Digital twinborn simulation system and simulation method based on robot action characteristics

Abstract

The invention relates to the field of robot production lines, in particular to a digital twinning simulation system based on robot action characteristics. The digital twinning simulation system comprises a data management unit and a twinning simulation unit. The data management unit is connected to the robot management unit, collects original state data, maintained by the production line robot management unit, of the production line robot, performs data cleaning and format conversion on the original state data to form twin state data, and then performs data packaging according to subscription configuration. And different transmission channels are used to send the data to the twinborn simulation unit. The twinborn simulation unit obtains twinborn state data after unpacking, then sends the twinborn state data to each twinborn simulation robot according to registration configuration, updates the state, and displays the state in an animation form. The invention further comprises a simulation method. According to the method, data of a real robot or data provided by simulation software are collected, the problem of robot simulation animation display is solved, the investment of modeling personnel is reduced, and the requirement of non-professional personnel on the process can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of robot production lines, and in particular to a digital twin simulation system and a simulation method based on robot motion characteristics. Background Art

[0002] In the current automotive digital twin projects, robots are important production tools, and simulation-related development will begin before the factory is built. The robot's movements also need to be reflected in the digital twin, which generally has two ways: manually editing animations through videos and generating animations using simulation data.

[0003] First, obtain the axis value data of the process video or simulation file of the robot recorded on site. Secondly, the 3D model engineer manually creates the robot process animation based on the video and axis value data. Since the process is divided into several sections, the process animation must be split according to the signal of the collected data to match the animation and the signal. Then, the developer imports the model and process animation data to show the effect. Confirm that the animation is consistent with the site. If not, return to the animation production for adjustment.

[0004] The main drawbacks of this process are that it is impossible to obtain video data before the production site is officially put into operation, resulting in the inability to pre-test the effect. Moreover, animation production relies on modeling personnel, which is time-consuming and requires production personnel to have a deep understanding of the process. In addition, due to the limitations of on-site signal conditions, each animation clip must be debugged, which is a very cumbersome process. Finally, the fixed nature of process animation makes it impossible to show the real effect brought about by data changes. Summary of the invention

[0005] The purpose of the present invention is to provide a digital twin simulation system and simulation method based on robot motion characteristics, mainly to solve the problems existing in the above-mentioned prior art.

[0006] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is to provide a digital twin simulation system based on robot motion characteristics, characterized in that it comprises a data management unit and a twin simulation unit;

[0007] The data management unit is connected to the robot management unit, collects the original status data of the production line robot maintained by the production line robot management unit, cleans and converts the format of the original status data to form twin status data, and then packages the data according to the subscription configuration and sends it to the twin simulation unit using different transmission channels; the twin simulation unit obtains the twin status data after unpacking, and then sends the twin status data to each twin simulation robot in the twin simulation unit according to the registration configuration, updates the status of the twin simulation robot, and displays it in the form of animation.

[0008] Furthermore, the data management unit includes a data acquisition module and a data service module;

[0009] The data acquisition module is connected to the production line robot management unit, collects the original status data from different types of production line robots at a preset frequency, and sends the data to the data service module;

[0010] After reading the original state data, the data service module performs format conversion, data cleaning and data caching to form the twin state data and then packages it. Finally, according to the subscription configuration, the packaged twin state data is sent on different transmission channels and transmitted to the twin simulation unit.

[0011] Furthermore, the subscription configuration includes the location of the production line robot, the function of the production line robot and the real-time requirements of the twin state data.

[0012] Further, the twin simulation unit comprises a data processing module and the twin simulation robot; the data processing module is connected to a plurality of the twin simulation robots;

[0013] The data processing module receives and unpacks the twin state data packaged by the data management unit from different transmission channels, and distributes it to a single twin simulation robot according to the registration configuration, thereby avoiding repeated data transmission;

[0014] The twin simulation robot receives and generates and displays the animation corresponding to the action of the production line robot based on the twin state data; the number of the twin simulation robots corresponds one to one to the number of the production line robots; the twin simulation robot reports the demand for the twin state data to the data processing module, and the data processing module generates the registration configuration.

[0015] Furthermore, the twin simulation robot comprises a data subscription submodule, a data registration submodule and an animation execution submodule;

[0016] The data subscription submodule is connected to the data management unit through the data processing module, and is used to negotiate the subscription configuration and determine the transmission channel used when transmitting the twin state information corresponding to the current twin simulation robot;

[0017] The data registration submodule is connected to the data processing module for negotiating the registration configuration; the data registration submodule reports the device identification code to the data processing module; the data processing module only sends the twin state data corresponding to the device identification code to the twin simulation robot according to the device identification code;

[0018] The animation execution submodule reads the twin state data, generates and displays the animation consistent with the action of the production line robot.

[0019] Furthermore, the twin simulation robot also includes an interval interpolation submodule;

[0020] The interval interpolation submodule is used to compensate for the data jitter caused by the difference between the animation frame rate and the sampling rate of the twin state data, and interpolate between the twin state data according to the sampling rate.

[0021] The present invention also discloses a simulation method using the digital twin simulation system based on robot motion characteristics, which is characterized by comprising the steps of:

[0022] Step S1, the data management unit and the twin simulation unit complete power-on initialization; the twin simulation unit negotiates the subscription configuration with the data management unit; the twin simulation robot negotiates the registration configuration with the data processing module in the twin simulation unit;

[0023] Step S2, the data management unit obtains the original state data through the robot management unit;

[0024] Step S3, the data management unit processes the original state data, packages and caches the twin state data after obtaining it, and then sends it to the twin simulation unit on different transmission channels based on the subscription configuration;

[0025] Step S4, after the data processing module in the twin simulation unit receives and unpacks the twin state data, the twin state data is sent to a single corresponding twin simulation robot based on the registration configuration;

[0026] Step S5, the twin simulation robot performs data processing including interpolation based on the twin state data;

[0027] Step S6: the twin simulation robot generates and displays the animation.

[0028] Furthermore, in step S2, the original state data includes axis value signals, control signals and alarm signals, which are either collected from actual actions of the production line robot or from simulation files.

[0029] Furthermore, in said step S3, sub-steps are included:

[0030] Step S31, the data service module in the data management unit converts the format of the original state data from the robot management unit into the twin state data in a unified form;

[0031] Step S32, since the sizes of the original state data are different, the sizes of the converted twin state data are also different; the data management unit groups and packages the twin state data of different sizes in a buffer according to the device identification code;

[0032] Step S33, when the accumulated twin state data corresponding to a device identification code in the buffer reaches a set threshold, the data management unit sends all the twin state data corresponding to the device identification code in the buffer to the corresponding twin simulation unit at once through the pre-specified transmission channel.

[0033] Furthermore, in the step S6, the sub-steps are included:

[0034] Step S61, the animation execution submodule in the twin simulation robot reads the current position of each component of the twin simulation robot;

[0035] Step S62, the animation execution submodule calculates the expected position of the component according to the twin state data;

[0036] Step S63, determining whether the current position is consistent with the expected position; if they are consistent, skipping the animation update and jumping to step S66;

[0037] Step S64, updating the value of the current position to the value of the expected position;

[0038] Step S65, the animation execution submodule generates an animation according to the updated current position;

[0039] Step S66, refresh the animation display.

[0040] In view of the above technical features, the present invention has the following advantages:

[0041] 1. The digital twin simulation system of the present invention is based on the robot's motion characteristics. It uses the data collected from the real robot to drive the robot in the digital twin scene, solves the problem of robot simulation animation display, and reduces the input of modeling personnel.

[0042] 2. The digital twin simulation system of the present invention is based on the robot's motion characteristics. In the early stage of the digital twin project construction, it can also drive the robot's motion through the data provided by the simulation software and generate animations for early simulation process confirmation.

[0043] 3. The present invention uses a simulation method of a digital twin simulation system based on robot motion characteristics, which reduces the requirements of non-professionals on the process, and does not need to split the process. It only needs to ensure the accuracy and delay of the collected data, and the other process will be consistent with the on-site data throughout. This simulation method can fully reflect the posture of the on-site robot, and the digital twin does not need to make any program modifications for the later robot process adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a system block diagram of a preferred embodiment of the digital twin simulation system based on robot motion characteristics of the present invention;

[0045] Figure 2 It is a method flow chart of a preferred embodiment of the simulation method of the present invention using a digital twin simulation system based on robot motion characteristics.

[0046] In the figure: 100-data management unit, 200-twin simulation unit, 300-robot management unit, 400-production line robot;

[0047] 110-data acquisition module, 120-data service module;

[0048] 210-data processing module, 220-twin simulation robot;

[0049] 221 -data subscription submodule, 222 -data registration submodule, 223 -interval interpolation submodule, 224 -animation execution submodule. DETAILED DESCRIPTION

[0050] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0051] See also Figure 1The present invention discloses a digital twin simulation system based on robot motion characteristics. As shown in the figure, a preferred embodiment thereof is composed of a data management unit 100 and a twin simulation unit 200. On the production line, the robot management unit 300 is responsible for managing and maintaining the status of the production line robot 400 and controlling their actions. The data management unit 100 is connected to the robot management unit 300, and the robot management unit 300 is used to collect the original state data of the production line robot 400. After obtaining the original state data, the data management unit 100 pre-processes the original state data, such as data cleaning and format conversion, so as to convert the original state data of each production line robot 400 into corresponding twin state data. The twin simulation unit 200 is responsible for managing the twin simulation robot 220. It updates the status of the twin simulation robot 220 corresponding to the production line robot 400 according to the twin state data, and then displays it in the form of animation, so that the action and state of the twin simulation robot 220 are synchronized with the production line robot 400. Between the data management unit 100 and the twin simulation unit 200, the twin state data corresponding to each production line robot 400 (also each twin simulation robot 220) needs to be transmitted. There are many production line robots 400 in the production line, and each production line robot 400 generates new original state data every moment during work, so the total amount of twin state data is very large. In order to efficiently transmit these twin state data, the data management unit 100 will package the twin state data according to the subscription configuration, and then send it to the twin simulation unit 200 using different transmission channels. Correspondingly, after the twin simulation unit 200 receives the data, it first needs to unpack the data before it can obtain the twin state data. The twin simulation unit 200 itself also manages a large number of twin simulation robots 220, and it also needs to distribute twin state data efficiently. To this end, the twin simulation unit 200 will send the twin state data to the twin simulation robot on demand according to the registration configuration, thereby avoiding the form of broadcasting and improving the efficiency of information transmission.

[0052] The data management unit 100 is composed of a data collection module 110 and a data service module 120 .

[0053] The data acquisition module 110 is directly connected to the robot management unit 300 and is responsible for obtaining the original state data of each production line robot 400 from the robot management unit 300. The data acquisition module 110 has a preset frequency parameter. After starting work, the data acquisition module 110 periodically sends commands to the production line robots 400 according to the setting of the frequency parameter, collects their real-time status, encapsulates it into original state data, and then sends it to the data service module 120. Corresponding to different types of production line robots 400, the frequency read by the data acquisition module 110 can be set separately. In practice, according to the characteristics of the production line robots 400 themselves, the sampling period of the production line robots 400 with slow state changes can be set longer, so as to reduce the amount of original state data from the beginning and reduce the system load without affecting the animation performance of the twin simulation robot 220. The data acquisition module 110 mainly solves the communication protocol problem and can collect data from different systems or PLCs at a fixed or variable frequency and push it to a specified location. However, due to the dispersed nature of data, it is usually only collected and distributed according to device type, and data cleaning and merging are generally not performed.

[0054] The data service module 120 processes the original state data, generates the twin state data, and sends it to the twin simulation unit 200. The data service module 120 mainly focuses on the integration of multi-source data in a single process flow, and needs to convert, organize and package the data. This module aims to solve the problems of high frequency of data push, small single data volume and low efficiency, and pushes data in a multi-channel manner according to the data volume and frequency. Specifically, after reading the original state data, the data service module 120 performs format conversion, data cleaning and data cache on the original state data to generate twin state data. Corresponding to different types of production line robots 400, the format of the final twin state data will be different, which contains information related to the characteristics of the production line robot 400. Multiple independent transmission channels will be set between the data management unit 100 and the twin simulation unit 200. The transmission channel is divided according to the characteristics of the data transmitted on the transmission channel, including the location of the production line robot 400, the function of the production line robot 400 and the real-time requirements of the twin state data. First, the production line robots 400 in similar positions generally work together to complete the same task, and the efficiency of sending them together is relatively high. Secondly, the information characteristics in the twin state data generated by the production line robots 400 with different functions are different, and sending them separately will improve the sending efficiency. Finally, some twin state data have real-time requirements and need to be sent to the twin simulation unit 200 through an independent transmission channel first. The specific transmission channel on which a twin state data is transmitted is determined by the subscription configuration. In this embodiment, the subscription configuration includes the workshop where the production line robot 400 is located, the model of the production line robot 400 and the real-time requirements of the production line robot 400. The twin state data is sent to the twin simulation unit 200 through different transmission channels according to the subscription configuration. The data service module 120 will package the twin state data cache according to the device identification code of the production line robot 400, and after accumulating a certain number, it will be sent together on the transmission channel. This can further reduce the number of data packets actually sent on the transmission channel and reduce the overhead of the transmission layer, thereby greatly improving the transmission efficiency of the twin state data.

[0055] The twin simulation unit 200 is composed of a data processing module 210 and a twin simulation robot 220. One data processing module 210 is set in each twin simulation unit 200, but it can include multiple twin simulation robots 220. The data processing module 210 is connected to all the twin simulation robots 220 in the twin simulation unit 200 at the same time.

[0056] The data processing module 210 is connected to the data management unit 100 to realize the multi-channel data receiving function. According to the system configuration, the real-time changing data is distributed to the registered modules, mainly to solve the problem of accurate data consumption, to ensure that the consumption module can receive data according to the channel it needs, and only obtain the specified data. The data processing module 210 is connected to the data service module 120 in the data management unit 100 through one or more transmission channels. The data processing module 210 receives the packaged data from different transmission channels, and then obtains the twin state data after unpacking, and finally classifies the transmission channel of the twin state data source. In this way, the twin state data can be processed differently according to the requirements of the transmission channel. For example, if a transmission channel is identified as having real-time requirements, then the twin state data from the transmission channel will be sent to the twin simulation robot 220 in the data processing module 210 first. After unpacking, the data processing module 210 obtains the twin state data, and according to the registration configuration, each twin state data is distributed to the corresponding single twin simulation robot 220, thereby avoiding invalid data transmission. The registration configuration is generated when the twin simulation unit 200 is initialized, combined with the information reported by the twin simulation robot 220, and includes the device identification code of the twin simulation robot 220. The twin state data also includes a device identification code to indicate its own sending target. The data processing module 210 compares the device identification code in the twin state data with the device identification code in the registration configuration to find the twin simulation robot 220 that should receive the twin state data, and then completes the fixed-point sending of the data.

[0057] The twin simulation robot 220 is composed of a data subscription submodule 221, a data registration submodule 222, an interval interpolation submodule 223, and an animation execution submodule 224. Each twin simulation robot 220 corresponds to a production line robot 400 one by one.

[0058] The data subscription submodule 221 is used to communicate with the data service module 120 in the data management unit 100 through the information forwarding of the data processing module 210 when the twin simulation unit 200 is initialized, negotiate the subscription configuration, configure the current device, and obtain data from the specified channel. The data subscription submodule 221 will report the information of the production line robot 400 corresponding to itself to the data service module 120, such as the workshop where the production line robot 400 is located, the model of the production line robot 400, and the real-time requirements of the production line robot 400. This information will form a subscription configuration in the data subscription submodule 221, thereby determining the transmission channel used for the twin state information required by itself.

[0059] Similarly, the data registration submodule 222 is used to negotiate the registration configuration with the data processing module 210 when the twin simulation unit 200 is initialized, and can configure the current device to only push data with the specified device identification code to reduce invalid execution caused by redundant data. Specifically, the data registration submodule 221 reports its own device identification code to the data processing module 210. When the data processing module 210 distributes the twin state data, the corresponding twin state data will be sent to the twin simulation robot 220 only when the device identification code in the twin state data is consistent with the device identification code reported by the twin simulation robot 220.

[0060] After receiving the twin state data, the twin simulation robot 220 generates and displays the animation corresponding to the action of the production line robot 400 by using the interval interpolation submodule 223 and the animation execution submodule 224. In order to reduce the total amount of data transmitted in the entire system, the sampling rate of the twin state data is generally as low as possible. However, if the animation frame rate of the twin simulation robot 220 is reduced, it will be stuck. In addition, when the twin state data occasionally jitters during transmission, it will also cause the animation generation speed to be ahead of the twin state data, resulting in animation stuck. Therefore, the interval interpolation submodule 223 is set in the animation execution submodule 224. The interval interpolation module 223 will record several points of real twin state data, and insert the predicted data between these twin state data by data interpolation to smooth the original twin state data. The interval interpolation module 223 must adjust the length of the supplementary data according to the acquisition frequency. If the length of the supplementary data is too long, the robot's action cycle will be extended; conversely, if the length of the supplementary data is insufficient, the robot's action will appear abrupt and lack fluency. Then, the interpolated data is sent to the animation execution submodule 224 to generate an animation consistent with the action of the production line robot 400, and then displayed on the screen. In this way, the difference between the animation frame rate and the actual sampling rate can be filled, so that the displayed animation can be smooth at any time without increasing the data transmission pressure of the entire system.

[0061] The animation execution submodule 224 has the function of adjusting the actions and values ​​of the twin simulation robot 220 according to the actual situation. In view of the fact that errors may occur in the actual installation process of the production line robot 400, corresponding adjustments are usually required on site. Without moving the production line robot 400, by appropriately correcting the configuration in the animation execution submodule 224, consistency with the on-site environment can be ensured.

[0062] See also Figure 2 The present invention also discloses a simulation method using the digital twin simulation system based on robot motion characteristics. A preferred embodiment thereof comprises the steps of:

[0063] Step S100: system initialization.

[0064] The data management unit and twin simulation unit are powered on and initialized.

[0065] Inside the twin simulation unit, each twin simulation robot negotiates with the data processing module and completes the registration configuration.

[0066] The twin simulation unit negotiates with the data management unit and completes the subscription configuration.

[0067] Step S200, obtaining original status data.

[0068] The original state data is used to describe the state of the production line robot and is obtained by the data management unit. Depending on the scenario, the original state data can be collected in real time by the robot management unit from the actual action of the production line robot, or from the simulation file. The original state data contains the axis value signal, control signal and alarm signal of each production line robot.

[0069] Step S301, forming twin state data.

[0070] The data service module in the data management unit converts the format of the original state data from the production line robot management unit into a unified form of twin state data for subsequent packaging and processing. Here, although the format is the same, the data content from different production line robots is still different. In particular, the sampling frequency of the original state data from different production line robots is different.

[0071] Step S302, packaging twin state data.

[0072] Since the sizes of the original state data vary, the sizes of the converted twin state data also vary. The data management unit groups and packages the twin state data of different sizes in the buffer according to the device identification code, and then sends them uniformly, thereby improving transmission efficiency.

[0073] Step S303, sending the packaged twin state data.

[0074] The buffer is classified by device identification code, and each device identification code corresponds to an independent buffer. At the same time, each buffer has a set threshold. When the accumulation of twin state data with the same device identification code in a buffer exceeds the set threshold, the data management unit sends all the twin state data in the buffer to the corresponding twin simulation unit at once through the transmission channel pre-specified by the subscription configuration.

[0075] Generally speaking, if the current device has high real-time requirements, the threshold will be set relatively low, so that the twin state data can be sent more frequently. Conversely, the threshold will be set as high as possible, so that the twin state data can be transmitted on a larger scale.

[0076] Step S400, unpack and forward the twin state data.

[0077] After the twin simulation unit receives the packaged data, the data processing module unpacks it to retrieve the twin state data. Next, the data processing module reads the registration configuration, matches the device identification code to find the target of the twin state data, and then transmits the twin state data only to the twin simulation robot with the same device identification code.

[0078] Step S500: Generate animation information.

[0079] Due to system bandwidth and occasional jitter, the amount of twin state data is generally less than the amount required to generate a specified frame rate animation. At this time, the twin simulation robot uses the interval interpolation module to interpolate the twin state data to increase the data density. The interval interpolation module then sends the interpolated twin state data to the animation execution submodule for display.

[0080] Step S601, reading the current position of each component.

[0081] The animation execution submodule reads the current position of each component of the twin simulation robot.

[0082] Step S602, calculating the expected position of each component.

[0083] The animation execution submodule calculates the expected position of each component based on the interpolated twin state data.

[0084] Step S603, determining whether the animation needs to be refreshed.

[0085] For each component, the animation execution submodule compares the current position with the expected position to see if they are consistent. If they are consistent, it means that the current animation does not need to be updated, and the process jumps to step S606. Otherwise, the process goes to step S604 to start updating the animation display.

[0086] Step S604, updating the current location.

[0087] Updates the value at the current position with the value at the desired position.

[0088] Step S605: Generate a new animation.

[0089] The animation execution submodule generates a new animation for each component based on the updated current position.

[0090] Step S606, refresh the animation display.

[0091] If the current position does not change, then the animation does not actually change. On the contrary, if the current position is updated to the desired position, the animation will be updated to the new position, so that the movements of the twin simulation robot and the production line robot are consistent, achieving a twin effect.

[0092] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A digital twin simulation system based on robot motion characteristics, characterized in that: Contains data management unit and twin simulation unit; The data management unit is connected to the robot management unit, collects the original state data of the production line robot maintained by the production line robot management unit, cleans and converts the original state data into twin state data, and then packages the data according to the subscription configuration and sends it to the twin simulation unit using different transmission channels; The twin simulation unit obtains the twin state data after unpacking, and then sends the twin state data to each twin simulation robot in the twin simulation unit according to the registration configuration, updates the state of the twin simulation robot, and displays it in the form of animation.

2. The digital twin simulation system based on robot motion characteristics as claimed in claim 1, characterized in that: The data management unit includes a data acquisition module and a data service module; The data acquisition module is connected to the production line robot management unit, collects the original status data from different types of production line robots at a preset frequency, and sends the data to the data service module; After reading the original state data, the data service module performs format conversion, data cleaning and data caching to form the twin state data and then packages it. Finally, according to the subscription configuration, the packaged twin state data is sent on different transmission channels and transmitted to the twin simulation unit.

3. The digital twin simulation system based on robot motion characteristics as claimed in claim 2, characterized in that: The subscription configuration includes the location of the production line robot, the function of the production line robot and the real-time requirements of the twin state data.

4. The digital twin simulation system based on robot motion characteristics according to claim 1, characterized in that: The twin simulation unit comprises a data processing module and the twin simulation robot; the data processing module is connected to a plurality of the twin simulation robots; The data processing module receives and unpacks the twin state data packaged by the data management unit from different transmission channels, and distributes it to a single twin simulation robot according to the registration configuration, thereby avoiding repeated data transmission; The twin simulation robot receives and generates and displays the animation corresponding to the action of the production line robot according to the twin state data; The number of the twin simulation robots corresponds one-to-one to the number of the production line robots; the twin simulation robots report their demand for the twin state data to the data processing module, and the data processing module generates the registration configuration.

5. The digital twin simulation system based on robot motion characteristics as claimed in claim 4, characterized in that: The twin simulation robot comprises a data subscription submodule, a data registration submodule and an animation execution submodule; The data subscription submodule is connected to the data management unit through the data processing module, and is used to negotiate the subscription configuration and determine the transmission channel used when transmitting the twin state information corresponding to the current twin simulation robot; The data registration submodule is connected to the data processing module for negotiating the registration configuration; the data registration submodule reports the device identification code to the data processing module; the data processing module only sends the twin state data corresponding to the device identification code to the twin simulation robot according to the device identification code; The animation execution submodule reads the twin state data, generates and displays the animation consistent with the action of the production line robot.

6. The digital twin simulation system based on robot motion characteristics as claimed in claim 5, characterized in that: The twin simulation robot further comprises an interval interpolation submodule; The interval interpolation submodule is used to compensate for the data jitter caused by the difference between the animation frame rate and the sampling rate of the twin state data, and interpolate between the twin state data according to the sampling rate.

7. A simulation method using the digital twin simulation system based on robot motion characteristics as claimed in claim 1, characterized in that: Contains steps: Step S1, the data management unit and the twin simulation unit complete power-on initialization; the twin simulation unit negotiates the subscription configuration with the data management unit; the twin simulation robot negotiates the registration configuration with the data processing module in the twin simulation unit; Step S2, the data management unit obtains the original state data through the robot management unit; Step S3, the data management unit processes the original state data, packages and caches the twin state data after obtaining it, and then sends it to the twin simulation unit on different transmission channels based on the subscription configuration; Step S4, after the data processing module in the twin simulation unit receives and unpacks the twin state data, the twin state data is sent to a single corresponding twin simulation robot based on the registration configuration; Step S5, the twin simulation robot performs data processing including interpolation based on the twin state data; Step S6: the twin simulation robot generates and displays the animation.

8. The simulation method of digital twin based on robot motion characteristics as claimed in claim 7, characterized in that: In step S2, the original state data includes axis value signals, control signals and alarm signals, which are either collected from the actual actions of the production line robot or from simulation files.

9. The simulation method of digital twin based on robot motion characteristics according to claim 7, characterized in that: In the step S3, the sub-steps are included: Step S31, the data service module in the data management unit converts the format of the original state data from the robot management unit into the twin state data in a unified form; Step S32, since the sizes of the original state data are different, the sizes of the converted twin state data are also different; the data management unit groups and packages the twin state data of different sizes in a buffer according to the device identification code; Step S33, when the accumulated twin state data corresponding to a device identification code in the buffer reaches a set threshold, the data management unit sends all the twin state data corresponding to the device identification code in the buffer to the corresponding twin simulation unit at once through the pre-specified transmission channel.

10. The simulation method of digital twin based on robot motion characteristics according to claim 7, characterized in that: In the step S6, the sub-steps are included: Step S61, the animation execution submodule in the twin simulation robot reads the current position of each component of the twin simulation robot; Step S62, the animation execution submodule calculates the expected position of the component according to the twin state data; Step S63, determining whether the current position is consistent with the expected position; if they are consistent, skipping the animation update and jumping to step S66; Step S64, updating the value of the current position to the value of the expected position; Step S65, the animation execution submodule generates an animation according to the updated current position; Step S66, refresh the animation display.

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