Debugging method and device, electronic device, and storage medium

Abstract

The present disclosure relates to a debugging method and device, electronic equipment and storage medium. The method comprises: obtaining a first control signal of a moving component of a device; simulating the operation of the moving component by using a 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 comprises a model simulating the motion trajectory of the moving component of the device; generating a debugging signal for the moving component based on the motion simulation data of the moving component; wherein the debugging signal comprises a signal for indicating adjustment of the first control signal and / or the motion trajectory. Through this method, fine and comprehensive debugging of the operation of the device can be achieved without the need for debugging with the aid of a physical device.

Description

Technical Field

[0001] This disclosure relates to debugging techniques, and more particularly to a debugging method and apparatus, electronic equipment, and storage medium. Background Technology

[0002] With the development of lean manufacturing and equipment automation, high-precision equipment is becoming increasingly common, and the motion logic of equipment is becoming more and more complex. For equipment control developers, the debugging of equipment motion is of great importance.

[0003] In related technologies, the debugging process for equipment involves combining software control signals with the hardware after the hardware assembly is complete to verify the correctness of the software logic. However, this debugging method is extremely labor-intensive. Furthermore, with the development of simulation technology, there are also methods for debugging simpler devices and software debugging of control units. However, the applicability of this debugging method is very limited, and it cannot achieve refined and comprehensive debugging. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a debugging method and apparatus, electronic device, and storage medium that can achieve fine-grained and comprehensive debugging of equipment operation without the need for physical equipment.

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

[0006] Acquire the first control signal for the moving parts of the equipment;

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

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

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

[0010] The control parameters included in the first control signal are transformed 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 parameters, the operation of the moving component is simulated using the digital twin model to obtain motion simulation data of the moving component.

[0012] In some embodiments, the digital twin model further includes a model that simulates the linkage relationship between moving parts; the first control signal is a control signal for the first moving part among the moving parts with linkage relationship;

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

[0014] Based on the first control signal of the first moving component, the operation of moving components with linkage relationship is simulated using the digital twin model of the device, thereby obtaining motion simulation data of the first moving component and motion simulation data of the second moving component other than the first moving component in the linkage relationship.

[0015] In some embodiments, the device includes a plurality of moving parts, each moving part corresponding to a motion simulation data, the motion simulation data including motion position simulation data; 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 part in the device, a first position difference between the motion position simulation data of each moving part is determined.

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

[0018] In some embodiments, the device is any device in the production line, and the moving parts of each device in the production line correspond to a first control signal. The digital twin model also includes a model that simulates the operating sequence between the devices in the production line.

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

[0020] Based on the first control signals of the moving parts of each piece of equipment in the production line, the operation of the moving parts of each piece of equipment in the production line is simulated using the digital twin model, and motion simulation data of the moving parts of each piece of equipment running in the order of operation is obtained.

[0021] The generation of debugging signals for the moving component based on the motion simulation data of the moving component includes:

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

[0023] In some embodiments, the motion simulation data includes motion position simulation data. The generation of debugging signals based on the motion simulation data of the moving parts of each device in the production line, used to indicate adjustments to a first control signal for the moving parts of at least one device and / or the motion trajectory of the moving parts, includes:

[0024] Based on the motion position simulation data of the moving parts of each piece of equipment in the production line, the second position difference between the motion position simulation data of different pieces of equipment is determined.

[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 indicate the adjustment of the motion trajectory of the motion component of at least one of the different devices.

[0026] In some embodiments, the equipment in the production line is used to collaboratively produce target equipment, and the method further includes:

[0027] Determine a second control signal to simulate the deployment of the target equipment to the production line;

[0028] The first control signal based on the moving parts of each piece of equipment in the production line is used to simulate the operation of the moving parts of each piece of equipment in the production line using the digital twin model, and motion simulation data of the moving parts of each piece of equipment running in the said operating sequence is obtained, including:

[0029] Based on the second control signal and the first control signal of the moving parts of each piece of equipment in the production line, the operation of the moving parts of each piece of equipment in the production line after the target equipment is deployed is simulated using the digital twin model, and motion simulation data of the moving parts of each piece of equipment running in the order of operation is obtained.

[0030] In some embodiments, the motion simulation data includes motion position simulation data; the generation of debugging signals for instructing adjustments to the motion trajectory of at least one device's motion components based on the motion simulation data of the motion components of each device in the production line includes:

[0031] Simulation data of the motion position of the moving parts of each device is used to simulate the positional state between the target device and the device.

[0032] In response to a situation where the positional state between any device and the target device does not meet a preset positional state condition, a debugging signal is generated to indicate the adjustment of the motion trajectory of the moving parts of at least one device.

[0033] In some embodiments, the debugging method is applied to a debugging device, wherein acquiring a first control signal for the moving parts of the device includes:

[0034] Receive a first control signal sent by the control device to the moving parts of the device.

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

[0036] Obtain the trajectory parameters corresponding to the motion trajectory of the moving parts 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 parts in the device; wherein, the first coordinate space is the physical space of the motion of the moving parts, and the second coordinate space is the virtual space corresponding to the digital twin model.

[0038] According to a second aspect of the present disclosure, a debugging apparatus is provided, comprising:

[0039] The acquisition module is used to acquire the first control signal for the moving parts of the device;

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

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

[0042] In some embodiments, the simulation module is further configured 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 part indicated by the first control signal and the target control parameters, the simulation module uses the digital twin model to simulate the operation of the moving part to obtain motion simulation data of the moving part.

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

[0044] In some embodiments, the device includes a plurality of moving parts, each moving part corresponding to a motion simulation data, the motion simulation data including motion position simulation data; the generation module is further configured to determine a first position difference between the motion position simulation data of each moving part based on the motion position simulation data of each moving part in the device; and in response to the first position difference being less than a first preset position difference threshold, generate a debugging signal for indicating adjustment of a first control signal and / or motion trajectory of at least one moving part of the device.

[0045] In some embodiments, the device is any device in a production line, and each moving part of the device in the production line corresponds to a first control signal. The digital twin model also includes a model that simulates the operating sequence between the devices in the production line. The simulation module is further configured to simulate the operation of the moving parts of each device in the production line based on the first control signals 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 of each device operating in the operating sequence. The generation module is further configured to generate a debugging signal based on the motion simulation data of the moving parts of each device in the production line, for indicating the adjustment of the first control signal and / or motion trajectory of the moving parts of at least one device.

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

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

[0048] In some embodiments, the motion simulation data includes motion position simulation data; the generation module is further configured to simulate the positional state between the target device and the device based on the motion position simulation data of the motion component of each device; and in response to the positional state between any device and the target device not meeting a preset positional state condition, generate a debugging signal for indicating adjustment of a first control signal and / or motion trajectory of the motion component of at least one device.

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

[0050] In some embodiments, the device further includes: a model building module, configured to obtain trajectory parameters corresponding to the motion trajectory of the moving parts in the device in a first coordinate space; map the trajectory parameters in the first coordinate space to a second coordinate space to obtain the digital twin model simulating the motion trajectory of the moving parts in the device; wherein, the first coordinate space is the physical space of the motion of the moving parts, and the second coordinate space is the virtual space corresponding to the digital twin model.

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

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

[0053] According to a fourth aspect of the present disclosure, a storage medium is provided, comprising:

[0054] When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to perform the method described in the first aspect above.

[0055] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0056] This disclosure embodiment simulates the operation of the moving parts of a device using a digital twin model based on a first control signal for those moving parts. It generates debugging signals based on the simulated motion data to adjust the first control signal and / or the motion trajectory of the moving parts. This simulation of each moving part enables refined debugging of the device. Furthermore, it allows for debugging of the first control signal, thus enabling debugging of the control signals used to control the device's operation, achieving comprehensive and refined debugging of the device's operation. Moreover, this disclosure embodiment uses a digital twin model for simulation debugging, eliminating the need for physical equipment. This alleviates the problem of requiring hardware for debugging, saving on-site development time and manpower. Virtual debugging also reduces hardware damage caused by abnormal control signals. Furthermore, this disclosure embodiment supports debugging based on the twin model before the actual production of the device is completed. Based on the solution of this disclosure embodiment, refined and comprehensive debugging of device operation is achieved without the need for physical equipment.

[0057] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

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

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

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

[0061] Figure 3 This is an example diagram illustrating a debugging process according to an embodiment of this disclosure;

[0062] Figure 4 In the production line shown in the embodiments of this disclosure Figure 3 Example flowchart of the debugging method corresponding to any of the aforementioned models;

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

[0064] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0065] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0066] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0067] 1) Digital twins fully utilize data such as physical models, sensor updates, or operational history to integrate simulation processes involving multiple disciplines, physical quantities, scales, and probabilities, and complete mapping in virtual space to reflect the entire lifecycle of the corresponding physical equipment.

[0068] A digital twin model refers to the digital representation of a physical object in virtual space. In other words, it is a digital creation of a virtual model of a physical object to simulate its behavior in the real environment. It is a data model that can be applied to the entire product lifecycle.

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

[0070] 3) Kinematic pair: A connection in which two components are in direct contact and can produce a certain relative motion is called a kinematic pair.

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

[0072] Step 101: Obtain the first control signal for the moving parts of the device;

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

[0074] Step 103: Generate adjustment signals for the moving component based on the motion simulation data of the moving component; wherein the adjustment signals include signals for instructing adjustments to the first control signal and / or the motion trajectory.

[0075] In this embodiment of the disclosure, the electronic device performing 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. Based on the debugging method of this embodiment, the debugging device can generate a debugging signal for adjusting the moving part of the controlled device. This debugging signal includes a signal for instructing adjustment of a first control signal and / or a motion trajectory.

[0076] In this embodiment of the disclosure, the device includes at least one moving part capable of generating mechanical motion. The device in this embodiment can be an automated or semi-automated device used in industry, agriculture, medical services, and home applications. Exemplarily, the device can be industrial equipment for manufacturing, or it can be a gaming device, a user-interactive robot assistant, cleaning equipment, etc. The moving part can be, for example, a robotic arm, transmission component, gripping component, etc., mounted on the device. This embodiment of the disclosure does not specifically limit the device and the moving part.

[0077] In some embodiments of this disclosure, the first control signal can be generated by a control module. Here, the control module can be located within the device, controlling the motion module based on the first control signal through a communication connection with the device's motion module; alternatively, the control module can be located outside the device, i.e., the control module is a control device independent of the device, and the control device communicates with the device via wired or wireless means. In embodiments of this disclosure, the first control signal can also be a signal received by the electronic device from user operation, such as receiving a first control signal from the user to control the moving parts of the device based on the user interface displayed on the electronic device. In embodiments of this disclosure, the electronic device obtains the first control signal for the moving parts of the device from the device itself, from the device's control device, or based on user operation; this disclosure does not limit this aspect.

[0078] The first control signal in this embodiment includes control parameters. These control parameters indicate the movement mode of the moving component. The control parameters may include at least one of the following: position change parameters, endpoint position parameters, movement speed, movement direction, and movement frequency. Here, the position change parameters indicate the movement changes of the moving component along its trajectory. For example, if the movement trajectory of the moving component involves displacement within a target movement range, the corresponding position change parameter may be a displacement distance parameter, such as 5cm, indicating a displacement of 5cm. If the movement trajectory of the moving component involves rotation within a target angle range, the corresponding position change parameter may be a rotation angle parameter, such as 15°, indicating a rotation of 15°.

[0079] In this embodiment of the disclosure, the types of parameters included in the control parameters may differ for different moving parts. For example, if the first control signal is used to control a robotic arm, corresponding motion direction control parameters can be set according to the motion direction supported by the robotic arm; furthermore, the control parameters for the robotic arm may also include motion speed and position change parameters. If the first control signal is used to control a transmission component, which may be a gear, the control parameters may include motion speed, motion frequency, etc. If the first control signal is used to control a clamping component, which may include two clamping members with opposite end faces, and whose motion trajectory may be relative displacement or opposite displacement of the two clamping members within their respective displacement ranges, the control parameters may include motion speed, motion direction, etc. In some embodiments, the control parameters for controlling the clamping component may also include the position holding time of the clamping member in a clamping position capable of forming a clamping force. This embodiment of the disclosure does not specifically limit the control parameters of the first control signal; those skilled in the art can set them according to the actual motion characteristics of the moving parts.

[0080] In this embodiment of the disclosure, 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 simulating the motion trajectories of each moving component in the device. It should be understood that the digital twin model includes component models of each moving component, and the motion of the component models simulates the motion of the corresponding moving components in the device.

[0081] In this embodiment of the present disclosure, after receiving a first control signal, the electronic device simulates the operation of a moving part using a digital twin model 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 such as motion frequency, motion speed, and motion direction. 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 this embodiment of the disclosure, the electronic device generates a debugging signal based on motion simulation data. The electronic device can generate the debugging signal when it determines that the motion simulation data meets preset conditions. Here, the preset conditions can be set based on debugging operational abnormalities of the moving parts, or they can be set based on debugging the moving parts to a better operating state. Operational abnormalities, for example, could be collisions 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 motion simulation data, which is generated by user interaction with the electronic device. For example, the electronic device can present debugging function items for motion simulation data, which the user can trigger to input a debugging operation. The electronic device generates a debugging signal in response to the debugging operation on the debugging function item.

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

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

[0086] In related technologies, simulation debugging methods for adjusting equipment operation mainly fall into two categories: one is joint debugging of control modules and hardware devices, such as virtual simulation design of robots to obtain the optimal robot running trajectory. After the robot design is completed, the data generated by the virtual simulation is transmitted to the robot using RAPID offline programming, facilitating on-site debugging. This debugging method is very labor-intensive, and the long debugging process can cause significant damage to the equipment. The other category involves importing models of various devices in the production line to simulate the line layout, eliminating the need for debugging based on physical devices. However, this type of simulation does not involve simulating the motion trajectory of the moving parts of the equipment, making fine-grained debugging impossible.

[0087] This disclosure embodiment simulates the operation of the moving parts of a device using a digital twin model based on a first control signal for those moving parts. It generates debugging signals based on the simulated motion data to adjust the first control signal and / or the motion trajectory of the moving parts. This simulation of each moving part enables refined debugging of the device. Furthermore, it allows for debugging of the first control signal, thus enabling debugging of the control signals used to control the device's operation, achieving comprehensive and refined debugging of the device's operation. Moreover, this disclosure embodiment uses a digital twin model for simulation debugging, eliminating the need for physical equipment. This alleviates the problem of requiring hardware for debugging, saving on-site development time and manpower. Virtual debugging also reduces hardware damage caused by abnormal control signals. Furthermore, this disclosure embodiment supports debugging based on the twin model before the actual production of the device is completed. Based on the solution of this disclosure embodiment, refined and comprehensive debugging of device operation is achieved without the need for physical equipment.

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

[0089] The control parameters included in the first control signal are transformed 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 parameters, the operation of the moving component is simulated using the digital twin model to obtain motion simulation data of the moving component.

[0091] In this embodiment of the disclosure, as described above, the first control signal carries control parameters. Taking a position- or direction-related parameter as an example, this 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 known as the first coordinate space. For example, the first coordinate space can be based on a coordinate system formed by the X, Y, and Z directions of world coordinates. The position- or direction-related control parameters carried by the first control signal are adapted to the motion reference values ​​corresponding to the moving parts. The moving parts can directly respond to the first control signal and perform corresponding movements based on the control parameters carried by the first control signal.

[0092] In this embodiment of the disclosure, the coordinate space corresponding to the digital twin model is denoted 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 this embodiment of the disclosure, after the electronic device obtains the control parameters included in the first control signal, since the motion trajectory of the simulated moving part in the digital twin model may differ from the actual motion trajectory of the moving part in the coordinate reference system, the control parameters in the first control signal need to be transformed to obtain target control parameters suitable for the operation of the digital twin model. Here, the target control parameters are parameters corresponding to the second coordinate space of the digital twin model. For example, if the control parameters are (m, 0, 0) based on the first coordinate space, used to control the robotic arm to move m centimeters in the direction of the first axis in the first coordinate space, then after obtaining the control parameters, the electronic device maps them to the second coordinate space, converting them into coordinates corresponding to the X, Y, and Z axes in the second coordinate space to obtain the target control parameters. The electronic device can then control the digital twin model to simulate the operation of the moving part indicated by the first control signal based on the first control signal and the target control parameters, obtaining motion simulation data of the moving part.

[0094] Furthermore, for parameters such as motion speed or motion frequency, the measurement methods in the digital twin model may differ from those used in the actual movement of the moving parts, thus requiring parameter conversion. For example, if the motion speed in the digital twin model has a 1:5 mapping relationship with the actual motion speed of the moving parts, 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 based on this mapping relationship.

[0095] In some embodiments, the equipment involved in this disclosure may include self-developed non-standard equipment, i.e., equipment that does not conform to relevant industry design standards. Correspondingly, the control module may also be designed for self-developed non-standard equipment. It should be understood that the first control signal data generated by it is not standardized. For non-standard first control signals, this disclosure can 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 can correspond to the electronic device in this disclosure. In some embodiments, the simulation platform can also be simulation software, which can run on the electronic device used to implement the embodiments of this disclosure.

[0096] This disclosure converts the control parameters included in the first control signal for the moving parts of the control device into target control parameters suitable for the digital twin model, enabling the electronic device to respond to the target control parameters and control the digital twin model to simulate the operation of the moving parts, thereby reducing the occurrence of operation failures.

[0097] In some embodiments, the digital twin model further includes a model that simulates the linkage relationship between moving parts; the first control signal is a control signal for the first moving part among the moving parts with linkage relationship;

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

[0099] Based on the first control signal of the first moving component, the operation of moving components with linkage relationship is simulated using the digital twin model of the device, thereby obtaining motion simulation data of the first moving component and motion simulation data of the second moving component other than the first moving component in the linkage relationship.

[0100] In this embodiment of the disclosure, the moving parts with a linkage relationship have mutual influence on each other's movements. For example, when one moving part moves, it will drive the movement of another 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 with a direct linkage relationship are in direct contact and can generate a certain relative movement. Here, the direct linkage relationship can be, for example, a kinematic pair. The two moving parts with an indirect linkage relationship are not in direct contact, but are associated through at least one intermediate moving part with a direct linkage relationship in sequence. The at least one intermediate moving part includes at least one first intermediate part with a direct linkage relationship with one of the two moving parts, and at least one second intermediate part with a direct linkage relationship with the other of the two moving parts. Alternatively, the at least one intermediate moving part includes at least one moving part with a direct linkage relationship with both moving parts. The digital twin model of this embodiment of the disclosure also includes a model for simulating the linkage relationship between moving parts.

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

[0102] In this embodiment of the disclosure, if the first control signal is a control signal for a first moving component among moving components with a linkage relationship, the electronic device responds to the first control signal and uses a digital twin model to simulate the linkage relationship, thereby simulating the operation of each moving component in the linkage relationship. The motion simulation data obtained through the digital twin model simulation includes the motion simulation data of the first moving component and the motion simulation data of the second moving component.

[0103] The digital twin model disclosed in this embodiment also includes a model for simulating the linkage relationship between moving parts. When the electronic device responds to the first control signal, in addition to simulating the movement of the first moving part directly indicated by the first control signal using the digital twin model, 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 devices with linkage relationships between parts and expanding the application scope of the model.

[0104] In some embodiments, the device includes a plurality of moving parts, each moving part corresponding to a motion simulation data, the motion simulation data including motion position simulation data; generating debugging signals for the moving parts based on the motion simulation data of the moving parts includes:

[0105] Based on the motion position simulation data of each moving part in the device, a first position difference between the motion position simulation data of each moving part is determined.

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

[0107] In this embodiment of the disclosure, motion simulation data includes motion position simulation data. In some embodiments, motion position simulation data may include motion position simulation data of one or more motion positions during the movement of a moving part. Here, the electronic device can acquire motion position simulation data based on a preset period when simulating the operation of a moving part. For example, the electronic device can acquire the position data of the component model corresponding to each moving part in the coordinate space of the digital twin model once at preset intervals, and determine the acquired position data as the motion position simulation data of the corresponding moving part, until the digital twin model stops simulating the motion trajectory of the moving part.

[0108] In this embodiment of the disclosure, the electronic device can acquire motion position simulation data corresponding to different moving parts. For example, the preset period can be 0.1s. During the simulation of the movement of the moving parts using a digital twin model, the electronic device acquires the position data of the component model corresponding to each moving part in the coordinate space of the digital twin model every 0.1s, obtaining a set of motion position simulation data. This continues until the digital twin model stops simulating the motion trajectory of the moving parts, resulting in multiple sets of motion position simulation data. The time difference between acquiring the same set of motion position simulation data can be within a preset range, and it includes motion position simulation data for different moving parts.

[0109] After obtaining one or more sets of motion position simulation data for each moving component, the electronic device can determine a first position difference between the motion position simulation data for each set. If there exists a set of motion position simulation data where the first position difference is less than a first preset position difference threshold, a debugging signal is generated to indicate the adjustment of a first control signal and / or motion trajectory for at least one moving component of the device. Here, the first preset position difference threshold can be determined according to actual needs. For example, it can be determined as a value that prevents collisions or interference between moving components, or it can be determined as a value that ensures the moving components always maintain a suitable relative distance during operation. Those skilled in the art can determine this threshold according to specific device performance requirements, and this disclosure does not impose specific limitations.

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

[0111] The embodiments of this disclosure determine the first position difference through motion position simulation data of multiple moving parts, and generate debugging signals accordingly based on the first position difference, thereby enabling the first control signal and / or the motion trajectory of the moving parts to be within a suitable range, so that the device can improve its operating performance.

[0112] In some embodiments, the device is any device in the production line, and the moving parts of each device in the production line correspond to a first control signal. The digital twin model also includes a model that simulates the operating sequence between the devices in the production line.

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

[0114] Based on the first control signals of the moving parts of each piece of equipment in the production line, the operation of the moving parts of each piece of equipment in the production line is simulated using the digital twin model, and motion simulation data of the moving parts of each piece of equipment running in the order of operation is obtained.

[0115] The generation of debugging signals for the running component based on the motion simulation data of the moving component includes:

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

[0117] This disclosed embodiment can be implemented on any one of multiple devices in a production line. Here, each device in the production line has a corresponding operating sequence. Each device, after operating sequentially according to this sequence, can obtain a corresponding operating result. Here, the operating result can be, for example, the production of a target device, or an interactive action between devices. The target device can be, for example, a mobile phone.

[0118] The digital twin model of this disclosure includes models corresponding to each piece of equipment in the production line, and each moving part of the equipment in the production line corresponds to a first control signal. That is, the electronic device can acquire the first control signal for the moving part of any piece of equipment in the production line, and simulate the movement trajectory of the corresponding moving part through the digital twin model. In this disclosure embodiment, the digital twin model also includes a model that simulates the operating sequence between the equipment in the production line, through which the process of each piece of equipment in the production line operating in a corresponding operating sequence can be simulated.

[0119] In this embodiment, the electronic device simulates the operation of the moving parts of each piece of equipment in the production line using a digital twin model based on the first control signals of the moving parts, and obtains motion simulation data of the moving parts of each piece of equipment running in the operating sequence. Here, the first control signals of the moving parts of each piece of equipment can be based on certain operating logic, which includes the operating sequence or positional relationship of the moving parts corresponding to each piece of equipment in the production line. In some embodiments, the operating logic is set in the aforementioned control module, and the control module generates the first control signals sequentially according to the logical order based on the operating logic. The logical order here can correspond to the aforementioned operating sequence. Each time the control module generates a first control signal, it can immediately send it to the electronic device. After receiving the first control signal, the electronic device responds to the first control signal and performs corresponding motion simulation through the digital twin model. Then, based on the motion simulation data of the moving parts of each piece of equipment in the production line, the electronic device generates a debugging signal for instructing adjustments to the first control signals and / or motion trajectories of the moving parts of at least one piece of equipment.

[0120] The digital twin model in this embodiment also includes a model that simulates the operating sequence of each piece of equipment in the production line. It can simulate the operation of the moving parts of each piece of equipment in the production line according to the operating sequence. The electronic equipment generates debugging signals based on the motion simulation data of the moving parts of at least one piece of equipment in the production line obtained by the simulation, thereby realizing the simulation and debugging of multiple pieces of equipment.

[0121] In some embodiments, the motion simulation data includes motion position simulation data. The generation of debugging signals based on the motion simulation data of the moving parts of each device in the production line, used to indicate adjustments to a first control signal for the moving parts of at least one device and / or the motion trajectory of the moving parts, includes:

[0122] Based on the motion position simulation data of the moving parts of each piece of equipment in the production line, the second position difference between the motion position simulation data of different pieces of equipment is determined;

[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 indicate the adjustment of the motion trajectory of the motion component of at least one of the different devices.

[0124] In this embodiment of the disclosure, after simulating the motion of moving parts of various devices in the production line, the electronic device obtains one or more sets of motion position simulation data. Each set of motion position simulation data refers to the motion position simulation data of moving parts of different devices. The difference in the acquisition time of each set of motion position simulation data can be within a preset difference range, for example, it can be motion position simulation data at the same time. Based on the motion position simulation data of moving parts of various devices in the production line, the electronic device determines the second position difference between the motion position simulation data of different devices. Specifically, for each set of motion position simulation data, the electronic device determines the second position difference between each set of motion position simulation data. It should be understood that for each set of motion position simulation data, the electronic device can obtain the second position difference between each pair of data in that set.

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

[0126] This embodiment of the disclosure determines the second position difference based on the motion position simulation data of the moving parts of each piece of equipment in the production line, and generates corresponding debugging signals based on the fact that the second position difference corresponding to different equipment is less than a second preset position difference threshold. This enables debugging of multiple pieces of equipment in the production line and is suitable for more complex equipment debugging scenarios. In addition, this embodiment of the disclosure can specifically debug the motion trajectory and / or first control signal of the corresponding moving parts according to each second position difference, with high debugging accuracy.

[0127] In some embodiments, the equipment in the production line is used to collaboratively produce target equipment, and the method further includes:

[0128] Determine a second control signal to simulate the deployment of the target equipment to the production line;

[0129] The first control signal based on the moving parts of each piece of equipment in the production line is used to simulate the operation of the moving parts of each piece of equipment in the production line using the digital twin model, and motion simulation data of the moving parts of each piece of equipment running in the said operating sequence is obtained, including:

[0130] Based on the second control signal and the first control signal of the moving parts of each piece of equipment in the production line, the operation of the moving parts of each piece of equipment in the production line after the target equipment is deployed is simulated using the digital twin model, and motion simulation data of the moving parts of each piece of equipment running in the order of operation is obtained.

[0131] Here, the second control signal is used to simulate the action of placing the target device onto the production line. For example, the second control signal is used to simulate the action of placing the target device onto each piece of equipment on the production line. In a real-world scenario, after the target device is placed onto the production line, the operation of each piece of equipment on the production line transforms the target device into the required state, completing the production of the target device.

[0132] In this embodiment of the disclosure, the second control signal can be generated by an electronic device. For example, the electronic device can generate at least one second control signal using a random algorithm. Furthermore, this embodiment of the disclosure does not specifically limit the order in which the electronic device determines the second control signal and acquires the first control signal. For example, the electronic device may wait for the arrival of the first control signal after acquiring the second control signal, and then, upon the arrival of the first control signal, begin simulating the operation of equipment in a production line in conjunction with the second control signal. In some embodiments, the electronic device may also acquire the second control signal while continuously acquiring the first control signal; that is, the electronic device may acquire the second control signal while simulating the operation of equipment in a production line, and simulate the production process for the target equipment in response to the second control signal.

[0133] In this embodiment of the disclosure, after receiving the second control signal, the electronic device, based on the second control signal and the first control signals of the moving parts of each device in the production line, uses a digital twin model to simulate the operation of the moving parts of each device in the production line after the target device is deployed, and obtains motion simulation data of the moving parts of each device running in the operating sequence. Here, the electronic device, based on the second control signal, simulates the movement of each moving part when the target device flows between devices in the production line, thereby simulating the process of each device when the production line produces the target device.

[0134] In the embodiments of this disclosure, each piece of equipment in the production line is used to collaboratively produce the target equipment. The electronic equipment simulates the operation of each piece of equipment after the target equipment is put into the production line based on the second control signal used to simulate the deployment of the target equipment to the production line, and in combination with the first control signal. This enables the simulation of the production process of the target equipment on the production line, so as to debug the production line used to produce the target equipment and realize the debugging of complex working conditions of multiple equipment.

[0135] In some embodiments, the motion simulation data includes motion position simulation data; the generation of debugging signals for instructing adjustments to the motion trajectory of at least one device's motion components based on the motion simulation data of the motion components of each device in the production line includes:

[0136] Simulation data of the motion position of the moving parts of each device is used to simulate the positional state between the target device and the device.

[0137] In response to a situation where the positional state between any device and the target device does not meet a preset positional state condition, a debugging signal is generated to indicate the adjustment of the motion trajectory of the moving parts of at least one device.

[0138] In this embodiment of the disclosure, the positional state between the target devices is the relative positional state between the target devices. The electronic device simulates the positional state between the target devices based on the motion position simulation data of the moving parts of each device. Specifically, the electronic device can simulate the flow of the target device among the devices in the production line based on the motion position simulation data of the moving parts at different times, thereby obtaining the positional state between the target device and the devices in the production line at different times.

[0139] In this embodiment, the preset position state condition is determined based on actual production requirements. For example, it can be determined to ensure that the target device does not leave the production line, or it can be determined to ensure that the target device can move within the production line in a more optimal position state. In response to any device and the target device's position state not meeting the preset position state condition, the electronic device generates a debugging signal to indicate adjustments to the first control signal and / or motion trajectory of the moving parts of at least one device. In this embodiment, the electronic device can determine an anomaly that causes the position state to not meet the preset position state condition at a certain moment. This anomaly may be, for example, an inaccurate first control signal (e.g., the control parameter of the first control signal is too large or the first control signal is generated too early); or an inaccurate motion trajectory of the relevant moving parts (e.g., the motion trajectory is less than the control range of the control parameter of the first control signal), causing the target device to fail to reach the corresponding position, resulting in the device state not meeting the preset position state condition. The electronic device then generates a corresponding debugging signal based on the determined anomaly.

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

[0141] In some embodiments, the debugging method is applied to a debugging device, wherein acquiring a first control signal for the moving parts of the device includes:

[0142] Receive a first control signal sent by the control device to the moving parts of the device.

[0143] Here, the control device can correspond to the aforementioned control module. The control device and the electronic device can communicate with each other via wired or wireless means. In some embodiments, the control device sends a first control signal to the electronic device executing the debugging method via the MQTT protocol; this electronic device may also be referred to as a debugging device.

[0144] This embodiment of the invention enables the debugging of both the equipment and the control equipment simultaneously, thereby improving debugging efficiency by jointly debugging the equipment and its corresponding control equipment.

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

[0146] Obtain the trajectory parameters corresponding to the motion trajectory of the moving parts 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 parts in the device; wherein, the first coordinate space is the physical space of the motion of the moving parts, and the second coordinate space is the virtual space corresponding to the digital twin model.

[0148] In this embodiment of the disclosure, the digital twin model is pre-built. Specifically, the electronic device acquires the trajectory parameters corresponding to the motion trajectory of the moving parts in the device in a first coordinate space. Then, the electronic device maps the trajectory parameters in the first coordinate space to a second coordinate space to obtain a digital twin model simulating the motion trajectory of the moving parts in the device. Here, the specific descriptions of the first and second coordinate spaces can be found in the foregoing embodiments of this disclosure, and the mapping of trajectory parameters can be found in the foregoing mapping of control parameters, which will not be repeated here.

[0149] In some embodiments, the electronic device can also acquire a design model of the device, and construct a digital twin model based on the design model and trajectory parameters. Based on the design model, the electronic device can synchronously display virtual motion images of the moving parts during the operation of the simulated device. In this embodiment, the electronic device performs lightweight processing on the design model to reduce the model size and thus construct the digital twin model. Here, the lightweight processing method can be hidden deletion, automatic filling, proportional sampling, etc. In some embodiments, the electronic device also acquires the linkage relationship of each moving part in the device, and constructs a digital twin model by combining the image model, linkage relationship, and trajectory parameters.

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

[0151] The following will describe an exemplary application of the embodiments of this disclosure in a practical application scenario.

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

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

[0154] Here, the virtual debugging platform refers to the electronic device in this embodiment of the 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 constructs a digital twin model based on the SolidWorks model. The SolidWorks model is designed based on 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 analysis, and motion trajectory setting. Specifically, automatic lightweighting involves the virtual debugging platform automatically lightweighting the SolidWorks model. The lightweighting method is described in the foregoing embodiments of this disclosure. Lightweighting transforms a high-face-count, memory-intensive model into a low-face-count, low-memory-occupancy general-purpose format. In this embodiment, the virtual debugging platform also analyzes the kinematic pairs of the equipment based on the SolidWorks model, obtaining at least one kinematic pair data, and adds this data to the lightweighted SolidWorks model. Furthermore, the virtual debugging platform obtains the trajectory parameters of each moving component of the equipment based on the SolidWorks model and sets these trajectory parameters to the lightweighted SolidWorks model.

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

[0158] Here, the device control module corresponds to the aforementioned control module and can be the control device of this embodiment. The control signal list is preset and includes control signals used to identify moving parts. For example, the control signal list includes the correspondence between control signal A and part A.

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

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

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

[0162] Here, motion logic can refer to the operating mode of moving parts. For example, whether the moving parts move by rotation or translation, the limitations on the position of the moving parts, the speed of movement, the frequency of movement, etc.

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

[0164] In this embodiment, the device control module sequentially generates corresponding control signal data based on motion logic. For example, the control signal data may be motion displacement values, motion speed, or frequency values. 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 directly sent to physical hardware to control the operation of components such as production lines, robotic arms, axes, and sensors within the physical hardware. Here, the physical hardware corresponds to the device in this embodiment.

[0165] In this embodiment of the disclosure, the control signal data and the control signals that identify the moving parts in the corresponding control list are the first control signals of this embodiment of the disclosure.

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

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

[0168] Step 2051: The virtual debugging platform performs data-driven operations.

[0169] In this embodiment of the disclosure, the virtual debugging platform, based on the association in step 2012, combines control signal data to drive the corresponding component model, enabling it to simulate the movement of the corresponding moving component. The simulated moving component can be a robotic arm, an axis, or 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. If so, proceed to step 206.

[0171] In this embodiment of the disclosure, the virtual debugging platform uses digital twin model simulation to determine whether a collision or interference will occur during the operation of the moving parts. If a collision or interference occurs, step 206 is executed; otherwise, debugging stops, or the process returns to step 205 and continues motion simulation after receiving the next control signal data. The method for determining collision or interference can be found in the foregoing embodiments of this application.

[0172] Step 206: The virtual debugging platform displays an error message.

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

[0174] The embodiments disclosed herein do not require hardware equipment for debugging, saving on-site development time and manpower. Virtual debugging also reduces hardware damage to equipment caused by abnormal control signals.

[0175] See Figure 3 , Figure 3 This is an example diagram illustrating a debugging process according to an embodiment of this disclosure.

[0176] This disclosure relates to the virtual debugging of multiple devices in a production line used for manufacturing mobile phones. Firstly, it can be done according to... Figure 2The steps shown complete the commissioning of individual devices on the production line. Then, the electronic equipment is arranged according to the process flow sequence and each piece of equipment is assigned a sequence number. Here, the process flow sequence corresponds to the aforementioned operating sequence. The equipment sequence numbers are, for example, sequence A, sequence B, ... Next, the electronic equipment adds a model simulating the operating sequence between the devices on the production line to the digital twin model, thereby simulating the process flow sequence of each device using the digital twin model. In the digital twin model, the equipment models of each device are arranged according to the aforementioned process flow sequence. See also... Figure 3 Model A301 corresponds to device number A in the production line, and model B302 corresponds to device number B in the production line.

[0177] In this embodiment, the electronic device can randomly generate N consecutive input signals using a random triggering algorithm. These input signals can correspond to the aforementioned second control signal, used to deliver the mobile phone to various pieces of equipment on the production line. Next, based on the input signals and the aforementioned first control signal, the electronic device uses a digital twin model to simulate the operation of the moving parts of each piece of equipment on the production line after the mobile phone is delivered, and obtains motion simulation data of the moving parts of each piece of equipment operating in the order of operation. Specifically, after the digital twin model simulates the operation of one piece of equipment on the production line, the electronic device generates a pipeline I / O status signal. Based on this pipeline I / O status signal, it begins to receive the first control signal for the next piece of equipment, reducing the possibility that the next piece of equipment has started operating before the mobile phone has been transferred to it, as the previous piece of equipment has not yet completed its operation. Then, based on the motion simulation data, the electronic device determines whether any abnormalities have occurred in the simulated motion process. These abnormalities could be, for example, collisions between equipment or the 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 to prompt the user to check the current abnormality.

[0178] This disclosure embodiment can detect equipment interference problems caused by hardware layout or movement trajectory issues of moving parts (such as robotic arms) through multi-device virtual debugging. Problems can be detected before hardware assembly and physical equipment wiring are completed, reducing rework and damage caused by related problems.

[0179] See Figure 4 , Figure 4 In the production line shown in the embodiments of this disclosure Figure 3 Example flowchart of the debugging method corresponding to any of the aforementioned models.

[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 control signals.

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

[0184] Step 404: The virtual debugging platform displays an error message.

[0185] The process of this disclosure embodiment is described in [reference]. Figure 2 Steps 203-206 shown will not be repeated here.

[0186] Figure 5 This is a diagram illustrating a debugging device according to an embodiment of the present disclosure, applied in an electronic device including a processor, by... Figure 5 It can be seen that this includes:

[0187] The acquisition module 501 is used to acquire the first control signal for the moving parts of the device;

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

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

[0190] In some embodiments, the simulation module is further configured 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 part indicated by the first control signal and the target control parameters, the simulation module uses the digital twin model to simulate the operation of the moving part to obtain motion simulation data of the moving part.

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

[0192] In some embodiments, the device includes a plurality of moving parts, each moving part corresponding to a motion simulation data, the motion simulation data including motion position simulation data; the generation module is further configured to determine a first position difference between the motion position simulation data of each moving part based on the motion position simulation data of each moving part in the device; and in response to the first position difference being less than a first preset position difference threshold, generate a debugging signal for indicating adjustment of a first control signal and / or motion trajectory of at least one moving part of the device.

[0193] In some embodiments, the device is any device in a production line, and each moving part of the device in the production line corresponds to a first control signal. The digital twin model also includes a model that simulates the operating sequence between the devices in the production line. The simulation module is further configured to simulate the operation of the moving parts of each device in the production line based on the first control signals 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 of each device operating in the operating sequence. The generation module is further configured to generate a debugging signal based on the motion simulation data of the moving parts of each device in the production line, for indicating the adjustment of the first control signal and / or motion trajectory of the moving parts of at least one device.

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

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

[0196] In some embodiments, the motion simulation data includes motion position simulation data; the generation module is further configured to simulate the positional state between the target device and the device based on the motion position simulation data of the motion component of each device; and in response to the positional state between any device and the target device not meeting a preset positional state condition, generate a debugging signal for indicating adjustment of a first control signal and / or motion trajectory of the motion component of at least one device.

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

[0198] In some embodiments, the device further includes: a model building module, configured to obtain trajectory parameters corresponding to the motion trajectory of the moving parts in the device in a first coordinate space; map the trajectory parameters in the first coordinate space to a second coordinate space to obtain the digital twin model simulating the motion trajectory of the moving parts in the device; wherein, the first coordinate space is the physical space of the motion of the moving parts, and the second coordinate space is the virtual space corresponding to the digital twin model.

[0199] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0200] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. For example, the electronic device is... Figure 6 The device 600 shown can be provided as a server. (See reference...) 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, such as application programs, that can be executed by the processing component 622. The application programs stored in the memory 632 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 622 is configured to execute instructions to perform the methods described above.

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

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

[0203] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0204] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A debugging method, characterized in that, The method includes: Acquire a first control signal for the moving parts of the equipment; the equipment is any piece of equipment in the production line, and the equipment in the production line is used to collaboratively produce the target equipment; Determine a second control signal to simulate the deployment of the target equipment to the production line; Based on the first control signal, the operation of the moving part is simulated using the digital twin model of the device to obtain motion simulation data of the moving part; wherein, the digital twin model includes a model for simulating the motion trajectory of the moving part in the device; Based on the motion simulation data of the moving component, a debugging signal for the moving component is generated; wherein, the debugging signal includes a signal for instructing adjustment of the first control signal and / or the motion trajectory; The step of simulating the operation of the moving part using a digital twin model of the device based on the first control signal to obtain motion simulation data of the moving part includes: Based on the first control signal and the second control signal, the operation of the moving parts after the target equipment is put into the production line is simulated using the digital twin model of the equipment to obtain motion simulation data of the moving parts; The generation of debugging signals for the moving component based on the motion simulation data of the moving component includes: Based on the motion simulation data of the moving parts of each piece of equipment in the production line, a debugging signal is generated to indicate the adjustment of the first control signal and / or motion trajectory of the moving parts of at least one piece of equipment. The motion simulation data includes motion position simulation data; the generation of debugging signals based on the motion simulation data of the moving parts of each piece of equipment in the production line, used to indicate the adjustment of the first control signal and / or motion trajectory of the moving parts of at least one piece of equipment, includes: Simulation data of the motion position of the moving parts of each device is used to simulate the positional state between the target device and the device. In response to a situation where the positional state between any device and the target device does not meet a preset positional state condition, a debugging signal is generated to indicate the adjustment of the motion trajectory of the moving parts of at least one device.

2. The method according to claim 1, characterized in that, The step of simulating the operation of the moving part using a digital twin model of the device based on the first control signal to obtain motion simulation data of the moving part includes: The control parameters included in the first control signal are transformed 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 parameters, the operation of the moving component is simulated using the digital twin model 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 that simulates the linkage relationship between moving parts; the first control signal is a control signal for the first moving part among the moving parts with linkage relationship; The step of simulating the operation of the moving part using a digital twin model of the device based on the first control signal to obtain motion simulation data of the moving part includes: Based on the first control signal of the first moving component, the operation of moving components with linkage relationship is simulated using the digital twin model of the device, thereby obtaining motion simulation data of the first moving component and motion simulation data of the second moving component other than the first moving component in the linkage relationship.

4. The method according to claim 1, characterized in that, The device includes multiple moving parts, each moving part corresponding to a motion simulation data point, the motion simulation data including motion position simulation data; generating debugging signals for the moving parts based on the motion simulation data of the moving parts includes: Based on the motion position simulation data of each moving part in the device, a first position difference between the motion position simulation data of each moving part is determined. In response to the first position difference being less than a first preset position difference threshold, a debugging signal is generated to indicate the adjustment of a first control signal and / or motion trajectory for at least one of the moving parts of the device.

5. The method according to any one of claims 1 to 4, characterized in that, Each moving part of the equipment in the production line corresponds to a first control signal, and the digital twin model also includes a model that simulates the operating sequence between the equipment in the production line. The step of simulating the operation of the moving part using a digital twin model of the device based on the first control signal to obtain motion simulation data of the moving part further includes: Based on the first control signals of the moving parts of each piece of equipment in the production line, the operation of the moving parts of each piece of equipment in the production line is simulated using the digital twin model, and motion simulation data of the moving parts of each piece of equipment running in the order of operation is obtained.

6. The method according to claim 1, characterized in that, The method of generating a debugging signal based on motion simulation data of the moving parts of each piece of equipment in the production line, for indicating adjustments to the first control signal and / or motion trajectory of the moving parts of at least one piece of equipment, further includes: Based on the motion position simulation data of the moving parts of each piece of equipment in the production line, the second position difference between the motion position simulation data of different pieces of equipment is determined. 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 the adjustment of the motion trajectory of the motion component of at least one of the different devices.

7. The method according to claim 5, characterized in that, The first control signal based on the moving parts of each piece of equipment in the production line is used to simulate the operation of the moving parts of each piece of equipment in the production line using the digital twin model, and motion simulation data of the moving parts of each piece of equipment running in the said operating sequence is obtained, including: Based on the second control signal and the first control signal of the moving parts of each piece of equipment in the production line, the operation of the moving parts of each piece of equipment in the production line after the target equipment is deployed is simulated using the digital twin model, and motion simulation data of the moving parts of each piece of equipment running in the order of operation is obtained.

8. The method according to any one of claims 1 to 4, characterized in that, The debugging method is applied to debugging equipment, wherein acquiring the first control signal for the moving parts of the equipment includes: Receive a first control signal sent by the control device to the moving parts of the device.

9. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Obtain the trajectory parameters corresponding to the motion trajectory of the moving parts 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 parts in the device; wherein, the first coordinate space is the physical space of the motion of the moving parts, and the second coordinate space is the virtual space corresponding to the digital twin model.

10. A debugging device, characterized in that, include: The acquisition module is used to acquire the first control signal for the moving parts of the device; The equipment can be any piece of equipment in the production line, and the equipment in the production line is used to collaboratively produce the target equipment; The determining module is used to determine a second control signal simulating the deployment of the target equipment onto the production line; The simulation module is used to simulate the operation of the moving parts of the target equipment after it is deployed to the production line, based on the first control signal and the second control signal, using a digital twin model of the equipment, to obtain motion simulation data of the moving parts; wherein, the digital twin model includes a model for simulating the motion trajectory of the moving parts in the equipment; and the motion simulation data includes motion position simulation data. The generation module is used to simulate the positional state between the target device and the target device based on the motion position simulation data of the moving parts of each device; in response to the positional state between any device and the target device not meeting the preset positional state conditions, it generates a debugging signal to indicate the adjustment of the first control signal and / or motion trajectory of the moving parts of at least one device.

11. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the method as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to perform the method as described in any one of claims 1 to 9.

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