Digital twin interaction system suitable for three-dimensional storage of aviation standard parts

Abstract

The invention provides a digital twinning interaction system suitable for three-dimensional storage of aviation standard parts, and belongs to the technical field of digital twinning, in order to further improve the digitization level of an existing small-size aviation standard part material management link. Comprising a user, a user controller module, a size parameter module, a three-dimensional virtual application scene module and an entity logistics rail car. According to the method, a relevant core three-dimensional model and a data model are constructed by taking an aviation standard part three-dimensional storage physical entity prototype as a blue, the relevant core three-dimensional model and the data model are the corresponding digital twinning interaction system, and valuable data exchange between the digital twinning interaction system and the physical entity prototype is realized by activating the real-time relevance between the three-dimensional model and the data model; valuable data is utilized to drive the two to update the operation state, seamless connection with the material management link of existing small-size aviation standard parts of a production enterprise is achieved, the material management digitization level of the production enterprise is enhanced, manpower is liberated, and efficiency is improved.

Description

Technical Field

[0001] The invention relates to a digital twin interactive system suitable for three-dimensional warehousing of aviation standard parts, belonging to the technical field of digital twins. Background Art

[0002] Digital twin technology is a key technology to promote the development of the digital economy, promote industrial digitalization, and implement digital upgrades in the equipment manufacturing industry. It creates virtual models of physical entities in the digital world in a digital way, and simulates the behavior and state of physical entities in the real environment driven by data, and expands new functions for physical entities through data analysis, virtual-real interaction, and other methods. In order to improve the digital level of existing three-dimensional warehousing of small-sized aviation standard parts, the present invention uses its physical entity prototype as a blueprint to construct relevant core three-dimensional models and data models, which is its corresponding digital twin interaction system. By activating the real-time correlation between the three-dimensional model and the data model, the exchange of valuable data between the digital twin interaction system and the physical entity prototype is realized, and the valuable data is used to drive both to update their own operating status. Summary of the invention

[0003] In order to further improve the digital level of existing small-size aviation standard parts material management, the present invention proposes a digital twin interactive system suitable for three-dimensional warehousing of aviation standard parts, including:

[0004] User, user controller module, size parameter module, 3D virtual application scene module and physical logistics railcar;

[0005] User User is used to observe the operating status of the digital twin interactive system. Based on the operating status, the user can interact with the user controller module by operating the mouse and keyboard to issue commands.

[0006] The user controller module is used to confirm the information of storing / retrieving cargo box pallets, refresh and send the physical entity driving signal of the physical logistics rail car with the corresponding number according to the user's instructions, adjust the user's viewing angle of the three-dimensional virtual application scene, and archive the storage status of the cargo box pallets;

[0007] The size parameter module is used to set the size parameters of the grid track and modular shelves in the digital twin interactive system;

[0008] The physical logistics railcar is used to receive physical entity driving signals to move, and feed back the movement data to the user controller module, and the user controller module transmits the received movement data to the three-dimensional virtual application scene model;

[0009] A three-dimensional virtual application scenario model is built based on the three-dimensional storage entity of aviation standard parts. The three-dimensional virtual application scenario model is used to simulate the motion scene according to the motion data, visualize the operating status of the digital twin interactive system, and transmit the visualized information to the user.

[0010] Preferably, the instruction issued by the user User includes the combined shelf and container pallet information for storage / retrieval of the current cargo box pallet, wherein the combined shelf information includes the identity code of the goods, the shelf storage location number array, the shelf structure parameter array and the storage location real-time storage status array, and the container pallet information includes the container pallet identity code, the identity code of the workpiece, the container pallet structure size parameter array, the container pallet load, the container pallet storage location and the vehicle identity code.

[0011] Preferably, the user controller module includes a login submodule, an operation parameter submodule, and a digital twin interaction system information monitoring submodule;

[0012] The login submodule is used to log in according to the user information and execute the instructions issued by the user;

[0013] The operation parameter submodule is used to set the operation parameters according to user instructions. The operation parameters include controlling the viewing angle camera, controlling the cargo box pallet, controlling the modular shelf, arranging the Sza point set, arranging the Szb point set, setting the H value array, setting the ΔH value array, real-time motion state control of the model vehicle, data archiving, entry and deletion, and setting the initial position of the logistics rail car on the grid track. Among them, the Sza point set is the position of the target turning track A, the Szb point set is the position of the target turning track B, the H value array is the climbing / descending distance of the logistics rail car on the vertical guide rail, and the ΔH value array is the height compensation amount for picking and placing the pallet;

[0014] The information monitoring submodule of the digital twin interactive system is used to monitor and archive the storage status of cargo boxes and pallets, as well as to adjust the angle at which users observe the three-dimensional virtual application scene.

[0015] Preferably, the dimensional parameters of the grid track include the center spacing of the guide rails of the turning rail A, the center spacing of the transition / horizontal guide rails of the turning rail B, and the height of the transition rails above the ground; the dimensional parameters of the modular shelf include the lateral center spacing of the vertical guide rails, the longitudinal center spacing of the vertical guide rails, the height of the shelf beams above the ground, the outer spacing of the shelf beams, and the height between shelf beam layers.

[0016] Preferably, the motion data of the physical logistics rail vehicle include the real-time control value of θxz, the real-time control value of Py, the real-time control value of L, whether it carries a cargo box pallet, the number array of Sza passed through, the number array of Szb passed through, the real-time control value of H, the real-time control value of ΔH, real-time movement control of the vehicle, real-time steering control of the vehicle and real-time climbing control of the vehicle, wherein θxz is the wheel angle, Py is the longitudinal wheelbase, and L is the telescopic amount of the pallet.

[0017] Preferably, a three-dimensional scene model is built based on a three-dimensional storage entity of aviation standard parts. The digital twin logistics rail car in the three-dimensional scene model updates its own position information according to the received motion data, and feeds back its own position information to the three-dimensional scene perspective camera and the user controller module. The three-dimensional scene perspective camera updates the three-dimensional scene information in real time, and transmits the updated three-dimensional scene visualization information to the user User.

[0018] Preferably, the three-dimensional scene visualization information includes the inventory ratio of cargo box pallets and the real-time number of stored cargo box pallets.

[0019] The beneficial effects of the present invention are:

[0020] 1. The present invention simulates the storage and transportation operation process of the physical entity prototype in the form of a three-dimensional mirror image in an industrial control computer. By establishing a three-dimensional model and a data model of the physical entity prototype and activating the real-time correlation between the two, on the one hand, the real-time action of the physical entity prototype can be reproduced in the three-dimensional virtual application scene, and the storage status of the cargo box pallet can be recorded; on the other hand, the physical entity prototype can be controlled to perform corresponding actions by operating the relevant buttons of the three-dimensional virtual application scene.

[0021] 2. The present invention can achieve seamless connection with the existing material management links of small-size aviation standard parts of production enterprises, enhance the digital level of their material management, liberate manpower and improve efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The overall structural diagram of a digital twin interactive system suitable for three-dimensional warehousing of aviation standard parts provided by the present invention is as follows: Figure 1 Among them, "actor" User is the user User, "actor" UserController is the user controller module, "actor" LogisticsRailCar is the physical logistics rail car, and "actor" ModelSizeDesigner is the size parameter module;

[0023] Figure 2 A schematic diagram of the physical prototype and size parameters of the three-dimensional storage system provided by the present invention. Figure 2In the figure, 1-fixed guide rail, 2-steering rail A, 3-transition guide rail, 4-steering rail B, 5-logistics rail car, 6-horizontal guide rail, 7-vertical guide rail; 8-shelf beam, Lx is the center distance of fixed guide rail, Ly is the center distance of transition / horizontal guide rail, Lz is the height of the guide rail from the ground, Jx is the horizontal center distance of vertical guide rail, Jy is the longitudinal center distance of vertical guide rail, Jz is the height of the shelf beam from the ground, Jy' is the outer distance of the shelf beam, and Jz' is the height between the layers of the shelf beam;

[0024] Figure 3 The overall class diagram of the digital twin interaction system provided by the present invention;

[0025] Figure 4 A schematic diagram of a three-dimensional virtual application scene A of a three-dimensional storage system from a main viewing angle provided by the present invention;

[0026] Figure 5 A schematic diagram of a three-dimensional virtual application scene B of a three-dimensional storage system under the main viewing angle provided by the present invention;

[0027] Figure 6 A three-dimensional schematic diagram of a twin rail vehicle picking up a cargo box from the "9-3-2" cargo position from a third-person perspective provided by the present invention;

[0028] Figure 7 A three-dimensional schematic diagram of the twin railcars returning to the S0L point after picking up the goods from a bird's-eye view provided by the present invention;

[0029] Figure 8 A schematic diagram of the "save / load" interface of a three-dimensional virtual application scene in the main viewing angle provided by the present invention;

[0030] Fig. 9 A communication flow chart for driving the movement of a three-dimensional model provided by the present invention. DETAILED DESCRIPTION

[0031] Specific implementation method 1: Combination Figure 1-8 To illustrate this embodiment, Figure 1 As shown, the structure of a digital twin interactive system suitable for three-dimensional warehousing of aviation standard parts described in this embodiment includes: a user User, a user controller module, a size parameter module, a three-dimensional virtual application scene module and a physical logistics rail car;

[0032] This implementation method designs and constructs the framework of the digital twin interaction system based on the MVC pattern. The main participants include the user User, the user controller UserController and the logistics rail car LogisticsRailCar. In this system, the user User can operate the keyboard and mouse to interact with the user controller UserController to observe the operating status of the system; the user controller UserController includes a login submodule, an operation parameter submodule, and a digital twin interaction system information monitoring submodule, which is responsible for realizing various functions related to the three-dimensional warehousing of aviation standard parts, such as confirming the storage or extraction of cargo box pallet information, refreshing and sending the physical entity drive signal of the corresponding numbered logistics rail car LogisticsRailCar, adjusting the user User's perspective for observing the three-dimensional virtual application scene, and archiving the storage status of the cargo box pallet; the size parameter module is used to set the size parameters of the grid track and modular shelves in the digital twin interaction system; the logistics rail car LogisticsRailCar is responsible for receiving the physical entity drive signal transmitted by the user controller UserController and performing corresponding actions, and can feed back its own operating status to the system to drive the corresponding three-dimensional model to perform simulated movement.

[0033] In this embodiment, based on Figure 2 The physical entity prototype of the three-dimensional warehousing system shown in the figure constructs a three-dimensional virtual application scene module. The size parameters and operation control parameters of the physical entity prototype of the three-dimensional warehousing system are shown in Table 1.

[0034] Table 1

[0035]

[0036] according to Figure 1 The system use case shown in the figure is combined with the parameter control information of the physical prototype of the three-dimensional storage system in Table 1, and the following can be obtained: Figure 3 The overall class diagram of the digital twin interactive system for three-dimensional warehousing of aviation standard parts shown in Figure 1 mainly includes three types of classes: entity class "entity", boundary class "boundary", and control class "control". The functions, main attributes and operations of each class are shown in Table 2.

[0037] Table 2

[0038]

[0039]

[0040]

[0041] This implementation method uses the physical prototype of the three-dimensional storage of aviation standard parts to establish Figure 4-8 The digital twin 3D virtual application scenario shown in the figure is Figure 4 , 5 It shows the three-dimensional virtual application scene from the main perspective. Figure 6 The scene of the twin railcar ModelCar extracting the twin pallet ModelBox from a third-person perspective is shown. Figure 7 It shows a three-dimensional virtual application scene from a bird's-eye view. Figure 8 The following figure shows the scene when the visualization window switches to the "save / load" interface. The visual presentation of the visualization window is completed by the view camera ModelCamera and the human-machine operation interface UserInterface.

[0042] Figure 7 The current position S0L of the twin rail car ModelCar in the physical prototype is the initial position S0 of the logistics rail car LogisticsRailCar on the grid track GridGuideway; the settings of the twin track ModelGuideway and the twin shelf ModelShelf are in Figure 2 Based on the physical prototype structure shown in the figure, a symmetrical array is added, so that the available twin shelves ModelShelf are expanded from 2 to 16, and the corresponding twin pallets ModelBox that can be stored are expanded from 18 to 144; the human-machine interface has two types, namely UserInterfaceA and UserInterfaceB, and the visual components included in UserInterfaceA are Figure 4-7 The two rows of clickable buttons and input text boxes at the bottom of the window, the display text box and progress bar at the top, and the click button in the upper right corner; UserInterfaceB contains the following visual components: Figure 8 A display text box and four click buttons in the middle of the window; the main functions of each visualization component are shown in Table 3.

[0043] Table 3

[0044]

[0045]

[0046] Specific implementation method 2: Combination Fig. 9 This embodiment is described. Figure 1 Taking the key use case of the digital twin interaction system "driving the movement of the three-dimensional model" as an example, the communication data flow of the digital twin interaction system involved is explained. The corresponding communication diagram is shown in Fig. 9 As shown, Fig. 9As shown in Table 2 and Table 3, in the "driving 3D model motion" use case, the objects involved in the interactive operation mainly include the user User instance (: User), the human-machine interface UserInterfaceA instance (: UserInterfaceA), the user controller UserController instance (: UserController), the logistics rail car LogisticsRailCar instance (: LogisticsRailCar), the twin rail car ModelCar instance (: ModelCar), and the perspective camera ModelCamera instance (: ModelCamera). Driving the 3D model motion includes:

[0047] S1: User interacts with UserInterfaceA through message 1.1, and inputs relevant information of PackingBox and CombinedShelf to UserController through messages 1.2, 1.3, and 1.4.

[0048] S2: After calculating the above information, UserController uses messages 1.5, 1.6, 1.7, 1.8, 1.9, and 1.10 to send physical entity driving signals to LogisticsRailCar, and the two use the wireless communication module to communicate data.

[0049] S3: LogisticsRailCar moves according to the physical entity driving signal sent by UserController, and feeds back its own movement status to UserController through messages 1.11, 1.12, and 1.13. UserController records the feedback data and transmits it to ModelCar through message 1.14.

[0050] S4: While ModelCar updates its own position information according to the motion data transmitted by UserController, it will map it to ModelCamera in real time through message 1.15.a, and will feed it back to UserController through message 1.15.b.

[0051] S5: ModelCamera refreshes the position and motion status of all 3D models including ModelCar in the 3D application scene in real time, and feeds back the visual information to User through message 1.16.a. At the same time, UserInterfaceA feeds back the visual information to User through message 1.16.b.

[0052] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A digital twin interactive system suitable for three-dimensional warehousing of aviation standard parts, characterized in that: The digital twin interactive system suitable for three-dimensional warehousing of aviation standard parts includes: User, user controller module, size parameter module, 3D virtual application scene module and physical logistics railcar; The user User is used to observe the operating status of the digital twin interactive system, and interact with the user controller module by operating the mouse and keyboard to issue instructions based on the operating status; The user controller module is used to confirm the information of storing / retrieving the cargo box pallet, refresh and send the physical entity driving signal of the physical logistics rail car with the corresponding number according to the user's instructions, adjust the user's viewing angle of the three-dimensional virtual application scene, and archive the storage status of the cargo box pallet; The size parameter module is used to set the size parameters of the grid track and modular shelves in the digital twin interaction system; The physical logistics railcar is used to receive a physical entity driving signal to move, and feed back the movement data to the user controller module, and the user controller module transmits the received movement data to the three-dimensional virtual application scene model; A three-dimensional virtual application scenario model is built based on the three-dimensional storage entity of aviation standard parts. The three-dimensional virtual application scenario model is used to simulate the motion scene according to the motion data, visualize the operating status of the digital twin interactive system, and transmit the visualized information to the user.

2. According to claim 1, a digital twin interactive system suitable for three-dimensional storage of aviation standard parts is characterized in that: The instruction issued by the user User includes the combined shelf and container pallet information for storage / retrieval of the container pallet. The combined shelf information includes the identity code of the goods, the storage location number array of the shelf, the shelf structure parameter array and the storage location real-time storage status array. The container pallet information includes the container pallet identity code, the identity code of the workpiece, the container pallet structure size parameter array, the container pallet load, the container pallet storage location and the vehicle identity code.

3. According to claim 1, a digital twin interactive system suitable for three-dimensional storage of aviation standard parts is characterized in that: The user controller module includes a login submodule, an operation parameter submodule, and a digital twin interaction system information monitoring submodule; The login submodule is used to log in according to the user information and execute the instructions issued by the user; The operation parameter submodule is used to set the operation parameters according to user instructions. The operation parameters include controlling the viewing angle camera, controlling the cargo box pallet, controlling the modular shelf, arranging the Sza point set, arranging the Szb point set, setting the H value array, setting the ΔH value array, real-time motion state control of the model vehicle, data archiving, entry and deletion, and setting the initial position of the logistics rail car on the grid track, wherein the Sza point set is the target turning track connection A position, the Szb point set is the target turning track connection B position, the H value array is the climbing / descending distance of the logistics rail car on the vertical guide rail, and the ΔH value array is the height compensation amount for picking and placing the pallet; The digital twin interactive system information monitoring submodule is used to monitor and archive the storage conditions of cargo box pallets, and to adjust the angle at which the user User observes the three-dimensional virtual application scene.

4. According to claim 1, a digital twin interactive system suitable for three-dimensional storage of aviation standard parts is characterized in that: The dimensional parameters of the grid track include the center spacing of the guide rails of the turning rail A, the center spacing of the transition / horizontal guide rails of the turning rail B, and the height of the transition rails from the ground. The dimensional parameters of the modular shelf include the lateral center spacing of the vertical guide rails, the longitudinal center spacing of the vertical guide rails, the height of the shelf beams from the ground, the outer spacing of the shelf beams, and the height between the shelf beam layers.

5. According to claim 1, a digital twin interactive system suitable for three-dimensional storage of aviation standard parts is characterized in that: The motion data of the physical logistics rail vehicle include the real-time control value of θxz, the real-time control value of Py, the real-time control value of L, whether it carries a cargo box pallet, the number array of Sza passed through, the number array of Szb passed through, the real-time control value of H, the real-time control value of ΔH, vehicle real-time movement control, vehicle real-time steering control and vehicle real-time climbing control, where θxz is the wheel angle, Py is the longitudinal wheelbase, and L is the telescopic amount of the pallet.

6. A digital twin interactive system suitable for three-dimensional storage of aviation standard parts according to claim 1, characterized in that: A three-dimensional scene model is built based on the three-dimensional storage entity of aviation standard parts. The digital twin logistics rail car in the three-dimensional scene model updates its own position information according to the received motion data, and feeds back its own position information to the three-dimensional scene perspective camera and user controller module. The three-dimensional scene perspective camera updates the three-dimensional scene information in real time and transmits the updated three-dimensional scene visualization information to the user User.

7. A digital twin interactive system suitable for three-dimensional storage of aviation standard parts according to claim 6, characterized in that: The three-dimensional scene visualization information includes the inventory percentage of cargo boxes and pallets and the real-time number of stored cargo boxes and pallets.

Images