A digital twin simulation system and simulation method based on robot action features

Abstract

The application relates to the field of robot production lines, and particularly relates to a digital twin simulation system based on robot action features, which comprises a data management unit and a twin simulation unit. The data management unit is connected to a robot management unit, collects original state data of a production line robot maintained by the production line robot management unit, carries out data cleaning and format conversion on the original state data to form twin state data, then carries out data packaging according to a subscription configuration, and sends the data to the twin simulation unit by using different transmission channels. The twin simulation unit obtains the twin state data after unpacking, then sends the twin state data to each twin simulation robot according to a registration configuration, updates the state, and displays in the form of an animation. The application further comprises a simulation method. The application collects data of a real robot or data provided by simulation software, solves the problem of robot simulation animation display, reduces the input of modeling personnel, and can also reduce the process requirements of non-professional personnel.

Description

Technical Field

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

[0002] In current automotive digital twin projects, robots serve as crucial production tools, and simulation-related development begins even before factory construction. The digital twin also needs to reflect the robot's movements, generally achieved through two methods: manually editing animations from videos and generating animations using simulation data.

[0003] First, acquire the axis data from on-site recorded videos or simulation files of the robot's process. Second, 3D model engineers manually create robot process animations based on the video and axis data. Since the process is divided into several segments, the animation must be broken down according to the acquired data signals to ensure the animation matches the signals. Then, developers import the model and process animation data to demonstrate the effect. The animation is confirmed to match the on-site process; if discrepancies are found, the process is returned to the animation production team for adjustments.

[0004] The main drawbacks of this type of process are: video data cannot be acquired before formal operation on the production floor, making it impossible to pre-test the effects. Furthermore, animation production relies on modelers, is time-consuming, and requires production staff to have a deep understanding of the process. Additionally, due to limitations in on-site signal conditions, each animation segment must be debugged, a rather tedious process. Finally, the fixed nature of process animation prevents it from showcasing the realistic effects of data changes. Summary of the Invention

[0005] The purpose of this invention is to provide a digital twin simulation system and method based on robot motion characteristics, which mainly solves the problems existing in the prior art.

[0006] To achieve the above objectives, 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 includes a data management unit and a twin simulation unit;

[0007] The data management unit is connected to the robot management unit, collects the raw state data of the production line robots maintained by the production line robot management unit, cleans and converts the raw state data to form twin state data, 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 unpacks the data to obtain the twin state data, 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.

[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, and collects the raw status data from different types of production line robots at a preset frequency, and sends it 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, which is then packaged. Finally, according to the subscription configuration, the packaged twin state data is sent on different transmission channels to the twin simulation unit.

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

[0012] Furthermore, the twin simulation unit includes a data processing module and the twin simulation robot; the data processing module is connected to multiple twin simulation robots;

[0013] The data processing module receives and unpacks the twin status 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 duplicate data transmission.

[0014] The twin simulation robot receives and generates an animation corresponding to the actions of the production line robot based on the twin state data, and displays it; the number of twin simulation robots corresponds one-to-one with the number of production line robots; the twin simulation robot reports its need 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 includes 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 and is used to negotiate the registration configuration; the data registration submodule reports the device identification code to the data processing module; the data processing module sends only the twin status 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 the animation that matches the movements of the production line robot, and displays it.

[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 interpolates between the twin state data according to the sampling rate.

[0021] This invention also discloses a simulation method utilizing the aforementioned digital twin simulation system based on robot motion features, characterized by comprising the following steps:

[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, obtains the twin state data, packages and caches it, and then sends it to the twin simulation unit on different transmission channels based on the subscription configuration.

[0025] Step S4: After receiving and unpacking the twin state data, the data processing module in the twin simulation unit sends the twin state data 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 robot generates and displays the animation.

[0028] Furthermore, in step S2, the raw 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.

[0029] Furthermore, step S3 includes the following sub-steps:

[0030] Step S31: The data service module in the data management unit converts the original state data from the robot management unit into a unified form of twin state data.

[0031] Step S32: Since the original state data has different sizes, the converted twin state data also has different sizes; the data management unit groups and packages the twin state data of different sizes into buffers according to the device identification code.

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

[0033] Furthermore, step S6 includes the following sub-steps:

[0034] Step S61: The animation execution submodule in the twin robot reads the current position of each component of the twin robot.

[0035] Step S62: The animation execution submodule calculates the desired position of the component based on the twin state data;

[0036] Step S63: Determine whether the current position and the desired position are consistent; if they are consistent, skip the animation update and proceed to step S66.

[0037] Step S64: Update the value of the current position to the value of the desired position;

[0038] Step S65: The animation execution submodule generates an animation based on 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 present invention is a digital twin simulation system based on robot motion characteristics. It uses data collected from real robots to drive the robot in the digital twin scene, solving the problem of robot simulation animation display, while reducing the investment of modeling personnel.

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

[0043] 3. This invention utilizes a simulation method based on a digital twin simulation system for robot motion characteristics. This reduces the requirements for non-professionals regarding the process and eliminates the need to break down the process. Only the accuracy and latency of the collected data need to be ensured; all other process steps will be consistent with the on-site data. This simulation method can fully reflect the robot's posture on-site, and no modifications to the digital twin's program are required for subsequent adjustments to the robot's process. Attached Figure Description

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

[0045] Figure 2 This is a flowchart of a preferred embodiment of the simulation method of the present invention using a digital twin simulation system based on robot motion features.

[0046] In the diagram: 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 Implementation

[0050] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0051] Please see Figure 1This invention discloses a digital twin simulation system based on robot motion characteristics. As shown in the figure, a preferred embodiment comprises 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 state of the production line robots 400 and controlling their movements. The data management unit 100 is connected to the robot management unit 300 and uses the robot management unit 300 to collect the raw state data of the production line robots 400. After obtaining the raw state data, the data management unit 100 preprocesses the raw state data, such as data cleaning and format conversion, thereby converting the raw 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. Based on the twin state data, it updates the state of the twin simulation robot 220 corresponding to the production line robot 400 and then displays it in the form of animation, thereby synchronizing the movements and states of the twin simulation robot 220 with those of the production line robot 400. Between the data management unit 100 and the twin simulation unit 200, twin state data corresponding to each production line robot 400 (which is also each twin simulation robot 220) needs to be transmitted. The production line contains many production line robots 400, and each robot 400 generates new raw state data every moment during operation, resulting in a massive amount of twin state data. To efficiently transmit this twin state data, the data management unit 100 packages the twin state data according to the subscription configuration and then sends it to the twin simulation unit 200 using different transmission channels. Correspondingly, after receiving the data, the twin simulation unit 200 first needs to unpack the data before obtaining the twin state data. The twin simulation unit 200 itself also manages a large number of twin simulation robots 220 and also needs to efficiently distribute twin state data. Therefore, the twin simulation unit 200 sends twin state data to the twin simulation robots on demand according to the registration configuration, thereby avoiding broadcasting and improving the efficiency of information transmission.

[0052] The data management unit 100 consists of a data acquisition 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 acquiring the raw 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 operation, the data acquisition module 110 periodically sends commands to the production line robots 400 according to this frequency parameter setting, collects their real-time status, encapsulates it into raw state data, and then sends it to the data service module 120. The frequency at which the data acquisition module 110 reads data can be set individually for different types of production line robots 400. In practice, based on the characteristics of the production line robots 400, the sampling period for production line robots 400 with slow state changes can be set longer, thereby reducing the amount of raw state data from the beginning without affecting the animation performance of the twin simulation robot 220, thus reducing the system load. The data acquisition module 110 mainly solves the communication protocol problem, enabling it to collect data from different systems or PLCs at fixed or variable frequencies and push it to a designated location. However, due to the dispersed nature of the data, it is usually only collected and distributed according to the type of device, and data cleaning and merging are generally not performed.

[0054] The data service module 120 processes the raw state data to generate twin state data, which is then sent to the twin simulation unit 200. The data service module 120 primarily addresses the integration of multi-source data within a single process flow, requiring data conversion, organization, and packaging. This module aims to solve the problems of high data push frequency, small data volume per push, and low efficiency, and employs a multi-channel approach to push data based on data volume and frequency. Specifically, after reading the raw state data, the data service module 120 performs format conversion, data cleaning, and data caching to generate twin state data. The format of the final twin state data will differ depending on the type of production line robot 400, and it includes information related to the characteristics of the production line robot 400. Multiple independent transmission channels are established between the data management unit 100 and the twin simulation unit 200. These transmission channels are categorized based on the characteristics of the data transmitted on them, 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, production line robots 400 in close proximity typically collaborate to complete the same task, resulting in higher transmission efficiency when sent together. Second, the information characteristics of the twin state data generated by production line robots 400 with different functions differ, so sending them separately improves transmission efficiency. Finally, some twin state data has real-time requirements and needs to be sent to the twin simulation unit 200 via a dedicated transmission channel. The specific transmission channel on which 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. Based on the subscription configuration, the twin state data is sent to the twin simulation unit 200 via different transmission channels. The data service module 120 caches and packages the twin state data according to the device identification code of the production line robot 400, accumulating a certain number before sending them all at once on the transmission channel. This further reduces the number of data packets actually sent on the transmission channel, reducing transmission layer overhead and significantly improving the transmission efficiency of the twin state data.

[0055] The twin simulation unit 200 consists of a data processing module 210 and twin simulation robots 220. Each twin simulation unit 200 has one data processing module 210, but may contain 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.

[0056] The data processing module 210 interfaces with the data management unit 100 to achieve multi-channel data reception. Based on the system configuration, it distributes real-time changing data to registered modules, primarily addressing the issue of accurate data consumption. This ensures that consuming modules receive data according to their required channels and acquire only the specified data. The data processing module 210 connects to the data service module 120 in the data management unit 100 through one or more transmission channels. The data processing module 210 receives packaged data from different transmission channels, unpacks it to obtain twin state data, and then classifies and processes the transmission channels from which the twin state data originates. This allows for different processing of the twin state data according to the requirements of the transmission channels. For example, if a transmission channel is identified as requiring real-time performance, the twin state data from that channel will be preferentially sent to the twin simulation robot 220 by the data processing module 210. After unpacking, the data processing module 210 obtains the twin state data and, according to the registration configuration, distributes each twin state data to its corresponding individual twin simulation robot 220, thereby avoiding invalid data transmission. The registration configuration is generated during the initialization of the twin simulation unit 200, based on information reported by the twin simulation robot 220, and includes the device identification code of the twin simulation robot 220. The twin status data also contains a device identification code, used to indicate its own transmission target. The data processing module 210 compares the device identification code in the twin status data with the device identification code in the registration configuration to find the twin simulation robot 220 that should receive the twin status data, and then completes the targeted data transmission.

[0057] The twin simulation robot 220 consists 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 one-to-one with the production line robot 400.

[0058] The data subscription submodule 221 is used to communicate with the data service module 120 in the data management unit 100 through information forwarding from the data processing module 210 during the initialization of the twin simulation unit 200. This negotiates the subscription configuration, configures the current device, and allows it to acquire data from a specified channel. The data subscription submodule 221 reports information about its corresponding production line robot 400 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 forms the subscription configuration in the data subscription submodule 221, thereby determining the transmission channel used for the twin state information it needs.

[0059] Similarly, the data registration submodule 222 negotiates registration configuration with the data processing module 210 during the initialization of the twin simulation unit 200. It can configure the current device to only push data with a specified device identifier code, thereby reducing invalid execution caused by redundant data. Specifically, the data registration submodule 221 reports its own device identifier code to the data processing module 210. When the data processing module 210 distributes twin status data, it will only send the corresponding twin status data to the twin simulation robot 220 if the device identifier code in the twin status data matches the device identifier code reported by the twin simulation robot 220.

[0060] After receiving the twin state data, the twin simulation robot 220 uses the interval interpolation submodule 223 and the animation execution submodule 224 to generate and display animations corresponding to the actions of the production line robot 400. To reduce the total amount of data transmitted in the entire system, the sampling rate of the twin state data is generally kept as low as possible. However, if the animation frame rate of the twin simulation robot 220 is reduced, stuttering will occur. Additionally, occasional data jitter during twin state data transmission can cause the animation generation speed to outpace the twin state data, resulting in animation stuttering. Therefore, the interval interpolation submodule 223 is included in the animation execution submodule 224. The interval interpolation module 223 records several points of real twin state data and inserts predicted data between these twin state data points using 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 supplementary data length is too long, it will prolong the robot's action cycle; conversely, if the supplementary data length is insufficient, the robot's actions will appear abrupt and lack smoothness. The interpolated data is then sent to the animation execution submodule 224 to generate an animation that matches the movements of the production line robot 400, which is then displayed on the screen. This fills the gap between the animation frame rate and the actual sampling rate, ensuring that the displayed animation is smooth at all times without increasing the data transmission pressure on 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. Given that errors may occur during the actual installation of the production line robot 400, corresponding adjustments are usually required on-site. Without moving the production line robot 400 itself, consistency with the on-site environment can be ensured by appropriately modifying the configuration in the animation execution submodule 224.

[0062] Please see Figure 2 The present invention also discloses a simulation method utilizing the above-mentioned digital twin simulation system based on robot motion features. A preferred embodiment of this method includes the following steps:

[0063] Step S100: System initialization.

[0064] The data management unit and the 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 and configuration.

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

[0067] Step S200: Obtain the original state data.

[0068] Raw state data, used to describe the state of the production line robots, is acquired by the data management unit. Depending on the scenario, the raw state data can be collected in real time by the robot management unit from the actual movements of the production line robots, or it can come from simulation files. The raw state data includes axis signals, control signals, and alarm signals for each production line robot.

[0069] Step S301: Generate twin state data.

[0070] The data service module in the data management unit converts the raw state data from the production line robot management unit into a unified format of twin state data for easier subsequent packaging and processing. Although the format is the same, the data content from different production line robots still differs. Specifically, the sampling frequency of the raw state data from different production line robots is different.

[0071] Step S302: Pack the twin state data.

[0072] Because the original state data varies in size, the resulting twin state data also varies in size. The data management unit groups and packages the twin state data of different sizes into a buffer according to the device identifier code, and then sends them in a unified manner, thereby improving transmission efficiency.

[0073] Step S303: Send the packaged twin state data.

[0074] The buffers are categorized by device identifiers, with each device identifier corresponding to an independent buffer. Each buffer also has a set threshold. When the accumulated twin state data with the same device identifier in a buffer exceeds the set threshold, the data management unit sends all the twin state data in that buffer to the corresponding twin simulation unit at once via a 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, allowing twin state data to be sent more frequently. Conversely, the threshold will be set as high as possible, allowing twin state data to be transmitted on a larger scale.

[0076] Step S400: Unpack and forward the twin state data.

[0077] After receiving the packaged data, the twin simulation unit unpacks it using the data processing module to re-obtain the twin status data. Next, the data processing module reads the registration configuration, matches the device identifier code to find the target for sending the twin status data, and then transmits the twin status data only to the twin simulation robot with the same device identifier code.

[0078] Step S500: Generate animation information.

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

[0080] Step S601: Read the current position of each component.

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

[0082] Step S602: Calculate the desired position of each component.

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

[0084] Step S603: Determine whether the animation needs to be refreshed.

[0085] For each component, the animation execution submodule compares the current position with the desired position. If they match, the current animation does not need to be updated, and the process jumps to step S606. Otherwise, it proceeds to step S604 to begin updating the animation display.

[0086] Step S604: Update the current position.

[0087] Update the current position value using 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 remains unchanged, then the animation will not actually change. Conversely, if the current position is updated to the desired position, the animation will update to the new position, thus making the movements of the twin robot consistent with those of the production line robot, achieving a twin effect.

[0092] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A digital twin simulation system based on robot action features, characterized in that, The data management unit and the twin simulation unit are included. The data management unit is connected to the robot management unit, collects original state data of the production line robot maintained by the production line robot management unit, forms twin state data after data cleaning and format conversion of the original state data, and then packs the twin state data according to a subscription configuration and sends it to the twin simulation unit through different transmission channels. The twin simulation unit unpacks the twin state data, sends it to each twin simulation robot in the twin simulation unit according to a registration configuration, updates the state of the twin simulation robot, and displays it in the form of animation. 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 state data from different types of production line robots at a preset frequency, and sends it to the data service module. The data service module reads the original state data, performs format conversion, data cleaning and data caching, forms the twin state data, packs it, and finally sends the packed twin state data to the twin simulation unit through different transmission channels according to the subscription configuration. The twin simulation unit includes a data processing module and the twin simulation robot; the data processing module is connected to a plurality of twin simulation robots. The data processing module receives and unpacks the twin state data packed 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 the animation corresponding to the action of the production line robot according to the twin state data and displays it. The number of twin simulation robots corresponds to the number of 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. The twin simulation robot includes 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, used to negotiate the subscription configuration and determine the transmission channel used by the twin simulation robot corresponding to the twin state information transmission at present; The data registration submodule is connected to the data processing module, used to negotiate the registration configuration; the data registration submodule reports the device identification code to the data processing module; the data processing module sends only 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 the animation consistent with the action of the production line robot and displays it. The twin simulation robot also includes an interval interpolation submodule. The interval interpolation submodule is configured to compensate for 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.

2. The robotic action feature based digital twin simulation system of claim 1, wherein, The subscription configuration includes a location where the production line robot is located, a function of the production line robot, and a real-time requirement of the twin state data. 3.A simulation method using the robot action feature-based digital twin simulation system according to claim 1, characterized in that, The method comprises the following steps: In 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; In step S2, the data management unit acquires the original state data through the robot management unit; In step S3, the data management unit processes the original state data to obtain the twin state data, packages and caches the twin state data, and then sends the twin state data to the twin simulation unit on different transmission channels based on the subscription configuration; In step S4, the data processing module in the twin simulation unit receives and unpacks the twin state data, and then sends the twin state data to a single corresponding twin simulation robot based on the registration configuration; In step S5, the twin simulation robot performs data processing including interpolation based on the twin state data; In step S6, the twin simulation robot generates the animation and displays it.

4. The robot action feature based digital twin simulation method of claim 3, wherein, In step S2, the original state data includes axis value signals, control signals, and alarm signals, which are either collected from the actual motion of the production line robot or come from simulation files.

5. The robot action feature based digital twin simulation method of claim 4, wherein, In step S3, the following sub-steps are included: In step S31, the data service module in the data management unit converts the original state data from the robot management unit into the twin state data in a unified format; In step S32, because 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 the buffer area according to the device identification codes; In step S33, when the twin state data accumulated for a device identification code in the buffer area reaches a set threshold, the data management unit sends all the twin state data corresponding to the device identification code in the buffer area to the corresponding twin simulation unit through the pre-designated transmission channel.

6. The robot action feature based digital twin simulation method of claim 3, wherein, In step S6, the following sub-steps are included: In step S61, the animation execution submodule in the twin simulation robot reads the current positions of each component of the twin simulation robot; In step S62, the animation execution submodule calculates the expected positions of the components according to the twin state data; In step S63, it is determined whether the current positions and the expected positions are consistent; if they are consistent, the animation update is skipped and the process jumps to step S66; In step S64, the value of the current position is updated to the value of the expected position; Step S65, the animation execution submodule generates an animation according to the updated current position; Step S66, refreshing the animation display.

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