Simulation test method and simulation test system for port machinery equipment and electronic equipment

Abstract

The invention relates to the field of harbor machinery intellectualization, and discloses a simulation test method and a simulation test system of harbor machinery equipment, and electronic equipment. The method comprises the following steps: constructing an upper computer simulation module, wherein the upper computer simulation module is used for running an upper computer program to generate a first control instruction; a lower computer simulation module is constructed, the lower computer simulation module is in communication interaction with the upper computer simulation module, and the lower computer simulation module is used for receiving the first control instruction and running a lower computer program to generate a second control instruction; a three-dimensional model of the port machinery equipment is constructed, the three-dimensional model is in communication interaction with the lower computer simulation module, and the three-dimensional model is used for receiving the second control instruction; and according to the three-dimensional model, the upper computer simulation module and the lower computer simulation module, carrying out simulation test on the operation of the port machinery equipment in the virtual simulation environment. According to the method, a complete simulation environment comprising an upper computer, a lower computer and an equipment physical model is constructed.

Description

Technical Field

[0001] This application relates to the field of intelligent port machinery, and in particular to a simulation testing method, simulation testing system and electronic equipment for port machinery. Background Technology

[0002] Currently, the testing and verification of automated terminal systems heavily relies on simulation environments to save costs and improve efficiency. However, current simulation testing is limited to testing the host computer system, thus facing two major bottlenecks: First, the modeling accuracy and dynamic response realism of the simulation environment are insufficient, making it difficult to construct high-fidelity digital twins. Consequently, a series of complex operating conditions cannot be fully tested in a laboratory environment, resulting in a significant gap in test coverage. Second, the simulator itself exhibits random variations during operation, leading to poor repeatability and consistency of test results, severely impacting the confidence level of test data and posing potential risks to system reliability assessment and decision-making. Furthermore, a portion of the automated terminal system operates on the lower-level computer, which often requires integration and debugging with real equipment, resulting in low efficiency. Summary of the Invention

[0003] In view of this, this application aims to address the problems of low simulation fidelity, incomplete test coverage, and poor repeatability in existing port machinery equipment simulation testing by providing a simulation testing method, simulation testing system, and electronic equipment for port machinery equipment. By including the lower-level hardware modules and lower-level programs in the simulation environment, the testing of the lower-level programs is brought forward to the laboratory, improving program quality and accelerating the commissioning of real equipment.

[0004] Firstly, a simulation testing method for port machinery equipment is provided. This method is applied in a virtual simulation environment and includes: acquiring a host computer simulation module, which runs a host computer program to generate a first control instruction, the first control instruction indicating the task objective of a first task; acquiring a slave computer simulation module, which communicates and interacts with the host computer simulation module, the slave computer simulation module receiving the first control instruction and running a slave computer program to generate a second control instruction, the second control instruction indicating the execution steps of the first task; acquiring a three-dimensional model of the port machinery equipment, which communicates and interacts with the slave computer simulation module, the three-dimensional model receiving the second control instruction and executing the execution steps of the first task to simulate the task objective of the port machinery equipment; and simulating and testing the process of the port machinery equipment executing the first task in the virtual simulation environment based on the three-dimensional model, the host computer simulation module, and the slave computer simulation module.

[0005] This approach constructs a complete simulation environment encompassing a host computer, slave computer, and physical models of the devices. Compared to simulating only the host computer or performing only pure data simulation, this method incorporates the control logic of the slave computer into the testing scope. This allows the simulation test to cover the entire control chain from high-level instructions to low-level execution, significantly improving the realism of the simulation and the comprehensiveness of the test, enabling high-fidelity testing in a laboratory environment.

[0006] In conjunction with the first aspect, in a possible implementation of the first aspect, simulating the operation of the port machinery in the virtual simulation environment based on the 3D model, the upper-level computer simulation module, and the lower-level computer simulation module includes: obtaining feedback information from the 3D model and sending the feedback information to the lower-level computer simulation module; determining the simulation test result of the lower-level computer program based on the feedback information to adjust the second control command; and / or determining the simulation test result of the upper-level computer program based on the simulation test result of the lower-level computer program to adjust the first control command.

[0007] This scheme introduces a closed-loop feedback mechanism, enabling dynamic and interactive testing. Feedback information is generated based on the operational status of the 3D model and sent back to the lower-level simulation module in real time, simulating the process of sensor signals feeding back to the lower-level machine in a real device. This allows the lower-level program to respond according to the actual state of the virtual device, thus testing the correctness of its logical judgments and its ability to handle abnormal states. Simultaneously, the test results from the lower-level machine are used to verify the upper-level program, forming a complete test loop from top to bottom and back to top, greatly improving the depth and systematic nature of the testing.

[0008] In conjunction with the first aspect, in possible implementations of the first aspect, the feedback information includes one or more of the motion information of the 3D model, motion posture information, and motor IO feedback information.

[0009] This scheme defines the specific content of the feedback information and refines the fidelity of the simulation. By feeding back motion information, attitude information, and motor I / O feedback information, it can comprehensively simulate the signals of various sensing components such as encoders, attitude sensors, current and voltage sensors in real equipment. This provides rich and realistic input data for the lower-level computer program, enabling it to operate in an environment closer to real working conditions and exposing potential program defects.

[0010] In conjunction with the first aspect, in a possible implementation of the first aspect, where the feedback information includes the motion posture information, the method further includes: constructing a device sensing module, which communicates and interacts with the lower-level simulation module and the 3D model, and the device sensing module is used to collect the motion posture information of the 3D model.

[0011] This solution involves constructing a dedicated device perception module to materialize the crucial function of device attitude perception within a simulation environment. This allows for the simulation of complex logic in real-world devices, such as safety interlocks and precise control. Furthermore, it enables testing of complex logic that relies on device attitude for safety interlocks and precise control, thereby further enhancing the coverage of simulation testing for safety and precision control logic.

[0012] In conjunction with the first aspect, in a possible implementation of the first aspect, where the feedback information includes the IO feedback information of the motor, constructing a three-dimensional model of the port machinery equipment includes: a motor input / output IO module for constructing the three-dimensional model, the motor IO module communicating and interacting with the lower-level simulation module, and the motor IO module being used to simulate the IO feedback of the motor of the port machinery equipment.

[0013] This solution constructs a dedicated motor I / O module, accurately simulating the electrical signal interaction at the motor drive level. By simulating motor I / O feedback, after the lower-level machine issues a drive command, the motor I / O module can feed back simulated current signals, enabling the lower-level machine program to execute its internal fault diagnosis logic, such as overcurrent and overload protection, greatly enhancing the testing of equipment protection functions and fault handling capabilities.

[0014] In conjunction with the first aspect, in a possible implementation of the first aspect, the lower-level machine simulation module includes a programmable logic controller (PLC) module, and the port machinery equipment includes a crane.

[0015] Secondly, a simulation testing system for port machinery equipment is provided, comprising: a host computer simulation module for running a host computer program to generate a first control instruction, the first control instruction being used to indicate the task objective of a first task; a slave computer simulation module for communicating and interacting with the host computer simulation module, the slave computer simulation module being used to receive the first control instruction and run a slave computer program to generate a second control instruction, the second control instruction being used to indicate the execution steps of the first task; a three-dimensional model of the port machinery equipment for communicating and interacting with the slave computer simulation module, the three-dimensional model being used to receive the second control instruction and execute the execution steps of the first task to simulate the task objective of the port machinery equipment; and a simulation module for simulating and testing the process of the port machinery equipment executing the first task in the virtual simulation environment based on the three-dimensional model, the host computer simulation module, and the slave computer simulation module.

[0016] Thirdly, an electronic device is provided, comprising one or more processors; one or more memories; the one or more memories storing one or more computer programs, the one or more computer programs including instructions that, when executed by the one or more processors, cause the first aspect or any possible implementation thereof to be performed.

[0017] Fourthly, a computer-readable storage medium is provided, comprising a computer program or instructions that, when executed on a computer, cause the first aspect and any possible implementation of the method of the first aspect to be performed.

[0018] Fifthly, a computer program product is provided, comprising a computer program or instructions that, when executed on a computer, cause the first aspect and any possible implementation of the method of the first aspect to be performed.

[0019] In a sixth aspect, a computer program is provided that, when run on a computer, causes the methods described in the first aspect and any possible implementation thereof to be executed.

[0020] A seventh aspect is an electronic device according to an embodiment of this application, the electronic device including modules / units for performing the above aspects or any possible design of the above aspects; these modules / units can be implemented in hardware or implemented by hardware executing corresponding software.

[0021] For the beneficial effects of aspects two through seven, please refer to the beneficial effects of aspect one, which will not be repeated here. Attached Figure Description

[0022] Figure 1 According to an embodiment of this application, a schematic flowchart of a simulation testing method for port machinery equipment is shown;

[0023] Figure 2 According to an embodiment of this application, a schematic diagram of a simulation testing system for port machinery equipment is shown;

[0024] Figure 3 According to an embodiment of this application, a structural schematic diagram of a device is shown;

[0025] Figure 4 According to an embodiment of this application, a structural schematic diagram of a system on a chip (SoC) is shown. Detailed Implementation

[0026] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0027] To make it easier to understand, we will first introduce the concepts of host computer and slave computer.

[0028] A host computer (HPC) is a computer located at a higher level in the control system hierarchy. It typically provides a human-computer interface and is responsible for system monitoring, management, data analysis, and decision-making. It is used to send commands, monitor status, and display data. For example, a host computer can be a high-performance personal computer (PC), industrial control computer, or server running a general-purpose operating system.

[0029] A lower-level controller is a controller that connects directly to industrial field equipment and is responsible for real-time control, logic operations, and signal processing. Lower-level controllers reside at the foundational layer of the control system hierarchy, directly facing the production process, and are typically resource-constrained embedded devices. Examples include programmable logic controllers (PLCs), microcontrollers / single-chip microcontrollers, industrial computers, or dedicated controllers such as CNC systems and motion controllers.

[0030] As mentioned in the background section, current simulation testing is limited to testing of host computer systems, such as pure software system simulations. Pure software system simulations of actual equipment are purely data simulations, making it difficult to consider the physical limitations of the execution environment. For example, in simulating the lifting of a lifting device, in a pure software system simulation, the host computer provides the actual equipment with acceleration, target position, and deceleration near the target position, and this simulation is usually perfect. However, in the lower-level control of the actual equipment, there are usually various logical judgments, making the lifting speed not uniform, and there will be fault detection points during the process—all things that software simulation cannot handle. Furthermore, pure software system simulations are usually logical simulations; for example, the actions in a pure software simulation always have a fixed duration, while each action in a real lower-level program during execution is different, which may trigger errors during execution.

[0031] Furthermore, network latency and jitter between the host computer and the slave computer can cause data packet loss or interruption. In pure software testing, these can only be tested in a fixed manner, and it is impossible to know how the slave computer will respond in actual operation. Moreover, since the slave computer program cannot be tested, at this stage, verification can only be performed on a real device, which requires repeated debugging with actual equipment, resulting in a long debugging cycle and high costs.

[0032] To address the aforementioned issues, this application provides a simulation testing method 100 for port machinery equipment, which is applied in a virtual simulation environment. The port machinery equipment can be a quay crane (also known as a quayside container crane) or a yard crane (also known as a yard container crane), etc. In this method 100, by including the lower-level hardware modules and lower-level programs in the simulation environment, the testing of the lower-level programs is brought forward to the laboratory, improving program quality and accelerating the commissioning progress of real equipment. Figure 1 A schematic flowchart of method 100 provided in an embodiment of this application is shown. Figure 1 As shown, the method 100 includes steps S110 to S140.

[0033] S110: Obtain the host computer simulation module.

[0034] Specifically, the host computer simulation module simulates the behavior of a real host computer, generating a first control instruction by running a real host computer program. This first control instruction is used to indicate the task objective of the first task. For example, the host computer can be a personal computer, industrial control computer, or server, and the host computer simulation module can be a simulation module on a personal computer, industrial control computer, or server. As another example, the host computer program can be a program running internally within the host computer simulation module, such as a program running an actual terminal operating system (TOS) or equipment control system (ECS). Furthermore, the first control instruction can be a control instruction related to the strategy, planning, and decision-making of the port machinery equipment, such as instructing the movement position, actions, and speed of the port machinery equipment's spreader.

[0035] For example, an operator can build a host computer simulation module through a visual interface and create new tasks on the graphical user interface of the host computer simulation module, such as creating a task to move a container from position A to position B using a spreader. Then, after receiving the task, the host computer program of the host computer simulation module performs a series of logical operations, such as resolving the specific coordinates of positions A and B, and planning the movement path of the spreader. Finally, the host computer program generates a first control command, which may include controlling the spreader to grab the container, controlling the spreader to move the container to the coordinates of position B at a speed of 1 m / s, etc.

[0036] S120: Obtain the lower-level machine simulation module.

[0037] Specifically, the lower-level machine simulation module communicates and interacts with the upper-level machine simulation module. The lower-level machine simulation module receives the first control command and runs the lower-level machine program to generate a second control command. This second control command instructs the execution steps of the first task. For example, the lower-level machine can be a PLC, a microcontroller, etc. The lower-level machine simulation module simulates the behavior of a real lower-level machine, such as converting the higher-level first control command, which indicates the task objective, into drive signals for the lower-level devices, i.e., the second control command instructing the driving of the lower-level devices. The lower-level devices may include motors, drivers, brakes, hydraulic and pneumatic systems, sensors, etc.

[0038] For example, taking the scenario of a spreader moving a container as described above, where the lower-level machine is a PLC, after receiving the first control command, the PLC program running internally begins to work. This PLC program can include all the control logic, safety interlocks, and timing control of the port machinery equipment. Furthermore, the PLC program subdivides and converts the first control command, which indicates the task objective, into a second control command that directly drives the underlying equipment such as motors and cylinders. For example, the second control command can include the motion curves of each axis (X, Y, and Z axes) of the spreader, such as controlling the servo drive to perform uniform parabolic motion at 80% of its maximum speed. As another example, for the actions of the spreader grabbing and lowering the container, the second control command can include sending electrical signals to the valves of the spreader's locking mechanism to lock and unlock.

[0039] S130: Obtain the 3D model of the port machinery equipment.

[0040] Specifically, the 3D model communicates and interacts with the lower-level simulation module. The 3D model receives the second control command and executes the steps of the first task to simulate the task objectives of the port machinery. In embodiments of this application, the 3D model may have an internal physics engine, such as a dynamics engine, to achieve high-fidelity and physically realistic simulation after receiving the second control command.

[0041] For example, after receiving the aforementioned second control command for driving the underlying equipment, the 3D model simulates the motion trajectory based on the parameters of the underlying equipment, such as calculating a smooth motion trajectory that conforms to physical laws based on the acceleration and speed of the motor. Furthermore, the 3D model can simulate the acceleration start-up, constant speed operation, and deceleration stop of actual port machinery equipment, and can calculate the position, motion posture, and other data for each frame, updating and rendering the model in real time.

[0042] Optionally, in some embodiments of this application, the physics engine within the 3D model can also calculate the real-time physical state of the 3D model, such as precise coordinates, real-time actions, and motion postures, and provide feedback information to the lower-level computer simulation module. For example, the feedback information may include the 3D model's action information, motion posture information, and input / output (IO) feedback information from underlying devices such as motors.

[0043] For example, when the feedback information includes motor I / O feedback information, constructing a 3D model of the port machinery equipment may include a motor input / output I / O module for constructing the 3D model. This motor I / O module communicates and interacts with the lower-level simulation module, and is used to simulate the I / O feedback of the port machinery equipment's motor. In other words, in the embodiments of this application, functional modules for providing feedback on the real-time status of the 3D model can be constructed on the 3D model of the port machinery equipment; these functional modules can simulate the functions of sensors.

[0044] S140: Based on the 3D model, the host computer simulation module, and the slave computer simulation module, the process of the port machinery equipment performing the first task is simulated and tested in the virtual simulation environment.

[0045] As mentioned earlier, based on the 3D model, the upper-level computer simulation module, and the lower-level computer simulation module, this virtual simulation environment can simulate not only the first control commands generated by the upper-level computer program to indicate task objectives, but also the second control commands generated by the lower-level computer program to indicate the underlying equipment drivers. Furthermore, it can simulate the actions and states of the port machinery equipment during actual operation based on the 3D model. This approach constructs a complete simulation environment encompassing the upper-level computer, the lower-level computer, and the equipment's physical model. Compared to simulating only the upper-level computer or performing only pure data simulation, this method incorporates the lower-level computer's control logic into the testing scope, enabling simulation testing to cover the complete control chain from high-level commands to low-level execution. This significantly improves the realism of the simulation and the comprehensiveness of the test, achieving high-fidelity testing in a laboratory environment.

[0046] Furthermore, the 3D model can also provide real-time status feedback to the lower-level computer simulation module, enabling the lower-level computer simulation module to adjust the second control command, and also enabling the upper-level computer simulation module to adjust the first control command. Specifically, based on the 3D model, the upper-level computer simulation module, and the lower-level computer simulation module, the simulation test of the port machinery operation in the virtual simulation environment includes: acquiring feedback information from the 3D model and sending the feedback information to the lower-level computer simulation module; determining the simulation test result of the lower-level computer program based on the feedback information to adjust the second control command; and / or, determining the simulation test result of the upper-level computer program based on the simulation test result of the lower-level computer program to adjust the first control command.

[0047] For example, taking the equipment mentioned earlier, such as the first control command controlling the spreader to grab a container and the second control command controlling the spreader's motor, after the 3D model moves based on the dynamics engine, due to the stopping process after the spreader has grabbed the container, the 3D model calculates that the spreader may experience significant longitudinal swaying due to inertia. The 3D model can then feed this simulation result back to the lower-level simulation module, which can then adjust the second control command, for example, by removing the emergency braking command and adding a command to counteract the spreader's swaying. Furthermore, the upper-level simulation module can also adjust the first control command based on the simulation test results from the lower-level simulation module. For example, if the upper-level simulation module determines that the spreader is swaying and the lower-level simulation module is executing an anti-sway program, and determines that the spreader's working time will be extended due to the anti-sway program, the upper-level simulation module can add a command to the first control command to interact with subsequent equipment, thus efficiently utilizing the extended time period caused by the spreader's swaying. For example, the host computer simulation module can interact with subsequent port machinery equipment in advance during this time period to determine whether it also has longitudinal sway and whether the second control command needs to be optimized in advance.

[0048] Optionally, in embodiments of this application, the feedback information may include one or more of the motion information, motion posture information, and motor I / O feedback information of the 3D model. Wherein, if the feedback information includes the motion posture information, the method 100 further includes: constructing a device sensing module, which communicates and interacts with the lower-level simulation module and the 3D model, and the device sensing module is used to collect the motion posture information of the 3D model.

[0049] Method 100 constructs a complete simulation environment encompassing a host computer, a slave computer, and a physical model of the device. Furthermore, a closed-loop feedback mechanism is introduced to achieve dynamic and interactive testing. Feedback information is generated based on the operating status of the 3D model and sent back to the slave computer simulation module in real time, simulating the process of sensor signals feeding back to the slave computer in a real device. This allows the slave computer program to respond according to the actual state of the virtual device, thereby testing the correctness of its logical judgments and its ability to handle abnormal states. Simultaneously, the test results from the slave computer are used to verify the host computer program, forming a complete test loop from top to bottom and back to top, greatly improving the depth and systematic nature of the testing.

[0050] The following is combined with Figure 2 An embodiment corresponding to method 100 is introduced. Figure 2 A schematic diagram of a simulation testing system 200 for port machinery equipment provided in an embodiment of this application is shown. Figure 2As shown, the simulation test system 200 includes a host computer, a PLC, a virtual frequency converter, and an industrial control computer. The host computer is the host computer simulation module in step S110, the PLC is the slave computer simulation module in step S120, the virtual frequency converter is the 3D model in step S130, and the industrial control computer is used to collect the real-time status of the port machinery equipment. In addition, the simulation test system 200 may also include a simulation module (not shown in the figure) for performing simulation tests.

[0051] Specifically, in this embodiment, the host computer serves as the upper-level management and control hub for the port machinery equipment, including the terminal operating system and the equipment control system. For example, the terminal operating system can be responsible for the scheduling and task allocation of the overall terminal operations, such as the planning of container loading and unloading and transportation processes. As another example, the equipment control system can be used to receive work instructions, centrally control the terminal equipment, and simultaneously receive feedback signals from the equipment layer to achieve unified management and control of the equipment.

[0052] PLCs can be used to automate the operation and electrical control of port machinery, including on-board automation modules and on-board electrical control modules. For example, the on-board automation module can handle the automated operation logic of the equipment, such as action flows and work sequences, and receive the first control commands from the equipment control system. It also interacts with the equipment sensing system of the industrial control computer to obtain the operating status of the 3D model. As another example, the on-board electrical control module is responsible for the electrical hardware control of the equipment, such as power supply and drive for motors and valves. It sends the second control commands to the 3D model and receives feedback on the operating status of the motors, such as speed and torque, and then feeds back the operating status of the 3D model to the equipment management system.

[0053] The industrial control computer includes an equipment sensing system. This system can collect the real-time status of the equipment by sensing the feedback from terminals on the 3D model, such as signals from sensors and position detection devices, and then transmit the sensing data to the PLC, so that the PLC can adjust the second control command based on the equipment status.

[0054] The virtual frequency converter consists of a 3D model and a motor I / O module. The 3D model acts as the physical actuator for the PLC control logic, receiving secondary control commands from the PLC and providing real-time feedback on the equipment's operating status through realistic animation and physical calculations, thus achieving 3D visualization simulation of the equipment. The motor I / O module simulates the input / output signals of the port machinery's motors. The 3D model interacts with the onboard electrical control module and the equipment sensing system, providing feedback on the port machinery's operational status to the onboard electrical control module and the real-time status of the 3D model to the equipment sensing system. The motor I / O module also interacts with the onboard electrical control module to provide feedback on the motor's input / output signals.

[0055] Furthermore, in the embodiments of this application, the interfaces between modules in the virtual testing environment can be retained as in the real machine environment to verify the real system to the greatest extent.

[0056] For example, the detailed working process of the simulation test system 200 is introduced by taking the example of a quay crane grabbing a container from a transport ship and placing it on a transport vehicle.

[0057] First, the host computer's terminal operating system generates unloading operation instructions. These instructions direct the quay crane to grab containers from a specific location on a specific vessel and place them onto a transport vehicle. Then, the equipment control system receives the instructions from the terminal operating system, performs task parsing and resource scheduling, and generates a first control instruction. This first control instruction can instruct the quay crane to grab container N from position A (midway) on vessel X and place it onto transport vessel Y at position B.

[0058] Subsequently, the onboard automation module of the lower-level PLC receives the first control command and, based on the built-in quay crane automation operation logic, decomposes the complex task of grabbing the container into steps with a specific sequence of control. For example, this specific sequence of control may include: Step 1, moving the quay crane's spreader to above the intermediate position A of the vessel X; Step 2, lowering the spreader to the locking height of container N; Step 3, performing the spreader locking action; Step 4, raising the spreader to a safe height; Step 5, moving the quay crane's spreader to above position B of the transport vehicle Y; Step 6, lowering the spreader to the container placement height; Step 7, performing the spreader unlocking action; and Step 8, raising the spreader to a safe height. Then, for the aforementioned sequential steps, the PLC's onboard electrical control module converts these steps into second control commands, i.e., signals used to control lower-level equipment such as motors.

[0059] Then, based on the second control command, the 3D model, acting as the physical actuator, drives the lifting device through a dynamics engine to perform actions such as smooth acceleration and uniform speed movement, executing the aforementioned steps and feeding back the actions to the PLC's onboard electrical control module. The motor I / O module is used to execute electrical feedback from a simulated motor and send it to the PLC's onboard electrical control module. The equipment sensing system collects virtual sensor data from the 3D model in real time and sends it to the PLC's onboard electrical control module.

[0060] Finally, assuming that the torsion lock sensor installed on the 3D model of the quay crane detects that one of the locks on the quay crane may fail to lock during the spreader locking action, the PLC can adjust the second control command based on this feedback information, such as immediately interrupting the current spreader lifting step. Furthermore, after receiving the alarm from the PLC, the host computer can adjust the first control command, such as marking the quay crane status as equipment failure, suspending service and immediately stopping subsequent operations, or assigning the task of grabbing containers to other quay cranes.

[0061] The following is combined with Figure 3 and Figure 4 This section introduces an example of the hardware architecture for implementing method 100.

[0062] Now for reference Figure 3 The diagram shows a block diagram of a device 300 according to one embodiment of this application. Device 300 may include one or more processors 301 coupled to a controller hub 303. In at least one embodiment, the controller hub 303 communicates with the processor 301 via a multi-branch bus such as a front side bus (FSB), a point-to-point interface such as a quickpath interconnect (QPI), or a similar connection 310. The processor 301 executes instructions controlling general-type data processing operations. In one embodiment, the controller hub 303 includes, but is not limited to, a graphics memory controller hub (GMCH) (not shown) and an input / output hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes memory and a graphics controller and is coupled to the IOH.

[0063] Device 300 may also include a coprocessor 302 and a memory 304 coupled to a controller hub 303. Alternatively, one or both of the memory and the GMCH may be integrated within the processor, with memory 304 and coprocessor 302 directly coupled to processor 301 and controller hub 303, which resides on a single chip with the IOH. Memory 304 may be, for example, dynamic random access memory (DRAM), phase change memory (PCM), or a combination of both. In one embodiment, coprocessor 302 is a dedicated processor, such as, for example, a high-throughput MIC processor (many integrated core, MIC), a network or communication processor, a compression engine, a graphics processor, a general-purpose computing on GPU (GPGPU), or an embedded processor, etc. Optional properties of coprocessor 302 are indicated by dashed lines. Figure 3 middle.

[0064] As a computer-readable storage medium, memory 304 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. For example, memory 304 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device such as one or more hard-disk drives (HDD(s)), one or more compact disc (CD) drives, and / or one or more digital versatile disc (DVD) drives.

[0065] In one embodiment, device 300 may further include a network interface controller (NIC) 306. NIC 306 may include a transceiver for providing a radio interface to device 300, thereby enabling communication with any other suitable device, such as a front-end module, antenna, etc. In various embodiments, NIC 306 may be integrated with other components of device 300. NIC 306 can implement the functionality of the communication unit in the above embodiments.

[0066] Device 300 may further include input / output (I / O) device 305. I / O 305 may include: a user interface designed to enable a user to interact with device 300; a peripheral component interface designed to enable peripheral components to also interact with device 300; and / or sensors designed to determine environmental conditions and / or location information related to device 300.

[0067] It is worth noting that, Figure 3 This is merely an example. That is, although... Figure 3 The diagram shows that device 300 includes multiple devices such as processor 301, controller hub 303, and memory 304. However, in actual applications, devices using the methods of this application may include only a portion of the devices in device 300. For example, it may include only processor 301 and NIC 306. Figure 3 The properties of the optional devices are shown in dashed lines. According to some embodiments of this application, the memory 304, which is a computer-readable storage medium, stores instructions that, when executed on a computer, cause the device 300 to perform the simulation test method for the port machinery equipment according to the above embodiments. Specific details can be found in the methods described in the above embodiments, and will not be repeated here.

[0068] Now for reference Figure 4 The diagram shown is a block diagram of a system-on-chip (SoC) 400 according to an embodiment of this application. Figure 4In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 4 In this SoC 400, the following are included: an interconnect unit 450 coupled to an application processor 410; a system proxy unit 480; a bus controller unit 490; an integrated memory controller unit 440; a group or one or more coprocessors 420, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 430; and a direct memory access (DMA) unit 460. In one embodiment, the coprocessor 420 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU, a high-throughput MIC processor, or an embedded processor.

[0069] The static random-access memory (SRAM) unit 430 may include one or more computer-readable media for storing data and / or instructions. The computer-readable storage medium may store instructions, specifically, temporary and permanent copies of those instructions. These instructions may include, when executed by at least one unit in the processor, causing the SoC 400 to perform the simulation test method for the port machinery equipment according to the above embodiments, as detailed in the methods described above, which will not be repeated here.

[0070] Various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0071] Program code can be applied to input instructions to execute the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), or a microprocessor.

[0072] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0073] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored thereon on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine-readable (e.g., computer-readable) form, including but not limited to floppy disks, optical disks, CD-ROMs, compact disc read-only memory (CD-ROMs), magneto-optical disks, read-only memory (ROM), random-access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in the form of electrical, optical, acoustic, or other forms of propagated signals. Therefore, machine-readable media includes any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0074] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the accompanying drawings. Furthermore, including structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0075] It should be noted that all units / modules mentioned in the device embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problems proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0076] The terminology used in the embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can indicate: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0077] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0078] It should be noted that in the examples and description of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0079] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made thereto without departing from the spirit and scope of this application.

[0080] The simulation testing method for port machinery equipment provided in the embodiments of this application has been described in detail above. In the various embodiments of this application, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0081] This application also provides a computer program product, which may be a software or program product including instructions, capable of running on a computing device or stored on any usable medium. When the computer program product is run on at least one computing device, the at least one computing device implements the port machinery equipment simulation testing method provided in this application embodiment.

[0082] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any storage medium (e.g., magnetic medium, optical medium, semiconductor medium, etc.) capable of storing and / or retrieving data by a computing device. The computer-readable storage medium includes instructions that direct a computing device to implement the simulation testing method for port machinery equipment provided in this application.

[0083] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. Furthermore, the inclusion of structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0084] It should be noted that in the examples and description of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A simulation testing method for port machinery equipment, characterized in that, The method is applied to a virtual simulation environment, including: A host computer simulation module is obtained, which is used to run a host computer program to generate a first control instruction, and the first control instruction is used to indicate the task objective of the first task. A lower-level machine simulation module is obtained, which communicates and interacts with the upper-level machine simulation module. The lower-level machine simulation module is used to receive the first control instruction and run the lower-level machine program to generate a second control instruction. The second control instruction is used to indicate the execution steps of the first task. A three-dimensional model of the port machinery is acquired. The three-dimensional model communicates and interacts with the lower-level simulation module. The three-dimensional model is used to receive the second control command and execute the execution steps of the first task to simulate the task objective of the port machinery. Based on the 3D model, the host computer simulation module, and the slave computer simulation module, the process of the port machinery equipment performing the first task is simulated and tested in the virtual simulation environment.

2. The method according to claim 1, characterized in that, The step of simulating and testing the operation of the port machinery equipment in the virtual simulation environment based on the 3D model, the upper computer simulation module, and the lower computer simulation module includes: The feedback information of the 3D model is obtained and sent to the lower-level simulation module. The feedback information is used to indicate the real-time motion state of the 3D model. Based on the feedback information, determine the simulation test results of the lower-level machine program to adjust the second control command; and / or, Based on the simulation test results of the lower-level computer program, the simulation test results of the upper-level computer program are determined in order to adjust the first control command.

3. The method according to claim 2, characterized in that, The feedback information includes one or more of the following: motion information of the 3D model, motion posture information, and motor I / O feedback information.

4. The method according to claim 3, characterized in that, When the feedback information includes the motion posture information, the method further includes: A device perception module is constructed, which communicates and interacts with the lower-level simulation module and the 3D model. The device perception module is used to collect the motion posture information of the 3D model.

5. The method according to claim 3, characterized in that, When the feedback information includes the IO feedback information of the motor, obtaining the three-dimensional model of the port machinery equipment includes: A motor input / output (IO) module is constructed for the three-dimensional model. The motor input / output (IO) module communicates and interacts with the lower-level simulation module. The motor input / output (IO) module is used to simulate the IO feedback of the motor of the port machinery equipment.

6. The method according to any one of claims 1 to 5, characterized in that, The lower-level machine simulation module includes a programmable logic controller (PLC) module, and the port machinery equipment includes a crane.

7. A simulation testing system for port machinery equipment, characterized in that, include: The host computer simulation module is used to run the host computer program to generate the first control instruction, which is used to indicate the task objective of the first task. The lower-level machine simulation module communicates and interacts with the upper-level machine simulation module. The lower-level machine simulation module is used to receive the first control command and run the lower-level machine program to generate a second control command. The second control command is used to indicate the execution steps of the first task. The three-dimensional model of the port machinery equipment communicates and interacts with the lower-level simulation module. The three-dimensional model is used to receive the second control command and execute the execution steps of the first task to simulate the task objective of the port machinery equipment. The simulation module is used to simulate and test the process of the port machinery equipment performing the first task in a virtual simulation environment based on the three-dimensional model, the upper computer simulation module, and the lower computer simulation module.

8. A readable storage medium, characterized in that, The readable storage medium includes one or more programs that, when executed on an electronic device, cause the electronic device to perform the method according to any one of claims 1 to 6.

9. An electronic device, characterized in that, include: Memory, used to store one or more programs; A processor for executing the one or more programs to cause the electronic device to perform the method of any one of claims 1 to 6.

10. A program product, characterized in that, When the program product is executed on an electronic device, it causes the electronic device to perform the method described in any one of claims 1 to 6.

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