Implementation method for applying digital twinning to nuclear power filter disassembling workstation

Abstract

The invention provides an implementation method for applying digital twinning to a nuclear power filter disassembling workstation, and belongs to the technical field of application of a digital twinning technology in a non-standard automation industry. The method comprises the following steps: firstly, carrying out three-dimensional modeling on the nuclear power filter disassembly workstation by utilizing modeling software according to a proportion requirement, importing an obtained model file into Unity 3D software to carry out basic motion virtual simulation, checking whether a built model has principle problems such as interference in an operation process or not, and correcting the model according to a checking result; after correction is completed, the model is accurately positioned, and daily work simulation is carried out; recording and storing the simulation data to form a database; and reproducing the working condition of the specific time period by using the working data in the database. Through the digital twinning technology, a worker can perform simulation operation in a virtual environment, so that the actual operation risk is reduced, and the efficiency and the quality are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of application of digital twin technology in non-standard automation industry, and specifically relates to an implementation method of applying digital twin technology to a nuclear power filter disassembly workstation. Background Art

[0002] As an important innovation in the Industrial 4.0 era, Digital Twin technology uses two-way data interaction between physical devices and their virtual models to achieve dynamic mapping and intelligent management of physical systems. By integrating multiple advanced technologies such as the Internet of Things, big data analysis, cloud computing, edge computing, and artificial intelligence, it can achieve real-time monitoring, predictive analysis, optimized control, and virtual simulation of physical systems, thereby providing support for equipment lifecycle management.

[0003] In the field of non-standard automation, the high degree of customization of production systems and equipment makes it difficult for traditional standardized automation solutions to meet the increasingly complex production needs. Non-standard automation systems usually include a variety of heterogeneous equipment (such as production line detection, conveyor belts, precision processing equipment, etc.), and involve complex control logic, nonlinear dynamic behavior, and precise mechanical and electrical coordination. Therefore, how to achieve accurate modeling, real-time monitoring, predictive maintenance and optimized scheduling of nuclear power filter disassembly workstations has become a key technical problem that needs to be solved in this field.

[0004] In the field of non-standard automation, digital twin technology is applied in real-time equipment monitoring, fault diagnosis and early warning, virtual debugging and optimization, performance analysis and optimization, and full life cycle management.

[0005] By analyzing the current application background of digital twin technology in the field of non-standard automation, the following problems are found: Problem 1: Lack of accurate historical status reproduction; current digital twin technology mainly relies on real-time data to update virtual models, but for the historical status reproduction of equipment, especially in the analysis and debugging after a fault occurs, the current digital twin technology cannot effectively and completely reproduce the historical operation trajectory of the equipment.

[0006] Problem 2: The virtual model has insufficient dynamic response and accuracy; there is a lack of accurate simulation of nonlinear dynamic behavior. At the same time, existing digital twin technologies usually find it difficult to accurately simulate these complex multi-physics field coupling phenomena in a unified virtual model.

[0007] Problem 3: Insufficient management of the entire life cycle of equipment; traditional digital twin technology only relies on the current equipment status for model simulation and prediction, and lacks comprehensive management of the entire life cycle of equipment. Summary of the invention

[0008] In view of this, the present invention proposes an implementation method of applying digital twins to a nuclear power filter disassembly workstation, and specifically illustrates it using the digital twin simulation of a nuclear power filter disassembly workstation. The present invention can effectively and accurately use digital twin technology to reproduce the operation process of the nuclear power filter disassembly workstation, and achieve perfect control of the equipment operation process by simulating corresponding experiments, thereby avoiding problems in the process that may cause equipment damage.

[0009] At the same time, this method can also better reproduce the problems that arise in non-standard automation in actual production work, analyze the problems using digital twin technology, and avoid the same or similar problems that occur in other identical equipment or auxiliary equipment.

[0010] The present invention provides a method for implementing the application of digital twins to a nuclear power filter disassembly workstation. The digital twin technology is used to simulate the actual nuclear power filter disassembly workstation in the virtual world in advance, and the simulated effect is used to modify the actual product, so as to reduce the difficulty of actual processing testing and design while avoiding material waste in the actual manufacturing process. First, the nuclear power filter disassembly workstation was 3D modeled according to the proportion requirements using modeling software, and the obtained model file was imported into Unity3D software for basic motion virtual simulation to check whether the built model had interference principle problems during operation, and then the model was modified according to the test results; After the correction is completed, the model is accurately positioned and daily work simulation is performed; the simulation data is recorded and saved to form a database; Finally, the working data in the database is used to reproduce the working status of a specific time period.

[0011] Specifically, the method comprises the following steps: S1PLC data acquisition, establish communication between PLC and computer terminal, build data transmission channel, and collect corresponding model data; S2 virtual simulation verification: modeling of the nuclear power filter disassembly workstation, simulation through Unity3D based on the established model data, returning the revised model based on the simulation results, and completing the modeling and model verification simultaneously; S3 equipment maintenance prediction, using the model established in step S2 to simulate daily work, count the operation and use of the equipment, feed back the situation data to actual production, judge the current status of the equipment, and issue maintenance reminders to the staff; S4 builds a historical database to save the operation data of the system's daily work simulation and summarizes and organizes the operation data according to timestamps; S5 Fault reproduction: retrieve the historical database in step S4, reproduce the time point of the fault based on the retrieved data, perform maintenance in a virtual environment, and repair the actual equipment based on the specific maintenance situation.

[0012] Specifically, the S1PLC data collection specifically includes: S1.1 In the Unity3D development environment, the S7.Net library is introduced through NuGet to ensure support for S7.Net protocol communication with all models of PLC developed by Siemens.

[0013] S1.2 Use the S7.Net library to define the IP address, port number, and PLC type for communicating with the PLC in the script; create a communication handle to initialize the PLC connection, and call related functions to test whether the communication is successful; after ensuring that the communication is stable, specify the PLC data area to be accessed, such as a DB block, input (I), or output (O) address.

[0014] S1.3 uses the reading method (Read or ReadClass) provided in the S7.Net library to read the required data information from the PLC in real time; according to the requirements of the digital twin model, extract relevant variables including switch status, sensor data, position and speed information.

[0015] Specifically, the S2 virtual simulation verification steps include: S2.1: Modeling 1:1 precise modeling based on SolidWorks software ensures the consistency between the digital model and the actual equipment in size and structure, providing a reliable foundation for the subsequent construction of digital twins.

[0016] S2.2: Digital Model Conversion Export the model file created by SolidWorks to STEP format, and convert it to FBX format recognizable by Unity3D through 3DMAX software. Import the FBX file in Unity's project panel and drag the model into the scene. Right-click the model in the Hierarchy panel and select Prefab>Unpack to unpack it. Select all assembly parts, find the Reset button in Transform in the Inspector panel, and click it to position the model to the center of the Unity coordinate system to ensure the correct position of the model.

[0017] S2.3: Motion Component Definition In Unity3D, according to the motion characteristics of the mechanical structure in the model, the assembly parts with the same motion properties in the nuclear power filter disassembly workstation are classified into the same object. Objects are intuitively named according to functional modules to make the structure clear and facilitate subsequent development and maintenance.

[0018] S2.4: Driving Model According to the objects defined in S2.3, set the corresponding component's movement axis, movement speed and other parameters, and bind them to the PLC data collected by S1.3. Real-time synchronization of component movement is achieved through interpolation operations, so that the movement effect of the digital model can smoothly and accurately reflect the actual equipment operation status, achieving the effect of precise driving.

[0019] S2.5: Verify the rationality of the mechanical structure After driving the model, the rationality of the mechanical structure is verified by the following methods to ensure that the digital model can accurately reflect the actual equipment operation status and meet the design requirements.

[0020] The verification content specifically includes the following parts: Logical process verification According to the process flow of the actual equipment, the drive model is fully simulated in Unity3D to observe whether the mechanical movement runs normally according to the preset logic; check whether the movement sequence between components is correct to ensure that the functional modules work together without missing steps or logical errors.

[0021] Motion trajectory detection Use Unity's Gizmos tool or custom scripts to draw the motion trajectory of mechanical components in the scene. Use the visual trajectory line to determine whether the component movement conforms to the designed path to avoid offset, misalignment or unreasonable path planning.

[0022] Mechanical interference check Enable Unity's collision detection function to observe whether there is interference or collision between components during movement; for parts where interference occurs, analyze the cause and adjust the size or motion parameters of the model to ensure that the running clearance between components meets the design standards.

[0023] Boundary condition testing Test the extreme motion range of the component to verify whether the motion exceeds the design range or overtravel occurs; simulate extreme conditions (such as maximum or minimum motion values) in the PLC input data to observe whether there are over-limit or abnormal conditions; Speed ​​and time synchronization Record the movement speed and running time of the component and compare them with the design parameters of the actual equipment to verify whether the digital model can reflect the dynamic performance of the actual equipment; if there is a speed difference, optimize it by adjusting the interpolation algorithm or the data acquisition frequency.

[0024] Multiple process tests Observe the stability and consistency of the system by running the complete process multiple times. Verify that the model remains accurately synchronized during long-term operation without any freezes, delays, or accumulated errors.

[0025] Specifically, the S3 equipment maintenance prediction steps include: S3.1: Equipment operation statistics Based on the equipment operation and maintenance frequency data provided by the hardware processing manufacturer, and the maintenance test records of each device, a unified maintenance counting system is established. After each process operation is completed, the system will automatically accumulate the count and update the equipment operation frequency in real time to better track and manage the equipment usage and maintenance needs.

[0026] S3.2: Create a visualization interface In the Hierarchy panel, select UI>Canvas, create a UICanvas object to carry interface elements, and create multiple TextUI elements under the Canvas. Each Text is used to display the real-time value of a parameter. Write a script to get the relevant data and use GetComponent <text>() method to obtain a reference to the TextUI element; in the script, the obtained data is updated in real time to the corresponding TextUI element to ensure that the parameter value can be displayed dynamically; In the Unity editor, drag each TextUI element to the corresponding variable reference in the script to ensure that the data is updated correctly; Create an InputField(Legacy) UI element under Canvas to manually enter or adjust the preset value of the maintenance frequency; use GetComponent through the script <inputfield>() method obtains the reference of the InputFieldUI element and updates the data to the input box in real time, while supporting users to manually modify the value; Write logic so that when the number of times the device runs reaches the predetermined detection value, the system will automatically pop up an Image component to display a picture containing prompt information; ensure that the Image component can correctly mount the prompt picture when the threshold is reached and provide users with clear maintenance reminders.

[0027] Specifically, the steps for S4 to build a historical database include: S4.1: Get the model component and binding address value of the PLC signal A List data structure is implemented through code to store the model components that need to read PLC signals and their bound PLC address information; the List is traversed, and S7.Net is used to read the corresponding real-time values ​​in each PLC address, and these values ​​are bound to the associated model components to ensure that the model and PLC data correspond one to one.

[0028] S4.2: Record PLC signal values ​​and model component states according to timestamps The acquired PLC values ​​and bound model component states are collected regularly, and the data is timestamped each time it is collected; the model object corresponding to the current time, the script that triggers the reading of the PLC, the corresponding PLC data type, the signal value, and the timestamp of the change are recorded. A complete set of time series data is generated to facilitate subsequent analysis and reproduction.

[0029] S4.3: Store the recorded data in a local TXT file Clicking the "Start Recording" button on the interface will collect the position information of the model component movement process and the data change information of the PLC according to the timestamp; each time the record is recorded, it is stored in an append-write manner to ensure the integrity and continuity of the data; clicking "Stop Recording" will stop collecting data, and the PLC address and value will be stored in the local TXT file in text form. The storage format is clear and standardized, including the model objects, the script that triggers the reading of the PLC, the corresponding PLC data type, signal value and the timestamp of the change, which is convenient for subsequent reading and analysis.

[0030] Specifically, the steps to reproduce the S5 fault include: S5.1: Parsing historical data files Read the local TXT file and parse the timestamp, model component name, PLC address and corresponding signal value. Organize the parsed data into data structures such as List and Dictionary in chronological order as the basic data input for fault reproduction.

[0031] S5.2: Reproducing data and motion process based on timestamps According to the timestamp in the parsed data, the corresponding model components and their bound PLC reading scripts are matched one by one; through the driver script in Unity3D, the PLC signal value is mapped to the state of the model component in real time, and the model movement is driven according to the recorded motion parameters (such as axis, speed, etc.). The dynamic process of the equipment operation is restored frame by frame to reproduce the scene when the fault occurs.

[0032] S5.3: Achievement of accurate reproduction The reproduction is driven by the timestamp sequence in the historical data to ensure that the changes in PLC signals and model states are consistent with the actual time; the PLC data is directly bound to the model component state to achieve real-time synchronization of the model; when the data sampling interval is 3 times or less of the highest signal frequency, the data changes are smoothed through the interpolation algorithm to ensure smooth and natural model movement.

[0033] The beneficial effects of the present invention are as follows: 1. Improve the accuracy of equipment fault diagnosis and analysis Through the reproduction method of the present invention, after a non-standard equipment failure occurs, the past working status of the equipment can be quickly replayed, and the load changes, control instructions and sensor feedback of the equipment in different working stages can be accurately reproduced. The control signals and working condition changes of the equipment before the failure can be clearly seen, helping engineers to accurately diagnose the root cause of the failure (such as control algorithm errors, sensor failures, etc.), greatly shortening the fault diagnosis time and improving maintenance efficiency.

[0034] 2. Enhance dynamic simulation accuracy and improve equipment optimization and debugging effects Through the multi-physics field coupling modeling and nonlinear dynamic simulation method of the present invention, the virtual model can more accurately simulate the complex dynamic behavior of the equipment, especially the response under extreme working conditions.

[0035] 3. Resolve the contradiction between real-time and historical data reproduction, and improve data fusion and decision support capabilities The present invention can reproduce the historical status of the equipment while ensuring real-time performance and provide more comprehensive decision support by realizing the fusion processing of real-time data and historical data. During the debugging process of the production line, engineers can not only monitor the current status of the equipment in real time, but also replay the working status of the production line at different time points by virtually reproducing historical data, and quickly discover potential bottlenecks and optimization points. Practical applications have shown that the method of the present invention can predict possible failures and performance degradation of equipment on the production line in advance, avoid downtime and unnecessary equipment maintenance, and improve production efficiency and equipment reliability.

[0036] 4. Improvement of full life cycle management capabilities to support equipment health management The present invention supports the whole process management of equipment from design, production to maintenance and retirement by integrating data of the whole life cycle of the equipment and combining historical and real-time data.

[0037] 5. Improve equipment debugging and performance optimization efficiency Through accurate historical state reproduction and dynamic simulation, the present invention can effectively improve the debugging efficiency and performance optimization capability of the nuclear power filter disassembly workstation. The virtual model can rehearse various operating scenarios of the equipment during the design phase, timely discover potential design defects and optimization points, and reduce repeated trials during the test and debugging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is the overall process flow chart; Figure 2 3D model diagram of the nuclear power filter disassembly workstation; Figure 3 This is a schematic diagram of the main internal structure of the disassembled equipment; Figure 4 To disassemble the main internal structure of the equipment: Figure 5 This is a top view of the main internal structure of the disassembled equipment; Figure 6 This is a schematic diagram of the structure of the disassembled equipment component No. 1; Figure 7 This is a schematic diagram of the dismantling of the No. 2 component of the equipment; Figure 8 This is a schematic diagram of the structure of the suction cup assembly for disassembling the equipment; Fig. 9 Schematic diagram of the structure of the lower pressure component for disassembling the equipment.

[0040] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Component No. 1; 2. Component No. 2; 3. Pressing component; 4. Suction cup component; 5. Profiling component; 6. Cutter component; 7. Positioning pin; 8. Initial proximity switch; 9. Final proximity switch. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0042] Combined with the nuclear power filter disassembly workstation, the implementation method of the digital twin proposed in the present invention is explained in the application of the nuclear power filter disassembly workstation. The specific experimental process is as follows: The attached figure shows the calibration of each component of the nuclear power filter disassembly workstation. The overall position relationship is determined by the positioning pin 7 and other components, which provides a basis for the subsequent construction of the digital twin model; Figure 2 - Fig. 9 The schematic diagrams of the main internal structure of the disassembled device from different perspectives are shown respectively. From the schematic diagram of the main internal structure of the disassembled device (Figure 3), the layout of each component can be clearly seen. Figure 4 ) and top view (Figure 5) further present the spatial position relationship of the components, while the structural diagram of the No. 1 component of the dismantling equipment (Figure 6), the structural diagram of the No. 2 component (Figure 7), and the structural diagram of the suction cup component (Figure 8) Figure 8 ) and the schematic diagram of the downward pressure component structure (Figure 9) show the specific structure of each component in detail, which helps to understand the working principle of the equipment and the subsequent modeling process.

[0043] Process 1: Construction of the digital twin system of the nuclear power filter disassembly workstation Using the S7 protocol, the computer and the PLC data acquisition module establish communication, and the polling method is used to realize the real-time collection of PLC data, ensuring that the real-time data of each component of the dismantling equipment during the simulation process can be uploaded to the computer terminal; Use SolidWorks software to build a digital twin model of the disassembled equipment at a 1:1 ratio with the actual equipment. Figure 2 The overall schematic diagram of the nuclear power filter disassembly workstation, and Figure 3-Figure 9 A schematic diagram of the specific internal structure of the workstation is displayed, and the model is imported into the Unity3D platform to generate a digital twin of the nuclear power filter disassembly workstation. According to the specific components of the disassembly equipment, the disassembly equipment is defined and a hierarchical motion diagram of the equipment is generated.

[0044] The overall structure of the digital twin is calibrated and the overall world coordinate system is determined to facilitate the subsequent driving simulation of the digital twin of the disassembled equipment.

[0045] Through the PLC data acquisition module and the virtual simulation verification module, the coordinated movement of the various components of the nuclear power filter disassembly workstation under PLC control is simulated, and based on the simulation results, it is checked whether there are principle equipment problems such as interference between the components. At the same time, it is determined that the control logic of the PLC is consistent with the movement process of the digital twin of the disassembler.

[0046] This process can detect the feasibility and rationality of the equipment during actual processing, avoiding material waste caused by problems with the actual production equipment.

[0047] Process 2: Real-time simulation After ensuring that the equipment components are complete and the operation is reasonably controlled, start the complete real-time simulation: Component No. 1 and component No. 2 are first in the moving original position and reach the initial proximity switch 8 position through servo drive.

[0048] After the filter whose accumulated waste needs to be removed is placed manually or by a robot, the filter is clamped by component No. 1 and component No. 2.

[0049] After grabbing the filter, component No. 1 and component No. 2 return to their original positions, and the filter baffle under the waste is pressed down by the pressing component 3 between component No. 1 and component No. 2, so that the filter baffle is separated from the filter, but the waste is still connected to the baffle part. At this time, the filter baffle and the waste are cut off by the tool component 6.

[0050] The suction cup assembly 4 absorbs the filter baffle and transports it to the conveyor belt below to transport the baffle out.

[0051] At this time, component No. 1 and component No. 2 clamp the removed filter and move to the end proximity switch 9 position, the contour component 5 rises to fix the filter, and at the same time, the upper pressing jaw 31 completely discharges the waste in the filter into the waste collection device below.

[0052] After the waste is discharged, the contour component 5 descends, and the No. 1 component 1 and the No. 2 component 2 transport the filter back to the initial proximity switch 8 position, and the material is taken manually or by a robot, completing the entire filter disassembly workflow.

[0053] During the PLC real-time simulation process, the real-time data of the PLC is recorded through the script file written in Unity3D, and the data is recorded in a local TXT file according to the timestamp.

[0054] The recorded data information is parsed, and according to the working data recorded according to the timestamp, the location and time node where the corresponding problem occurs are returned and modified until no new problems occur in the simulation process, and the entire simulation process is completed.

[0055] According to the simulation data, the actual equipment is manufactured, and the actual dismantling equipment is equipped with PLC control text and operation storage address, and the actual dismantling equipment is put into production. When the dismantling equipment completes a complete workflow, the supporting system will display in real time the number of filter dismantles completed after the equipment is started that day. When the total amount of dismantling reaches the preset value, the supporting system will prompt the equipment through the UI interface that maintenance is required.

[0056] Through the above process, the movement status of each component in the entire operation process, the changes in PLC real-time data and the corresponding time points are recorded in a targeted manner, which is convenient for subsequent maintenance of each component.

[0057] The proactively displayed alarm UI helps managers quickly understand the operating status of the equipment and conduct timely maintenance, thereby achieving efficient equipment operation and maintenance management.

[0058] When a device fails during actual production work, the host computer issues a fault alarm, and the stop time in the alarm content can be freely adjusted according to specific needs; managers can use the above simulated digital twin devices to reproduce the device operation scene through local TXT files, and restore the device's operating status when the fault occurs. This function helps maintenance personnel to more conveniently and clearly locate the time point of the fault and the faulty equipment, so as to quickly carry out maintenance work. The fault reproduction function effectively shortens the time required for troubleshooting, improves equipment maintenance efficiency, and reduces downtime, thereby reducing corporate losses.

[0059] The present invention is implemented based on the following principles: Timestamp driven: Reproduction is driven by the timestamp sequence in the historical data to ensure that the changes in PLC signals and model states are consistent with the actual time.

[0060] State Binding: Directly bind PLC data to model component states to achieve real-time synchronization of models.

[0061] Interpolation optimization: When the data sampling interval is 3 times or less than the highest frequency of the signal, the interpolation algorithm is used to smooth the data changes to ensure smooth and natural model movement.

[0062] Data integrity: It saves complete timestamps, PLC signal values ​​and component status changes, and can accurately restore the equipment operation logic.

[0063] Bidirectional mapping: realizes bidirectional binding between PLC signals and digital twin models, and restores the real state without additional calculations.

[0064] Real-time synchronization mechanism: Through Unity3D's high-performance rendering and script execution, historical data is dynamically loaded and the model is driven in real time to achieve high precision and smoothness of the reproduction process.

[0065] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.< / inputfield> < / text>

Claims

1. The implementation method of digital twin application in nuclear power filter disassembly workstation is characterized by: Using digital twin technology, the actual nuclear power filter disassembly workstation is simulated in the virtual world in advance, and the actual product is modified based on the simulated effect to reduce the difficulty of actual processing testing and design; at the same time, it avoids material waste in the actual manufacturing process; First, the nuclear power filter disassembly workstation was 3D modeled according to the proportion requirements using modeling software, and the obtained model file was imported into Unity3D software for basic motion virtual simulation to check whether the built model had interference principle problems during operation, and then the model was modified according to the test results; After the correction is completed, the model is accurately positioned and daily work simulation is performed; the simulation data is recorded and saved to form a database; Finally, the working data in the database is used to reproduce the working status of a specific time period.

2. The method for implementing the digital twin in a nuclear power filter disassembly workstation according to claim 1 is characterized in that: The specific steps include: S1PLC data acquisition, establish communication between PLC and computer terminal, and collect corresponding model data; S2 virtual simulation verification, modeling the nuclear power filter disassembly workstation, and simulating it through Unity3D based on the established model data, and returning the revised model based on the simulation results; S3 equipment maintenance prediction, using the model established in step S2 to simulate daily work, statistics on the operation and use of equipment, and feedback the situation data to actual production to issue maintenance reminders to staff; S4 builds a historical database to save system operation data and summarizes and organizes the operation data according to timestamps; S5 Fault reproduction: retrieve the historical database in step S4, reproduce the time point of the fault based on the retrieved data, make corrections in the virtual environment, and repair the actual equipment based on the specific corrections.

3. The method for implementing the digital twin in a nuclear power filter disassembly workstation according to claim 2 is characterized in that: The S1PLC data acquisition specifically includes: S1.1 In the Unity3D development environment, the S7.Net library is introduced through NuGet to ensure support for S7.Net protocol communication with all models of PLC developed by Siemens; S1.2 Define the IP address, port number and PLC type for communicating with the PLC in the script through the S7.Net library; create a communication handle to initialize the PLC connection, and call related functions to test whether the communication is successful; after ensuring that the communication is stable, specify the PLC data area to be accessed, including the DB block, input (I) or output (O) address; S1.3 uses the reading method provided in the S7.Net library to read the required data information from the PLC in real time; according to the requirements of the digital twin model, extract relevant variables including switch status, sensor data, position and speed information.

4. The method for implementing the digital twin in a nuclear power filter disassembly workstation according to claim 2 is characterized in that: S2 virtual simulation verification specifically includes: S2.1 Modeling Based on SolidWorks software, a 1:1 accurate modeling of the nuclear power filter disassembly workstation was carried out to ensure the consistency of the digital model with the actual equipment in terms of size and structure, providing a reliable data foundation for the subsequent construction of the digital twin. S2.2 Digital Model Conversion Export the model file created by SolidWorks to STEP format, and convert it to FBX format recognizable by Unity3D through 3DMAX software; import the FBX file in Unity's project panel and drag the model into the scene; right-click the model in the Hierarchy panel, select Prefab>Unpack to unpack it, then select all assembly parts, find the Reset button in Transform in the Inspector panel, and click it to position the model to the center of the Unity coordinate system to ensure the model is in the correct position; S2.3 Motion Component Definition In Unity3D, according to the motion characteristics of the mechanical structure in the model, the assembly parts with the same motion properties in the nuclear power filter disassembly workstation are classified into the same object; objects are intuitively named according to functional modules to make the structure clear and facilitate subsequent development and maintenance; S2.4 Drive Model According to the objects defined in S2.3, set the motion axis and motion speed parameters of the corresponding components, and bind them with the PLC data collected by S1.3; achieve real-time synchronization of component motion through interpolation operations, so that the motion effect of the digital model can smoothly and accurately reflect the actual equipment operation status, achieving the effect of precise driving; S2.5 Verify the rationality of the mechanical structure After driving the model, the rationality of the mechanical structure is verified by the following methods to ensure that the digital model can accurately reflect the actual equipment operation status and meet the design requirements.

5. The method for implementing the digital twin in a nuclear power filter disassembly workstation according to claim 4 is characterized in that: The specific contents of verifying the rationality of the mechanical structure mentioned in step S2.5 include: Logical process verification According to the process flow of the actual equipment, simulate the entire process of the drive model in Unity3D to observe whether the mechanical movement is running normally according to the preset logic; check whether the movement sequence between components is correct to ensure that the functional modules work together without missing steps or logical errors; Motion trajectory detection Use Unity's Gizmos tool or custom scripts to draw the motion trajectory of mechanical components in the scene; use the visual trajectory line to determine whether the component movement conforms to the designed path to avoid offset, dislocation or unreasonable path planning; Mechanical interference check Enable Unity's collision detection function to observe whether there is interference or collision between components during movement; for parts where interference occurs, analyze the cause and adjust the size or motion parameters of the model to ensure that the running clearance between components meets the design standards; Boundary condition testing Test the extreme motion range of the component to verify whether the motion exceeds the design range or overtravel occurs; simulate the maximum or minimum motion value in the PLC input data to observe whether there is an over-limit or abnormal situation; Speed ​​and time synchronization Record the movement speed and running time of the component and compare them with the design parameters of the actual equipment to verify whether the digital model can reflect the dynamic performance of the actual equipment; if there is a speed difference, optimize it by adjusting the interpolation algorithm or the frequency of data acquisition; Multiple process tests Observe the stability and consistency of the system by running the complete process multiple times; verify whether the model remains accurately synchronized during long-term operation without any freezes, delays, or accumulated errors.

6. The method for implementing the digital twin in a nuclear power filter disassembly workstation according to claim 2 is characterized in that: S3 equipment maintenance forecast specifically includes: S3.1 Equipment operation statistics Based on the equipment operation and maintenance frequency data provided by the hardware processing manufacturer, the maintenance test records of each device are integrated to build a unified maintenance counting system; after each process operation is completed, the system will automatically accumulate the count and update the equipment operation frequency in real time, so as to better track and manage the equipment usage status and maintenance needs; S3.2 Creating a visualization interface In the Hierarchy panel, select UI>Canvas, create a UICanvas object to carry interface elements, and create multiple TextUI elements under the Canvas. Each Text is used to display the real-time value of a parameter. Write a script to get the relevant data and use GetComponent <text> () method to obtain a reference to the TextUI element; in the script, the obtained data is updated in real time to the corresponding TextUI element to ensure that the parameter value can be displayed dynamically;< / text> In the Unity editor, drag each TextUI element to the corresponding variable reference in the script to ensure that the data is updated correctly; Create an InputField(Legacy) UI element under Canvas to manually enter or adjust the preset value of the maintenance frequency; use GetComponent through the script <inputfield> () method obtains the reference of the InputFieldUI element and updates the data to the input box in real time, while supporting users to manually modify the value;< / inputfield> Write logic so that when the number of times the device runs reaches the predetermined detection value, the system will automatically pop up an Image component to display a picture containing prompt information; ensure that the Image component correctly mounts the prompt picture when the threshold is reached, and provide users with clear maintenance reminders.

7. The method for implementing the digital twin in a nuclear power filter disassembly workstation according to claim 2 is characterized in that: S4 builds a historical database specifically including: S4.1 Get the model component and binding address value of the PLC signal Implement a List data structure through code to store the model components that need to read PLC signals and their bound PLC address information; traverse the List, use S7.Net to read the corresponding real-time values ​​in each PLC address, and bind these values ​​to the associated model components to ensure that the model and PLC data correspond one to one; S4.2 Record PLC signal values ​​and model component status according to timestamps The acquired PLC values ​​and bound model component states are collected regularly, and the data is timestamped each time it is collected; the object of the unpacked model corresponding to the current time, the script that triggers the reading of the PLC, the data type of the corresponding PLC, the signal value, and the timestamp of the change are recorded; Generate a complete set of time series data to facilitate subsequent analysis and reproduction; S4.3 Store the recorded data in a local TXT file Click the "Start Recording" button on the interface to collect the position information of the model component movement process and the data change information of the PLC according to the timestamp; store the data in an append-write manner each time you record to ensure the integrity and continuity of the data; Clicking "Stop Recording" will stop data collection, and the PLC address and value will be stored in a local TXT file in text format. The storage format is clear and standardized, including the model objects, the script that triggers the reading of the PLC, the corresponding PLC data type, the signal value, and the timestamp of the change, which is convenient for subsequent reading and analysis.

8. The method for implementing the digital twin in a nuclear power filter disassembly workstation according to claim 2 is characterized in that: S5 fault reproduction specifically includes: S5.1 Parsing historical data files Read the local TXT file and parse the timestamp, model component name, PLC address and corresponding signal value; The parsed data is organized into List and Dictionary data structures in chronological order as the basic data input for fault reproduction; S5.2 Reproduce data and motion process based on timestamp According to the timestamp in the parsed data, the corresponding model components and their bound PLC reading scripts are matched one by one; Through the driver script in Unity3D, the PLC signal value is mapped to the state of the model component in real time, and the model movement is driven according to the recorded motion parameters; the dynamic process of the equipment operation is restored frame by frame to reproduce the scene when the fault occurs; S5.3 Accurate Reproduction The reproduction is driven by the timestamp sequence in the historical data to ensure that the changes in PLC signals and model states are consistent with the actual time; the PLC data is directly bound to the model component state to achieve real-time synchronization of the model; when the data sampling interval is 3 times or less of the highest signal frequency, the data changes are smoothed through the interpolation algorithm to ensure smooth and natural model movement.

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