Method and apparatus for digital twin animation of assay pipeline based on topology and interpolation

Abstract

The application provides a kind of based on topological and interpolation's verification pipeline digital twin animation method, device, equipment and medium, wherein, method includes: based on the point position layout of verification pipeline, constructs point position topological relation graph and directed graph, and calculates the shortest path between point position;To the PLC data stream received in turn executes historical data storage, data anomaly detection, missing data prediction and compensation and interpolation compensation, obtain effective data, the effective data includes original normal data and virtual compensation data;Based on the effective data drives the animation of moving body in digital twin scene, to solve the existing electric energy measurement verification pipeline digital twin system highly dependent on PLC original data driving, lack of effective data anomaly filtering and dynamic error correction mechanism, leading to data is subject to network fluctuation, communication packet loss problem.

Description

Technical Field

[0001] This invention relates to the field of digital twin technology for industrial automation, and in particular to a method, apparatus, equipment and medium for digital twin animation of a verification production line based on topology and interpolation. Background Technology

[0002] In the field of digital twin technology for industrial automation, digital twin systems for power metering and verification lines have become a core technology for achieving real-time mapping of physical equipment status, visualized monitoring of the production process, and support for operation and maintenance decisions. These systems digitize the equipment (such as rollers and stops), moving parts (such as pallets and turnover boxes), and operating status of the physical verification line to construct a virtual twin model highly consistent with the physical scene. They rely on real-time data output from a programmable logic controller (PLC) to drive the twin animation, achieving dynamic synchronization between the virtual scene and the physical system. This assists staff in monitoring the verification process progress in real time, troubleshooting equipment anomalies, and ensuring the stable and efficient operation of the production line.

[0003] Current digital twin systems for power metering verification lines heavily rely on raw PLC data, exhibiting weak capabilities in effectively filtering data anomalies and implementing dynamic error correction. Limited by inherent defects such as network fluctuations, data acquisition frequency, and packet loss in equipment communication, significant temporal inaccuracies and spatial misalignments exist between the twin model and the physical equipment. Under large-scale production conditions in verification lines, data throughput surges, leading to data error rates reaching 10%. The twin scenario exhibits a chaotic, overlapping state, greatly reducing its monitoring and guidance value for the physical system.

[0004] Therefore, there is an urgent need for a digital twin animation method for verification pipelines based on topology and interpolation to solve the problems of existing digital twin systems for power metering verification pipelines being highly dependent on PLC raw data and lacking effective data anomaly filtering and dynamic error correction mechanisms, resulting in data being affected by network fluctuations and communication packet loss. Summary of the Invention

[0005] To overcome the problems existing in related technologies, this disclosure provides a digital twin animation method, apparatus, equipment, and medium for a verification pipeline based on topology and interpolation. This addresses the technical problems in existing digital twin systems for power metering verification pipelines, which heavily rely on PLC raw data and lack effective data anomaly filtering and dynamic error correction mechanisms, leading to data being affected by network fluctuations and communication packet loss.

[0006] This specification provides one or more embodiments of a verification pipeline digital twin animation method based on topology and interpolation, including the following steps:

[0007] Based on the point layout of the calibration pipeline, a point topology graph and a directed graph are constructed, and the shortest path between points is calculated.

[0008] The received PLC data stream is sequentially subjected to historical data storage, data anomaly detection, missing data prediction and compensation, and interpolation compensation to obtain effective data, which includes original normal data and virtual compensation data.

[0009] The effective data is used to drive the animation of the moving body in the digital twin scene.

[0010] Preferably, the point layout based on the test flow is used to construct a point topology graph and a directed graph, and to calculate the shortest path between points, specifically including the following steps:

[0011] The adjacency relationship between points is obtained from the scene configuration file of the test flow, and a point topology graph is constructed based on the adjacency relationship;

[0012] A directed graph representing the logical relationship between points is constructed in combination with the point topology graph and the actual movement direction of the flow.

[0013] Based on the point topology graph and the directed graph, the Dijkstra algorithm is used to calculate the shortest path between any two points.

[0014] Preferably, the historical data storage specifically includes the following steps:

[0015] The effective data obtained after processing is added with a current timestamp and stored as an ordered queue in chronological order;

[0016] The ordered queue is used for historical state retrieval during data anomaly detection, and the effective data stored in the ordered queue includes original normal PLC data and subsequently generated virtual compensation data.

[0017] Preferably, the data anomaly detection specifically includes the following steps:

[0018] The PLC data stream is listened to, and point data is received, and for the code of each moving body contained in the point data, the corresponding latest historical point is retrieved;

[0019] Relationship verification is performed in the point topology graph based on the current point and the latest historical point;

[0020] According to the verification result, the data state is determined and the corresponding processing action is performed.

[0021] Preferably, the missing data prediction and compensation specifically includes the following steps:

[0022] The completed path sequence is obtained by calling the shortest path calculation based on the current point and the latest historical point;

[0023] Based on historical moving time data, the exponential moving average algorithm is used to predict the moving time of each segment in the path, and the total path length is calculated.

[0024] According to the path sequence and the total path length, a plurality of virtual position data points with timestamps are generated.

[0025] Preferably, the interpolation compensation specifically includes the following steps:

[0026] According to the virtual start and end points and the total path length, the accurate position of each frame is calculated to realize smooth animation.

[0027] The linear interpolation formula is used to calculate the position of the moving body in the current frame.

[0028] Preferably, the animation of the moving body in the digital twin scene based on the effective data specifically includes the following steps:

[0029] The position information and timestamps in the effective data are synchronized to the animation engine.

[0030] The animation engine renders the continuous motion animation of the moving body in the digital twin scene according to the time sequence relationship of the effective data.

[0031] One or more embodiments of the present specification provide a kind of based on topology and interpolation's verification pipeline digital twin animation device, including path planning module, PLC data processing module and animation driving module;

[0032] The path planning module is used to construct point topology relationship graph and directed graph based on the point layout of the verification pipeline, and the shortest path between points is calculated.

[0033] The PLC data processing module is used to sequentially execute historical data storage, data anomaly detection, missing data prediction and compensation and interpolation compensation on the received PLC data stream, to obtain effective data, the effective data includes original normal data and virtual compensation data;

[0034] The animation driving module is used to drive the animation of the moving body in the digital twin scene based on the effective data.

[0035] One or more embodiments of the present specification provide a kind of computer equipment, including memory, processor and computer program stored in the memory and executable on the processor, when the processor executes the computer program, realize the above based on topology and interpolation's verification pipeline digital twin animation method.

[0036] The one or more embodiments of the specification provide a computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the steps of the above-mentioned method for animating a digital twin of a test pipeline based on topology and interpolation.

[0037] The method, device, equipment and medium for animating a digital twin of a test pipeline based on topology and interpolation provided by the present disclosure have the advantages that a point topology relationship graph and a directed graph are constructed based on the point layout of the test pipeline, and the shortest path between points is calculated, the topology relationship graph and the directed graph are constructed, the connection relationship of each key point in the pipeline and the legal motion direction of the moving body are determined, verifiable topology rules are provided for subsequent data anomaly detection, the pre-calculated shortest path provides a quick and accurate reference for trajectory completion when data is lost, and the physical reasonableness of the compensated data is ensured, thereby fundamentally improving the response speed and processing accuracy of the system under data abnormal conditions; the received PLC data stream is sequentially subjected to historical data storage, data anomaly detection, lost data prediction and compensation, and interpolation compensation to obtain effective data, the effective data including original normal data and virtual compensation data, the historical data storage provides complete context information for state tracking of the moving body, the data anomaly detection can accurately filter and exclude error data to prevent it from polluting the animation effect, the virtual compensation data generated by path completion and time estimation fills the data gap to avoid animation "jumping", and the interpolation compensation converts discrete position data into continuous frame-level positions to ensure smooth transition of the moving body in the virtual scene, enhances the fault tolerance of the system, and effectively solves the animation lag, misplacement and "model penetration" phenomenon caused by network fluctuations, communication packet loss and other problems; the animation of the moving body in the digital twin scene is driven based on the effective data, the high-quality effective data after cleaning, compensation and optimization is used to drive the animation, the moving body in the virtual scene can accurately reproduce its position and motion state in the physical world in real time, not only eliminating visual confusion caused by data problems to provide smooth and coherent visualization effects, but also ensuring the accuracy and reliability of the digital twin model mapping the state of the physical system, thereby providing a trusted monitoring interface that can effectively assist decision-making for the operation and maintenance personnel, and fully realizing the core value of the digital twin technology. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the one or more embodiments of the specification or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the specification, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0039] Figure 1 A flowchart of a topological and interpolation-based qualification pipeline digital twin animation method provided for one or more embodiments of the present specification is shown in the following figure:

[0040] Figure 2 A structural diagram of a topological and interpolation-based qualification pipeline digital twin animation device provided for one or more embodiments of the present specification is shown in the following figure:

[0041] Figure 3 A structural diagram of a computer device provided for one or more embodiments of the present specification is shown in the following figure. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the technical solutions in one or more embodiments of the present specification, the technical solutions in one or more embodiments of the present specification will be described clearly and completely in the following with reference to the drawings in one or more embodiments of the present specification. Obviously, the described embodiments are only a part of the embodiments of the present specification, rather than all the embodiments. Based on one or more embodiments of the present specification, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present specification.

[0043] The present application will be described in detail below with reference to the specific embodiments and the accompanying drawings.

[0044] Method embodiments

[0045] According to the embodiments of the present application, a topological and interpolation-based qualification pipeline digital twin animation method is provided, as shown in the following figure: Figure 1 A flowchart of a topological and interpolation-based qualification pipeline digital twin animation method provided for one or more embodiments of the present specification is shown in the following figure. According to the topological and interpolation-based qualification pipeline digital twin animation method of the embodiments of the present application, the following steps are included:

[0046] S110, based on the point layout of the qualification pipeline, extracting the roll section points and the stop points in the scene configuration file, analyzing and establishing the predecessor, successor and adjacent relationship between the points, constructing the point topology relationship graph and the directed graph, and calculating the shortest path between any two points in the graph by using Dijkstra algorithm, to provide basis for predicting the possible path of the tray when the signal is lost.

[0047] S120, sequentially performing historical data storage, data anomaly detection, lost data prediction and compensation, and interpolation compensation on the PLC data stream received in real time through WebSocket, to obtain effective data, including original normal data and virtual compensation data.

[0048] S130, driving animation of the moving body in the digital twin scene based on the effective data.

[0049] The method provided by the embodiment constructs a point position topology relationship graph and a directed graph based on the point position layout of the test pipeline, and calculates the shortest path between the point positions, constructs the topology relationship graph and the directed graph, and clearly defines the connection relationship of each key point position in the pipeline and the legal movement direction of the moving body, thereby providing verifiable topology rules for subsequent data anomaly detection, providing a fast and accurate reference for trajectory completion in the case of data loss, and ensuring the physical rationality of the compensation data, thereby fundamentally improving the response speed and processing accuracy of the system in the case of data anomaly; the received PLC data stream is sequentially subjected to historical data storage, data anomaly detection, lost data prediction and compensation, and interpolation compensation, to obtain effective data, the effective data including original normal data and virtual compensation data, the historical data storage provides complete context information for state tracking of the moving body, the data anomaly detection can accurately screen and eliminate error data to prevent the error data from polluting the animation effect, the virtual compensation data generated by the path completion and time estimation fills the data gap in the case of data loss, avoids the "jump" of the animation, and the interpolation compensation converts the discrete position data into continuous frame-level positions, ensures smooth transition of the moving body in the virtual scene, enhances the fault tolerance of the system, and effectively solves the phenomena of animation lag, misplacement and "model penetration" caused by network fluctuations, communication packet loss and the like; the animation of the moving body in the digital twin scene is driven based on the effective data, the high-quality effective data subjected to cleaning, compensation and optimization is used to drive the animation, and the moving body in the virtual scene can accurately reproduce the position and movement state thereof in the physical world in real time, not only eliminates visual confusion caused by data problems, provides smooth and coherent visual effects, but also ensures the accuracy and reliability of the mapping of the digital twin model to the physical system state, thereby providing a trusted monitoring interface capable of effectively assisting decision-making for the operation and maintenance personnel, and fully exerting the core value of the digital twin technology.

[0050] In one embodiment, the point position topology relationship graph and the directed graph are constructed based on the point position layout of the test pipeline, and the shortest path between the point positions is calculated, specifically including the following steps:

[0051] Obtain the adjacency relationship between each stop and between each point position of the roller section from the scene configuration file of the test pipeline, and construct a point position topology relationship graph based on the adjacency relationship.

[0052] Combine the point position topology relationship graph and the actual movement direction of the pipeline to construct a directed graph representing the logical relationship between the point positions.

[0053] Based on the point topology relationship graph and the directed graph, the Dijkstra algorithm is used to calculate the shortest path between any two points, providing a basis for subsequent data detection and prediction.

[0054] The method provided by the embodiment converts the physical points into digital models with clear spatial correlation, completely reproduces the device spatial layout, provides a "digital ruler" for the physical logic judgment of the moving body position, constructs a directed graph in combination with the actual motion direction of the pipeline, adds a motion direction rule, and clearly defines the legal trajectory range of the moving body, thereby providing a logical basis for subsequent PLC data anomaly detection, and quickly intercepting data that violates the physical motion rule; meanwhile, the shortest path between any two points is calculated in advance by the Dijkstra algorithm, the path is converted into "pre-reserved resources", and the temporary calculation power is not needed when subsequent data is lost, which not only improves the compensation response speed, but also ensures that the compensation path conforms to the actual flow logic, thereby providing a reasonable path benchmark for virtual compensation data generation.

[0055] In one embodiment, the historical data storage specifically includes the following steps:

[0056] The effective data obtained after processing is added with a current timestamp and stored as an ordered queue in chronological order, thereby providing a basis for subsequent data anomaly detection. The ordered queue is used for historical state retrieval during data anomaly detection, and the effective data stored in the ordered queue includes the original normal PLC data and the subsequently generated virtual compensation data.

[0057] The method provided by the embodiment adds timestamps to the original normal PLC data and the subsequent virtual compensation data and forms an ordered queue in sequence, which not only guarantees the time sequence integrity and traceability of the effective data, but also provides a reliable historical state retrieval basis for subsequent data anomaly detection, ensures that the latest historical position of the moving body can be accurately obtained during detection, and avoids abnormal misjudgment or omission caused by lack of complete historical reference.

[0058] In one embodiment, the data anomaly detection specifically includes the following steps:

[0059] The PLC data stream is continuously monitored, and when the point data (including the device code no and the tray or tote (hereinafter referred to as: moving body) code set children thereon) is received, the code of each moving body contained in the point data is retrieved to obtain the corresponding latest historical point (P_hist), i.e., the last known point.

[0060] The relationship between the current point (P_curr) and the latest historical point (P_hist) is verified based on the point topology relationship graph, and the data state is determined according to the verification result and a corresponding processing action is performed. The specific verification logic is shown in the following table:

[0061] Table 1 Topological relationship verification

[0062]

[0063] The method provided by the embodiment can quickly determine whether the data is abnormal and perform corresponding processing by real-time monitoring of PLC data flow, accurately searching for the latest historical point position of the moving body according to the moving body code, and combining the point position topological relationship diagram to verify the logical rationality of the current point position and the historical point position. The method can not only effectively intercept error data that violates physical laws, but also accurately identify data loss, thereby providing clear basis for subsequent lost data compensation or error data elimination and reducing the interference of abnormal data on the accuracy of digital twin animation from the source.

[0064] In one embodiment, when it is determined that the data is partially lost, the process is started to generate smooth virtual animation data, lost data prediction and compensation, specifically including the following steps:

[0065] The completed path sequence is calculated according to the current point position P curr and the latest historical point position P hist .

[0066] For each sub-path (such as from A to B) on the path Path, the system queries the recent 2 historical data (time stamp difference) of the sub-path, and calculates the actual moving time. Based on the historical moving time data, an exponential moving average algorithm is used for time smoothing prediction:

[0067] ;

[0068] Wherein, a is a smoothing factor, for example, 0.7.

[0069] The estimated moving time T segment of each segment of the path is predicted, and the total path length T is calculated. The total path length T is the sum of the estimated time of each segment.

[0070] According to the path sequence Path and the total path length T, a plurality of virtual position data points with timestamps are generated.

[0071] The method provided by the embodiment can complete the moving trajectory sequence by calling the shortest path, accurately predict the moving time and total length of each segment of the path by combining the exponential moving average algorithm, and then generate virtual position data points with timestamps. The method can effectively fill the gap of lost PLC data, avoid position jumping of the animation, and ensure the time sequence coherence and physical rationality of the moving trajectory of the digital twin animation.

[0072] In one embodiment, interpolation compensation specifically includes the following steps:

[0073] According to the virtual start and end points (P start,P end Given the total path duration T, the precise position of each frame is calculated to achieve smooth animation. During animation playback, for the elapsed time t, the position of the moving body in the current frame is calculated using a linear interpolation formula, as follows:

[0074] .

[0075] The method provided in this embodiment calculates the precise position of the moving body in each frame using a linear interpolation formula based on the virtual start and end points and the total path duration. This eliminates positional gaps between frames, achieves smooth transitions in the animation of the moving body, and further ensures the visual fluency and positional coherence of the digital twin animation.

[0076] In one embodiment, driving the animation of a moving object in a digital twin scene based on valid data specifically includes the following steps:

[0077] The location information and timestamps in the valid data are synchronized to the animation engine, which then renders continuous motion animations of the moving objects in the digital twin scene based on the temporal relationship of the valid data.

[0078] The method provided in this embodiment synchronizes valid data containing location information and timestamps to the animation engine. The engine renders continuous animation of the moving body according to the data time sequence relationship, which not only achieves high-precision state synchronization between the digital twin scene and the physical system, but also ensures smooth animation without gaps, fully ensuring the value of digital twin for visual monitoring of physical pipeline.

[0079] The following specific implementation examples further illustrate this point:

[0080] 1. Topology Graph Construction: Based on the physical layout of the production line, extract the roller section points and stop points, analyze and establish the predecessor, successor, and adjacency relationships between each point, and construct a directed topology graph. Use Dijkstra's algorithm to calculate the shortest path between any two points in the graph, providing a basis for predicting possible pallet paths in the event of signal loss.

[0081] 2. Data Reception and Distribution: The system receives raw data from the PLC in real time via WebSocket. The data distribution module calls the corresponding roller segment data processing class and stop / block data processing class according to the data type (roller status, stop / block status).

[0082] 3. Anomaly Detection and Handling (Executed within the Roller Section Data Processing Class):

[0083] Roller data detection: Determines whether the current roller signal is valid.

[0084] (1) Roller data anomaly detection: If the roller section signal is lost, proceed to step 4; if the roller section signal is normal, proceed to step 6.

[0085] (2) Stopping data anomaly detection: Stopping data anomalies are divided into two types, signal loss, go to step 4, signal error, go to step 5;

[0086] 4. Roll signal loss processing: For the lost roll signal, combined with the average time data of the historical movement of the roll, for example, using the formula Calculate the predicted moving time, where a is the smoothing factor, generate a virtual continuous state signal, compensate for the state information in the missing time period by linear interpolation and other methods. The processed data goes to step 6;

[0087] 5. Discard error data, end, do not participate in animation execution;

[0088] Animation execution: The animation controller receives the final valid data from the roll processing module and the stopping processing module (including original normal data, step 4 compensated roll data, and step 5 processed stopping data). Using these accurate position information, drive the animation engine to render the motion animation of the pallet and the turnover box in the digital twin scene.

[0089] Device embodiment

[0090] According to the embodiment of the application, a kind of based on topology and interpolation's test pipeline digital twin animation device is provided, as Figure 2 As shown in FIG. 1, it is the structure schematic diagram of the test pipeline digital twin animation device based on topology and interpolation provided by the embodiment, the test pipeline digital twin animation device based on topology and interpolation according to the embodiment of the application, including path planning module 21, PLC data processing module 22 and animation driving module 23.

[0091] Path planning module 21 is used to construct point topology graph and directed graph based on the point layout of test pipeline, and calculate the shortest path between points.

[0092] PLC data processing module 22 is used to sequentially execute historical data storage, data anomaly detection, lost data prediction and compensation and interpolation compensation on received PLC data stream, to obtain valid data, including original normal data and virtual compensation data.

[0093] Animation driving module 23 is used to drive the animation of moving body in digital twin scene based on valid data.

[0094] The device provided by the embodiment constructs a point topological relation graph and a directed graph based on the point layout of the test flow line through the path planning module 21, calculates the shortest path between points, constructs the topological relation graph and the directed graph, and determines the connection relation of each key point in the flow line and the legal motion direction of the motion body, thereby providing verifiable topological rules for subsequent data anomaly detection, providing a quick and accurate reference for trajectory completion in the case of data loss, and ensuring the physical rationality of the compensation data, thereby fundamentally improving the response speed and processing accuracy of the system in the case of data anomaly; the PLC data processing module 22 sequentially performs historical data storage, data anomaly detection, lost data prediction and compensation, and interpolation compensation on the received PLC data stream, to obtain effective data, wherein the effective data includes original normal data and virtual compensation data, the historical data storage provides complete context information for the state tracking of the motion body, the data anomaly detection can accurately filter and exclude error data to prevent the error data from polluting the animation effect, the virtual compensation data generated through path completion and time estimation fills the data gap in the case of data loss, thereby avoiding the “jumping” of the animation, and the interpolation compensation converts discrete position data into continuous frame-level positions, thereby ensuring the smooth transition of the motion body in the virtual scene, enhancing the fault tolerance of the system, and effectively solving the problems of animation lag, misplacement and “model penetration” caused by network fluctuations, communication packet loss and the like; the animation driving module 23 drives the animation of the motion body in the digital twin scene based on the effective data, and drives the animation by using high-quality effective data that has been cleaned, compensated and optimized, thereby ensuring that the motion body in the virtual scene can reproduce the position and motion state of the motion body in the physical world in real time and accurately, not only eliminating visual confusion caused by data problems and providing smooth and coherent visual effects, but also ensuring the accuracy and reliability of the mapping of the digital twin model to the physical system state, thereby providing a trusted monitoring interface that can effectively assist decision-making for the operation and maintenance personnel, and fully exerting the core value of the digital twin technology.

[0095] The embodiment of the application is a device corresponding to the above-mentioned method embodiment, and the specific operations of each module processing step can be understood with reference to the description of the method embodiment, which will not be repeated here.

[0096] As shown in Figure 3 The application further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the test flow line digital twin animation method based on topology and interpolation in the above-mentioned embodiment, or the computer program is executed by a processor to implement the test flow line digital twin animation method based on topology and interpolation in the above-mentioned embodiment.

[0097] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing relevant hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0098] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device or system embodiments, since they are basically similar to the method embodiments, they are described more simply, and the relevant parts can be referred to the part of the method embodiments. The above-described device and system embodiments are only illustrative, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0099] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and the contents not described in detail in the specification of the present application belong to the known technology of those skilled in the art.

Claims

1. A digital twin animation method for a verification pipeline based on topology and interpolation, characterized in that, Includes the following steps: Based on the point layout of the calibration production line, the roller section points and stop points in the scenario configuration file are extracted, the predecessor, successor and adjacency relationships between each point are analyzed and established, the point topology graph and directed graph are constructed in combination with the actual movement direction of the production line, and the Dijkstra algorithm is used to calculate the shortest path between any two points. The received PLC data stream is processed sequentially through historical data storage, data anomaly detection, lost data prediction and compensation, and interpolation compensation to obtain valid data. The valid data includes original normal data and virtual compensated data. Specifically, the process includes the following steps: The PLC data stream is logically verified and anomaly detected using the point topology diagram and the directed graph. When partial data loss is detected, a complete path sequence from the latest historical point to the current point is calculated based on the shortest path, and the travel time of each segment in the path is predicted using the exponential moving average algorithm based on historical travel time data. The total path duration is calculated, and multiple virtual compensation data with timestamps are generated. The original normal data is integrated with the virtual compensation data to form valid data; The animation of moving objects in the digital twin scene is driven by the effective data.

2. The verification pipeline digital twin animation method based on topology and interpolation as described in claim 1, characterized in that, The process of constructing a topological graph and a directed graph based on the actual movement direction of the pipeline, and calculating the shortest path between any two points using Dijkstra's algorithm, specifically includes the following steps: Obtain the adjacency relationship between each point from the scenario configuration file of the inspection pipeline, and construct a point topology graph based on the adjacency relationship; By combining the topological relationship diagram of the points and the actual movement direction of the pipeline, a directed graph representing the logical relationship between the points is constructed. Based on the topological relationship diagram of the points and the directed graph, Dijkstra's algorithm is used to calculate the shortest path between any two points.

3. The verification pipeline digital twin animation method based on topology and interpolation as described in claim 1, characterized in that, The storage of historical data specifically includes the following steps: Add the current timestamp to the processed valid data and store it in an ordered queue in chronological order. The ordered queue is used for historical state retrieval during data anomaly detection, and the valid data stored in the ordered queue includes the original normal PLC data and the subsequently generated virtual compensation data.

4. The verification pipeline digital twin animation method based on topology and interpolation as described in claim 1, characterized in that, The data anomaly detection specifically includes the following steps: Listen to the PLC data stream, receive point data, and retrieve the latest historical point for the code of each moving body contained in the point data. Based on the current location and the latest historical location, the relationship is verified in the location topology graph; The data status is determined based on the verification results, and corresponding processing actions are performed.

5. The verification pipeline digital twin animation method based on topology and interpolation as described in claim 1, characterized in that, The lost data prediction and compensation specifically includes the following steps: The completed path sequence is obtained by calling the shortest path based on the current location and the latest historical location. Based on historical travel time data, the exponential moving average algorithm is used to predict the travel time of each segment in the path and calculate the total path duration. Based on the path sequence and the total path duration, multiple virtual location data points with timestamps are generated.

6. The digital twin animation method for verification pipeline based on topology and interpolation as described in claim 5, characterized in that, The interpolation compensation specifically includes the following steps: Based on the virtual start and end points and the total duration of the path, the precise position of each frame is calculated to achieve smooth animation; The position of the moving body in the current frame is calculated using a linear interpolation formula.

7. The verification pipeline digital twin animation method based on topology and interpolation as described in claim 1, characterized in that, The animation of moving objects in the digital twin scene based on the effective data specifically includes the following steps: Synchronize the location information and timestamps in the valid data to the animation engine; The animation engine renders continuous motion animations of moving objects in a digital twin scene based on the temporal relationship of valid data.

8. A digital twin animation device for a verification pipeline based on topology and interpolation, characterized in that, It includes a path planning module, a PLC data processing module, and an animation driving module; The path planning module is used to extract the roller section points and stop points in the scenario configuration file based on the point layout of the inspection assembly line, analyze and establish the predecessor, successor, and adjacency relationships between each point, construct the point topology graph and directed graph in combination with the actual movement direction of the assembly line, and use the Dijkstra algorithm to calculate the shortest path between any two points. The PLC data processing module is used to sequentially perform historical data storage, data anomaly detection, lost data prediction and compensation, and interpolation compensation on the received PLC data stream to obtain valid data. The valid data includes original normal data and virtual compensation data, and specifically includes the following steps: The PLC data stream is logically verified and anomaly detected using the point topology diagram and the directed graph. When partial data loss is detected, a complete path sequence from the latest historical point to the current point is calculated based on the shortest path, and the travel time of each segment in the path is predicted using the exponential moving average algorithm based on historical travel time data. The total path duration is calculated, and multiple virtual compensation data with timestamps are generated. The original normal data is integrated with the virtual compensation data to form valid data; The animation-driven module is used to drive the animation of moving objects in the digital twin scene based on the valid data.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the digital twin animation method for verification pipelines based on topology and interpolation as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the digital twin animation method for the verification pipeline based on topology and interpolation as described in any one of claims 1 to 7.

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