Debugging method and device, electronic equipment and storage medium

Abstract

The invention relates to a debugging method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a first control signal for a moving part of the equipment; based on the first control signal, a digital twin model of the equipment is used for simulating operation of the moving part, and motion simulation data of the moving part are obtained; wherein the digital twin model comprises a model for simulating the motion trail of a moving part in the equipment; generating a debugging signal for the moving part based on the motion simulation data of the moving part; wherein the debugging signal comprises a signal used for indicating to adjust the first control signal and / or the motion trail. By means of the method, on the premise that debugging is carried out without the help of entity equipment, refined comprehensive debugging of equipment operation can be achieved.

Description

Technical Field

[0001] The present disclosure relates to debugging technology, and in particular to a debugging method and device, electronic equipment, and storage medium. Background Art

[0002] With the development of lean manufacturing and equipment automation, high-precision equipment is increasing, and the equipment motion logic is becoming more and more complex. For equipment control developers, debugging equipment motion is very important.

[0003] In the related art, the debugging process of the device is to verify the correctness of the software logic by combining the hardware device with the software control signal after the hardware device is assembled. However, the workload of this debugging method is very large. And with the development of simulation technology, there are also software debugging for debugging simple devices and control units. However, the scope of application of this debugging method is very limited, and it is impossible to achieve refined and comprehensive debugging. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a debugging method and device, an electronic device, and a storage medium, which can achieve refined and comprehensive debugging of device operation without the need for debugging with the help of physical devices.

[0005] According to a first aspect of an embodiment of the present disclosure, a debugging method is provided, including:

[0006] Acquiring a first control signal for a moving component of a device;

[0007] Based on the first control signal, the operation of the moving component is simulated using the digital twin model of the device to obtain motion simulation data of the moving component; wherein the digital twin model includes a model for simulating the motion trajectory of the moving component in the device;

[0008] A debugging signal for the moving component is generated based on the motion simulation data of the moving component; wherein the debugging signal includes a signal for instructing to adjust the first control signal and / or the motion trajectory.

[0009] In some embodiments, based on the first control signal, simulating the operation of the moving component using the digital twin model of the device to obtain the motion simulation data of the moving component includes:

[0010] Performing parameter conversion on the control parameters included in the first control signal to obtain target control parameters suitable for the operation of the digital twin model;

[0011] Based on the moving component indicated by the first control signal and the target control parameter, the digital twin model is used to simulate the operation of the moving component to obtain motion simulation data of the moving component.

[0012] In some embodiments, the digital twin model also includes a model for simulating the linkage relationship between moving parts; the first control signal is a control signal for the first moving part among the moving parts having the linkage relationship;

[0013] The step of simulating the operation of the moving component by using the digital twin model of the device based on the first control signal to obtain motion simulation data of the moving component includes:

[0014] Based on the first control signal of the first moving component, the digital twin model of the device is used to simulate the operation of the moving components with a linkage relationship to obtain the motion simulation data of the first moving component in the linkage relationship and the motion simulation data of the second moving component other than the first moving component.

[0015] In some embodiments, the device includes a plurality of the moving parts, each of the moving parts corresponds to a motion simulation data, and the motion simulation data includes motion position simulation data; the step of generating a debugging signal for the moving part based on the motion simulation data of the moving part includes:

[0016] Based on the motion position simulation data of each moving component in the device, determining a first position difference between the motion position simulation data of each moving component;

[0017] In response to the first position difference being less than a first preset position difference threshold, a debugging signal is generated for instructing to adjust a first control signal and / or a motion trajectory of at least one of the moving components of the device.

[0018] In some embodiments, the device is any device in a production line, and a moving part of each device in the production line corresponds to a first control signal, and the digital twin model also includes a model for simulating the operation sequence between the devices in the production line;

[0019] The step of simulating the operation of the moving component by using the digital twin model of the device based on the first control signal to obtain motion simulation data of the moving component includes:

[0020] Based on the first control signal of the moving parts of each device in the production line, the digital twin model is used to simulate the operation of the moving parts of each device in the production line, and the motion simulation data of the moving parts in each device running according to the operation sequence is obtained;

[0021] The step of generating a debugging signal for the moving component based on the motion simulation data of the moving component comprises:

[0022] Based on the motion simulation data of the moving parts of each device in the production line, a debugging signal is generated to instruct to adjust the first control signal and / or motion trajectory of the moving part of at least one device.

[0023] In some embodiments, the motion simulation data includes motion position simulation data, and the step of generating a debugging signal for instructing to adjust a first control signal of a motion component of at least one device and / or a motion trajectory of the motion component based on the motion simulation data of the motion component of each device in the production line includes:

[0024] Determining a second position difference between the motion position simulation data of different devices based on the motion position simulation data of the motion components of each device in the production line;

[0025] In response to the second position difference corresponding to the different devices being less than a second preset position difference threshold, a debugging signal is generated to instruct adjustment of a first control signal of a moving component and / or a moving trajectory of a moving component of at least one of the different devices.

[0026] In some embodiments, the devices in the production line are used to collaboratively produce a target device, and the method further includes:

[0027] Determine a second control signal for simulating the target device being placed on the production line;

[0028] The first control signal of the moving parts of each device in the production line is used to simulate the operation of the moving parts of each device in the production line using the digital twin model, and obtain the motion simulation data of the moving parts in each device running according to the operation sequence, including:

[0029] Based on the second control signal and the first control signal of the moving parts of each device in the production line, the digital twin model is used to simulate the operation of the moving parts of each device in the production line after the target device is put into use, and the motion simulation data of the moving parts of each device running in the said operation order is obtained.

[0030] In some embodiments, the motion simulation data includes motion position simulation data; the step of generating a debugging signal for instructing to adjust a first control signal and / or a motion trajectory of a motion component of at least one device based on the motion simulation data of the motion component of each device in the production line includes:

[0031] Simulating the position state between the target device and the device according to the motion position simulation data of the motion component of each device;

[0032] In response to the position state between any device and the target device not satisfying a preset position state condition, a debugging signal is generated for instructing to adjust a first control signal and / or a motion trajectory of a moving component of at least one device.

[0033] In some embodiments, the debugging method is applied to a debugging device, and the step of obtaining a first control signal for a moving component of the device includes:

[0034] A first control signal for a moving component of the device sent by a control device is received.

[0035] In some embodiments, the method further comprises:

[0036] Obtaining trajectory parameters corresponding to the motion trajectory of the moving component in the device in the first coordinate space;

[0037] The trajectory parameters in the first coordinate space are mapped to the second coordinate space to obtain the digital twin model that simulates the motion trajectory of the moving part in the device; wherein the first coordinate space is the physical space in which the moving part moves, and the second coordinate space is the virtual space corresponding to the digital twin model.

[0038] According to a second aspect of an embodiment of the present disclosure, a debugging device is provided, including:

[0039] An acquisition module, used for acquiring a first control signal for a moving part of the device;

[0040] A simulation module, configured to simulate the operation of the moving component using the digital twin model of the device based on the first control signal to obtain motion simulation data of the moving component; wherein the digital twin model includes a model for simulating the motion trajectory of the moving component in the device;

[0041] A generation module is used to generate a debugging signal for the moving component based on the motion simulation data of the moving component; wherein the debugging signal includes a signal for instructing to adjust the first control signal and / or the motion trajectory.

[0042] In some embodiments, the simulation module is also used to perform parameter conversion on the control parameters included in the first control signal to obtain target control parameters suitable for the operation of the digital twin model; based on the moving parts indicated by the first control signal and the target control parameters, the digital twin model is used to simulate the operation of the moving parts to obtain motion simulation data of the moving parts.

[0043] In some embodiments, the digital twin model also includes a model for simulating the linkage relationship between moving parts; the first control signal is a control signal for the first moving part among the moving parts with a linkage relationship; the simulation module is also used to simulate the operation of the moving parts with a linkage relationship based on the first control signal of the first moving part, using the digital twin model of the device, to obtain the motion simulation data of the first moving part in the linkage relationship and the motion simulation data of the second moving part other than the first moving part.

[0044] In some embodiments, the device includes a plurality of the moving parts, each of the moving parts corresponds to a motion simulation data, and the motion simulation data includes motion position simulation data; the generation module is also used to determine the first position difference between the motion position simulation data of each moving part in the device based on the motion position simulation data of each moving part in the device; in response to the first position difference being less than a first preset position difference threshold, a debugging signal is generated to indicate an adjustment of a first control signal and / or motion trajectory of at least one of the moving parts of the device.

[0045] In some embodiments, the device is any device in a production line, and the moving parts of each device in the production line correspond to a first control signal, and the digital twin model also includes a model for simulating the operating sequence between the devices in the production line; the simulation module is also used to simulate the operation of the moving parts of each device in the production line based on the first control signal of the moving parts of each device in the production line, using the digital twin model, and obtain motion simulation data of the moving parts in each device running according to the operating sequence; the generation module is also used to generate a debugging signal for indicating the adjustment of the first control signal and / or motion trajectory of the moving parts of at least one device based on the motion simulation data of the moving parts of each device in the production line.

[0046] In some embodiments, the motion simulation data includes motion position simulation data, and the generation module is further used to determine the second position difference between the motion position simulation data of different devices based on the motion position simulation data of the moving parts of each device in the production line; in response to the second position difference corresponding to the different devices being less than a second preset position difference threshold, a debugging signal is generated to indicate an adjustment of a first control signal of a moving part of at least one device of the different devices and / or a motion trajectory of a moving part.

[0047] In some embodiments, the equipment in the production line is used to collaboratively produce a target device, and the apparatus further includes: a determination module, used to determine a second control signal for simulating the target device being placed on the production line; the generation module, further used to simulate the operation of the moving parts of each device in the production line after the target device is placed on the production line based on the second control signal and the first control signal of the moving parts of each device in the production line, using the digital twin model to obtain motion simulation data of the moving parts of each device running in the operation order.

[0048] In some embodiments, the motion simulation data includes motion position simulation data; the generation module is also used to simulate the position state between the target device and the device for the motion position simulation data of the moving parts of each device; in response to the position state between any device and the target device not satisfying a preset position state condition, a debugging signal is generated to indicate an adjustment of a first control signal and / or motion trajectory of a moving part of at least one device.

[0049] In some embodiments, the debugging method is applied to a debugging device, and the acquisition module is further used to receive a first control signal sent by a control device to a moving component of the device.

[0050] In some embodiments, the device also includes: a model construction module, used to obtain the trajectory parameters corresponding to the motion trajectory of the moving part in the device in the first coordinate space; map the trajectory parameters in the first coordinate space to the second coordinate space to obtain the digital twin model that simulates the motion trajectory of the moving part in the device; wherein the first coordinate space is the physical space in which the moving part moves, and the second coordinate space is the virtual space corresponding to the digital twin model.

[0051] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0052] A processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the method as described in the first aspect above.

[0053] According to a fourth aspect of an embodiment of the present disclosure, there is provided a storage medium, including:

[0054] When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method as described in the first aspect above.

[0055] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0056] The disclosed embodiment simulates the operation of the moving parts of the device using a digital twin model based on the first control signal of the moving parts of the device, generates a debugging signal based on the motion simulation data obtained by the simulation, so as to adjust the motion trajectory of the first control signal and / or the moving parts, and realizes the fine debugging of the device through the simulation of each moving part. In addition, the first control signal can also be debugged to realize the debugging of the control signal used to control the operation of the device, thereby realizing the comprehensive fine debugging of the operation of the device. In addition, the disclosed embodiment performs simulation debugging based on the digital twin model, without the need for debugging with the help of physical equipment, which alleviates the problem of requiring hardware equipment for debugging, saves the development cycle and development manpower on site, and reduces the hardware damage to the device caused by abnormal control signals through virtual debugging. Moreover, the disclosed embodiment also supports debugging based on the twin model in advance before the actual production of the device is completed. Based on the solution of the disclosed embodiment, the refined and comprehensive debugging of the operation of the device is realized without the need for debugging with the help of physical equipment.

[0057] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0059] Figure 1 This is an example of a debugging method process shown in the embodiment of the present disclosure Figure 1 ;

[0060] Figure 2 This is an example of a debugging method process shown in the embodiment of the present disclosure Figure 2 ;

[0061] Figure 3 is an example diagram of a debugging process shown in an embodiment of the present disclosure;

[0062] Figure 4 This is the production line shown in the embodiment of the present disclosure. Figure 3 An example diagram of the debugging method flow corresponding to any of the above models;

[0063] Figure 5 is a diagram of a debugging device shown in an embodiment of the present disclosure;

[0064] Figure 6 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0065] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0066] Before further describing the embodiments of the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations.

[0067] 1) Digital twins make full use of data such as physical models, sensor updates or operation history, integrate multi-disciplinary, multi-physical quantity, multi-scale, and multi-probability simulation processes, complete mapping in virtual space, and thus reflect the entire life cycle of the corresponding physical equipment.

[0068] The digital twin model refers to the digital presentation of physical objects in virtual space, that is, creating a virtual model for the physical object in a digital way to simulate its behavioral characteristics in the real environment. It is a data model that can be applied to the entire product life cycle.

[0069] 2) SolidWorks, an easy-to-use feature-based, parametric, and solid modeling design tool developed on Windows, can be used to create digital twin models.

[0070] 3) Kinematic pair: The connection between two components in direct contact and able to produce a certain relative motion is called a kinematic pair.

[0071] The disclosed embodiment provides a debugging method, the execution subject of which may be an electronic device, where the electronic device may be a server. The server may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution network (CDN, Content Delivery Network) services, and big data and artificial intelligence platforms. In some possible implementations, the debugging method may be implemented by a processor in an electronic device calling computer-readable instructions stored in a memory. Figure 1 This is an example of a debugging method process shown in the embodiment of the present disclosure Figure 1 ,Depend on Figure 1 It can be seen that the following steps are included:

[0072] Step 101, obtaining a first control signal for a moving component of a device;

[0073] Step 102: Based on the first control signal, use the digital twin model of the device to simulate the operation of the moving component to obtain motion simulation data of the moving component; wherein the digital twin model includes a model for simulating the motion trajectory of the moving component in the device;

[0074] Step 103: generating a debugging signal for the moving component based on the motion simulation data of the moving component; wherein the debugging signal includes a signal for instructing to adjust the first control signal and / or the motion trajectory.

[0075] In the embodiment of the present disclosure, the electronic device executing the debugging method can be understood as a debugging device, and the device to which the moving part belongs can be understood as a controlled device. The debugging device can generate a debugging signal for adjusting the moving part of the controlled device based on the debugging method of the embodiment of the present disclosure, and the debugging signal includes a signal for indicating adjustment of the first control signal and / or the motion trajectory.

[0076] In the embodiments of the present disclosure, the device includes at least one moving part, and the moving part can generate mechanical motion. The device of the embodiments of the present disclosure may be an automated or semi-automated device used in industry, agriculture, medical services, and households. For example, the device may be an industrial device used for manufacturing, or a gaming device or a robot assistant that can interact with a user, a cleaning device, and the like. The moving part may be, for example, a mechanical arm, a transmission part, a clamping part, and the like provided on the device. The embodiments of the present disclosure do not specifically limit the device and the moving part.

[0077] In some embodiments of the present disclosure, the first control signal can be generated by a control module. Here, the control module can be arranged in the device, and the motion module can be controlled based on the first control signal by communicating with the motion module of the device; the control module can also be arranged outside the device, that is, the control module is a control device independent of the device, and the control device is connected to the device in a wired or wireless manner. In an embodiment of the present disclosure, the first control signal can also be a signal of user operation received by the electronic device, such as receiving a first control signal of the user controlling the motion part of the device based on the user operation interface displayed by the electronic device. In the embodiment of the present disclosure, the electronic device obtains the first control signal for the motion part of the device, which can be obtained from the device itself, or from the control device of the device, or based on the user operation, and the embodiment of the present disclosure does not limit this.

[0078] The first control signal of the embodiment of the present disclosure includes control parameters. The control parameters are used to indicate the movement mode of the moving part. Among them, the control parameters may include at least one of the following: position change parameters, end position parameters, movement speed, movement direction and movement frequency, etc. Here, the position change parameter is used to indicate the movement change of the moving part on its motion trajectory. Exemplarily, if the motion trajectory of the moving part is to displace within the target moving range, the corresponding position change parameter may be a displacement distance parameter, for example, it may be 5cm, which is used to indicate that the moving part displaces 5cm. If the motion trajectory of the moving part is to rotate within the target angle range, the corresponding position change parameter may be a rotation angle parameter, for example, it may be 15°, which is used to indicate that the moving part rotates 15°.

[0079] In the embodiments of the present disclosure, for different moving parts, the parameter types included in the control parameters may be different. Exemplarily, if the first control signal is used to control the robot arm, the corresponding movement direction control parameters can be set according to the movement direction supported by the robot arm; in addition, the control parameters of the robot arm can also include movement speed and position change parameters, etc. If the first control signal is used to control the transmission component, the transmission component can be, for example, a gear, and the control parameters can include movement speed, movement frequency, etc. If the first control signal is used to control the clamping component, the clamping component can include, for example, two clamping members with opposite end faces, and its movement trajectory can be, for example, two clamping members that are relatively displaced or displaced oppositely within their displacement ranges, and the control parameters can include movement speed, movement direction, etc. In some embodiments, the control parameters for controlling the clamping component can also include the position holding time of the clamping member in the clamping position that can form a clamping force. The embodiments of the present disclosure do not specifically limit the control parameters of the first control signal, and those skilled in the art can set them according to the actual movement characteristics of the moving part.

[0080] In the disclosed embodiment, the digital twin model of the device is pre-built, for example, based on the aforementioned SolidWorks software. The digital twin model includes a model that simulates the motion trajectory of each moving part in the device. It should be understood that the digital twin model includes a component model of each moving part, and the movement of the corresponding moving part in the device is simulated by the movement of the component model.

[0081] In the embodiment of the present disclosure, after obtaining the first control signal, the electronic device uses the digital twin model to simulate the operation of the moving part based on the first control signal to obtain motion simulation data. Here, the motion simulation data may include motion position simulation data, which is data corresponding to the coordinate space of the digital twin model; it may also include simulation data of motion frequency, motion speed, motion direction, etc. In some embodiments, the electronic device may display the process of the digital twin model simulating the operation of the moving part for the user to observe.

[0082] In the disclosed embodiment, the electronic device generates a debugging signal based on motion simulation data. The electronic device can generate a debugging signal when it is determined that the motion simulation data meets a preset condition. Here, the preset condition can be set based on debugging the operation abnormality of the moving part, and can also be set based on debugging the moving part to a more optimal operation state. Among them, the operation abnormality can be, for example, collision or interference between different moving parts during operation.

[0083] In some embodiments, the electronic device can also obtain a debugging signal based on a debugging operation on the motion simulation data, and the debugging operation is generated by a user operating the electronic device. Exemplarily, the electronic device can present a debugging function item for the motion simulation data, and the user can input the debugging operation by triggering the debugging function item. The electronic device generates a debugging signal in response to the debugging operation on the debugging function item.

[0084] In the disclosed embodiment, the electronic device can also display the process of the digital twin model simulating the operation of the moving parts for the user to observe. The user can issue corresponding debugging operations for the motion simulation data based on the observed operation process.

[0085] In an embodiment of the present disclosure, if the debug signal includes a first debug signal for indicating a first control signal for adjusting a moving part, the first debug signal is output to the control module so that the control module adjusts the corresponding first control signal based on the first debug signal. If the debug signal includes a second debug signal for adjusting the motion trajectory of the moving part, the electronic device can adjust the digital twin model in response to the second debug signal so that the adjusted digital twin model can simulate the motion trajectory of the adjusted moving part. In some embodiments, the electronic device can also output the second debug signal to the device after generating the second debug signal so that the device adjusts the motion trajectory of the corresponding moving part according to the second debug signal.

[0086] In the related art, the simulation debugging methods used to debug the operation of the equipment mainly include two categories: one is to jointly debug the control module and the hardware equipment, such as performing virtual simulation design on the robot to obtain the best robot operation trajectory. After the robot is designed, the RAPID offline programming function is used to transmit the data generated by the virtual simulation to the robot, so as to facilitate on-site debugging of the robot. The workload of this debugging method is very large, and the long debugging process causes great damage to the equipment. The other is to simulate the layout of the line by importing the models of each device in the line, without the need for debugging based on the physical device. However, this type of simulation does not involve the simulation of the motion trajectory of the moving parts of the equipment, making it impossible to achieve refined debugging.

[0087] The disclosed embodiment simulates the operation of the moving parts of the device using a digital twin model based on the first control signal of the moving parts of the device, generates a debugging signal based on the motion simulation data obtained by the simulation, so as to adjust the motion trajectory of the first control signal and / or the moving parts, and realizes the fine debugging of the device through the simulation of each moving part. In addition, the first control signal can also be debugged to realize the debugging of the control signal used to control the operation of the device, thereby realizing the comprehensive fine debugging of the operation of the device. In addition, the disclosed embodiment performs simulation debugging based on the digital twin model, without the need for debugging with the help of physical equipment, which alleviates the problem of requiring hardware equipment for debugging, saves the development cycle and development manpower on site, and reduces the hardware damage to the device caused by abnormal control signals through virtual debugging. Moreover, the disclosed embodiment also supports debugging based on the twin model in advance before the actual production of the device is completed. Based on the solution of the disclosed embodiment, the refined and comprehensive debugging of the operation of the device is realized without the need for debugging with the help of physical equipment.

[0088] In some embodiments, based on the first control signal, simulating the operation of the moving component using the digital twin model of the device to obtain the motion simulation data of the moving component includes:

[0089] Performing parameter conversion on the control parameters included in the first control signal to obtain target control parameters suitable for the operation of the digital twin model;

[0090] Based on the moving component indicated by the first control signal and the target control parameter, the digital twin model is used to simulate the operation of the moving component to obtain motion simulation data of the moving component.

[0091] In the embodiment of the present disclosure, as mentioned above, the first control signal carries a control parameter. Taking the example that the control parameter is a parameter associated with a position or direction, the control parameter is adapted to the coordinate space of the device. The coordinate space of the device is the physical space in which the motion module in the device actually moves, also referred to as the first coordinate space. Exemplarily, the first coordinate space can be based on a coordinate system formed by the three directions of X, Y, and Z of the world coordinates, and the control parameters related to the position or direction carried by the first control signal are adapted to the motion reference values ​​corresponding to the corresponding moving parts, and the moving parts can directly respond to the first control signal and perform corresponding motions based on the control parameters carried by the first control signal.

[0092] In the disclosed embodiment, the coordinate space corresponding to the digital twin model is recorded as the second coordinate space. Here, the second coordinate space is the virtual space corresponding to the digital twin model, and the second coordinate space has a corresponding relationship with the first coordinate space.

[0093] In the disclosed embodiment, after the electronic device obtains the control parameters included in the first control signal, since the motion trajectory of the moving part simulated in the digital twin model may be different from the trajectory of the actual motion of the moving part in the coordinate reference system, the control parameters in the first control signal need to be converted to obtain target control parameters suitable for the operation of the digital twin model. Here, the target control parameter is a parameter corresponding to the second coordinate space of the digital twin model. Exemplarily, if the control parameter is (m, 0, 0) based on the first coordinate space, which is used to control the robot arm to move m centimeters in the first axis direction in the first coordinate space, then after obtaining the control parameter, the electronic device maps it to the second coordinate space, converts it to the coordinates corresponding to the three axes of X, Y, and Z in the second coordinate space, and obtains the target control parameter. The electronic device can control the operation of the moving part indicated by the first control signal to simulate the digital twin model based on the first control signal and obtain the motion simulation data of the moving part.

[0094] In addition, for parameters such as motion speed or motion frequency, since the measurement method in the digital twin model may be different from the measurement method when the moving parts actually move, parameter conversion is also required. For example, the mapping relationship between the motion speed in the digital twin model and the actual motion speed of the moving parts is 1:5, then the electronic device also needs to convert the motion speed parameter in the control signal into a target control parameter suitable for the twin model according to the mapping relationship.

[0095] In some embodiments, the equipment involved in the embodiments of the present disclosure may include non-standard equipment designed by the self-developed design, that is, it does not meet the relevant design standards in the industry. Correspondingly, the control module may also be designed for non-standard equipment designed by the self-developed design, and it should be understood that the first control signal data generated by it is not standardized. For the non-standardized first control signal, the embodiments of the present disclosure may also convert the control parameters of the first control signal into target control parameters through parameter conversion, so that the simulation platform can directly control the operation of the digital twin model using the target control parameters. Here, the simulation platform may correspond to the electronic device of the embodiments of the present disclosure. In some embodiments, the simulation platform may also be simulation software, which can be run on an electronic device for implementing the embodiments of the present disclosure.

[0096] The embodiment of the present disclosure converts the control parameters included in the first control signal for controlling the moving parts of the device into target control parameters suitable for the digital twin model, so that the electronic device can respond to the target control parameters to control the operation of the moving parts simulated by the digital twin model, thereby reducing the occurrence of operation failures.

[0097] In some embodiments, the digital twin model also includes a model for simulating the linkage relationship between moving parts; the first control signal is a control signal for the first moving part among the moving parts having the linkage relationship;

[0098] The step of simulating the operation of the moving component by using the digital twin model of the device based on the first control signal to obtain motion simulation data of the moving component includes:

[0099] Based on the first control signal of the first moving component, the digital twin model of the device is used to simulate the operation of the moving components with a linkage relationship to obtain the motion simulation data of the first moving component in the linkage relationship and the motion simulation data of the second moving component other than the first moving component.

[0100] In the embodiment of the present disclosure, there is a mutual influence of motion between the moving parts with a linkage relationship. For example, when one of the moving parts moves, it will drive the movement of the other moving part. It should be noted that the two moving parts with a linkage relationship can be in the same device or in different devices. Here, the linkage relationship can be a direct linkage relationship or an indirect linkage relationship. The two moving parts in the direct linkage relationship are in direct contact and can produce a certain relative motion. Here, the direct linkage relationship can be, for example, a kinematic pair. The two moving parts in the indirect linkage relationship are not in direct contact, and are associated through at least one intermediate moving part that has a direct linkage relationship in sequence. At least one intermediate moving part includes at least one first intermediate part that has a direct linkage relationship with one of the two moving parts, and at least one second intermediate part that has a direct linkage relationship with the other of the two moving parts. Alternatively, at least one intermediate moving part includes at least one moving part that has a direct linkage relationship with both moving parts. The digital twin model of the embodiment of the present disclosure also includes a model for simulating the linkage relationship between moving parts.

[0101] It should be understood that the second moving part involved in the embodiment of the present disclosure is at least one. The at least one second moving part includes at least one moving part that has a direct linkage relationship with the first moving part. In some embodiments, the at least one second moving part also includes at least one moving part that has an indirect linkage relationship with the first moving part.

[0102] In the disclosed embodiment, if the first control signal is a control signal for the first moving part in the moving parts having a linkage relationship, the electronic device responds to the first control signal and uses the digital twin model to simulate the linkage relationship to simulate the operation of each moving part in the linkage relationship. The motion simulation data obtained by the simulation of the digital twin model includes the motion simulation data of the first moving part and the motion simulation data of the second moving part.

[0103] The digital twin model involved in the embodiment of the present disclosure also includes a model for simulating the linkage relationship between moving parts. When the electronic device responds to a first control signal, in addition to using the digital twin model to simulate the movement of the first moving part directly indicated by the first control signal, it can also simulate the movement of the second moving part that has a linkage relationship with the first moving part, thereby realizing the simulation of complex equipment with a linkage relationship between parts and expanding the application scope of the model.

[0104] In some embodiments, the device includes a plurality of the moving parts, each of the moving parts corresponds to a motion simulation data, and the motion simulation data includes motion position simulation data; the step of generating a debugging signal for the running part based on the motion simulation data of the moving part includes:

[0105] Based on the motion position simulation data of each moving component in the device, determining a first position difference between the motion position simulation data of each moving component;

[0106] In response to the first position difference being less than a first preset position difference threshold, a debugging signal is generated for instructing to adjust a first control signal and / or a motion trajectory of at least one of the moving components of the device.

[0107] In an embodiment of the present disclosure, the motion simulation data includes motion position simulation data. In some embodiments, the motion position simulation data may include motion position simulation data of one or more motion positions during the motion of the moving component. Here, when the electronic device simulates the operation of the moving component, it can obtain the motion position simulation data based on a preset period. Exemplarily, the electronic device can obtain the position data of the component model corresponding to each moving component in the coordinate space of the digital twin model once every preset period, and determine the obtained position data as the motion position simulation data for the corresponding moving component until the digital twin model stops simulating the motion trajectory of the moving component.

[0108] In the disclosed embodiment, the electronic device can obtain motion position simulation data corresponding to different moving parts. Exemplarily, the preset period can be 0.1s. In the process of simulating the operation of the moving parts using the digital twin model, the electronic device obtains the position data of the component model corresponding to each moving part in the coordinate space of the digital twin model every 0.1s to obtain a set of motion position simulation data until the digital twin model stops simulating the motion trajectory of the moving part, and obtains multiple sets of motion position simulation data. Among them, the acquisition time difference of the same set of motion position simulation data can be within the preset difference range, and includes motion position simulation data of different moving parts.

[0109] After obtaining one or more sets of motion position simulation data of each moving part, the electronic device can determine the first position difference between each motion position simulation data for each set of motion position simulation data. If there is a set of motion position simulation data in which the first position difference is less than the first preset position difference threshold, a debugging signal is generated to indicate the first control signal and / or motion trajectory of at least one moving part of the device to be adjusted. Here, the first preset position difference threshold can be determined according to actual needs, for example, it can be determined as a value so that there is no collision or interference between the moving parts, and it can also be determined as a value so that the moving parts always remain within a suitable relative distance during operation. Those skilled in the art can determine it according to the specific performance requirements of the equipment, and the embodiments of the present disclosure are not specifically limited.

[0110] In the embodiment of the present disclosure, the first preset position difference thresholds corresponding to two different groups of moving parts may be the same or different. Here, a group of moving parts includes two moving parts, and in the two different groups of moving parts, the two moving parts of one group include at least one moving part that is different from the two moving parts of the other group. In some embodiments, the aforementioned preset conditions of the embodiment of the present disclosure may include that the first position difference is less than the first preset position difference threshold. In some embodiments, for each group of motion position simulation data, the component model corresponding to the corresponding moving part can be controlled to be displaced frame by frame in the second coordinate space according to its acquisition time to realize the visualization of the motion process.

[0111] The disclosed embodiment determines the first position difference through motion position simulation data of multiple moving parts, and generates a debugging signal accordingly based on the first position difference, so that the motion trajectory of the first control signal and / or the moving part is within a suitable range, so that the device can improve its operating performance based on this.

[0112] In some embodiments, the device is any device in a production line, and a moving part of each device in the production line corresponds to a first control signal, and the digital twin model also includes a model for simulating the operation sequence between the devices in the production line;

[0113] The step of simulating the operation of the moving component by using the digital twin model of the device based on the first control signal to obtain motion simulation data of the moving component includes:

[0114] Based on the first control signal of the moving parts of each device in the production line, the digital twin model is used to simulate the operation of the moving parts of each device in the production line, and the motion simulation data of the moving parts in each device running according to the operation sequence is obtained;

[0115] The step of generating a debugging signal for the running component based on the motion simulation data of the moving component comprises:

[0116] Based on the motion simulation data of the moving parts of each device in the production line, a debugging signal is generated to instruct to adjust the first control signal and / or motion trajectory of the moving part of at least one device.

[0117] The embodiments of the present disclosure can be implemented in any one of the multiple devices in the production line. Here, each device in the production line has a corresponding operation sequence. Each device can obtain a corresponding operation result after running in sequence according to the operation sequence. Here, the operation result can be, for example, a production target device, or an interactive action formed between devices. The target device can be, for example, a mobile phone.

[0118] The digital twin model of the disclosed embodiment includes a model corresponding to each device in the production line, and each moving part of each device in the production line corresponds to a first control signal. In other words, the electronic device can obtain the first control signal for the moving part of any device in the production line, and simulate the motion trajectory of the corresponding moving part through the digital twin model. In the disclosed embodiment, the digital twin model also includes a model for simulating the operating sequence between each device in the production line, and the model can simulate the process of each device in the production line running in the corresponding operating sequence.

[0119] In the embodiment of the present disclosure, the electronic device uses a digital twin model to simulate the operation of the moving parts of each device in the production line based on the first control signal of the moving parts of each device in the production line, and obtains the motion simulation data of the moving parts in each device running in the running order. Here, the first control signal of the moving parts of each device can be based on a certain operation logic, which includes the operation order or motion position relationship of each moving part corresponding to each device in the production line. In some embodiments, the operation logic is set in the aforementioned control module, and the control module generates the first control signal in sequence according to the logical order based on the operation logic. The logical order here may correspond to the aforementioned operation order. Each time the control module generates a first control signal, it can be sent to the electronic device immediately. After obtaining the first control signal, the electronic device responds to the first control signal and performs corresponding motion simulation through the digital twin model. Then, the electronic device generates a debugging signal for indicating the adjustment of the first control signal and / or motion trajectory of the moving parts of at least one device based on the motion simulation data of the moving parts of each device in the production line.

[0120] The digital twin model of the embodiment of the present disclosure also includes a model that simulates the operating sequence between the various devices in the production line, and can simulate the operation of the moving parts of each device in the production line according to the operating sequence. The electronic device generates a debugging signal based on the motion simulation data of the moving parts of at least one device in the production line obtained by the simulation, thereby realizing the simulation and debugging of multiple devices.

[0121] In some embodiments, the motion simulation data includes motion position simulation data, and the step of generating a debugging signal for instructing to adjust a first control signal of a motion component of at least one device and / or a motion trajectory of the motion component based on the motion simulation data of the motion component of each device in the production line includes:

[0122] Determining a second position difference between the motion position simulation data of different devices based on the motion position simulation data of the motion components of each device in the production line;

[0123] In response to the second position difference corresponding to the different devices being less than a second preset position difference threshold, a debugging signal is generated to instruct adjustment of a first control signal of a moving component and / or a moving trajectory of a moving component of at least one of the different devices.

[0124] In an embodiment of the present disclosure, after the electronic device performs motion simulation on the moving parts of each device in the production line, it obtains one or more groups of motion position simulation data, where each group of motion position simulation data refers to the motion position simulation data of the moving parts of different devices. The difference in the acquisition time of each motion position simulation data in each group of motion simulation data may be within a preset difference range, for example, it may be the motion position simulation data at the same time. Based on the motion position simulation data of the moving parts of each device in the production line, the electronic device determines the second position difference between the motion position simulation data of different devices. Specifically, the electronic device determines the second position difference between each motion position simulation data for each group of motion position simulation data. It should be understood that for each group of motion position simulation data, the electronic device can obtain the second position difference between the two groups of data.

[0125] After obtaining the second position difference corresponding to each group of motion position simulation data, the electronic device determines whether there is a group of motion position simulation data in which the second position difference between the motion position simulation data of different devices is less than the second preset position difference threshold. If so, a debugging signal is generated to indicate that the first control signal of the moving part of at least one device of the different devices and / or the motion trajectory of the moving part are adjusted. Here, the second preset position difference threshold is predetermined, and its determination method can refer to the aforementioned first preset position difference threshold. In the embodiment of the present disclosure, the second preset position difference threshold corresponding to the same group of moving parts may be the same as or different from the first preset position difference threshold.

[0126] The disclosed embodiment determines the second position difference based on the motion position simulation data of the moving parts of each device in the production line, and generates a corresponding debugging signal based on the second position difference corresponding to different devices being less than the second preset position difference threshold, which can realize the debugging of multiple devices in the production line and adapt to more complex equipment debugging scenarios. In addition, the disclosed embodiment can debug the motion trajectory and / or the first control signal of the corresponding moving parts in a targeted manner according to each second position difference, and the debugging accuracy is high.

[0127] In some embodiments, the devices in the production line are used to collaboratively produce a target device, and the method further includes:

[0128] Determine a second control signal for simulating the target device being placed on the production line;

[0129] The first control signal of the moving parts of each device in the production line is used to simulate the operation of the moving parts of each device in the production line using the digital twin model, and obtain the motion simulation data of the moving parts in each device running according to the operation sequence, including:

[0130] Based on the second control signal and the first control signal of the moving parts of each device in the production line, the digital twin model is used to simulate the operation of the moving parts of each device in the production line after the target device is put into use, and the motion simulation data of the moving parts of each device running in the said operation order is obtained.

[0131] Here, the second control signal is used to simulate the action of placing the target device on the production line. Exemplarily, the second control signal is used to simulate the action of placing the target device on each device in the production line. In actual scenarios, after the target device is placed on the production line, the operation of each device in the production line can convert the target device into the required state and complete the production of the target device.

[0132] In the embodiment of the present disclosure, the second control signal may be generated by an electronic device. Exemplarily, the electronic device may generate at least one second control signal by a random algorithm. In addition, in the embodiment of the present disclosure, there is no specific limitation on the order in which the electronic device determines the second control signal and obtains the first control signal. Exemplarily, the electronic device may wait for the arrival of the first control signal after obtaining the second control signal, and after the arrival of the first control signal, start to simulate the operation of the equipment in the production line in combination with the second control signal. In some embodiments, the electronic device may also obtain the second control signal in the process of continuously obtaining the first control signal, that is, the electronic device may obtain the second control signal in the process of simulating the operation of the equipment in the production line, and simulate the production process of the target device in response to the second control signal.

[0133] In the disclosed embodiment, after obtaining the second control signal, the electronic device uses the digital twin model to simulate the operation of the moving parts of each device in the production line after the target device is put into use, based on the second control signal and the first control signal of the moving parts of each device in the production line, and obtains the motion simulation data of the moving parts of each device running in the running order. Here, based on the second control signal, the electronic device simulates the movement of each moving part when the target device circulates between the devices in the production line, thereby simulating the process of each device when the production line produces the target device.

[0134] The various devices in the production line involved in the embodiments of the present disclosure are used to collaboratively produce target devices. The electronic equipment simulates the operation of each device after the target device is put into the production line based on the second control signal used to simulate the placement of the target device into the production line in combination with the first control signal, thereby enabling process simulation of the production of the target device on the production line to be implemented, so as to debug the production line used to produce the target device and realize debugging of complex working conditions of multiple devices.

[0135] In some embodiments, the motion simulation data includes motion position simulation data; the step of generating a debugging signal for instructing to adjust a first control signal and / or a motion trajectory of a motion component of at least one device based on the motion simulation data of the motion component of each device in the production line includes:

[0136] Simulating the position state between the target device and the device according to the motion position simulation data of the motion component of each device;

[0137] In response to the position state between any device and the target device not satisfying a preset position state condition, a debugging signal is generated for instructing to adjust a first control signal and / or a motion trajectory of a moving component of at least one device.

[0138] In the disclosed embodiment, the position state between the target device and the device is the relative position state between the target device and the device. The electronic device simulates the position state between the target device and the device based on the motion position simulation data of the operating components of each device. Specifically, the electronic device can simulate the flow of the target device between the devices in the production line based on the motion position simulation data of the moving components at different times, and obtain the position state between the target device and the devices in the production line at different times.

[0139] In the embodiment of the present disclosure, the preset position state condition is determined according to the production index of actual demand, for example, it can be determined as a condition so that the target device will not leave the production line, and it can also be determined as a condition so that the target device can flow in the production line with a better position state. In response to the position state between any device and the target device not satisfying the preset position state condition, the electronic device generates a debugging signal for indicating the adjustment of the first control signal and / or motion trajectory of the moving part of at least one device. In the embodiment of the present disclosure, the electronic device can determine the abnormality of the position state that causes the position state at a certain moment to not satisfy the preset position state condition. The abnormality can be, for example, the first control signal is inaccurate, such as the control parameter of the first control signal is too large or the generation timing of the first control signal is too early, etc.; or the motion trajectory of the relevant moving parts is inaccurate, such as the motion trajectory is less than the control range of the control parameter of the first control signal, so that the target device does not reach the corresponding position, resulting in the device state not satisfying the preset position state condition. The electronic device generates a corresponding debugging signal based on the determination of the abnormality.

[0140] In the disclosed embodiment, the electronic device can simulate the position state between the target device and the device in the production line, and debug the first control signal and / or motion trajectory based on the position state, so that the debugged first control signal or production line can achieve correct production of the target device. In addition, by setting a preset position state condition, the fault tolerance rate of the first control signal or production line can be adjusted to a better state.

[0141] In some embodiments, the debugging method is applied to a debugging device, and the step of obtaining a first control signal for a moving component of the device includes:

[0142] A first control signal for a moving component of the device sent by a control device is received.

[0143] Here, the control device may correspond to the aforementioned control module. The control device and the electronic device can be connected to each other by wired or wireless communication. In some embodiments, the control device sends the first control signal to the electronic device that executes the debugging method through the MQTT protocol, and the electronic device may also be referred to as a debugging device.

[0144] The disclosed embodiment realizes debugging of the device while also realizing debugging of the control device. By debugging the device and its corresponding control device together, the debugging efficiency is improved.

[0145] In some embodiments, the method further comprises:

[0146] Obtaining trajectory parameters corresponding to the motion trajectory of the moving component in the device in the first coordinate space;

[0147] The trajectory parameters in the first coordinate space are mapped to the second coordinate space to obtain the digital twin model that simulates the motion trajectory of the moving part in the device; wherein the first coordinate space is the physical space in which the moving part moves, and the second coordinate space is the virtual space corresponding to the digital twin model.

[0148] In the embodiment of the present disclosure, the digital twin model is pre-built. Specifically, the electronic device obtains the trajectory parameters corresponding to the motion trajectory of the moving parts in the device in the first coordinate space. Then, the electronic device maps the trajectory parameters in the first coordinate space to the second coordinate space to obtain a digital twin model that simulates the motion trajectory of the moving parts in the device. Here, the specific description of the first coordinate space and the second coordinate space can be found in the aforementioned embodiment of the present disclosure, and the mapping of the trajectory parameters can be found in the mapping of the aforementioned control parameters, which will not be repeated here.

[0149] In some embodiments, the electronic device can also obtain the design model of the device, and build a digital twin model based on the design model and trajectory parameters. Based on the design model, the electronic device can synchronously display the virtual motion images of the moving parts when simulating the operation of each moving part in the device. In the embodiment of the present disclosure, the electronic device performs lightweight processing on the design model to reduce the model size and thus build a digital twin model. Here, the lightweight processing method can be hidden deletion, automatic filling, geometric sampling, etc. In some embodiments, the electronic device also obtains the linkage relationship between the moving parts in the device, and builds a digital twin model in combination with the image model, linkage relationship and trajectory parameters.

[0150] The disclosed embodiment obtains a digital twin model by mapping trajectory parameters in the physical space of the moving parts to the virtual space corresponding to the digital twin model, so that the digital twin model can simulate the operation of the moving parts in an orderly manner in its coordinate space.

[0151] Next, an exemplary application of the embodiment of the present disclosure in a practical application scenario will be described.

[0152] See also Figure 2 , Figure 2 This is an example of a debugging method process shown in the embodiment of the present disclosure Figure 2 .

[0153] Step 201: The virtual debugging platform builds a digital twin model.

[0154] Here, the virtual debugging platform is the electronic device of the embodiment of the present disclosure. In some embodiments, the virtual debugging platform corresponds to the aforementioned simulation platform. The virtual debugging platform obtains the SolidWorks model of the device and builds a digital twin model based on the SolidWorks model of the device. The SolidWorks model is designed based on the SolidWorks software. Here, step 201 includes steps 2011 and 2012.

[0155] Step 2011: The virtual debugging platform performs model processing.

[0156] Here, model processing includes automatic lightweighting, kinematic pair combing and motion trajectory setting. Here, automatic lightweighting specifically refers to the virtual debugging platform automatically performing lightweight processing on the SolidWorks model. For the lightweight processing method, please refer to the aforementioned embodiment of the present disclosure. Through lightweight processing, the model with a high number of faces and a large memory is processed into a general format with a low number of faces and low memory usage. In the embodiment of the present disclosure, the virtual debugging platform also combs the kinematic pairs of the device based on the Solidworks model, obtains at least one kinematic pair data of the device, and adds the kinematic pair data to the SolidWorks model after lightweight processing. In addition, the virtual debugging platform also obtains the trajectory parameters of the motion trajectory of each moving part of the equipment based on the Solidworks model, and sets the trajectory parameters to the SolidWorks model after lightweight processing.

[0157] Step 202: The device control module sends a control signal list.

[0158] Here, the device control module corresponds to the aforementioned control module, which may be a control device of an embodiment of the present disclosure. The control signal list is pre-set, including control signals for identifying moving parts. Exemplarily, the control signal list includes a corresponding relationship between control signal A and part A.

[0159] Step 2012: The virtual debugging platform receives the control signal list and associates the control signals.

[0160] In the embodiment of the present disclosure, the virtual debugging platform associates the control signal with the corresponding simulated moving component in the model obtained in step 2011 based on the association relationship between the control signal and the moving component in the control signal list.

[0161] Step 203: The device control module determines the motion logic.

[0162] Here, motion logic may refer to the operation mode of the moving part, for example, whether the moving part moves in a rotational or translational manner, the movement position limit, movement speed, movement frequency limit, etc. of the moving part.

[0163] Step 204 : The device control module generates and sends control signal data based on the motion logic.

[0164] In the embodiment of the present disclosure, the device control module generates corresponding control signal data in sequence based on the motion logic, for example, the control signal data is a motion displacement value, a motion speed or a frequency value, etc. Here, the device control module sends the control signal data to the virtual debugging platform. In some embodiments, the control signal data can also be sent directly to the physical hardware to control the operation of the components such as the assembly line, the mechanical arm, the axis and the sensor in the physical hardware. Here, the physical hardware corresponds to the device of the embodiment of the present disclosure.

[0165] In the embodiment of the present disclosure, the control signal data and the control signal identifying the moving component in the corresponding control list are the first control signal in the embodiment of the present disclosure.

[0166] Step 205: The virtual debugging platform performs motion simulation.

[0167] Here, step 205 includes step 2051 and step 2052 .

[0168] Step 2051: The virtual debugging platform is data driven.

[0169] In the disclosed embodiment, the virtual debugging platform drives the corresponding component model based on the association of step 2012 and the control signal data to simulate the movement of the corresponding moving parts. The simulated moving parts can be a robot arm, an axis, and a sensor. In some embodiments, the digital twin model can also simulate an assembly line. Here, the assembly line corresponds to the aforementioned production line.

[0170] Step 2052 , the virtual debugging platform determines whether there is a collision or interference, and if so, executes step 206 .

[0171] In the disclosed embodiment, the virtual debugging platform determines whether the moving parts will collide or interfere during operation based on the simulation of the digital twin model. If there is a collision or interference, step 206 is executed, otherwise the debugging is stopped, or the debugging is returned to step 205 to continue the motion simulation after receiving the next control signal data. Here, the method of judging collision or interference can refer to the previous embodiment of the present application.

[0172] Step 206: The virtual debugging platform issues an abnormal prompt.

[0173] In the disclosed embodiment, if there is a collision or interference, the virtual debugging platform will issue an abnormal prompt, that is, generate and output a debugging signal to prompt the user to debug the equipment or the equipment control module.

[0174] The disclosed embodiments do not require hardware equipment to be debugged, thus saving development cycles and development manpower on site. Virtual debugging also reduces hardware damage to equipment caused by abnormal control signals.

[0175] See also Figure 3 , Figure 3 It is an example diagram of a debugging process shown in an embodiment of the present disclosure.

[0176] The present disclosure relates to virtual debugging of multiple devices in a production line for producing mobile phones. First, you can follow Figure 2The steps shown complete the debugging of a single device in the production line. Then, the electronic equipment is arranged according to the process flow sequence and the arrangement sequence of each equipment is set. Here, the process flow sequence corresponds to the aforementioned operation sequence. The arrangement sequence of the equipment is, for example, sequence number A, sequence number B, etc. Next, the electronic equipment adds a model that simulates the operation sequence between the equipment in the production line to the digital twin model, so as to use the digital twin model to simulate the process flow sequence of each equipment. In the digital twin model, the equipment model of each equipment is arranged in the aforementioned process flow sequence. See Figure 3 , model A301 corresponds to the equipment with serial number A in the production line, and model B302 corresponds to the equipment with serial number B in the production line.

[0177] In the disclosed embodiment, the electronic device can randomly generate N continuous input signals through a random trigger algorithm. The input signal here can correspond to the aforementioned second control signal, which is used to put the mobile phone into each equipment of the production line. Then, based on the input signal and the aforementioned first control signal, the electronic device uses the digital twin model to simulate the operation of the moving parts of each device in the production line after the mobile phone is put into use, and obtains the motion simulation data of the moving parts of each device running in the running order. Specifically, after the operation of a device model in the digital twin model simulation production line is completed, the electronic device will generate an assembly line I / O state signal, and based on the assembly line I / O state signal, start to receive the first control signal for the next device, so as to reduce the situation where the previous device has not completed the operation, resulting in the next device starting to run in advance before the mobile phone is transferred to the next device. Then, the electronic device determines whether an abnormality occurs in the simulated motion process based on the motion simulation data. The abnormality here can be, for example, a collision between devices, or an action of a mobile phone falling off. When an abnormality occurs, the electronic device generates a corresponding debugging signal. In some embodiments, the electronic device can also issue an alarm reminder to prompt the user to check the current abnormality.

[0178] The disclosed embodiments can discover device interference problems caused by hardware layout or motion trajectory problems of moving parts (such as robotic arms) through multi-device virtual debugging, discover problems before hardware assembly is completed and physical equipment wiring is completed, and reduce rework and damage caused by related problems.

[0179] See also Figure 4 , Figure 4 This is the production line shown in the embodiment of the present disclosure. Figure 3 An example diagram of the debugging method flow corresponding to any of the models described.

[0180] Step 401, the motion control software determines the control logic.

[0181] Here, the motion control software corresponds to the aforementioned device control module.

[0182] Step 402: The motion control software generates a control signal.

[0183] Step 403: The virtual debugging platform performs motion simulation.

[0184] Step 404: The virtual debugging platform issues an abnormal prompt.

[0185] See the process of the embodiment of this disclosure for Figure 2 Steps 203 to 206 are shown and will not be described in detail here.

[0186] Figure 5 is a diagram of a debugging device shown in an embodiment of the present disclosure, which is applied to an electronic device including a processor. Figure 5 It is known that, including:

[0187] An acquisition module 501 is used to acquire a first control signal for a moving component of a device;

[0188] A simulation module 502 is used to simulate the operation of the moving component based on the first control signal using the digital twin model of the device to obtain motion simulation data of the moving component; wherein the digital twin model includes a model for simulating the motion trajectory of the moving component in the device;

[0189] The generating module 503 is used to generate a debugging signal for the moving component based on the motion simulation data of the moving component; wherein the debugging signal includes a signal for instructing to adjust the first control signal and / or the motion trajectory.

[0190] In some embodiments, the simulation module is also used to perform parameter conversion on the control parameters included in the first control signal to obtain target control parameters suitable for the operation of the digital twin model; based on the moving parts indicated by the first control signal and the target control parameters, the digital twin model is used to simulate the operation of the moving parts to obtain motion simulation data of the moving parts.

[0191] In some embodiments, the digital twin model also includes a model for simulating the linkage relationship between moving parts; the first control signal is a control signal for the first moving part among the moving parts with a linkage relationship; the simulation module is also used to simulate the operation of the moving parts with a linkage relationship based on the first control signal of the first moving part, using the digital twin model of the device, to obtain the motion simulation data of the first moving part in the linkage relationship and the motion simulation data of the second moving part other than the first moving part.

[0192] In some embodiments, the device includes a plurality of the moving parts, each of the moving parts corresponds to a motion simulation data, and the motion simulation data includes motion position simulation data; the generation module is also used to determine the first position difference between the motion position simulation data of each moving part in the device based on the motion position simulation data of each moving part in the device; in response to the first position difference being less than a first preset position difference threshold, a debugging signal is generated to indicate an adjustment of a first control signal and / or motion trajectory of at least one of the moving parts of the device.

[0193] In some embodiments, the device is any device in a production line, and the moving parts of each device in the production line correspond to a first control signal, and the digital twin model also includes a model for simulating the operating sequence between the devices in the production line; the simulation module is also used to simulate the operation of the moving parts of each device in the production line based on the first control signal of the moving parts of each device in the production line, using the digital twin model, and obtain motion simulation data of the moving parts in each device running according to the operating sequence; the generation module is also used to generate a debugging signal for indicating the adjustment of the first control signal and / or motion trajectory of the moving parts of at least one device based on the motion simulation data of the moving parts of each device in the production line.

[0194] In some embodiments, the motion simulation data includes motion position simulation data, and the generation module is further used to determine the second position difference between the motion position simulation data of different devices based on the motion position simulation data of the moving parts of each device in the production line; in response to the second position difference corresponding to the different devices being less than a second preset position difference threshold, a debugging signal is generated to indicate an adjustment of a first control signal of a moving part of at least one device of the different devices and / or a motion trajectory of a moving part.

[0195] In some embodiments, the equipment in the production line is used to collaboratively produce a target device, and the apparatus further includes: a determination module, used to determine a second control signal for simulating the target device being placed on the production line; the generation module, further used to simulate the operation of the moving parts of each device in the production line after the target device is placed on the production line based on the second control signal and the first control signal of the moving parts of each device in the production line, using the digital twin model to obtain motion simulation data of the moving parts of each device running in the operation order.

[0196] In some embodiments, the motion simulation data includes motion position simulation data; the generation module is also used to simulate the position state between the target device and the device for the motion position simulation data of the moving parts of each device; in response to the position state between any device and the target device not satisfying a preset position state condition, a debugging signal is generated to indicate an adjustment of a first control signal and / or motion trajectory of a moving part of at least one device.

[0197] In some embodiments, the debugging method is applied to a debugging device, and the acquisition module is further used to receive a first control signal sent by a control device to a moving component of the device.

[0198] In some embodiments, the device also includes: a model construction module, used to obtain the trajectory parameters corresponding to the motion trajectory of the moving part in the device in the first coordinate space; map the trajectory parameters in the first coordinate space to the second coordinate space to obtain the digital twin model that simulates the motion trajectory of the moving part in the device; wherein the first coordinate space is the physical space in which the moving part moves, and the second coordinate space is the virtual space corresponding to the digital twin model.

[0199] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0200] Figure 6 is a block diagram of an electronic device according to an exemplary embodiment. Figure 6 The device 600 shown may be provided as a server. Figure 6 , the apparatus 600 includes: a processing component 622, which further includes one or more processors; and a memory resource represented by a memory 632 for storing instructions executable by the processing component 622, such as an application. The application stored in the memory 632 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 622 is configured to execute the instructions to perform the above method.

[0201] The device 600 may also include: a power supply component 626 configured to perform power management of the device 600; a wired or wireless network interface 650 configured to connect the device 600 to a network; and an input / output (I / O) interface 658. The device 600 may operate an operating system stored in the memory 632, such as Windows Server™, Mac OSX™, Unix™, Linux™, FreeBSD™, or the like.

[0202] A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to execute the aforementioned debugging method.

[0203] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0204] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A debugging method, characterized in that: The method comprises: Acquiring a first control signal for a moving component of a device; Based on the first control signal, the operation of the moving component is simulated using the digital twin model of the device to obtain motion simulation data of the moving component; wherein the digital twin model includes a model for simulating the motion trajectory of the moving component in the device; A debugging signal for the moving component is generated based on the motion simulation data of the moving component; wherein the debugging signal includes a signal for instructing to adjust the first control signal and / or the motion trajectory.

2. The method according to claim 1, characterized in that The step of simulating the operation of the moving component by using the digital twin model of the device based on the first control signal to obtain motion simulation data of the moving component includes: Performing parameter conversion on the control parameters included in the first control signal to obtain target control parameters suitable for the operation of the digital twin model; Based on the moving component indicated by the first control signal and the target control parameter, the digital twin model is used to simulate the operation of the moving component to obtain motion simulation data of the moving component.

3. The method according to claim 1, characterized in that The digital twin model also includes a model for simulating the linkage relationship between moving parts; the first control signal is a control signal for the first moving part among the moving parts with the linkage relationship; The step of simulating the operation of the moving component by using the digital twin model of the device based on the first control signal to obtain motion simulation data of the moving component includes: Based on the first control signal of the first moving component, the digital twin model of the device is used to simulate the operation of the moving components with a linkage relationship to obtain the motion simulation data of the first moving component in the linkage relationship and the motion simulation data of the second moving component other than the first moving component.

4. The method according to claim 1, characterized in that: The device includes a plurality of the moving parts, each of the moving parts corresponds to a motion simulation data, and the motion simulation data includes motion position simulation data; the debugging signal for the running part is generated based on the motion simulation data of the moving parts, including: Based on the motion position simulation data of each moving component in the device, determining a first position difference between the motion position simulation data of each moving component; In response to the first position difference being less than a first preset position difference threshold, a debugging signal is generated for instructing to adjust a first control signal and / or a motion trajectory of at least one of the moving components of the device.

5. The method according to any one of claims 1 to 4, characterized in that The device is any device in the production line, and the moving parts of each device in the production line correspond to the first control signal. The digital twin model also includes a model for simulating the operation sequence between the devices in the production line; The step of simulating the operation of the moving component by using the digital twin model of the device based on the first control signal to obtain motion simulation data of the moving component includes: Based on the first control signal of the moving parts of each device in the production line, the digital twin model is used to simulate the operation of the moving parts of each device in the production line, and the motion simulation data of the moving parts in each device running according to the operation sequence is obtained; The step of generating a debugging signal for the running component based on the motion simulation data of the moving component comprises: Based on the motion simulation data of the moving parts of each device in the production line, a debugging signal is generated to instruct to adjust the first control signal and / or motion trajectory of the moving part of at least one device.

6. The method according to claim 5, characterized in that The motion simulation data includes motion position simulation data, and the generating of a debugging signal for instructing to adjust a first control signal of a motion component of at least one device and / or a motion trajectory of the motion component based on the motion simulation data of the motion component of each device in the production line includes: Determining a second position difference between the motion position simulation data of different devices based on the motion position simulation data of the motion components of each device in the production line; In response to the second position difference corresponding to the different devices being less than a second preset position difference threshold, a debugging signal is generated to instruct adjustment of a first control signal of a moving component and / or a moving trajectory of a moving component of at least one of the different devices.

7. The method according to claim 5, characterized in that The equipment in the production line is used to collaboratively produce the target equipment, and the method further includes: Determine a second control signal for simulating the target device being placed on the production line; The first control signal of the moving parts of each device in the production line is used to simulate the operation of the moving parts of each device in the production line using the digital twin model, and obtain the motion simulation data of the moving parts in each device running according to the operation sequence, including: Based on the second control signal and the first control signal of the moving parts of each device in the production line, the digital twin model is used to simulate the operation of the moving parts of each device in the production line after the target device is put into use, and the motion simulation data of the moving parts of each device running in the said operation order is obtained.

8. The method according to claim 7, characterized in that The motion simulation data includes motion position simulation data; the generating, based on the motion simulation data of the motion components of each device in the production line, a debugging signal for instructing to adjust a first control signal and / or a motion trajectory of a motion component of at least one device includes: Simulating the position state between the target device and the device according to the motion position simulation data of the motion component of each device; In response to the position state between any device and the target device not satisfying a preset position state condition, a debugging signal is generated for instructing to adjust a first control signal and / or a motion trajectory of a moving component of at least one device.

9. The method according to any one of claims 1 to 4, characterized in that The debugging method is applied to a debugging device, and the step of obtaining a first control signal for a moving component of the device includes: A first control signal for a moving component of the device sent by a control device is received.

10. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Obtaining trajectory parameters corresponding to the motion trajectory of the moving component in the device in the first coordinate space; The trajectory parameters in the first coordinate space are mapped to the second coordinate space to obtain the digital twin model that simulates the motion trajectory of the moving part in the device; wherein the first coordinate space is the physical space in which the moving part moves, and the second coordinate space is the virtual space corresponding to the digital twin model.

11. A debugging device, characterized in that: include: An acquisition module, used for acquiring a first control signal for a moving part of the device; A simulation module, configured to simulate the operation of the moving component using the digital twin model of the device based on the first control signal to obtain motion simulation data of the moving component; wherein the digital twin model includes a model for simulating the motion trajectory of the moving component in the device; A generation module is used to generate a debugging signal for the running component based on the motion simulation data of the moving component; wherein the debugging signal includes a signal for instructing to adjust the first control signal and / or the motion trajectory.

12. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method as claimed in any one of claims 1 to 10.

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