Material allocation and transportation system forward design method based on MBSE

Abstract

The invention discloses an MBSE-based material allocation and transportation system forward design method, which comprises the following steps of: dividing an overall design process into four levels, namely an overall task layer, a system layer, a subsystem layer and a design verification layer, respectively carrying out material allocation and transportation system design from four dimensions, namely requirements, behaviors, structures and parameters, constructing a requirement model, a function model and a performance model, and designing a material allocation and transportation system according to the requirement model, the function model and the performance model. Gradually forming a system scheme, and performing rapid simulation verification on the system scheme; wherein the overall task layer pays attention to a top-layer functional architecture and a system context environment of the material allocation and transportation system, and a preliminary scheme of the system is formed; the system layer deeply studies the functional architecture, the logic architecture and the performance indexes of the material dispatching system to form a detailed scheme of the system; the subsystem layer carries out the design of the demands, behaviors, structures and parameters of subsystems based on the functions, composition and performance indexes of the material allocation and transportation system, and forms subsystem schemes. And the design verification layer verifies the rationality of the design scheme. The design quality and the design efficiency are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of overall design of ship informatization, and particularly relates to a forward design method for a material transportation system based on MBSE. Background Art

[0002] Large-scale automated factories or intelligent terminals generally configure material automatic transportation systems, which are mainly used for the automatic transfer of materials, equipment, and materials in factories or terminals. They are the main lines to ensure the normal operation and turnover of automated factories and intelligent terminals, and are also one of the important criteria for measuring the intelligent and automated levels of factories and terminals.

[0003] The material automatic transportation system is characterized by the architecture of "perception - decision - action". The perception layer configures the road test system in the factory or terminal area to construct the global situation of the factory or terminal area; the decision layer configures the scheduling and planning system, which is responsible for formulating and issuing scheduling plans; the action layer consists of multiple autonomous driving vehicles, which are responsible for implementing automatic transfer operations and real-time feedback of task status.

[0004] The traditional design method of the material transportation system still uses the document-based design method. That is, designers of each unit compile a large number of various electronic document technical reports through document editing tools such as office. The documents cannot be associated with each other, and the document descriptions of each unit may be ambiguous and inconsistent. Generally, the interface form is unified and agreed through the way of meeting coordination. Due to the significant increase in the complexity of modern material automatic transportation systems, a large number of information devices such as sensors and controllers are added, the system coupling degree is very high, and the design changes are more complex.

[0005] All in all, the modern intelligent material automatic transportation system has complex equipment cross-linking relationships, a wide variety of interface types, extremely high coupling degrees, and involves many units. It is difficult to trace the requirements to the design scheme. Most verification work can only be carried out in the later physical prototype stage, with high research and development costs, more complex design change processes. Moreover, the traditional document-based design method has a large coordination workload for each participating unit, lacks consistency in text expression, and low research and development efficiency. Summary of the Invention

[0006] To solve the above problems, the present invention provides a forward design method for a material transportation system based on MBSE, constructs a system requirement model and a function model based on the SysML standard, and performs rapid simulation verification of the system behavior logic, realizes the traceability from requirements to solutions during the design process, ensures the consistency of the technical status before and after design, eliminates unnecessary design redundancy, ensures the completeness of the design, and improves the design quality and design efficiency.

[0007] In the first aspect of the present invention, a forward design method for a material transportation system based on MBSE is provided. The overall design process is divided into four levels: the overall task level, the system level, the subsystem level, and the design verification level. The material transportation system design is carried out separately from four dimensions: requirements, behavior, structure, and parameters, to construct a requirements model, a function model, and a performance model, gradually form a system solution, and perform rapid simulation verification on the system solution;

[0008] Among them, the overall task level focuses on the top-level function architecture and system context environment of the material transportation system to form a preliminary system solution; the system level deeply studies the function architecture, logical architecture, and performance indicators of the material transportation system to form a detailed system solution; the subsystem level, based on the functions, components, and performance indicators of the material transportation system, separately conducts requirements, behavior, structure, and parameter design of the subsystems to form subsystem solutions; the design verification level, based on the MBSE activity diagram, parameter diagram, and performance model, quickly simulates the behavior logic and indicators of the system to verify the rationality of the design solution;

[0009] The method includes the following steps:

[0010] S101. Starting from the top-level input, conduct requirements analysis at the overall task level, construct a system requirements model, and capture the requirements of stakeholders, including function, performance, and interface requirements;

[0011] S102. Based on the function, performance, and interface requirements, conduct behavior, structure, and parameter analysis at the overall task level, construct a system function model, and form the top-level function architecture, context, and top-level indicators of the system;

[0012] S103. Construct a traceability matrix between the functions and requirements at the overall task level to verify that each stakeholder requirement is satisfied by the function model;

[0013] S104. Based on the top-level function architecture of the system, design and refine the function architecture, logical architecture, and technical indicators of the system at the system level to form system development requirements;

[0014] S105. After completing the system-level modeling, conduct traceability verification on the system development requirements and stakeholder requirements, and between the functions and system development requirements;

[0015] S106. At the subsystem level, respectively conduct model design for the three subsystems of perception, decision-making, and action from the four dimensions of requirements, behavior, structure, and parameters to form subsystem solutions;

[0016] S107. At the design verification level, verify the rationality of the system behavior logic through the MBSE activity diagram, verify the rationality of the system statistical indicators through the parameter diagram, and verify the core technical performance indicators of the system through the performance model.

[0017] In some of these embodiments, step S101 includes the following steps:

[0018] (1) Based on the top-level input, sort out and form a top-level input requirements table to clarify the stakeholders of the material transportation system;

[0019] (2) Conduct research on the stakeholders, collect, sort out, and obtain the requirements of the stakeholders, including system function requirements, performance requirements, and interface requirements;

[0020] (3) Establish a traceability matrix between the stakeholder requirements and the top-level input requirements to ensure that each top-level input requirement can map to the stakeholder requirements.

[0021] In some of these embodiments, step S102 includes the following steps:

[0022] (1) Based on the obtained stakeholder function requirements, analyze the use cases of the material transportation system to clarify the task scenarios of the material transportation system; based on the obtained stakeholder interface requirements, analyze the activities of the material transportation system to clarify the task profiles of the material transportation system;

[0023] (2) Based on the task scenarios and task profiles, analyze and form the top-level functional architecture of the material transportation system, that is, the material transportation system includes three top-level functions: situation awareness, planning and decision-making, and automatic transfer;

[0024] (3) Based on the obtained stakeholders, analyze the context of the material transportation system, and then analyze the context interaction of the system based on the task profile to clarify the external interfaces of the material transportation system;

[0025] (4) Based on the obtained stakeholder performance requirements, analyze the top-level indicators of the material transportation system.

[0026] In some of these embodiments, step S103 includes the following steps:

[0027] (1) Construct a traceability matrix for the overall task layer functions, indicators, and stakeholder requirements;

[0028] (2) Verify whether each stakeholder requirement can be met by the function model and parameter model.

[0029] In some of these embodiments, step S104 includes the following steps:

[0030] (1) Based on the top-level functional architecture of the system, decompose each top-level function of the material transportation system, and analyze its functional activities in detail to form the detailed functional architecture of the system;

[0031] (2) Conduct the logical architecture design of the material transportation system, clarify the composition of the system, that is, the material transportation system consists of a situation monitoring facility, a command and dispatching facility, and an automatic transfer facility. Then, based on the system's functional activities and context interaction, design the logical architecture interaction of the system and clarify the internal interfaces of the material transportation system;

[0032] (3) Decompose the top-level indicators of the system to form the design indicators of the material transportation system for the three subsystems of the situation monitoring facility, the command and dispatching facility, and the automatic transfer facility. Then, based on the functions and interfaces obtained from the analysis, form the development requirements of the material transportation system.

[0033] In some of these embodiments, step S105 includes the following steps:

[0034] (1) Construct a traceability matrix between the development requirements of the material transportation system at the system level and the requirements of the stakeholders, and verify through nuclear experiments whether each stakeholder requirement can be met;

[0035] (2) Construct a traceability matrix between the functions, interfaces, and indicators at the system level and the development requirements of the material transportation system, and verify through nuclear experiments whether each system development requirement can be met by the model.

[0036] In some of these embodiments, step S106 includes the following steps:

[0037] (1) Based on the system development requirements, decompose to obtain the development requirements of each subsystem, including subsystem function requirements, performance requirements, and interface requirements;

[0038] (2) Based on the subsystem development requirements, conduct the functional architecture, logical architecture, and technical indicator design of the three subsystems of the situation monitoring facility, the command and dispatching facility, and the automatic transfer facility;

[0039] (3) Construct a traceability matrix between the functions, interfaces, and indicators at the subsystem level and the subsystem development requirements, and verify through nuclear experiments whether each subsystem development requirement can be met by the model.

[0040] In some of these embodiments, step S107 includes the following steps:

[0041] (1) Based on the system MBSE activity diagram, through the M-Simulation plug-in in the M-Design software tool, conduct the behavioral logic simulation of the material transportation system to verify the logical rationality of the system operation mechanism;

[0042] (2) Divide the system design indicators into statistical indicators and performance indicators. The statistical indicators include the system weight and operation cycle. By building a calculation model in the M-Design parameter diagram and combining the input actual data, automatically calculate and verify whether the system weight and operation cycle indicators meet the indicator requirements;

[0043] (3) Performance - related indicators include positioning accuracy. An automatic transfer positioning performance model is constructed based on the ROS / Gazebo platform. According to the design scheme, situation awareness facilities and automatic transfer facility models are arranged in the virtual environment to simulate the real - world automated terminal operation scenario, and the positioning accuracy index during material automatic transfer is verified.

[0044] According to the second aspect of the present invention, there is provided an electronic device, including: a processor and a memory. The memory stores a program or instruction that can run on the processor. When the program or instruction is executed by the processor, the steps of the forward design method of the MBSE - based material transfer system described in any one of the first aspects are implemented.

[0045] According to the third aspect of the present invention, there is provided a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by the processor, the steps of the forward design method of the MBSE - based material transfer system described in any one of the first aspects are implemented.

[0046] Generally speaking, compared with the prior art through the above - mentioned technical solutions conceived by the present invention, the following beneficial effects can be achieved:

[0047] The present invention proposes a forward design method for an MBSE - based material transfer system. This method conducts modeling design from a global thinking perspective, constructs a model library such as a requirements model and a function model, and performs layer - by - layer closed - loop traceability verification of requirements and functions. In the early stage of design, the scheme can be quickly simulated and verified, problems can be discovered in advance, the completeness of system design and the consistency of all - party designs are ensured, unnecessary design redundancies are eliminated, the project cycle is shortened, and the design efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic flow chart of a diesel engine compound fault diagnosis method based on a multi - label IRUN - BRB model provided by an embodiment of the present application;

[0049] Figure 2 It is an overall navigation chart of a project implementation process provided by an embodiment of the present application;

[0050] Figure 3 It is a schematic diagram of the MBSE model structure tree of a material transfer system provided by an embodiment of the present application;

[0051] Figure 4 It is a definition diagram of the top - level function architecture module of a material transfer system provided by an embodiment of the present application;

[0052] Figure 5 It is a definition diagram of the detailed function architecture module of a material transfer system provided by an embodiment of the present application;

[0053] Figure 6 It is a logical architecture diagram of a material transportation system provided by an embodiment of the present application;

[0054] Figure 7 It is a logical architecture diagram of an automatic transfer facility provided by an embodiment of the present application;

[0055] Figure 8 It is a weight calculation parameter diagram of a material transportation system provided by an embodiment of the present application;

[0056] Figure 9 It is a schematic diagram of the hardware structure of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0057] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0058] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios based on these drawings. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be understood that the content disclosed in the present application is insufficient.

[0059] Referring to "embodiment" in the present application means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0060] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the ordinary meanings understood by those with ordinary skills in the technical field to which this application belongs. The words such as "a", "an", "one", "the" and the like involved in this application do not indicate a quantity limitation and may represent a singular or plural number. The terms "include", "comprise", "have" and any variations thereof involved in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may further include steps or units not listed, or may further include other steps or units inherent to these processes, methods, products or devices. The words such as "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after. The terms "first", "second", "third" and the like involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0061] This application proposes a forward design method for a material transportation system based on MBSE, constructs a requirements model, a function model, a performance model, etc. of the system, conducts rapid simulation verification in the early stage of design, realizes the traceability from requirements to design solutions, and unifies the expression standards and forms of the design results of each unit.

[0062] As Figure 1 shown, this application proposes a forward design method for a material transportation system based on MBSE, divides the overall design process into four levels: the overall task level, the system level, the subsystem level, and the design verification level, conducts the design of the material transportation system respectively from four dimensions: requirements, behavior, structure, and parameters, constructs a requirements model, a function model, a performance model, etc., gradually forms a system solution, and conducts rapid simulation verification on the system solution.

[0063] The overall task level mainly focuses on the top-level function architecture and the system context environment of the material transportation system to form a preliminary system solution.

[0064] The system level mainly conducts in-depth research on the function architecture, logical architecture, and performance indicators of the material transportation system to form a detailed system solution.

[0065] The subsystem level mainly conducts the design of the requirements, behavior, structure, and parameters of the subsystems respectively based on the functions, components, and performance indicators of the material transportation system, and finally forms a subsystem solution.

[0066] The design verification layer mainly focuses on the behavioral logic and system metrics of the system, and conducts rapid simulations based on MBSE activity diagrams, parameter diagrams, performance models, etc. to verify the rationality of the design scheme.

[0067] The finally formed model results include three aspects: requirement model, function model, and performance model.

[0068] The requirement model mainly refers to the stakeholder requirement model (function requirement model + performance requirement model + interface requirement model) and the "stakeholder - top - level input" traceability matrix at the overall task level. At the system level, it mainly refers to the system development requirement model (requirement derivation matrix + requirement satisfaction matrix). At the subsystem level, it mainly refers to the development requirement models of each subsystem (function requirement model + performance requirement model + interface requirement model) and the requirement satisfaction matrix. Among them, the stakeholder requirement model mainly describes the expected capability requirements of external stakeholders for this system, including function requirements, performance requirements, and interface requirements; the "stakeholder - top - level input" traceability matrix mainly conducts closed - loop verification to ensure that each top - level input requirement can match the stakeholder requirements; the system development requirement model is the overall development technical requirement of the system; the development requirement models of each subsystem are also the development technical requirements of each subsystem; the requirement satisfaction matrix expresses the corresponding relationship between the upper - level requirements and the development requirements, and verifies whether each upper - level requirement can be responded to at the design level.

[0069] The function model mainly refers to the system top - level function architecture model, system context model, etc. at the overall task level. At the system level, it mainly refers to the system function architecture model. At the subsystem level, it mainly refers to the function activities and function architecture models of each subsystem. Among them, the system context model mainly describes the interfaces between the system and the external environment. The system function architecture model mainly describes the composition of the main function modules of the system. The function activities of the subsystem mainly describe the function operation processes of each subsystem.

[0070] The performance model is mainly used to verify the key performance indicators of the system. In this application, taking the automatic transfer and positioning performance model as an example, a performance model is constructed based on the ROS / Gazebo platform. According to the design scheme, situation awareness facilities (such as lidar, cameras, etc.) and automatic transfer facility models (such as automatic transfer vehicles) are arranged in the virtual environment. The parameters of each model are set according to the device parameters of the actual scenario (such as the ranging accuracy of the lidar, the resolution of the camera, etc.) to simulate the real automated terminal operation scenario and verify the positioning accuracy index during the automatic transfer of materials.

[0071] The forward design method of the material transportation system based on MBSE in this application, as Figure 1 shown, mainly has the following seven steps:

[0072] S101: Starting from the top-level input, conduct a requirements analysis of the overall task layer, construct a system requirements model, and capture the requirements of stakeholders, including functional, performance, and interface requirements.

[0073] S102: Based on the functional, performance, and interface requirements, conduct an analysis of behavior, structure, and parameters of the overall task layer, construct a system function model, and form the top-level function architecture, context, and top-level indicators of the system.

[0074] S103: Construct a traceability matrix between the functions and requirements of the overall task layer to verify that each stakeholder requirement can be satisfied by the function model.

[0075] S104: Based on the top-level function architecture of the system, design and refine the function architecture, logical architecture, and technical indicators of the system at the system layer to form the system development requirements.

[0076] S105: After completing the system layer modeling, conduct traceability verification on the system development requirements, stakeholder requirements, functions, and system development requirements.

[0077] S106: At the subsystem layer, conduct model design for the three subsystems of "perception, decision-making, and action" respectively, analyze from four dimensions of requirements, behavior, structure, and parameters, clarify the characteristics such as functions, components, and performance of the subsystems, and form subsystem solutions.

[0078] S107: At the design verification layer, conduct rapid simulation based on the MBSE system activity diagram, parameter diagram, performance model, etc. The activity diagram is used to verify the rationality of the system behavior logic, the parameter diagram is used to verify the rationality of the system statistical indicators, and the performance model is used to verify the core technical performance indicators of the system.

[0079] The forward design method of the material transportation system based on MBSE in this application conducts modeling design from a global thinking perspective, constructs a model library such as a requirements model and a function model, and conducts layer-by-layer closed-loop traceability verification of requirements and functions. It can conduct rapid simulation verification of the solution in the early stage of design, discover problems in advance, ensure the completeness of system design and the consistency of all parties' designs, eliminate unnecessary design redundancy, shorten the project cycle, and improve design efficiency.

[0080] Next, take the design of the material transportation system of an automated terminal as an example to further illustrate this application.

[0081] The implementation of this application can be carried out relying on MSBE-related design software such as M-Design and MagicDraw, which are used for creating the requirements model and function model of the material transportation system, and can also be used for rapid simulation verification of the system behavior logic and indicators.

[0082] The overall navigation of the project implementation process is as shown in the appendix Figure 2As shown in the figure. The overall design process is divided into four levels: the overall task level, the system level, the subsystem level, and the design verification level. The material transportation system design is carried out from four dimensions: requirements, behavior, structure, and parameters, constructing a requirements model, a function model, a performance model, etc., gradually forming a system solution, and quickly simulating and verifying the system solution. The specific implementation process is as follows. Processes 1-3 belong to the modeling design work of the overall task level, processes 4-5 belong to the modeling design work of the system level, process 6 belongs to the modeling design work of the subsystem level, and process 7 belongs to the work of the design verification level. The MBSE model structure tree of the material transportation system is shown in the appendix Figure 3 as shown.

[0083] Process 1: Starting from the top-level input, conduct a requirements analysis at the overall task level, construct a system requirements model, and capture the requirements of stakeholders, including functional, performance, and interface requirements.

[0084] (1) Based on the top-level input, sort out and form a top-level input requirements table to clarify the stakeholders of the material transportation system.

[0085] (2) Conduct research on stakeholders, collect, sort out, and obtain the requirements of stakeholders, including system functional requirements, performance requirements, and interface requirements.

[0086] (3) Establish a traceability matrix between the stakeholder requirements and the top-level input requirements to ensure that each top-level input requirement can map to the stakeholder requirements.

[0087] Process 2: Based on functional, performance, and interface requirements, conduct behavior, structure, and parameter analysis at the overall task level, construct a system function model, and form the top-level function architecture, context, and top-level indicators of the system.

[0088] (1) Based on the obtained stakeholder functional requirements, analyze the use cases of the material transportation system to clarify the task scenarios of the material transportation system. Based on the obtained stakeholder interface requirements, analyze the activities of the material transportation system to clarify the task profiles of the material transportation system.

[0089] (2) Based on the task scenarios and task profiles, analyze and form the top-level function architecture of the material transportation system, that is, the material transportation system includes three top-level functions: situation awareness, planning and decision-making, and automatic transfer. As shown in the appendix Figure 4 as shown.

[0090] (3) Based on the obtained stakeholders, analyze the context of the material transportation system, and then analyze the context interaction of the system based on the task profile to clarify the external interfaces of the material transportation system.

[0091] (4) Based on the obtained stakeholder performance requirements, analyze the top-level indicators of the material transportation system.

[0092] Process 3: Construct a traceability matrix for the functions and requirements at the overall task level, and verify that each stakeholder requirement can be satisfied by the function model.

[0093] (1) Construct a traceability matrix for the functions, indicators, and stakeholder requirements at the overall task level.

[0094] (2) Conduct a nuclear experiment to verify whether each stakeholder requirement can be satisfied by the function model and parameter model.

[0095] Process 4: Based on the top-level function architecture of the system, design and refine the function architecture, logical architecture, and technical indicators of the system at the system level to form the system development requirements.

[0096] (1) Based on the top-level function architecture of the system, decompose each top-level function of the material transportation system, and analyze its function activities in detail to form the detailed function architecture of the system. As shown in the appendix Figure 5 as follows.

[0097] (2) At the same time, carry out the logical architecture design of the material transportation system, clarify the composition of the system, that is, the material transportation system consists of a situation monitoring facility, a command and dispatching facility, and an automatic transfer facility, as shown in the appendix Figure 6 as follows. Then, based on the system function activities and context interaction, design the logical architecture interaction of the system to clarify the internal interfaces of the material transportation system.

[0098] (3) Decompose the top-level indicators of the system to form the design indicators of the material transportation system for the three subsystems of the situation monitoring facility, the command and dispatching facility, and the automatic transfer facility. Then, based on the functions, interfaces, etc. obtained from the analysis, form the development requirements of the material transportation system.

[0099] Process 5: After completing the system-level modeling, conduct traceability verification on the system development requirements, stakeholder requirements, functions, and system development requirements.

[0100] (1) Construct a traceability matrix for the development requirements and stakeholder requirements of the material transportation system at the system level, and conduct a nuclear experiment to verify whether each stakeholder requirement can be satisfied.

[0101] (2) Construct a traceability matrix for the functions, interfaces, indicators, and development requirements of the material transportation system at the system level, and conduct a nuclear experiment to verify whether each system development requirement can be satisfied by the model.

[0102] Process 6: Conduct model design for the three subsystems of the situation monitoring facility, the command and dispatching facility, and the automatic transfer facility at the subsystem level respectively. Analyze from the four dimensions of requirements, behavior, structure, and parameters to clarify the functions, composition, performance, etc. of the subsystems, and form the subsystem solutions.

[0103] (1) Based on the system development requirements, the development requirements of each subsystem are decomposed, including the functional requirements, performance requirements, and interface requirements of the subsystem.

[0104] (2) Based on the subsystem development requirements, the design of the functional architecture, logical architecture, technical indicators, etc. of the three subsystems of the situation monitoring facility, command and dispatching facility, and automatic transfer facility is carried out. Taking the automatic transfer facility as an example, its logical architecture design is as shown in the appendix Figure 7 as follows.

[0105] (3) Construct a traceability matrix of the functions, interfaces, and indicators of the subsystem layer and the subsystem development requirements, and verify through nuclear experiments whether each subsystem development requirement can be met by the model.

[0106] Process 7: At the design verification layer, based on the MBSE system activity diagram, parameter diagram, and performance model, etc., rapid simulation is carried out. The activity diagram is used to verify the rationality of the system behavior logic, the parameter diagram is used to verify the rationality of the system statistical indicators, and the performance model is used to verify the core technical performance indicators of the system.

[0107] (1) Based on the system activity diagram, through the M-Simulation plug-in in the M-Design software tool, the behavior logic simulation of the material transportation system is carried out to verify the logical rationality of the system operation mechanism.

[0108] (2) The system design indicators are divided into statistical indicators and performance indicators. Statistical indicators such as system weight and operation cycle, etc. By building a calculation model in the M-Design parameter diagram and combining the input actual data, automatically calculate and check whether the indicators such as system weight and operation cycle meet the indicator requirements. Taking the weight check of the material transportation system as an example, as shown in the appendix Figure 8 is the weight calculation parameter diagram.

[0109] (3) For performance indicators such as positioning accuracy, etc., an automatic transfer positioning performance model can be constructed based on platforms such as ROS / Gazebo. According to the design scheme, the situation awareness facility and automatic transfer facility models are arranged in the virtual environment to simulate the real automated terminal operation scenario and verify the positioning accuracy indicator during the automatic transfer of materials.

[0110] In addition, combined with Figure 1 the forward design method of the material transportation system based on MBSE described in the embodiments of the present application can all be implemented by a computer device. Figure 9 It is a schematic diagram of the hardware structure of the computer device in the embodiments of the present application. As Figure 9 shown, the device may include a processor 201 and a memory 202 storing computer program instructions.

[0111] Specifically, the above-mentioned processor 201 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured as one or more integrated circuits for implementing the embodiments of the present application.

[0112] Among them, the memory 202 may include a mass storage for data or instructions. By way of example and not limitation, the memory 202 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 202 may include removable or non-removable (or fixed) media. Where appropriate, the memory 202 may be internal or external to the data processing device. In a particular embodiment, the memory 202 is a non-volatile memory. In a particular embodiment, the memory 202 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or a flash memory, or a combination of two or more of these. Where appropriate, the RAM may be a static random access memory (SRAM) or a dynamic random access memory (DRAM), where the DRAM may be a fast page mode dynamic random access memory (FPMDRAM), an extended date out dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0113] The memory 202 can be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 201.

[0114] By reading and executing the computer program instructions stored in the memory 202, the processor 201 implements any one of the forward design methods of the material transportation system based on MBSE in the above embodiments.

[0115] In some embodiments, the point cloud generation device may further include a communication interface 203 and a bus 200. Among them, as Figure 9 shown, the processor 201, the memory 202, and the communication interface 203 are connected through the bus 200 and complete communication with each other.

[0116] The communication interface 203 is used to implement communication between the modules, devices, units, and / or devices in the embodiments of the present application. The communication interface 203 can also implement data communication with other components, such as external devices, image / data acquisition devices, databases, external storage, and image / data processing workstations.

[0117] The bus 200 includes hardware, software, or both, and couples the components of the point cloud generation device to each other. The bus 200 includes, but is not limited to, at least one of the following: Data Bus, Address Bus, Control Bus, Expansion Bus, Local Bus. By way of example and not limitation, the bus 200 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable bus or a combination of two or more of these. In suitable cases, the bus 200 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0118] The computer device can execute the forward design method of the material transportation system based on MBSE in the embodiments of the present application, so as to achieve the combination Figure 1 of the forward design method of the material transportation system based on MBSE described.

[0119] In addition, in combination with the forward design method of the material transportation system based on MBSE in the above embodiments, the embodiments of the present application can provide a computer-readable storage medium to implement. Computer program instructions are stored on the computer-readable storage medium; when the computer program instructions are executed by a processor, any one of the forward design methods of the material transportation system based on MBSE in the above embodiments is implemented.

[0120] It should be noted that the technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification. In addition, according to the needs of implementation, each step / component described in this application can be split into more steps / components, or two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0121] Those skilled in the art can easily understand that the above-described embodiments only represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of the patent of this application should be subject to the appended claims.

Claims

1. A forward design method for a material transportation system based on MBSE, characterized in that The overall design process is divided into four levels: the overall task level, the system level, the subsystem level, and the design verification level. The material transportation system design is carried out from four dimensions: requirements, behavior, structure, and parameters. The requirements model, function model, and performance model are constructed, and the system solution is gradually formed, and the system solution is quickly simulated and verified; Among them, the overall task level focuses on the top-level function architecture and system context environment of the material transportation system to form a preliminary system solution; the system level deeply studies the function architecture, logical architecture, and performance indicators of the material transportation system to form a detailed system solution; the subsystem level is based on the functions, components, and performance indicators of the material transportation system, and the requirements, behavior, structure, and parameter designs of the subsystems are carried out respectively to form subsystem solutions; the design verification level is based on the MBSE activity diagram, parameter diagram, and performance model to quickly simulate the behavior logic and indicators of the system to verify the rationality of the design solution; This method includes the following steps: S101. Starting from the top-level input, conduct the requirements analysis of the overall task level, construct the system requirements model, and capture the requirements of stakeholders, including function, performance, and interface requirements; S102. Based on the function, performance, and interface requirements, conduct the behavior, structure, and parameter analysis of the overall task level, construct the system function model, and form the top-level function architecture, context, and top-level indicators of the system; S103. Construct the traceability matrix between the functions and requirements of the overall task level to verify that each stakeholder requirement is met by the function model; S104. Based on the top-level function architecture of the system, design and refine the function architecture, logical architecture, and technical indicators of the system at the system level to form the system development requirements; S105. After completing the system-level modeling, conduct traceability verification on the system development requirements and stakeholder requirements, and the functions and system development requirements; S106. At the subsystem level, for the three subsystems of perception, decision-making, and action respectively, carry out model design from four dimensions: requirements, behavior, structure, and parameters to form subsystem solutions; S107. At the design verification level, verify the rationality of the system behavior logic through the MBSE activity diagram, verify the rationality of the system statistical indicators through the parameter diagram, and verify the core technical performance indicators of the system through the performance model.

2. The forward design method of the material transportation system based on MBSE according to claim 1, characterized in that, Step S101 includes the following steps: (1) Based on the top-level input, sort out and form a top-level input requirements table to clarify the stakeholders of the material transportation system; (2) Investigate the stakeholders, collect, sort out, and obtain the requirements of the stakeholders, including system function requirements, performance requirements, and interface requirements; (3) Establish a traceability matrix between the stakeholder requirements and the top-level input requirements to ensure that each top-level input requirement can map to the stakeholder requirements.

3. The forward design method of the material transportation system based on MBSE according to claim 1, characterized in that, Step S102 includes the following steps: (1) Based on the obtained stakeholder function requirements, analyze the use cases of the material transportation system to clarify the task scenarios of the material transportation system; based on the obtained stakeholder interface requirements, analyze the activities of the material transportation system to clarify the task profiles of the material transportation system; (2) Analyze and form the top-level functional architecture of the material transportation system based on the task scenario and task profile, that is, the material transportation system includes three top-level functions: situation awareness, planning and decision-making, and automatic transfer; (3) Analyze the context of the material transportation system based on the obtained stakeholders, and then analyze the context interaction of the system based on the task profile to clarify the external interfaces of the material transportation system; (4) Analyze the top-level indicators of the material transportation system based on the performance requirements of the obtained stakeholders.

4. The forward design method of the material transportation system based on MBSE according to claim 1, characterized in that Step S103 includes the following steps: (1) Construct a traceability matrix for the overall task layer functions, indicators, and stakeholder requirements; (2) Verify whether each stakeholder requirement can be met by the function model and parameter model.

5. The forward design method of the material transportation system based on MBSE according to claim 1, characterized in that, Step S104 includes the following steps: (1) Decompose each top-level function of the material transportation system based on the top-level functional architecture of the system, and analyze its functional activities in detail to form the detailed functional architecture of the system; (2) Conduct the logical architecture design of the material transportation system, clarify the composition of the system, that is, the material transportation system consists of situation monitoring facilities, command and dispatch facilities, and automatic transfer facilities, and then design the logical architecture interaction of the system based on the system functional activities and context interaction to clarify the internal interfaces of the material transportation system; (3) Decompose the top-level indicators of the system to form the design indicators of the material transportation system for the three subsystems of situation monitoring facilities, command and dispatch facilities, and automatic transfer facilities, and then form the development requirements of the material transportation system based on the analyzed functions and interfaces.

6. The forward design method of the material transportation system based on MBSE according to claim 1, characterized in that Step S105 includes the following steps: (1) Construct a traceability matrix for the development requirements of the material transportation system at the system level and stakeholder requirements, and verify whether each stakeholder requirement can be met; (2) Construct a traceability matrix for the functions, interfaces, indicators, and development requirements of the material transportation system at the system level, and verify whether each system development requirement can be met by the model.

7. The forward design method of the material transportation system based on MBSE according to claim 1, characterized in that Step S106 includes the following steps: (1) Decompose the development requirements of each subsystem based on the system development requirements, including subsystem function requirements, performance requirements, and interface requirements; (2) Based on the subsystem development requirements, conduct the functional architecture, logical architecture, and technical indicator design of the three subsystems of situation monitoring facilities, command and dispatch facilities, and automatic transfer facilities; (3) Construct a traceability matrix for the functions, interfaces, indicators, and subsystem development requirements at the subsystem level, and verify whether each subsystem development requirement can be met by the model.

8. The forward design method of the material transportation system based on MBSE according to claim 1, characterized in that Step S107 includes the following steps: (1) Based on the system MBSE activity diagram, conduct the behavioral logic simulation of the material transportation system through the M-Simulation plug-in in the M-Design software tool to verify the logical rationality of the system operation mechanism; (2) Divide the system design indicators into statistical indicators and performance indicators. The statistical indicators include the system weight and operation cycle. By building a calculation model in the M-Design parameter diagram and combining the input actual data, automatically calculate and verify whether the system weight and operation cycle indicators meet the indicator requirements; (3) Performance indicators include positioning accuracy. An automatic transfer positioning performance model is built based on the ROS / Gazebo platform. According to the design plan, situation awareness facilities and automatic transfer facility models are arranged in the virtual environment to simulate the real automated terminal operation scenario and verify the positioning accuracy indicator during the automatic transfer of materials.

9. An electronic device, characterized in that, It includes: A processor and a memory. The memory stores programs or instructions that can run on the processor. When the programs or instructions are executed by the processor, the steps of the forward design method of the material transportation system based on MBSE described in any one of claims 1 to 8 are implemented.

10. A readable storage medium, characterized in that, Programs or instructions are stored thereon. When the programs or instructions are executed by the processor, the steps of the forward design method of the material transportation system based on MBSE described in any one of claims 1 to 8 are implemented.

Images