Configurable creation method for digital twin three-dimensional model of complex equipment
By splitting the parts and adopting a part assembly tree structure and MTM format encoding, the problems of local parameterization and animation configuration of complex equipment 3D models are solved, realizing rapid modeling and modular expansion, and improving modeling efficiency and model reusability.
Patent Information
- Application Number
- CN202511034237.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-25
- Publication Date
- 2025-11-11
AI Technical Summary
Existing methods for constructing digital twin 3D models lack the ability to perform local parameterization in complex equipment, making rapid iteration difficult. The configuration of motion animations is complex and the model has poor reusability, resulting in low modeling efficiency and high costs.
The equipment's 3D model is broken down into parts, and a part assembly tree structure is adopted. Local size modification and multi-degree-of-freedom animation configuration are realized by defining global dimension vectors, animation vectors, and transition matrix functions. The data structure is encoded in MTM format, which supports modular expansion.
It enables rapid local size modification and multi-degree-of-freedom animation configuration of complex equipment 3D models, improves the modular expansion capability and reusability of the models, and meets the rapid modeling needs of intelligent manufacturing.
Smart Images
Figure CN120931771A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of digital twins and computer software, and specifically relates to a configurable method for creating a digital twin 3D model of complex equipment. Background Technology
[0002] With the development of Industry 4.0 and intelligent manufacturing, digital twin technology has become an important tool for the full lifecycle management of complex equipment. It maps the real-time operating status of physical equipment through virtual models, supporting design verification, fault prediction, and process optimization. However, existing methods for constructing 3D digital twin models still face the following bottlenecks: Insufficient local parameterization capabilities: Traditional modeling relies on CAD software to adjust dimensions point by point. Complex equipment involves a large number of related components, and modifying local dimensions requires reconstructing the entire model, which is time-consuming, error-prone, and difficult to meet the needs of rapid iteration. Complex motion animation configuration: Existing tools rely on script programming or manual keyframe settings for configuring animations of multi-degree-of-freedom motion chains (such as rotation, translation, and linkage), resulting in low debugging efficiency and difficulty in adapting to changes in the dynamic behavior of equipment. Poor model reusability: Complex equipment is mostly composed of standardized parts, but existing methods do not adopt a modular approach to equipment modeling, leading to repeated modeling of similar equipment, resulting in long development cycles and high costs.
[0003] Therefore, there is an urgent need for a 3D model building method that supports rapid modification of local dimensions, visualization configuration of multi-degree-of-freedom motion animation, and modular expansion capabilities, in order to meet the rapid modeling needs of intelligent manufacturing scenarios and improve the development efficiency of digital twin models of complex equipment. Summary of the Invention
[0004] To address the problems existing in the prior art, the purpose of this invention is to provide a method for creating digital twin 3D models of complex equipment that supports rapid modification of local dimensions and configuration of multi-degree-of-freedom motion animation.
[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution:
[0006] A configurable method for creating a digital twin 3D model of complex equipment includes the following steps:
[0007] S1 specifies the dimension of the size parameter vector G of the equipment 3D model and the dimension of the motion animation vector A;
[0008] S2. Decompose the equipment 3D model into parts according to the needs of size modification and motion animation, and build the part structure of each part in turn;
[0009] S3. Assemble the component structure into a component splicing tree.
[0010] The present invention has the following beneficial effects:
[0011] This invention discloses a method for creating a digital twin 3D model of complex equipment. The method involves breaking down the 3D equipment model into parts according to size modification and animation requirements, and using a part assembly tree structure to represent the 3D equipment model. Connecting points represent the connection methods between parts, and rotation and scaling matrices represent the size and attitude angles of parts within the overall equipment model. This enables the 3D equipment model to have modular expansion capabilities and enhances its reusability. By defining a global size vector and animation vector for the equipment model, and defining a transition matrix function associated with the global size vector and animation vector for each part within the equipment, rapid modification of local dimensions and configuration of multi-degree-of-freedom animations are achieved. Furthermore, according to the method for constructing a digital twin 3D model of complex equipment disclosed in this invention, a digital twin 3D model data format with the suffix ".mtm" is defined. This format uses JSON to encode the data structure of each part of the equipment part assembly tree, and a method for converting the MTM format model to a GLTF model is disclosed. Therefore, this invention realizes the construction of a complex equipment 3D model that supports rapid modification of local dimensions, configuration of multi-degree-of-freedom animations, and modular expansion capabilities. Attached Figure Description
[0012] Figure 1 A flowchart illustrating the method for creating a digital twin 3D model of complex equipment for the implementation of this invention;
[0013] Figure 2 A schematic diagram of the equipment 3D model and parts splicing tree structure constructed using the above method;
[0014] Figure 3 This is a diagram illustrating the fields contained in a .mtm file.
[0015] Figure 4 This is a flowchart illustrating the process of converting a .mtm file to a .gltf format model. Detailed Implementation
[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above objectives, this invention adopts the following technical solution.
[0017] Example 1
[0018] This invention provides a configurable method for creating digital twin 3D models of complex equipment, such as... Figure 1 As shown, it includes the following steps:
[0019] S1 specifies the dimension of the size parameter vector G of the equipment 3D model and the dimension of the motion animation vector A;
[0020] S2. Decompose the equipment 3D model into parts according to the needs of size modification and motion animation, and build the part structure of each part in turn;
[0021] S3. Assemble the component structure into a component splicing tree.
[0022] like Figure 2 As shown, the part structure can be represented as:
[0023] ;
[0024] In the formula, M represents the 3D model of the part, encoded in glTF format, and V represents the rotation and scaling matrix of the part at its default size and initial motion posture. The non-singular matrix is used to represent the default pose and scaling factor of the part at its default size. S is the set of splicing points of the part, represented in the form of {splicing point ID, splicing point coordinates P}, where the splicing point coordinates P is a three-dimensional coordinate vector representing the coordinates of the splicing point relative to the origin of the part model. T is the transition matrix of the part, which is a... The function matrix, with input parameters being the equipment's size parameter vector G and motion animation vector A, satisfies:
[0025] ;
[0026] in, It is a diagonal matrix function that is only related to the size vector G. It is an orthogonal matrix function that is only related to the animation vector A.
[0027] S3. Assemble the component structure into a component splicing tree.
[0028] like Figure 2 As shown, the part splicing tree in step S3 has nodes representing the part structures of each part, and edges representing splicing point pairs between parts, denoted as <parent part splicing point ID, child part splicing point ID>. After the part splicing tree is formed, the actual rotation and scaling matrix of the parts... It can be represented as:
[0029] ;
[0030] The coordinates of each part relative to the center point of the equipment are:
[0031] ;
[0032] in, , , , These represent the coordinates of the parent node of the part, the transition matrix, the rotation and scaling matrix, and the coordinate vector of the splicing point where it is joined with the child part, respectively. , , , These represent the part coordinates, the transition matrix, the rotation and scaling matrix, and the coordinate vector of the splicing point with the sub-part, respectively. If the part is the root node of the entire equipment model, then the coordinates of the part relative to the center point of the equipment model are zero vectors.
[0033] Example 2
[0034] This invention provides a three-dimensional model data format with the .mtm extension, and its structure is as follows: Figure 3 As shown. The MTM format model is encoded in JSON format and contains the following fields:
[0035] "equip": The component assembly tree of the equipment;
[0036] “Pg”: The size parameters of the equipment, represented as key-value pairs in the form of {size parameter name: parameter value range}, and the number of key-value pairs is the dimension of the equipment size vector;
[0037] "Pa": The animation freedom of the equipment, represented as a key-value pair of {animation name: animation frame range}, and the number of key-value pairs is the dimension of the device animation vector;
[0038] like Figure 3 As shown, the equipment parts assembly tree ("equip" field) is encoded in JSON format and contains the following fields:
[0039] "parts": List of part nodes;
[0040] “montages”: A list of splice point pairs between parts;
[0041] The part node ("parts" field) contains the following fields:
[0042] “model”: Partial GLTF encoding of the part's geometric model, using GLTF 2.0 format, mainly includes: nodes, meshes, materials, textures, and images.
[0043] "RS": The default rotation and scaling matrix of the part, represented as an array.
[0044] “S”: The splicing point information of the part, represented as a key-value pair of {splicing point id: splicing point coordinates}.
[0045] "translation": The part's translation matrix, which is a Python script stored as a string. The script takes a dimension vector and an animation vector as input and outputs... Functions of non-singular matrices.
[0046] Example 3
[0047] This invention provides a method for converting MTM format models to GLTF format models, such as... Figure 4 As shown, the steps are as follows:
[0048] S1. Given the size vector G and animation vector A of the device model;
[0049] S2. Calculate the coordinates P of each part node in the part splicing tree relative to the center point of the equipment model using the calculation method according to claim 4;
[0050] S3. Recalculate the coordinates of each node within the GLTF encoding of the part model based on the center point coordinates P of the part and the rotation and scaling matrix of the part. It can be represented as:
[0051] ;
[0052] in, The original node coordinates are glTF encoded for the part model. T and V are the default rotation scaling matrix and the transition matrix under G and A, respectively.
[0053] S4. Combine the glTF codes of each part, combining nodes, meshes, materials, textures, and images respectively, and add other necessary fields to form a complete glTF file of the equipment model.
Claims
1. A configurable method for creating digital twin 3D models of complex equipment, characterized in that, Includes the following steps: S1 specifies the dimension of the size parameter vector G of the equipment 3D model and the dimension of the motion animation vector A; S2. Decompose the equipment's 3D model into parts according to the requirements of size modification and motion animation, and construct the part structure of each part in turn. S3. Assemble the component structure into a component splicing tree.
2. The configurable creation method for digital twin 3D models of complex equipment according to claim 1, characterized in that, The part structure in step S2 is represented as follows: ； In the formula, M is the 3D model of the part, V is the rotation and scaling matrix of the part under the default size and initial motion posture, S is the set of splicing points of the part, and T is the transition matrix of the part, which satisfies the following properties: ； in, It is a diagonal matrix function that is only related to the size vector G. It is an orthogonal matrix function that is only related to the animation vector A.
3. The configurable creation method for digital twin 3D models of complex equipment according to claim 1, characterized in that, The component splicing tree in step S3 has nodes that are the component structures of each component and edges that are splicing point pairs between components, represented as <parent component splicing point ID, child component splicing point ID>.
4. The configurable creation method for digital twin 3D models of complex equipment according to claim 1, characterized in that, After the part splicing tree is formed in step S3, the actual rotation and scaling matrix of the part is represented as: ； The coordinates of each part relative to the center point of the equipment are: ； in, , , , These represent the coordinates of the parent node of the part, the transition matrix, the rotation and scaling matrix, and the coordinate vector of the splicing point where it is joined with the child part, respectively. , , , These represent the part coordinates, the transition matrix, the rotation and scaling matrix, and the coordinate vector of the splicing point where the part is joined with the sub-part, respectively.
5. The configurable creation method for digital twin 3D models of complex equipment according to claim 1, characterized in that, The 3D model data is encoded in JSON format and includes the following fields: "equip": The component assembly tree of equipment; "Pg": The size parameters of the equipment, represented as key-value pairs in the form of {size parameter name: parameter value range}, and the number of key-value pairs is the dimension of the equipment size vector; "Pa": The animation freedom of the equipment, represented as a key-value pair of {animation name: animation frame range}, and the number of key-value pairs is the dimension of the equipment animation vector.
6. The configurable creation method for digital twin 3D models of complex equipment according to claim 5, characterized in that, The "equip" field of the equipment parts assembly tree is encoded in JSON format and contains the following fields: "parts": List of part nodes; "montages": A list of splice point pairs between parts; The "parts" field of the part node contains the following fields: "model": Partial GLTF encoding of the part's geometric model, including: nodes, meshes, materials, textures, and images; "RS": The default rotation and scaling matrix of the part, represented as an array; "S": The splicing point information of the part, represented as a key-value pair of {splicing point id: splicing point coordinates}; "translation": The transition matrix of the part.
7. The configurable creation method for digital twin 3D models of complex equipment according to claim 5, characterized in that, The file extension for 3D model data is .mtm. The steps to convert a .mtm format model to a .gltf format model are as follows: S1. Given the size vector G and animation vector A of the equipment model; S2. Calculate the coordinates P of each part node in the part splicing tree relative to the center point of the equipment model; S3. Recalculate the coordinates of each node within the GLTF encoding of the part model based on the coordinates P of the part's center point and the part's rotation and scaling matrix. The coordinates are represented as follows: ； in, The original node coordinates are glTF encoded for the part model, where T and V are the default rotation scaling matrix and the transition matrix under G and A, respectively. S4. Combine the glTF codes of each part, combining nodes, meshes, materials, textures, and images respectively, and add other necessary fields to form the glTF file of the equipment model.
8. The configurable creation method for digital twin 3D models of complex equipment according to claim 5, characterized in that, "translation": The part's translation matrix is a Python script stored as a string. The script takes a dimension vector and an animation vector as input and outputs... Functions of non-singular matrices.
9. The configurable creation method for digital twin 3D models of complex equipment according to claim 2, characterized in that, The 3D model M of the part is encoded in glTF format, and the rotation and scaling matrix V of the part under default size and initial motion posture is a... A non-singular matrix is used to represent the default orientation and scaling factor of the part at its default size.
10. The configurable creation method for digital twin 3D models of complex equipment according to claim 2, characterized in that, The splicing point set S of the part is represented in the form of {splicing point ID, splicing point coordinates P}, where the splicing point coordinates P is a three-dimensional coordinate vector representing the coordinates of the splicing point relative to the origin of the part model. The transition matrix T of the part is a... The function matrix.