conveyor line. When the program for the material dynamic control method based on a conveyor line is executed by a processor, the steps of the material dynamic control method based on a conveyor line as described in any one of the above are implemented.

[0055] As can be seen from the above, a material dynamic control method, system, and medium provided by an embodiment of the present application construct a virtual conveyor line based on a virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of each node on the virtual conveyor line and the relationships between different nodes, and the function information of each node; based on the types of each node on the virtual conveyor line and the relationships between different nodes, and the function information of each node, use a kinematic model to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material transportation path; compare the direction of the material transportation path with the pre-configured path direction to obtain a path deviation rate; determine whether the path deviation rate is greater than or equal to a set path deviation rate threshold; if it is greater than or equal to, generate correction information and adjust the motion parameters of the virtual conveyor line based on the correction information; if it is less than, generate a parameter data stream for the material movement, transmit the material movement parameter data stream to the terminal, and perform motion according to the received parameter data stream. Through virtual design, it can guide real production, and the data of entity operation can also be fed back into the virtual environment to form a closed-loop control, which promotes continuous performance monitoring and optimization, and enhances the timeliness and accuracy of decision support. Description of the Drawings

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0057] Figure 1Flowchart of the material dynamic control method based on a conveyor line provided by an embodiment of the present application;

[0058] Figure 2 Flowchart of configuring virtual conveyor line parameters for the material dynamic control method based on a conveyor line provided by an embodiment of the present application;

[0059] Figure 3 Flowchart of the method for obtaining the material conveying path of the material dynamic control method based on a conveyor line provided by an embodiment of the present application;

[0060] Figure 4 Flowchart of the path calculation method for the material dynamic control method based on a conveyor line provided by an embodiment of the present application;

[0061] Figure 5 Flowchart of calculating the path tangent and normalizing the processing for the material dynamic control method based on a conveyor line provided by an embodiment of the present application. Detailed implementation manners

[0062] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0063] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0064] Please refer to Figure 1 , Figure 1 which is a flowchart of a material dynamic control method based on a conveyor line in some embodiments of the present application. The material dynamic control method based on a conveyor line is used in a terminal device. The material dynamic control method based on a conveyor line includes the following steps:

[0065] S101, construct a virtual conveyor line based on a virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of each node on the virtual conveyor line and the relationships between different nodes, and the function information of each node;

[0066] S102, Based on the types of each node on the virtual conveyor line, the relationships between different nodes, and the functional information of each node, use the kinematic model to calculate the dynamic behavior of the material on the virtual conveyor line, and obtain the material conveying path;

[0067] S103, Compare the material conveying path direction with the pre-configured path direction to obtain the path deviation rate, and determine whether the path deviation rate is greater than or equal to the set path deviation rate threshold;

[0068] S104, If it is greater than or equal to, generate correction information, and adjust the motion parameters of the virtual conveyor line based on the correction information;

[0069] S105, If it is less than, generate a parameter data stream for the movement of the material, transmit the material movement parameter data stream to the terminal, and perform the movement according to the received parameter data stream.

[0070] It should be noted that the set path is automatically set according to the parameters of the virtual conveyor line and the dynamic behavior of the material on the virtual conveyor line. The data stream is a sequence of bytes that is ordered, has a starting point and an ending point, including input stream and output stream; a virtual debugging environment is provided, and users can perform individual or combined debugging on specific conveyor line segments, motors, etc., to achieve efficient simulation of the real layout planning of the conveyor line, optimization of asset configuration, flexible path control during operation, and two-way connection of virtual and real data; to improve production efficiency, flexibility and resource utilization.

[0071] Please refer to Figure 2 , Figure 2 is a flowchart for configuring virtual conveyor line parameters of a material dynamic control method based on a conveyor line in some embodiments of this application. According to the embodiments of the present invention, a virtual conveyor line is constructed based on a virtual environment, and the motion parameters of the virtual conveyor line are configured to generate the types of each node on the virtual conveyor line, the relationships between different nodes, and the functional information of each node. Specifically, it includes:

[0072] S201, Create a digital twin of the conveyor line (which can be understood as a mapping of the conveyor line in the real industrial environment) based on the virtual environment to generate a virtual conveyor line;

[0073] S202, Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight line segments and arc line segments based on the conveying direction;

[0074] S203, Establish a number of marking points on the straight line segments and arc line segments, configure the motion parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship and node function information.

[0075] Specifically, the node types include transportation and conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics. The node relationships include the motor node driving the virtual axis node, and the encoder node feeding back to the servo control node for closed-loop control.

[0076] It should be noted that creating a digital twin of the conveying line enables real-time monitoring and predictive maintenance to ensure speed matching the motor performance or automatically adjusting the task allocation of workstations according to signals.

[0077] Specifically, a digital twin is to map an object in the physical world into the digital space in the form of data. For example, the digital twin of a conveying line can completely reflect the current state of each part of the conveyor belt and the current environment it is in, which are updated in real time. If there is a problem at a certain position of the conveying line, the data will feedback an anomaly, and the digital twin can automatically process the abnormal situation and feedback it from the digital space to the physical world, thus solving problems in reality.

[0078] Please refer to Figure 3 , Figure 3 FIG. is a flowchart of a method for obtaining a material conveying path of a material dynamic control method based on a conveying line in some embodiments of the present application. According to an embodiment of the present invention, the operating parameters of each node are obtained, and based on the operating parameters of each node, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveying line to obtain the material conveying path, which specifically includes:

[0079] S301, obtaining the operating parameters of each node, and analyzing the material operation state information based on the operating parameters of each node;

[0080] S302, calculating the initial offset information and rotation information of the material based on the material operation state information;

[0081] S303, analyzing the dynamic behavior during the movement of the material based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered within a unit time;

[0082] S304, dynamically adjusting the real-time movement path of the material based on the dynamic behavior to obtain the material transportation path.

[0083] It should be noted that by analyzing the operation state of the material, the acceleration, deceleration, and pause conditions during the movement of the material are analyzed, so as to dynamically adjust the real-time movement path of the material and ensure the accuracy of the material transportation path.

[0084] According to an embodiment of the present invention, comparing the material conveying path direction with a pre-configured path direction to obtain a path deviation rate, which specifically includes:

[0085] Obtain the material conveying path, analyze the material movement trajectory, and calculate the Euclidean distance between the material movement trajectory and the set path;

[0086] Compare the Euclidean distance with the set distance threshold to obtain the distance difference;

[0087] Set the detection time point, divide the distance difference corresponding to the current detection time point by the distance difference of the next detection time point, and analyze the path deviation rate.

[0088] It should be noted that in order to ensure that the material movement trajectory is always close to the set path, and dynamically analyze the path deviation rate according to the distance difference, the flexibility of correcting the movement trajectory is improved.

[0089] According to the embodiments of the present invention, generate correction information and adjust the motion parameters of the virtual conveyor line based on the correction information, specifically including:

[0090] Obtain the position information of the marking points, and analyze the spline curve of the transportation path based on the position information of the marking points;

[0091] Obtain the initial position of the material, and analyze whether the material is on the spline curve of the transportation path based on the initial position of the material;

[0092] If it is, analyze the position offset when the material passes through each marking point, generate the first correction information according to the position offset, and adjust the parameters of the virtual conveyor line based on the first correction information;

[0093] If not, calculate the initial offset information and rotation information of the material, generate the second correction information, and adjust the initial position of the material based on the second correction information.

[0094] It should be noted that generate and resample the path spline curve to ensure that the points on the path are evenly distributed. By using the extended path calculation method, outside the path definition range, the path can continue to extend in the starting or ending direction, dynamically calculate the position, tangent, and normal on the path, ensure the smooth movement and accurate positioning of the object on the path, and handle the situation where the initial position of the object is not on the path. By calculating the initial offset and rotation, the alignment and smooth transition of the object and the path are realized.

[0095] According to the embodiments of the present invention, generate the material movement data stream and transmit the material movement data stream to the terminal, specifically including:

[0096] Obtain the material movement data stream, track the transportation status of the material, and the transportation status of the material includes the product position and the processing progress;

[0097] Graphically program or display the material movement data stream in the form of a flowchart to obtain the data stream and control relationship between nodes;

[0098] The operating status of the conveyor line, including speed, load rate, and fault warning, is displayed in real time according to the data flow and control relationship between nodes.

[0099] It should be noted that each entity is uniquely identified by a Guid. Internally, an ECS architecture is constructed, and the Component is used as a carrier to share and transfer data. Externally, an interface is provided for the module to access the real-time context object through the Guid, and the data can be directly accessed and modified through the context object, avoiding redundant data transfer and replication and improving the efficiency of data transmission.

[0100] According to an embodiment of the present invention, in order to generate a smooth path, the present invention adopts the Catmull-Rom spline interpolation algorithm and generates evenly distributed path points through resampling.

[0101] Catmull-Rom spline interpolation is a special form based on the Hermite interpolation polynomial. Its feature is to generate a smooth curve on the given control point set, and the curve passes through each control point. This spline curve applies a matrix-based interpolation method in the calculation.

[0102] The matrix form of the interpolation formula is:

[0103] ,

[0104] where:

[0105] ,

[0106] where, is a parameter variable, and its value range is . This matrix represents the polynomial form of the time parameter .

[0107] ,

[0108] This is the basis matrix of the Catmull-Rom spline, which defines the shape and characteristics of the spline curve. The basis matrix is composed of fixed coefficients to ensure that the generated curve has the characteristics of the Catmull-Rom spline.

[0109] G is the geometric vector of the control points, including four control points related to the current curve. For each curve segment, it is a 4×3 or 4×2 matrix (depending on the dimension), representing the four control points affected by the current curve segment:

[0110] ,

[0111] where, are the coordinates of the four control points on which the curve segment depends.

[0112] Converting the calculation of interpolation points into matrix multiplication ensures the smoothness and accuracy of the interpolation curve.

[0113] The goal of path resampling is to generate uniformly distributed sampling points to ensure uniform movement of the object along the path. It is necessary to calculate the total length of the path and determine the target distance between every two sampling points according to the required number of sampling points.

[0114] The calculation formula for the total length of the path is as follows:

[0115] ,

[0116] where, is the -th point on the path, is the total number of path points, and L is the total length of the path.

[0117] Determine the target distance:

[0118] ,

[0119] where, M is the number of points to be resampled, and d is the target distance.

[0120] Starting from the starting point, move along the path. When the cumulative movement distance reaches the target distance d, record the current point and reset the cumulative movement distance value.

[0121] By ensuring that the generated sampling points are uniformly distributed on the path, the smooth movement of the object along the path is ensured.

[0122] In a second aspect, an embodiment of the present application provides a material dynamic control system based on a conveyor line. The system includes: a memory and a processor. The memory includes a program for the material dynamic control method based on the conveyor line. When the program for the material dynamic control method based on the conveyor line is executed by the processor, the following steps are implemented:

[0123] Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node;

[0124] Based on the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node, use the kinematic model to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path;

[0125] Compare the direction of the material conveying path with the pre-configured path direction to obtain the path deviation rate;

[0126] Determine whether the path deviation rate is greater than or equal to the set path deviation rate threshold;

[0127] If it is greater than or equal to, generate correction information and adjust the motion parameters of the virtual conveyor line based on the correction information;

[0128] If it is less than, generate a parameter data stream for material movement, transmit the material movement parameter data stream to the terminal, and move according to the received parameter data stream.

[0129] It should be noted that a virtual debugging environment is provided, and users can perform individual or combined debugging on specific conveyor line segments, motors, etc., to achieve efficient simulation of the real layout planning of the conveyor line, optimization of asset configuration, flexible path control during operation, and two-way virtual-real data connection; to improve production efficiency, flexibility, and resource utilization.

[0130] Specifically, multiple modules are divided in the entire conveyor line system, and each module is responsible for a specific function. The modular design has the following advantages:

[0131] Maintainability: Each module can be developed, tested, and maintained independently.

[0132] Scalability: New modules or functions can be easily added without affecting the existing system.

[0133] Reusability: Some modules can be reused in other projects.

[0134] The system includes the following modules:

[0135] Path Generation Module: Responsible for generating and resampling paths, and externally encapsulating and providing common path calculation interfaces.

[0136] Motion Control Module: Responsible for the movement control of objects, and at the same time referencing modules including path motors and areas.

[0137] Physics Area Module: Responsible for determining the range accessed by the physics engine.

[0138] User Interaction Module: Responsible for user input and path editing.

[0139] Motor Drive Module: Responsible for mapping physical motor parameters in reality and calculating the synchronization of motors during virtual-real linkage.

[0140] The method of data flow control is as follows:

[0141] In the motor module, each entity is uniquely identified by a Guid. Internally, an ECS architecture is built, using Components as carriers to share and transfer data. Externally, the module provides an interface for external access to the real-time context object RunContext through the Guid. The specific implementation includes the following steps:

[0142] Initialize the ECS system: Build the ECS system and generate a unique Guid for each entity.

[0143] System data processing: Implement the internal data processing of the Component and the real-time update of the data in RunContext.

[0144] Data flow: Only perform data processing through Components within the ECS, and provide an interface for external access to RunContext through the Guid.

[0145] In the ECS architecture, all data is stored in the Component layer. The System layer is responsible for logical processing, and the Entity layer only serves as an index and management of data. The specific implementation includes the following steps:

[0146] Initialize entities and components: Create entity objects and add components to them. Specific data such as the speed and position of the motor are stored in the components.

[0147] System data processing: The System layer is responsible for processing the data in the components and updating the speed and position of the motor according to the logic.

[0148] Data flow: Data flows between the components and the system. The system processes the data according to the logic and stores the updated data back into the components.

[0149] The motor object is uniquely identified by the Guid, and information such as the speed and position of the motor is provided through the context object RunContext, realizing efficient access and transfer of data. Other modules can directly access and modify the context information of the motor object through the Guid without knowing the specific implementation details of the motor object. Data is transferred between modules through the Guid and the context object, reducing the dependencies between modules, improving the flexibility and maintainability of the system. Direct access and modification of data through the context object avoid redundant data transfer and replication, improving the efficiency of the system.

[0150] According to the embodiments of the present invention, a virtual conveyor line is built based on a virtual environment, the motion parameters of the virtual conveyor line are configured, and the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node are generated. Specifically, it includes:

[0151] Create a digital twin of the conveyor line based on the virtual environment to generate a virtual conveyor line;

[0152] Analyze the conveying direction of the virtual conveyor line and divide the virtual conveyor line into straight segments and arc segments based on the conveying direction;

[0153] Establish a number of marker points on the straight segments and arc segments, configure the motion parameters of the virtual conveyor line based on the marker points, and generate node type, node relationship, and node function information;

[0154] The node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics;

[0155] The node relationships include the motor node driving the virtual axis node and the encoder node feeding back to the servo control node for closed-loop control.

[0156] It should be noted that creating a digital twin of the conveyor line enables real-time monitoring and predictive maintenance to ensure speed matching the motor performance or automatically adjusting the task allocation of the workstations according to signals.

[0157] According to the embodiments of the present invention, obtain the operating parameters of each node, and calculate the dynamic behavior of the material on the virtual conveyor line based on the operating parameters of each node using the kinematic model to obtain the material conveying path, specifically including:

[0158] Obtain the operating parameters of each node and analyze the material operation status information based on the operating parameters of each node;

[0159] Calculate the initial offset information and rotation information of the material based on the material operation status information;

[0160] Analyze the dynamic behavior during the material movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered within a unit time;

[0161] Dynamically adjust the real-time movement path of the material based on the dynamic behavior to obtain the material transportation path.

[0162] It should be noted that by analyzing the operation status of the material, the acceleration, deceleration, and pause conditions during the material movement are analyzed, so as to dynamically adjust the real-time movement path of the material and ensure the accuracy of the material transportation path.

[0163] According to the embodiments of the present invention, compare the material conveying path direction with the pre-configured path direction to obtain the path deviation rate, specifically including:

[0164] Obtain the material conveying path, analyze the material movement trajectory, and calculate the Euclidean distance between the material movement trajectory and the set path;

[0165] Compare the Euclidean distance with a set distance threshold to obtain a distance difference;

[0166] Set a detection time point, divide the distance difference corresponding to the current detection time point by the distance difference of the next detection time point, and analyze the path deviation rate.

[0167] It should be noted that in order to ensure that the movement trajectory of the material always approaches the set path, and dynamically analyze the path deviation rate based on the distance difference, the flexibility of correcting the movement trajectory is improved.

[0168] According to an embodiment of the present invention, if it is greater than or equal to, correction information is generated, and the motion parameters of the virtual conveyor line are adjusted based on the correction information, specifically including:

[0169] Obtain the position information of the marking points, and analyze the spline curve of the transportation path based on the position information of the marking points;

[0170] Obtain the initial position of the material, and analyze whether the material is on the spline curve of the transportation path based on the initial position of the material;

[0171] If it is, analyze the position offset when the material passes through each marking point, generate first correction information based on the position offset, and adjust the parameters of the virtual conveyor line based on the first correction information;

[0172] If it is not, calculate the initial offset information and rotation information of the material, generate second correction information, and adjust the initial position of the material based on the second correction information.

[0173] It should be noted that generate and resample the path spline curve to ensure that the points on the path are evenly distributed. By using an extended path calculation method, outside the path definition range, the path can continue to extend in the starting or ending direction, dynamically calculate the position, tangent, and normal on the path, ensure the smooth movement and accurate positioning of the object on the path, and handle the situation where the initial position of the object is not on the path. By calculating the initial offset and rotation, the alignment and smooth transition of the object and the path are achieved.

[0174] According to an embodiment of the present invention, if it is less than, a parameter data stream of the material movement is generated, the parameter data stream of the material movement is transmitted to the terminal, and the movement is performed according to the received parameter data stream, specifically including:

[0175] Obtain the material movement data stream, track the transportation state of the material, and the transportation state of the material includes the product position and the processing progress;

[0176] Graphically program or display the material movement data stream in the form of a flowchart to obtain the data stream and control relationship between nodes;

[0177] The operating status of the conveyor line, including speed, load rate, and fault warning, is displayed in real time according to the data flow and control relationship between nodes.

[0178] It should be noted that each entity is uniquely identified by a Guid. Internally, an ECS architecture is constructed, and the Component is used as a carrier to share and transfer data. Externally, an interface is provided for the module to access the real-time context object through the Guid, and the data can be directly accessed and modified through the context object, avoiding redundant data transfer and replication and improving the efficiency of data transmission.

[0179] According to an embodiment of the present invention, in order to generate a smooth path, the present invention adopts the Catmull-Rom spline interpolation algorithm and generates evenly distributed path points through resampling.

[0180] Catmull-Rom spline interpolation is a special form based on the Hermite interpolation polynomial. Its characteristic is to generate a smooth curve on the given control point set, and the curve passes through the point at each control point. This kind of spline curve applies a matrix-based interpolation method in the calculation.

[0181] As Figure 4 shown, in order to solve the motion problem when the object exceeds the path definition range, the present application extends the path calculation method so that when t exceeds the range of [0, 1], the path can continue to extend in the starting or ending direction. The specific methods include the following:

[0182] Obtain the position on the path:

[0183] When t exceeds the range of [0, 1], the direction vectors of the starting and ending points can be used for extension calculation:

[0184] ,

[0185] wherein, and are the starting and ending points of the path respectively.

[0186] As Figure 5 shown, obtain the tangent on the path:

[0187] The path tangent can be calculated by the difference between two adjacent points:

[0188] ,

[0189] wherein, and are two adjacent points on the path.

[0190] Obtain the normal on the path:

[0191] In computer graphics, the normal vector of a curve plays an important role in path planning, animation, and physical simulation. To calculate the normal vector of a curve at a certain position, the GetNormalAt(float t) function is implemented. This function calculates and returns the normal vector of the curve at position t based on the input parameter t. In the present logical context, first, the tangent vector at t is obtained, and then the cross product of the Vector.up vector in world space and the tangent vector is calculated to obtain the normal vector. After that, the vector is normalized according to the magnitude of the vector.

[0192] In three-dimensional space, the normal can be obtained by taking the cross product of the tangent and a reference vector (such as the y-axis):

[0193] 。

[0194] The third aspect of the present invention provides a computer-readable storage medium. The readable storage medium includes a program for the material dynamic control method based on a conveyor line. When the program for the material dynamic control method based on a conveyor line is executed by a processor, the steps of the material dynamic control method based on a conveyor line as described in any one of the above are implemented.

[0195] A material dynamic control method, system, and medium based on a conveyor line disclosed in the present invention construct a virtual conveyor line based on a virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node; based on the types of each node on the virtual conveyor line, the relationships between different nodes, and the function information of each node, use the kinematic model to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path; compare the direction of the material conveying path with the pre-configured path direction to obtain the path deviation rate; determine whether the path deviation rate is greater than or equal to the set path deviation rate threshold; if it is greater than or equal to, generate correction information and adjust the motion parameters of the virtual conveyor line based on the correction information; if it is less than, generate a parameter data stream for the movement of the material, transmit the parameter data stream for the movement of the material to the terminal, and move according to the received parameter data stream. Through virtual design, it can guide real production, and the data of entity operation can also be fed back into the virtual environment to form a closed-loop control, promoting continuous performance monitoring and optimization, and enhancing the timeliness and accuracy of decision support.

[0196] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the couplings, direct couplings, or communication connections between the displayed or discussed components can be through some interfaces. The indirect couplings or communication connections of devices or units can be electrical, mechanical, or other forms.

[0197] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units. They can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0198] In addition, each functional unit in the embodiments of the present invention can be all integrated in a processing unit, or each unit can be separately regarded as a unit, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0199] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a readable storage medium. When the program is executed, it performs the steps including the above method embodiments. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0200] Alternatively, if the above-mentioned integrated units of the present invention are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, ROM, RAM, magnetic disks, or optical discs.

Claims

1. A material dynamic control method based on a conveyor line, characterized in that: include: Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node; Based on the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path; Compare the material conveying path direction with the pre-configured path direction to obtain a path deviation rate, and determine whether the path deviation rate is greater than or equal to a set path deviation rate threshold; If it is greater than or equal to, then generate correction information, and adjust the motion parameters of the virtual conveyor line based on the correction information; If it is less than, a parameter data stream for material movement is generated, the parameter data stream for material movement is transmitted to the terminal, and movement is performed according to the received parameter data stream; The Catmull-Rom spline interpolation algorithm is used to generate evenly distributed path points through resampling; Among them, the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node are generated, specifically: Create a digital twin of the conveyor line based on the virtual environment and generate a virtual conveyor line; Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight line segments and arc segments based on the conveying direction; Establish several marking points on the straight line segment and the arc segment, configure the motion parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship and node function information; Among them, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line based on the operating parameters of each node to obtain the material conveying path, which specifically includes: Obtain the operating parameters of each node, and analyze the material operation status information based on the operating parameters of each node; Calculate the initial offset information and rotation information of the material based on the material running status information; Analyze the dynamic behavior of the material during movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered per unit time. Based on dynamic behavior, the real-time movement path of materials is dynamically adjusted to obtain the material transportation path.

2. The material dynamic control method based on the conveyor line according to claim 1 is characterized in that: Also includes: Node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics; The node relationship includes the motor node driving the virtual axis node, and the encoder node feeding back to the servo control node for closed-loop control.

3. The material dynamic control method based on the conveyor line according to claim 1 is characterized in that: Compare the material conveying path direction with the pre-configured path direction to obtain the path deviation rate, including: Obtain the material conveying path, analyze the material movement trajectory, and calculate the Euclidean distance between the material movement trajectory and the set path; Compare the Euclidean distance with the set distance threshold to obtain the distance difference; Set the detection time point, divide the distance difference corresponding to the current detection time point by the distance difference of the next detection time point, and analyze the path deviation rate.

4. The material dynamic control method based on the conveyor line according to claim 1 is characterized in that: Generate correction information and adjust the motion parameters of the virtual conveyor line based on the correction information, including: Obtaining the position information of the marking points, and analyzing the spline curve of the transportation path based on the position information of the marking points; Get the initial position of the material, and analyze whether the material is on the spline curve of the transportation path based on the initial position of the material; If yes, then analyze the position offset of the material when it passes through each marking point, generate first correction information according to the position offset, and adjust the parameters of the virtual conveyor line based on the first correction information; If not, the initial offset information and rotation information of the material are calculated, the second correction information is generated, and the initial position of the material is adjusted based on the second correction information.

5. The material dynamic control method based on the conveyor line according to claim 1 is characterized in that: Generate material movement data flow and transmit the material movement data flow to the terminal, including: Obtain material movement data flow and track the transportation status of materials, including product location and processing progress; Display the material movement data flow in the form of graphical programming or flow chart to obtain the data flow and control relationship between nodes; Based on the data flow and control relationship between nodes, the operating status of the conveyor line is displayed in real time, including speed, load rate and fault warning.

6. A material dynamic control system based on a conveyor line, characterized in that: The system includes: a memory and a processor, wherein the memory includes a program of a material dynamic control method based on a conveyor line, and when the program of the material dynamic control method based on a conveyor line is executed by the processor, the following steps are implemented: Construct a virtual conveyor line based on the virtual environment, configure the motion parameters of the virtual conveyor line, generate the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node; Based on the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line to obtain the material conveying path; Compare the material conveying path direction with the pre-configured path direction to obtain a path deviation rate, and determine whether the path deviation rate is greater than or equal to a set path deviation rate threshold; If it is greater than or equal to, then generate correction information, and adjust the motion parameters of the virtual conveyor line based on the correction information; If it is less than, a parameter data stream for material movement is generated, the parameter data stream for material movement is transmitted to the terminal, and movement is performed according to the received parameter data stream; The Catmull-Rom spline interpolation algorithm is used to generate evenly distributed path points through resampling; Among them, the types of nodes on the virtual conveyor line and the relationship between different nodes, as well as the functional information of each node are generated, specifically: Create a digital twin of the conveyor line based on the virtual environment and generate a virtual conveyor line; Analyze the conveying direction of the virtual conveyor line, and divide the virtual conveyor line into straight line segments and arc segments based on the conveying direction; Establish several marking points on the straight line segment and the arc segment, configure the motion parameters of the virtual conveyor line based on the marking points, and generate node type, node relationship and node function information; Among them, the kinematic model is used to calculate the dynamic behavior of the material on the virtual conveyor line based on the operating parameters of each node to obtain the material conveying path, which specifically includes: Obtain the operating parameters of each node, and analyze the material operation status information based on the operating parameters of each node; Calculate the initial offset information and rotation information of the material based on the material running status information; Analyze the dynamic behavior of the material during movement based on the initial offset information and rotation information of the material. The dynamic behavior includes acceleration, deceleration, pause, and the area covered per unit time. The real-time moving path of materials is dynamically adjusted based on dynamic behavior to obtain the material transportation path.

7. The material dynamic control system based on the conveyor line according to claim 6 is characterized in that: Also includes: Node types include conveying range, path direction, physical effect drive, encoder, motor, virtual axis, servo control, conveying expression, and material statistics; The node relationship includes the motor node driving the virtual axis node, and the encoder node feeding back to the servo control node for closed-loop control.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a material dynamic control method program based on a conveyor line. When the material dynamic control method program based on a conveyor line is executed by a processor, the steps of the material dynamic control method based on a conveyor line as described in any one of claims 1 to 5 are implemented.

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