Debugging system and debugging method for integrating virtual and real simulation debugging

Abstract

The invention provides a debugging system and a debugging method for integrating virtual and real simulation debugging. The operating program interface provides a virtual-real coherence virtual code based on a program framework, wherein the virtual-real coherence virtual code comprises a virtual code for processing an interactive event operating program, and the program framework is compatible with the virtual machine driver and the physical machine driver. The processor introduces a virtual machine driver to the virtual-real coherence virtual code and compiles the virtual machine driver into a virtual debugging program to execute the virtual debugging program to control virtual operation of the virtual machine in the three-dimensional virtual environment, and introduces an entity machine driver to the virtual-real coherence virtual code and compiles the entity debugging program to execute the virtual debugging program to control virtual operation of the virtual machine in the three-dimensional virtual environment. And executing the entity debugging program to control the entity operation of the entity machine, so that the logic of the entity operation of the entity machine is the same as the logic of the virtual operation of the virtual machine in the three-dimensional virtual environment.

Description

Technical Field

[0001] This case involves a system and method for adjusting a machine, and more particularly, a system and method for adjusting a machine that integrates virtual and real simulation. Background Technology

[0002] When operating the existing machine setup system, users need to interrupt the production line to stop the machine's operation during loading and unloading to smoothly transition between different machine states. However, this operation method affects the machine's utilization rate, resulting in low production efficiency. Furthermore, during the process of adjusting the physical machine, there is a risk of machine collisions due to human error.

[0003] To address the calibration issues of physical machine tools, some calibration systems have introduced control programs that simulate the physical machine tool. Existing calibration technologies incorporating simulation require two different control programs: a virtual calibration program and a physical calibration program. Before implementing the program onto the physical machine tool, the user must operate the virtual calibration program to calibrate the virtual machine. Because the virtual and physical calibration programs are different programs, the virtual calibration program cannot be directly applied to the physical machine tool after calibration. To apply the various control programs of the virtual calibration program to the physical machine tool, the user needs to spend additional time converting the virtual calibration program, such as process parameters, into programs applicable to the physical machine tool. This approach results in low integration between virtual and physical calibration, and is extremely costly in terms of manpower and time.

[0004] Furthermore, existing virtual machine setup programs cannot incorporate logical judgments and exceptional operations into their judgments. The setup content only covers static process parameters, thus failing to take into account all possible scenarios of the virtual machine. This means that physical machine setup programs also cannot handle logical judgments and exceptional operations, lacking proper security protection. Summary of the Invention

[0005] According to one embodiment of this invention, a system for integrating virtual and real simulation tuning is proposed, including an operating program interface and a processor. The operating program interface is configured to provide virtual and real co-simulation virtual code based on a program framework, wherein the virtual and real co-simulation virtual code includes virtual code for handling interactive event operating procedures, and the program framework is compatible with both virtual machine drivers and physical machine drivers. The processor is configured to import the virtual machine driver into the virtual and real co-simulation virtual code and compile the virtual and real co-simulation virtual code and the virtual machine driver into a virtual tuning program, and execute the virtual tuning program to control the virtual operation of the virtual machine in a three-dimensional virtual environment; and to import the physical machine driver into the virtual and real co-simulation virtual code and compile the virtual and real co-simulation virtual code and the physical machine driver into a physical tuning program, and execute the physical tuning program to control the physical operation of the physical machine, so that the logic of the physical operation of the physical machine is the same as the logic of the virtual operation of the virtual machine in the three-dimensional virtual environment.

[0006] According to one embodiment of this case, a tuning method integrating virtual and physical simulation is proposed, applied to the simulation and actual operation of a unified interface between a virtual machine and a physical machine. The tuning method includes providing virtual-physical co-tuning virtual code based on a program framework, wherein the virtual-physical co-tuning virtual code includes virtual code for handling interactive event operation programs and the program framework is compatible with both the virtual machine driver and the physical machine driver; introducing the virtual machine driver into the virtual-physical co-tuning virtual code, and introducing the physical machine driver into the virtual-physical co-tuning virtual code; compiling the virtual-physical co-tuning virtual code and the virtual machine driver into a virtual tuning program, and compiling the virtual-physical co-tuning virtual code and the physical machine driver into a physical tuning program; executing the virtual tuning program to control the virtual operation of the virtual machine in a three-dimensional virtual environment, and executing the physical tuning program to control the physical operation of the physical machine, so that the logic of the physical operation of the physical machine is the same as the logic of the virtual operation of the virtual machine in the three-dimensional virtual environment. Attached Figure Description

[0007] Figure 1 This is a block diagram of an integrated virtual and real simulation tuning system according to an embodiment of this case.

[0008] Figure 2 This is a flowchart illustrating the integrated virtual and real simulation tuning method according to an embodiment of this case;

[0009] Figure 3 This is a schematic diagram illustrating the relationship between the virtual code and the driver in the user interface according to an embodiment of this case.

[0010] Figure 4A and Figure 4B This is a flowchart illustrating the integrated virtual and real simulation tuning method according to an embodiment of this case;

[0011] Figure 5A and Figure 5B This is a flowchart illustrating the integrated virtual and real simulation tuning method according to another embodiment of this case.

[0012] Explanation of reference numerals in the attached figures

[0013] 110: Processor

[0014] 120: Operating Program Interface

[0015] 131: Virtual Code with Real-Virtual Synchronization

[0016] 133: Virtual machine driver

[0017] 135: Physical machine tool drive

[0018] 137: Virtual machine setup program

[0019] 139: Physical machine setup procedure

[0020] 170: Virtual Machine Platform

[0021] 190: Physical machine

[0022] 310: Virtual Code

[0023] 320, 330: Program code

[0024] S210~S245, S405~S498, S505~S595: Steps Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments, so that those skilled in the art can better understand the present invention and implement it accordingly. However, the embodiments are not intended to limit the present invention.

[0026] To address the issue that virtual machine and physical machine debugging programs can only use a few different program interfaces, this proposal suggests integrating virtual and physical simulation debugging technologies. By using a single program interface and the same set of virtual code, debugging programs can be applied to both virtual machine and physical machine programs simultaneously.

[0027] Figure 1 This is a block diagram of an integrated virtual and real simulation tuning system according to an embodiment of this case.

[0028] The integrated virtual and real simulation tuning system (hereinafter referred to as the tuning system) includes a processor 110 and an operation program interface 120.

[0029] The user interface 120 provides pseudo codes of integrated virtual-physical operations 131 based on a software framework. The software framework is compatible with both virtual machine drivers and physical machine drivers. In one embodiment, the software framework, from top to bottom, consists of an application, a hardware abstraction layer (HAL), and a device driver. In the user interface 120, the virtual machine driver and the physical machine driver reside under the same HAL, with the virtual machine driver controlling the simulation operations of the virtual machine in the 3D virtual environment and the physical machine driver controlling the physical operations of the physical machine in the physical environment.

[0030] The operation program interface 120 includes a virtual code 131 for virtual and physical synchronization, a virtual machine driver 133, a physical machine driver 135, a virtual machine adjustment program 137, and a physical machine adjustment program 139.

[0031] In one embodiment, processor 110 imports virtual machine driver 133 into virtual-real coherence code 131 and compiles virtual-real coherence code 131 and virtual machine driver 133 into virtual machine tuning program 137. Processor 110 executes virtual machine tuning program 137 to control the virtual operation of virtual machine 170 in a three-dimensional virtual environment.

[0032] In one embodiment, the processor 110 introduces the physical machine driver 135 to the virtual-physical coherence code 131, and compiles the virtual-physical coherence code 131 and the physical machine driver 135 into a physical machine tuning program 139. The processor 110 executes the physical machine tuning program 139 to control the physical operation of the physical machine 190.

[0033] In one embodiment, the virtual code 131 provided by the operating interface 120 includes virtual code for handling interactive event operating procedures. The interactive event operating procedures can be exception handling, such as component collisions on the virtual machine 170, component collisions on the physical machine 190, foreign object drops in the 3D virtual or physical environment, material depletion, or triggering of the machine tool safety door. The functions of sensors programmed into the virtual code 131 can be used to perform the aforementioned exception handling.

[0034] In this embodiment, since both the virtual tuning program 137 and the physical tuning program 139 are compiled based on the same virtual-physical synchronization virtual code 131, the logic of the physical operation of the physical machine 190 is the same as the logic of the virtual operation of the virtual machine 170 in the three-dimensional virtual environment. Therefore, the user only needs to write one set of virtual code to implement the same control logic for both the virtual machine 170 and the physical machine 190.

[0035] In one embodiment, the processor 110 is, for example, but not limited to, a microprocessor, a microcontroller, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a central processing unit (CPU), a system-on-a-chip (SoC), a field-programmable gate array (FPGA), a network processor chip, or a combination of the above elements.

[0036] In one embodiment, the virtual-real simulation tuning system is applied to a computer numerical control (CNC) system. The operating program interface 120 provides virtual code 131 for virtual-real synchronization. After being compiled by the processor 110, the virtual machine driver 133 drives the simulated motor or simulated robotic arm, and the physical machine driver 135 drives the actual motor or robotic arm.

[0037] Figure 2 This is a flowchart illustrating an integrated virtual-real simulation setup method according to one embodiment of this invention. The integrated virtual-real simulation setup method can be applied to simulation and actual operation of a unified interface between a virtual machine 170 and a physical machine 190.

[0038] In step S210, the virtual code 131 of virtual and real synchronization is provided through the operation program interface 120.

[0039] In step S220, the virtual machine driver 133 or the physical machine driver 135 is introduced to the virtual-physical coherence virtual code 131 through the processor 110.

[0040] In step S230, the virtual machine tuning program 137 is compiled by the processor 110 into the virtual machine driver 133 using the virtual code 131 of virtual machine coherence.

[0041] In step S235, the virtual code 131 of virtual-real synchronization introduced into the physical machine driver 135 is compiled by the processor 110 into a physical machine tuning program 139.

[0042] In step S240, the virtual machine program 137 is executed by the processor 110 to control the virtual operation of the virtual machine 170 in the three-dimensional virtual environment.

[0043] In step S245, the physical machine tool 190 is controlled to perform physical operations in the physical environment by executing the physical machine tool program 139 through the processor 110.

[0044] In one embodiment, the operating procedures of the virtual machine (steps S220, S230 and S240) and the operating procedures of the physical machine (steps S220, S235 and S245) are executed sequentially or in parallel.

[0045] Taking virtual setup for roll diameter manufacturing as an example, the virtual setup program 137 receives initial process parameters, such as roll diameter, material coefficient / thickness / cross-sectional area, span between two roll diameters, and initial servo model parameters. After the process parameters are input into the virtual setup program 137, the processor 110 executes the virtual servo model of the virtual setup program 137 and monitors changes in roll force / tension / color in the three-dimensional virtual environment to determine whether the process parameters need to be updated. Before completing the virtual setup, the process parameters are continuously updated to the virtual servo model. On the other hand, the virtual setup program 137 determines whether an interactive event operation procedure has been triggered, such as whether a material shortage switch has been triggered or whether a foreign object has fallen (using a sensor). If an interactive event operation procedure is triggered, the virtual setup program 137 is paused to troubleshoot the anomaly.

[0046] Taking virtual machine setup for CNC material handling as an example, the virtual setup program 137 receives initial process parameters, such as the selected arm model (associated with the arm kinematic model), the imported product (associated with the virtual setup object), and virtual signal wiring definitions (associated with the setup emergency button). The processor 110 executes the three-dimensional virtual demonstrator of the virtual setup program 137 to perform point teaching until the teaching-point content is complete. On the other hand, the virtual setup program 137 determines whether an interactive event operation procedure has been triggered, such as whether the material shortage switch has been triggered or whether the CNC safety door has been triggered (using a sensor). If an interactive event operation procedure is triggered, the virtual setup program 137 is paused to troubleshoot the anomaly.

[0047] Figure 3 This is a schematic diagram illustrating the relationship between the virtual code and the driver in the operating program interface according to an embodiment of this case.

[0048] The operating program interface 120 provides an application interface for writing virtual code, which determines the compilation content of the program by introducing driver instructions.

[0049] In one embodiment, the user interface 120 is a virtual code 310 implemented on a personal computer (PC), a robot language, or a programmable logic controller (PLC). The virtual code 310 can be... Figure 1 The virtual code 131 is in sync with the real and virtual worlds.

[0050] In one embodiment, after the processor 110 introduces the virtual machine driver 133, the virtual machine driver 133's program code 320 is called by virtual code 310. When the processor 110 executes the virtual machine setup program 137, the virtual machine 170 can be simulated and set up using a pre-established virtual machine model in a three-dimensional virtual environment.

[0051] In one embodiment, after the processor 110 introduces the physical machine driver 135, the program code 330 of the physical machine driver 135 is called through the virtual code 310. When the processor 110 executes the physical machine debugging program 139, the physical machine debugging operation of the physical machine 190 can be performed in the physical environment using the pre-established physical engine and operation model.

[0052] Virtual code 310 includes design instructions for multiple nodes in the production line, instructions for operating these nodes, and instructions for handling interactive event procedures. Each node corresponds to a virtual component in the 3D virtual environment (e.g., components of virtual machine 170, simulated sensors, and virtual production line components) and a physical component in the physical environment (e.g., components of physical machine 190, physical sensors, and physical production line components). Interactive event procedures can be exceptional events for each node or exceptional events between nodes (e.g., foreign object falling, raw material depletion, or machine tool safety door being triggered).

[0053] Figure 4A and Figure 4B This is a flowchart illustrating the integrated virtual and real simulation tuning method according to an embodiment of this case.

[0054] In this embodiment, a flag is set on the operating program interface 120, indicating whether the following setup procedure is for the virtual machine 170 or the physical machine 190. Throughout the entire process, the user only needs to operate the same operating program interface 120 to quickly switch between virtual and physical setup.

[0055] For ease of explanation, the following is an example in which the virtual machine setup procedure 137 is executed first, followed by the physical machine setup procedure 139.

[0056] In step S405, virtual code 131, which includes interactive event operation procedures, is written through the operation program interface 120.

[0057] In step S410, the flag is set to point to the virtual machine driver 133.

[0058] In step S415, the processor 110 imports the virtual machine driver 133 into the virtual-real coherent virtual code 131 according to the flag setting.

[0059] In step S420, the processor 110 compiles the virtual code 131 of virtual machine driver 133 into a virtual machine tuning program 137.

[0060] In step S425, the processor 110 inputs multiple process parameters to the virtual machine setup program 137. In one embodiment, the process parameters may be static parameters in the production line process, such as robot parameters (e.g., the position of the robotic arm), motor parameters (e.g., rotational speed), and tension of the virtual machine platform 170.

[0061] In step S430, processor 110 executes virtual setup program 137. At this time, the process enters the setup simulation of virtual machine platform 170 in the three-dimensional virtual environment.

[0062] In step S435, the virtual machine 170 is calibrated in a three-dimensional virtual environment. At this time, the user can perform virtual machine calibration based on general experience.

[0063] In step S440, the processor 110 determines whether an exception event has occurred. Exception events can include events such as foreign objects falling, raw materials running out, or the machine tool safety door being triggered. The judgment and response operations for these exception events can be pre-programmed by the user in the virtual code 131 of virtual-real synchronization. It is worth mentioning that the exception event at this time occurs in the simulation scenario of the three-dimensional virtual environment.

[0064] If an exception event is encountered during the execution of the virtual machine setup procedure 137, the process proceeds to step S445. Otherwise, step S450 is executed.

[0065] In step S445, the virtual machine setup program 137 is paused to troubleshoot an exceptional event. For example, if the robotic arm of the virtual machine platform 170 collides with the feeding table due to a positional deviation during material handling, this is considered an exceptional event. In this case, the virtual machine setup program 137 is paused due to the exceptional event. In one embodiment, the user can modify the conditions in the virtual environment (step S405) by writing virtual code 131 for virtual-real synchronization through the operating program interface 120 during the paused program, and then recompile the program.

[0066] After the exception event is resolved, the process returns to step S430 and continues to execute the virtual machine adjustment procedure 137.

[0067] In step S450, the processor 110 determines whether the virtual setup program 137 has completed the virtual setup. If not, step S452 is executed; if yes, step S455 is executed.

[0068] In step S452, during the execution of the virtual calibration program 137, the processor 110 adjusts multiple process parameters to obtain multiple virtual calibration parameters and updates these virtual calibration parameters to the virtual calibration program 137. Then, the process returns to step S430, and the virtual calibration program 137 continues to execute.

[0069] In step S455, after completing the virtual setup, the processor 110 outputs multiple virtual calibration parameters and terminates the virtual setup program 137. In one embodiment, the multiple virtual calibration parameters at this time are the latest parameters after completing the virtual setup program 137, that is, the parameters applicable to the physical machine tool 190 after calibration and testing.

[0070] In step S460, the flag is set to point to the physical machine tool driver 135.

[0071] In step S465, the processor 110 introduces the physical machine driver 135 to the virtual code 131 according to the flag setting.

[0072] In step S470, the processor 110 compiles the virtual-physical synchronization code 131, which incorporates the physical machine driver 135 and includes interactive event operation procedures, into a physical machine tuning program 139. In one embodiment, the virtual-physical synchronization code 131 at this time is program code after exception event handling and virtual machine tuning in the simulation environment, which can conform to the actual field conditions.

[0073] In step S475, processor 110 inputs multiple process parameters to physical calibration program 139. In one embodiment, the multiple process parameters include multiple virtual calibration parameters output in step S455.

[0074] In step S480, the processor 110 executes the physical setup procedure 139. At this time, the user can perform the physical setup operation based on general experience.

[0075] In step S485, the processor 110 determines whether an exceptional event has occurred. Exception events can include events such as foreign objects falling, raw material depletion, or the triggering of a machine tool safety door. The determination and response procedures for these exceptional events can be pre-programmed by the user in the virtual code 131. It is worth noting that the exceptional event at this point occurs in the actual operational context of the physical environment. Therefore, such an exceptional event would make the situation on-site critical, necessitating a halt to actual operation to prevent further harm or financial loss.

[0076] If the physical debugging procedure 139 determines that an exceptional event has occurred, the process proceeds to step S490. Otherwise, step S495 is executed.

[0077] In step S490, processor 110 adjusts multiple process parameters and outputs multiple physical calibration parameters, updating the physical calibration program 139 to eliminate encountered exceptions by correcting the process parameters. Then, the process returns to step S480, and physical calibration program 139 continues to execute.

[0078] In step S495, the processor 110 determines whether the physical debugging program 139 has completed the physical debugging. If not, it returns to step S480; if yes, it executes step S498.

[0079] In step S498, after completing the physical machine setup, the processor 110 outputs multiple physical calibration parameters and terminates the physical machine setup program 139. In one embodiment, the multiple physical calibration parameters at this time are the latest parameters after completing the physical machine setup program 139, that is, the parameters applicable to the physical machine tool 190 after calibration and testing. It is worth mentioning that since process parameters may be adjusted during the execution of the physical machine setup program 139, the content of the multiple physical calibration parameters output in step S498 may differ from the content of the multiple virtual calibration parameters output in step S455. In one embodiment, the multiple physical calibration parameters output in step S498 can be fed back to the virtual machine setup program 137 to optimize the virtual machine setup program 137 using the latest parameter values.

[0080] Figure 5A and Figure 5B This is a flowchart illustrating the integrated virtual and real simulation tuning method according to another embodiment of this case.

[0081] In this embodiment, the virtual commissioning program 137 and the physical commissioning program 139 are run in parallel. The virtual and physical commissioning programs are repeatedly optimized by providing real-time feedback parameters to the other commissioning program.

[0082] In step S505, virtual codes including interactive event operation procedures are written through the operation program interface 120 to provide virtual and real synchronized virtual codes 131.

[0083] The left branch of the flowchart represents the setup process for virtual machine 170, while the right branch represents the setup process for physical machine 190. There is no specific order between the left and right branches, and the steps can be executed concurrently. In this process, the virtual setup parameters calibrated by the virtual setup program 137 in the left branch can be immediately provided to the physical setup program 139 in the right branch; conversely, the physical setup parameters calibrated by the physical setup program 139 in the right branch can also be immediately provided to the virtual setup program 137 in the left branch. Although the virtual setup parameters provided to the physical setup program 139 and the physical setup parameters provided to the virtual setup program 137 may be intermediate setup parameters, using the setup parameters from another setup program can accelerate the setup system's (whether virtual or physical) completion of machine setup, increasing the system's execution efficiency.

[0084] In step S510, processor 110 introduces virtual machine driver 133 to virtual-real coherent virtual code 131.

[0085] In step S520, the processor 110 compiles the virtual code 131 of virtual machine driver 133 into a virtual machine tuning program 137.

[0086] In step S530, the processor 110 inputs multiple process parameters to the virtual machine tuning program 137.

[0087] In step S540, processor 110 executes virtual setup program 137. At this time, the process enters the setup simulation of virtual machine platform 170 in the three-dimensional virtual environment.

[0088] In step S550, the processor 110 calibrates the virtual machine platform 170 in a three-dimensional virtual environment.

[0089] In step S560, the processor 110 determines whether an exception event has occurred. If an exception event is encountered during the execution of the virtual machine debugging program 137, then step S570 is executed. Otherwise, step S580 is executed.

[0090] In step S570, the processor 110 suspends the virtual calibration program 137 to troubleshoot the situation through exception handling and adjusts multiple process parameters to obtain multiple virtual calibration parameters Rec-v.

[0091] In step S580, the processor 110 determines whether the virtual machine setup program 137 has completed the setup of the virtual machine 170. If not, it returns to step S540 to continue executing the virtual machine setup program 137; if yes, it executes step S590.

[0092] In step S590, after completing the virtual tuning, the processor 110 will output the final virtual tuning parameters and end the virtual tuning program 137.

[0093] On the other hand, in step S515, the processor 110 introduces the physical machine driver 135 to the virtual code 131.

[0094] In step S525, the processor 110 compiles the virtual code 131 of virtual-real synchronization, which includes the physical machine driver 135 and interactive event operation procedures, into a physical machine tuning program 139.

[0095] In step S535, the processor 110 inputs multiple process parameters to the physical setup program 139.

[0096] In step S545, processor 110 executes physical debugging program 139.

[0097] In step S555, the processor 110 calibrates the physical machine 190 in a real environment.

[0098] In step S565, processor 110 determines whether an exception event has occurred. If an exception event is encountered during the execution of entity debugging procedure 139, step S575 is executed. Otherwise, step S585 is executed.

[0099] In step S575, the processor 110 suspends the physical calibration procedure 139 to troubleshoot the situation by using exception handling, and adjusts multiple process parameters to obtain multiple physical calibration parameters Rec-p.

[0100] In step S585, the processor 110 determines whether the physical machine setup program 139 has completed the setup of the physical machine 190. If not, it returns to step S545 to continue executing the physical machine setup program 139; if yes, it executes step S595.

[0101] In step S595, after completing the physical machine calibration, the processor 110 outputs the final multiple physical calibration parameters and terminates the physical machine calibration program 139. In one embodiment, after completing the physical machine calibration, the final multiple physical calibration parameters and the settings of the interactive event operation procedure for handling exception events can be imported into the actual production process.

[0102] In one embodiment, after the processor 110 adjusts multiple process parameters to obtain multiple virtual calibration parameters Rec-v (step S570), the multiple virtual calibration parameters Rec-v are fed back to the physical calibration program 139. After receiving the multiple virtual calibration parameters Rec-v, the physical calibration program 139 uses the multiple process parameters (including the multiple virtual calibration parameters Rec-v) (step S535) to execute the physical calibration program 139 (step S545).

[0103] In one embodiment, after the processor 110 obtains multiple physical calibration parameters Rec-p (step S575), it feeds back the multiple physical calibration parameters Rec-p to the physical calibration program 139. After receiving the multiple physical calibration parameters Rec-p, the physical calibration program 139 executes the physical calibration program 139 using multiple process parameters (including the multiple physical calibration parameters Rec-p) (step S535) (step S545).

[0104] In one embodiment, the multiple process parameters include multiple virtual calibration parameters Rec-v and multiple physical calibration parameters Rec-p. The processor 110 refers to the multiple virtual calibration parameters Rec-v and the multiple physical calibration parameters Rec-p to execute the physical calibration procedure 139 (step S545).

[0105] In one embodiment, after the processor 110 adjusts multiple process parameters to obtain multiple physical calibration parameters Rec-p (step S575), the multiple physical calibration parameters Rec-p are fed back to the virtual calibration program 137. After receiving the multiple physical calibration parameters Rec-p (step S530), the virtual calibration program 137 executes the virtual calibration program 137 using the multiple process parameters (including the multiple physical calibration parameters Rec-p) (step S540).

[0106] In one embodiment, after the processor 110 obtains multiple virtual calibration parameters Rec-v (step S570), it feeds back the multiple virtual calibration parameters Rec-v to the virtual calibration program 137. After receiving the multiple virtual calibration parameters Rec-v (step S530), the virtual calibration program 137 executes the virtual calibration program 137 using multiple process parameters (including the multiple virtual calibration parameters Rec-v) (step S540).

[0107] In one embodiment, the multiple process parameters include multiple virtual calibration parameters Rec-v and multiple physical calibration parameters Rec-p. The processor 110 refers to the multiple virtual calibration parameters Rec-v and the multiple physical calibration parameters Rec-p to execute the virtual calibration procedure 137 (step S540).

[0108] In summary, the virtual and physical simulation debugging system and method proposed in this case use the same user interface. Users only need to maintain one set of programs to control the debugging operations of both virtual and physical machines. There is no need to first write a debugging program for the virtual machine and then convert it to a debugging program for the physical machine. This allows for quick switching between the virtual and physical debugging programs, significantly shortening development time and improving the uptime of the physical machines. Furthermore, the technology in this case can incorporate exception handling checks into the virtual debugging program, enhancing its interactivity. These exception handling checks can also be applied to the operation of the physical machines, reducing the probability of accidents during actual operation and improving the safety of the physical machines.

[0109] The above description is merely a specific example of this case and does not limit the claims of this case. Therefore, all equivalent changes made using the content of this case are similarly included within the scope of this case and are hereby stated.

Claims

1. An integrated virtual-to-physical simulation machine system, comprising: an operation program interface configured to provide a virtual-to-physical co-simulation virtual code based on a program framework, wherein the virtual-to-physical co-simulation virtual code comprises a virtual code for processing interactive event operations and the program framework is compatible with a virtual machine driver and a physical machine driver; a processor configured to introduce the virtual machine driver to the virtual-to-physical co-simulation virtual code and compile the virtual-to-physical co-simulation virtual code with the virtual machine driver as a virtual machine program, and execute the virtual machine program to control a virtual operation of a virtual machine in a three-dimensional virtual environment, and introduce the physical machine driver to the virtual-to-physical co-simulation virtual code and compile the virtual-to-physical co-simulation virtual code with the physical machine driver as a physical machine program, and execute the physical machine program to control a physical operation of a physical machine, such that a logic of the physical operation of the physical machine is identical to a logic of the virtual operation of the virtual machine in the three-dimensional virtual environment.

2. The integrated virtual-to-physical simulation machine system of claim 1, wherein the operation program interface comprises a flag, the flag pointing to the virtual machine driver or the physical machine driver; wherein when the flag points to the virtual machine driver, the processor is configured to introduce the virtual machine driver to the virtual-to-physical co-simulation virtual code and compile the virtual-to-physical co-simulation virtual code with the virtual machine driver as the virtual machine program, and when the flag points to the physical machine driver, the processor is configured to introduce the physical machine driver to the virtual-to-physical co-simulation virtual code and compile the virtual-to-physical co-simulation virtual code with the physical machine driver as the physical machine program.

3. The integrated virtual-to-physical simulation machine system of claim 1, wherein the processor is configured to input a plurality of process parameters to the virtual machine program, execute the virtual machine program using the plurality of process parameters, and tune a process of the virtual machine in the three-dimensional virtual environment.

4. The integrated virtual-to-physical simulation machine system of claim 1, wherein the processor is configured to input a plurality of process parameters to the physical machine program, execute the physical machine program using the plurality of process parameters, and tune the physical operation of the physical machine in a physical environment.

5. The integrated virtual-to-physical simulation machine system of claim 3, wherein the processor is configured to adjust the plurality of process parameters to obtain a plurality of virtual tuning parameters in the three-dimensional virtual environment while executing the virtual machine program, update the plurality of virtual tuning parameters to the virtual machine program, and output the plurality of virtual tuning parameters.

6. The integrated virtual-to-physical simulation machine system of claim 5, wherein the processor is configured to input the plurality of process parameters to the physical machine program while executing the physical machine program, wherein the plurality of process parameters comprise the plurality of virtual tuning parameters, and execute the physical machine program using the plurality of process parameters and detect a process of the physical machine in a real environment.

7. The integrated virtual and real simulation machine tuning system of claim 4, wherein the processor is configured to adjust the plurality of process parameters to obtain a plurality of physical tuning parameters of the physical machine when executing the physical machine tuning program, update the plurality of physical tuning parameters to the physical machine tuning program and output the plurality of physical tuning parameters.

8. The integrated virtual and real simulation machine tuning system of claim 7, wherein the processor is configured to input the plurality of process parameters to the virtual machine tuning program when executing the virtual machine tuning program, wherein the plurality of process parameters include the plurality of physical tuning parameters, and execute the virtual machine tuning program using the plurality of process parameters and detect the operation of the virtual machine in the three-dimensional virtual environment.

9. The integrated virtual and real simulation machine tuning system of claim 1, wherein the processor is configured to execute the virtual machine tuning program and detect whether the interactive event operation program is triggered in the three-dimensional virtual environment, wherein the interactive event operation program includes detecting a collision, a foreign object falling, a material running out or a safety door being triggered of the virtual machine, and pause the virtual machine tuning program in the interactive event operation program to perform a condition troubleshooting, and re-execute the virtual machine tuning program after completing the condition troubleshooting.

10. The integrated virtual and real simulation machine tuning system of claim 9, wherein the processor is configured to adjust a plurality of virtual tuning parameters of the virtual machine in the interactive event operation program and update the plurality of virtual tuning parameters to the virtual machine tuning program to continuously perform the detection of the virtual machine when executing the virtual machine tuning program; and adjust a plurality of physical tuning parameters of the physical machine in the interactive event operation program and update the plurality of physical tuning parameters to the physical machine tuning program to continuously perform the detection of the physical machine when executing the physical machine tuning program.

11. An integrated virtual and real simulation machine tuning method applied to the simulation and actual operation of a unified interface of a virtual machine and a physical machine, comprising: providing a virtual code for virtual and real tuning based on a program framework, wherein the virtual code for virtual and real tuning includes a virtual code for processing an interactive event operation program and the program framework is compatible with a virtual machine driver and a physical machine driver; introducing the virtual machine driver to the virtual code for virtual and real tuning, and introducing the physical machine driver to the virtual code for virtual and real tuning; compiling the virtual code for virtual and real tuning and the virtual machine driver as a virtual machine tuning program, and compiling the virtual code for virtual and real tuning and the physical machine driver as a physical machine tuning program; executing the virtual machine tuning program to control the virtual operation of the virtual machine in a three-dimensional virtual environment, and executing the physical machine tuning program to control the physical operation of the physical machine, so that the logic of the physical operation of the physical machine is the same as the logic of the virtual operation of the virtual machine in the three-dimensional virtual environment. ​ 12. The method of claim 11, wherein providing the co-simulation virtual code comprises providing a flag pointing to the virtual machine driver or the physical machine driver, the method comprising: when the flag points to the virtual machine driver, incorporating the virtual machine driver into the co-simulation virtual code and compiling the co-simulation virtual code with the virtual machine driver for the virtual press program; and when the flag points to the physical machine driver, incorporating the physical machine driver into the co-simulation virtual code and compiling the co-simulation virtual code with the physical machine driver for the physical press program.

13. The method of claim 11, further comprising: inputting a plurality of process parameters to the virtual press program to execute the virtual press program using the plurality of process parameters and to tune the virtual press operation in the three-dimensional virtual environment.

14. The method of claim 11, further comprising: inputting a plurality of process parameters to the physical press program to execute the physical press program using the plurality of process parameters and to tune the physical operation of the physical press in a physical environment.

15. The method of claim 13, further comprising: adjusting the plurality of process parameters to obtain a plurality of virtual tuning parameters in the three-dimensional virtual environment while executing the virtual press program, updating the plurality of virtual tuning parameters to the virtual press program and outputting the plurality of virtual tuning parameters.

16. The method of claim 15, further comprising: inputting the plurality of process parameters to the physical press program while executing the physical press program, wherein the plurality of process parameters comprise the plurality of virtual tuning parameters, and executing the physical press program using the plurality of process parameters and detecting the operation of the physical press in a real environment.

17. The method of claim 14, further comprising: adjusting the plurality of process parameters to obtain a plurality of physical tuning parameters of the physical press while executing the physical press program, updating the plurality of physical tuning parameters to the physical press program and outputting the plurality of physical tuning parameters.

18. The method of claim 17, further comprising: inputting the plurality of process parameters to the virtual press program while executing the virtual press program, wherein the plurality of process parameters comprise the plurality of physical tuning parameters, and executing the virtual press program using the plurality of process parameters and detecting the operation of the virtual press in the three-dimensional virtual environment.

19. The method of claim 11, further comprising: ​ executing the virtual machine program and detecting whether the interactive event operation program is triggered in the three-dimensional virtual environment, wherein the interactive event operation program comprises detecting collision of the virtual machine, foreign matter falling, raw material depletion, or safety door triggering, and pausing the virtual machine program in the interactive event operation program to perform troubleshooting, and re-executing the virtual machine program after completing the troubleshooting.

20. The integrated virtual and real machine simulation machine tuning method of claim 19, further comprising: adjusting a plurality of virtual tuning parameters of the virtual machine in the interactive event operation program while executing the virtual machine program and updating the plurality of virtual tuning parameters to the virtual machine program for continuous detection of the virtual machine; and adjusting a plurality of real tuning parameters of the real machine in the interactive event operation program while executing the real machine program and updating the plurality of real tuning parameters to the real machine program for continuous detection of the real machine.

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