Fixture real-time mapping method and device based on unreal engine, equipment and medium

Abstract

The invention relates to the technical field of virtual reality, and discloses a real-time holder mapping method and device based on an unreal engine, equipment and a medium, and the method comprises the steps: constructing a three-dimensional virtual model of a target holder in a virtual scene in the virtual engine, receiving a real motion parameter of the current point location of the target holding tool on the target production loop line sent by the scheduling system of the target holding tool; and controlling the three-dimensional virtual model to map the production process of the target holding tool according to the real motion parameters. By applying the technical scheme of the invention, the production process of the holding tool can be mapped and restored in real time, the real-time monitoring of the production process of the holding tool is realized, and the production management operation cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of virtual reality technology, and in particular to a method, device, equipment and medium for real-time mapping of a gripper based on Unreal Engine. Background Art

[0002] At present, the lifting and rotating gripper is the main equipment of the chassis line in the assembly workshop of the automobile main engine factory. It can flexibly adjust the height and rotation angle according to the process requirements, meet the requirements of highly flexible and multi-model collaborative production, and take into account the human-machine comfort of the assembly workers. When the design capacity of the final assembly is 60JPH, the number of grippers for the first and second chassis lines reaches 100. When building a digital twin factory, the real-time mapping of the gripper is crucial. At present, the visualization of the gripper in the virtual factory is mainly in the form of animation, which cannot guarantee that it is synchronized with the site. When there is an adjustment on site, the animation needs to be re-made offline and the changes cannot be reflected online in real time. And because the gripper is not mapped in real time, the chassis line production process cannot be remotely monitored. Summary of the invention

[0003] In view of the above problems, the present application provides a method, device, equipment and medium for real-time mapping of a gripper based on Unreal Engine, which is used to solve the problem in the prior art that the gripper production process cannot be mapped in real time.

[0004] According to one aspect of an embodiment of the present application, a real-time mapping method for a device based on Unreal Engine is provided, which is applied to a client, and the method includes:

[0005] Construct a three-dimensional virtual model of the target gripper in the virtual scene in the virtual engine, and receive the real motion parameters of the current point of the target gripper on the target production loop line sent by the scheduling system of the target gripper;

[0006] According to the real motion parameters, the three-dimensional virtual model is controlled to map the production process of the target gripper.

[0007] In an optional manner, the step of receiving the real motion parameters of the current position of the target device on the target production loop line sent by the scheduling system of the target device further includes:

[0008] Through the kfaka message queue and SignalR service, the real motion parameters of the current point of the target device on the target production loop line sent by the scheduling system of the target device are received.

[0009] In an optional manner, the real motion parameters include: real code block values, real rotation code values ​​and real height code values;

[0010] Among them, the scheduling system uses the reading terminal set on the target arm to obtain the real code block value of the target arm at the current point, and obtains the real rotation code value and the real height code value fed back by the motor encoder set on the target arm when the target arm performs the corresponding action at the current point.

[0011] In an optional manner, each workstation on the target production line is preset with a rotation target value and a height target value.

[0012] In an optional manner, the step of controlling the three-dimensional virtual model to map the production process of the target gripper according to the real motion parameters further includes:

[0013] The real motion parameters are converted into virtual motion parameters in the virtual scene, and the virtual motion parameters are input into the three-dimensional virtual model to control the three-dimensional virtual model to map the production process of the target device.

[0014] In an optional manner, the method further includes:

[0015] Determine the device ID of the target device, and associate the device information and vehicle information corresponding to the device ID with the three-dimensional virtual model.

[0016] In an optional manner, the method further includes:

[0017] Obtain the current status information of the target device and output it for display.

[0018] According to another aspect of an embodiment of the present application, a real-time mapping device for a device based on Unreal Engine is provided, comprising:

[0019] A processing module, used to construct a three-dimensional virtual model of the target device in the virtual scene in the virtual engine, and receive the real motion parameters of the current point of the target device on the target production loop line sent by the scheduling system of the target device;

[0020] An operation module is used to control the three-dimensional virtual model to map the production process of the target grip according to the real motion parameters.

[0021] According to another aspect of an embodiment of the present application, there is provided a real-time mapping device based on Unreal Engine, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0022] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations such as the real-time mapping method based on the Unreal Engine of the present invention.

[0023] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one executable instruction, wherein the executable instruction enables an Unreal Engine-based device / equipment to perform operations such as the Unreal Engine-based device real-time mapping method of the present invention.

[0024] The embodiment of the present application constructs a three-dimensional virtual model of the target gripper in a virtual scene, and receives the real motion parameters of the current position of the target gripper on the target production loop line sent by the scheduling system of the target gripper; according to the real motion parameters, the three-dimensional virtual model is controlled to map the production process of the target gripper, and the production process of the gripper can be mapped and restored in real time, thereby realizing real-time monitoring of the gripper production process and reducing production management and operation costs.

[0025] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0027] Figure 1 A flowchart of a first embodiment of a real-time mapping method for a device based on Unreal Engine provided by the present application is shown;

[0028] Figure 2 A flow chart of a second embodiment of a real-time mapping method for a device based on Unreal Engine provided by the present application is shown;

[0029] Figure 3 A schematic diagram of the structure of an embodiment of a real-time mapping device for a device based on Unreal Engine provided by the present application is shown;

[0030] Figure 4 A structural schematic diagram of an embodiment of a real-time mapping device based on Unreal Engine provided by the present application is shown. DETAILED DESCRIPTION

[0031] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0032] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0033] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0034] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0035] At present, the lifting and rotating clamp is the main equipment of the chassis line in the final assembly workshop of the automobile main plant. The height and rotation angle can be flexibly adjusted according to the process requirements to meet the requirements of highly flexible and multi-model collaborative production, while taking into account the human-machine comfort of the assembly workers. When the final assembly design capacity is 60JPH, the number of chassis first and second line clamps reaches 100. When building a digital twin factory, real-time mapping of the clamp is crucial. At present, the visualization of the clamp in the virtual factory is mainly in the form of animation, which cannot guarantee that it is synchronized with the site. When there are adjustments on site, the animation needs to be re-produced offline and the changes cannot be reflected in real time online. And because the clamp is not mapped in real time, the chassis line production process cannot be remotely monitored. Based on this:

[0036] Figure 1 A flowchart of a first embodiment of a method for real-time mapping of a device based on an Unreal Engine provided by the present application is shown, and the method is executed by a real-time mapping device (client) based on an Unreal Engine.

[0037] See also Figure 1 As shown, the method comprises the following steps:

[0038] Step S110: construct a three-dimensional virtual model of the target device in the virtual scene in the virtual engine, and receive the real motion parameters of the current point of the target device on the target production loop line sent by the scheduling system of the target device.

[0039] Among them, the target gripper is the gripper that needs to be mapped in real time in this embodiment. The gripper has functions such as clamping, carrying, lifting, and rotating, and is the main equipment of the chassis line in the general assembly workshop of the automobile main engine factory. The three-dimensional virtual model needs to be separated into the moving part and the non-moving part, and the coordinates of the three-dimensional virtual model are consistent with the world coordinates. The target production loop is the production loop where the target gripper is located, and the gripper reciprocates on the production loop to achieve production. The real motion parameters are the motion parameters of the target gripper in the real scene. There are multiple points on the target production loop, and the real motion parameters corresponding to different points are different.

[0040] It should be noted that the dispatching system is the control system of the gripper, which is mainly composed of PLC (Programmable Logic Controller). The running program of the gripper is compiled in the PLC, and the operation of the gripper is controlled by the program and instructions.

[0041] Step S120: According to the real motion parameters, the three-dimensional virtual model is controlled to map the production process of the target gripper.

[0042] Among them, there is a mapping relationship between the target device in the real scene and the three-dimensional virtual model of the target device in the virtual scene, and the three-dimensional virtual model is mapped in real time according to the changes in the real motion parameters.

[0043] The technical solution of this embodiment can map and restore the production process of the clamp in real time, realize real-time monitoring of the production process of the clamp, and reduce the production management and operation costs.

[0044] In an optional manner, the step of receiving the real motion parameters of the current position of the target device on the target production loop line sent by the scheduling system of the target device in step S110 further includes:

[0045] Through the kfaka message queue and SignalR service, the real motion parameters of the current point of the target device on the target production loop line sent by the scheduling system of the target device are received.

[0046] Among them, the scheduling system collects the real motion parameters of the target gripper through the Internet of Things and using the PLC-OPC UA protocol. The Kafka message queue is used to realize the transmission and sharing of the real motion parameters of the target gripper, and push the data to the client in real time through the SignalR service. The client contains a gripper operation program (for controlling the 3D virtual model).

[0047] In an optional manner, the real motion parameters include: real code block value, real rotation encoding value, and real height encoding value.

[0048] Among them, the scheduling system uses the read dock set on the target gripper to obtain the real code block value of the target gripper at the current position, and obtains the real rotation encoding value and the real height encoding value fed back by the motor encoder set on the target gripper when the target gripper performs corresponding actions at the current position.

[0049] Among them, a two-dimensional code is arranged at every preset distance (by default 2 cm) on the target production line. The real code block value of the position is obtained through the read dock set on the target gripper, and the specific position of the target gripper on the target production line can be deduced through the real code block value.

[0050] According to the process assembly requirements of the target gripper, the corresponding rotation target value and height target value for each workstation are pre-configured in the scheduling system. The scheduling system controls the target gripper to move towards the corresponding target values (rotation target value and height target value). When the target gripper moves towards the corresponding workstation, corresponding actions are synchronously executed to reach the corresponding rotation target value and height target value. During the movement process, the scheduling system reads the motor encoding value at a high frequency to keep track of the rotation and height information of the target gripper in real time.

[0051] Among them, motors for controlling rotation and lifting are set on the target gripper. The scheduling system sends rotation and lifting instructions to the motors according to the preset values of the corresponding workstations, and the motors perform corresponding actions according to the instructions. During the action process, the encoding values of the motor encoders are fed back to the scheduling system in real time.

[0052] It should be noted that the number of workstations on the target production loop is limited, while the number of points is infinite. Some points can be configured as workstations according to actual needs. In this embodiment, the default length of the target production loop is 1100 meters, the elevation of the track from the ground is 9.4 meters, and the target gripper runs on the production loop. The production loop is divided into three parts: the chassis first and second lines on the ground and the aerial transfer part. The chassis first and second lines include 80 workstations. When the target gripper runs to different workstations, process operations (such as installing parts, tightening bolts, quality inspection, etc.) are performed by operators / robots. To meet the requirements of human-machine comfort / robot accessibility, the rotation target value and height target value of the target gripper are different at different workstations. When the target gripper runs in the aerial transfer part, the gripper is basically in a horizontal position and has no rotation requirement.

[0053] Figure 2 The flowchart of the second embodiment of the gripper real-time mapping method provided by the present application based on the Unreal Engine is shown. This method is executed by a gripper real-time mapping device (client) based on the Unreal Engine.

[0054] Please refer to Figure 2 as shown. The method includes the following steps:

[0055] Step S210: Construct a three-dimensional virtual model of the target gripper in a virtual scene in the virtual engine, and receive the real motion parameters of the current point of the target gripper on the target production loop sent by the scheduling system of the target gripper.

[0056] Step S220: Convert the real motion parameters into virtual motion parameters in the virtual scene, and input the virtual motion parameters into the three-dimensional virtual model to control the three-dimensional virtual model to map the production process of the target gripper.

[0057] Among them, the virtual scene is reproduced in a 1:1 ratio of the real scene. Since the real code block values, real rotation code values ​​and real height code values ​​collected from the scheduling system are all code value type values, the code values ​​need to be converted and calculated into values ​​that can represent specific locations. The specific method is to let the target gripper run one circle on the target production line, and record the starting code block value and the ending code block value of the target gripper at the first station of the chassis line, so as to obtain the real code block value range representing the first station, and then obtain the real code block value range of each station in turn, so that the real code block value is corresponded to the station one by one, and when the real code block value is received, the current station of the target gripper is calculated according to this correspondence. For example, the real code block value 138650-145340 represents the first station of the chassis line, and the ratio between the starting code block value and the ending code block value is divided by the station length. The ratio value between the two is obtained, and each time the received code block value is multiplied by this ratio value, the specific position of the target gripper is obtained, and the gripper is driven forward to the corresponding position according to the change of the code block value; the target gripper is rotated to the horizontal position, and its rotation code value is recorded, and then it is rotated left and right in turn. When it rotates to the maximum angle, its rotation code value is also recorded. For example, the rotation code value of 180° horizontal position is 18000, the code value of 45° left rotation is 13500, and the code value of 45° right rotation is 22500. The ratio of the rotation code value to the rotation angle can also be obtained by referring to the processing method of the code block value. The current rotation angle of the target grip can be inferred by combining the rotation code value and this ratio value; similarly, the code values ​​of the highest and lowest points allowed in the height of the target grip are recorded, and the ratio between the lifting code value and the height is obtained. The current lifting height of the target grip can be inferred by combining the lifting code value and this ratio value; because the acquisition frequency is 200ms / time, the real code block value, real rotation code value and real height code value of the target grip are received every 200ms, thereby realizing real-time mapping of the grip in the virtual scene according to the real code value of the grip.

[0058] The technical solution of this embodiment further maps the grip in a virtual scene, so as to map and restore the production process of the grip in real time, realize real-time monitoring of the production process of the grip, and reduce the production management and operation costs.

[0059] Based on any of the above embodiments, the present invention further includes:

[0060] Determine the device ID of the target device, and associate the device information and vehicle information corresponding to the device ID with the three-dimensional virtual model.

[0061] The device ID is a unique identifier used to distinguish the device. In this embodiment, the device ID can be used to achieve real-time mapping of the device. Specifically:

[0062] 1) Through the device ID of the target device, obtain the real code block value corresponding to the device ID, and then convert it into virtual position information through calculation and use it as the variable input of the three-dimensional virtual model, thereby triggering the target device to move forward.

[0063] 2) Obtain the real rotation value corresponding to the device ID through the device ID of the target device, and then convert it into a virtual rotation value through calculation and use it as the variable input of the three-dimensional virtual model, thereby triggering the rotation of the target device.

[0064] 3) Through the device ID of the target device, obtain the real height value corresponding to the device ID, and then convert it into a virtual height value through calculation and use it as the variable input of the three-dimensional virtual model, thereby triggering the lifting of the target device.

[0065] Among them, the information interaction interface of the three-dimensional virtual model can be created in the client, and the equipment information of the target device can be obtained through the information interaction interface, and the equipment ID can be associated with the equipment information. The equipment information of the target device can be viewed by clicking on the three-dimensional virtual model. The equipment information includes but is not limited to: the real height value of the target device, the real rotation value, and whether there is a fault. In addition, the vehicle information can be obtained through the information interaction interface of the three-dimensional virtual model, and the equipment ID can be associated with the vehicle information. The vehicle information can be viewed by clicking on the virtual vehicle model in the virtual scene. Vehicle information includes but is not limited to: BSN, quality information and process information.

[0066] Based on any of the above embodiments, the present invention further includes:

[0067] Obtain the current status information of the target device and output it for display.

[0068] Among them, the current status information includes: whether there is a fault in the target gripper at the current moment and whether there is a vehicle on the gripper.

[0069] It should be noted that the client can push the vehicle's BSN, color and other information to the 3D virtual model of the vehicle on the target device by integrating the MOM system.

[0070] The above technical solution can further use the key parameters of the equipment to monitor the equipment status, remotely manage the equipment, and conduct cloud inspections of production equipment to reduce unnecessary travel time. The relevant information is uniformly integrated into the equipment model to improve inspection efficiency. When a new model is imported into the virtual scene, it is only necessary to import the three-dimensional model of the model parts and set the switching logic. There is no need to debug the production action of the gripper, and the production process of the new model chassis line can be quickly presented in real time, which has high subsequent scalability.

[0071] Figure 3The schematic diagram of the structure of the embodiment of the real-time mapping device based on Unreal Engine provided by the present application is shown. Figure 3 As shown, the device 300 includes: a processing module 310 and an operation module 320.

[0072] The processing module 310 is used to construct a three-dimensional virtual model of the target device in the virtual scene in the virtual engine, and receive the real motion parameters of the current point of the target device on the target production loop line sent by the scheduling system of the target device;

[0073] The operation module 320 is used to control the three-dimensional virtual model to map the production process of the target device according to the real motion parameters.

[0074] In an optional manner, the processing module 310 is specifically used to:

[0075] Through the kfaka message queue and SignalR service, the real motion parameters of the current point of the target device on the target production loop line sent by the scheduling system of the target device are received.

[0076] In an optional manner, the real motion parameters include: real code block values, real rotation code values ​​and real height code values;

[0077] Among them, the scheduling system uses the reading terminal set on the target arm to obtain the real code block value of the target arm at the current point, and obtains the real rotation code value and the real height code value fed back by the motor encoder set on the target arm when the target arm performs the corresponding action at the current point.

[0078] In an optional manner, each workstation on the target production line is preset with a rotation target value and a height target value.

[0079] In an optional manner, the operation module 320 is specifically used to:

[0080] The real motion parameters are converted into virtual motion parameters in the virtual scene, and the virtual motion parameters are input into the three-dimensional virtual model to control the three-dimensional virtual model to map the production process of the target device.

[0081] In an optional manner, the apparatus 300 further includes: an association module; the association module is used to:

[0082] Determine the device ID of the target device, and associate the device information and vehicle information corresponding to the device ID with the three-dimensional virtual model.

[0083] In an optional manner, the device 300 further includes: a display module; the display module is used to:

[0084] Obtain the current status information of the target device and output it for display.

[0085] The technical solution of this embodiment can map and restore the production process of the clamp in real time, realize real-time monitoring of the production process of the clamp, and reduce the production management and operation costs.

[0086] It should be noted that the real-time mapping device of the gripper based on the Unreal Engine provided in the above embodiment and the real-time mapping method of the gripper based on the Unreal Engine provided in the above embodiment belong to the same concept, and the specific way in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here.

[0087] Figure 4 A schematic diagram of the structure of an embodiment of the real-time mapping device for a gripper based on the Unreal Engine provided by the present application is shown, which shows a schematic diagram of the structure of a computer system suitable for implementing the real-time mapping device for a gripper based on the Unreal Engine according to the embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the real-time mapping device for a gripper based on the Unreal Engine.

[0088] See also Figure 4 As shown, the real-time mapping device based on the Unreal Engine includes: a controller; a memory for storing one or more programs, and when the one or more programs are executed by the controller, the real-time mapping method based on the Unreal Engine is executed.

[0089] Please continue reading Figure 4 As shown, the computer system 500 with real-time mapping device based on Unreal Engine includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503, such as executing the method in the above embodiment. In RAM 503, various programs and data required for system operation are also stored. CPU 501, ROM 502 and RAM 503 are connected to each other through bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0090] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0091] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 509, and / or installed from a removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, various functions defined in the system of the present application are executed.

[0092] Another aspect of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for real-time mapping of a device based on an Unreal Engine. The computer-readable storage medium may be included in the device for real-time mapping of a device based on an Unreal Engine described in the above-described embodiment, or may exist independently without being assembled into the electronic device.

[0093] Another aspect of the present application also provides a computer program product or a computer program, which includes at least one executable instruction. When the executable instruction is run on a real-time mapping apparatus / device based on the Unreal Engine, the real-time mapping apparatus / device based on the Unreal Engine executes the real-time mapping method based on the Unreal Engine as described above.

[0094] The executable instructions can be specifically used to enable the Unreal Engine-based real-time mapping device / apparatus to perform the following operations:

[0095] Construct a three-dimensional virtual model of the target gripper in the virtual scene in the virtual engine, and receive the real motion parameters of the current point of the target gripper on the target production loop line sent by the scheduling system of the target gripper;

[0096] According to the real motion parameters, the three-dimensional virtual model is controlled to map the production process of the target gripper.

[0097] In an optional manner, the step of receiving the real motion parameters of the current position of the target device on the target production loop line sent by the scheduling system of the target device further includes:

[0098] Through the kfaka message queue and SignalR service, the real motion parameters of the current point of the target device on the target production loop line sent by the scheduling system of the target device are received.

[0099] In an optional manner, the real motion parameters include: real code block values, real rotation code values ​​and real height code values;

[0100] Among them, the scheduling system uses the reading terminal set on the target arm to obtain the real code block value of the target arm at the current point, and obtains the real rotation code value and the real height code value fed back by the motor encoder set on the target arm when the target arm performs the corresponding action at the current point.

[0101] In an optional manner, each workstation on the target production line is preset with a rotation target value and a height target value.

[0102] In an optional manner, the step of controlling the three-dimensional virtual model to map the production process of the target gripper according to the real motion parameters further includes:

[0103] The real motion parameters are converted into virtual motion parameters in the virtual scene, and the virtual motion parameters are input into the three-dimensional virtual model to control the three-dimensional virtual model to map the production process of the target device.

[0104] In an optional manner, the method further includes:

[0105] Determine the device ID of the target device, and associate the device information and vehicle information corresponding to the device ID with the three-dimensional virtual model.

[0106] In an optional manner, the method further includes:

[0107] Obtain the current status information of the target device and output it for display.

[0108] The technical solution of this embodiment can map and restore the production process of the clamp in real time, realize real-time monitoring of the production process of the clamp, and reduce the production management and operation costs.

[0109] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0110] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0111] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0112] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0113] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0114] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A real-time mapping method for a gripper based on Unreal Engine, characterized in that: Applied to a client, the method comprises: Construct a three-dimensional virtual model of the target gripper in the virtual scene in the virtual engine, and receive the real motion parameters of the current point of the target gripper on the target production loop line sent by the scheduling system of the target gripper; According to the real motion parameters, the three-dimensional virtual model is controlled to map the production process of the target gripper.

2. The method according to claim 1, characterized in that The step of receiving the real motion parameters of the current position of the target device on the target production loop line sent by the scheduling system of the target device further includes: Through the kfaka message queue and SignalR service, the real motion parameters of the current point of the target device on the target production loop line sent by the scheduling system of the target device are received.

3. The method according to claim 1 or 2, characterized in that: The real motion parameters include: real code block value, real rotation code value and real height code value; Among them, the scheduling system uses the reading terminal set on the target arm to obtain the real code block value of the target arm at the current point, and obtains the real rotation code value and the real height code value fed back by the motor encoder set on the target arm when the target arm performs the corresponding action at the current point.

4. The method according to claim 3, characterized in that Each workstation on the target production line is preset with a rotation target value and a height target value.

5. The method according to claim 1, characterized in that The step of controlling the three-dimensional virtual model to map the production process of the target gripper according to the real motion parameters further comprises: The real motion parameters are converted into virtual motion parameters in the virtual scene, and the virtual motion parameters are input into the three-dimensional virtual model to control the three-dimensional virtual model to map the production process of the target device.

6. The method according to claim 1, characterized in that The method further comprises: Determine the device ID of the target device, and associate the device information and vehicle information corresponding to the device ID with the three-dimensional virtual model.

7. The method according to claim 1, characterized in that The method further comprises: Obtain the current status information of the target device and output it for display.

8. A real-time mapping device for holding equipment based on Unreal Engine, characterized in that: include: A processing module, used to construct a three-dimensional virtual model of the target device in the virtual scene in the virtual engine, and receive the real motion parameters of the current point of the target device on the target production loop line sent by the scheduling system of the target device; An operation module is used to control the three-dimensional virtual model to map the production process of the target grip according to the real motion parameters.

9. A real-time mapping device based on Unreal Engine, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the real-time mapping method based on the Unreal Engine as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one executable instruction. When the executable instruction is executed on the real-time mapping apparatus / device based on the Unreal Engine, the real-time mapping apparatus / device based on the Unreal Engine performs the operation of the real-time mapping method based on the Unreal Engine as described in any one of claims 1 to 7.

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