Method and device for automatically generating driving control program based on equipment three-dimensional model and storage medium

Abstract

The invention provides a method and a device for automatically generating a driving control program based on an equipment three-dimensional model, and a storage medium, and relates to the technical field of automatic equipment control. The method comprises the following steps: defining a kinematic pair of an equipment model by using a plug-in in a three-dimensional modeling tool, and adding a reference point to obtain a kinematic pair list; adding to a plug-in point location page, setting the number and type of each kinematic pair point location, and generating a kinematic pair and point location mapping relation table; configuring auxiliary information and external interface information in the plug-in flow information window; configuring point location action type operation content and flow type operation content in the operation configuration window; defining multi-section basic information in a task page, and defining task processes of each section; based on a task command calling section and a task process, operation control information including equipment action parameters and the like is generated, and configuration data can be quickly reused by loading a scene template. According to the method, end-to-end automation from the virtual model to entity control is realized, the debugging deployment efficiency is improved, and a complex equipment scene is adapted.

Description

Technical Field

[0001] This invention mainly relates to the field of automated equipment control technology, specifically to a method, apparatus, and storage medium for automatically generating control programs based on three-dimensional equipment models. Background Technology

[0002] In the field of industrial automation, non-standard automated equipment (such as material handling equipment and precision machining equipment) is widely used to meet personalized production needs. However, the generation process of operation control information for such equipment has long faced technical challenges such as low efficiency and poor coordination. Currently, equipment control information design and 3D modeling are usually separate processes: mechanical engineers complete the equipment model construction in 3D modeling tools (such as 3D CAD tools), and software engineers write control programs based on development tools such as PLCs and PC-based controllers.

[0003] Meanwhile, control program development relies heavily on engineers' experience, requiring customized coding for aspects such as kinematic pair definition, point configuration, and external interface interaction. Although some companies have created development frameworks by encapsulating API functions, this still necessitates professional reorganization of functional modules, resulting in high technical barriers, poor reusability, and variations in the development capabilities of different engineers leading to difficulties in ensuring control system stability, significantly increasing labor and after-sales maintenance costs. Furthermore, traditional processes lack standardized configuration methods for multi-stage task logic of equipment, easily causing process conflicts when facing the time-series coordination requirements of complex equipment, further extending equipment delivery cycles.

[0004] With the expansion of digital twin technology applications in the industrial field, although the construction of virtual equipment models has been achieved, there are still shortcomings in the deep integration of models and control information. Establishing a precise correlation between the physical features (such as moving mechanisms and spatial points) in the 3D model and the control logic (such as motion flow and external signal interaction) has become the core challenge in achieving the integration of virtual debugging and actual control. Existing technologies have not yet formed a standardized solution for the entire process from 3D modeling to control information generation, making it difficult to meet the efficient and accurate development needs of non-standard automated equipment. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a method, apparatus and storage medium for automatically generating a control program driven by a three-dimensional model of a device.

[0006] The technical solution of this invention to solve the above-mentioned technical problems is as follows: A method for automatically generating a control program based on a 3D model of a device, comprising the following steps: In a 3D modeling tool, a plugin is used to define the kinematic pairs in the device model, and reference points for each kinematic pair are added to obtain a list of kinematic pairs. Add the list of motion pairs to the point page of the plugin, configure the number of points and point type for each motion pair based on the list of motion pairs, and generate a mapping table between motion pairs and points. Configure auxiliary information and external interface information in the plugin's process information window; In the operation configuration window of the plugin, the action-type operation content of the points is configured based on the mapping relationship table between the motion pair and the point, and the operation content of the business process class is configured based on the auxiliary information and the external interface information to obtain the operation configuration information. In the task page of the plugin, basic information of multiple work sections is defined, and the task flow of each work section is defined based on the operation configuration information. The task flow is used to set the corresponding action class and business process class during the material picking and placing process. Based on the task command, the work section and corresponding task process configured in the task page are invoked. The plugin automatically parses the operation content of the action process class and business process class associated with each task process, the mapping relationship between motion pairs and points, auxiliary information and external interface information, and generates equipment operation control information containing the motion parameters of each motion mechanism of the equipment, task execution logic and external signal interaction rules.

[0007] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: a device for automatically generating equipment based on a 3D model driven control program, applied to the method for automatically generating equipment based on a 3D model driven control program as described above, comprising: The kinematic pair building module is used to define kinematic pairs in a device model using a plugin in a 3D modeling tool, and to add reference points for each kinematic pair to obtain a list of kinematic pairs. The mapping relationship table construction module is used to add the list of motion pairs to the point page of the plugin, configure the number of points and point type for each motion pair based on the list of motion pairs, and generate a mapping relationship table between motion pairs and points. The process information configuration module is used to configure auxiliary information and external interface information in the plugin's process information window; The operation configuration module is used to configure the action-type operation content of the points based on the mapping relationship table between the kinematic pairs and the points, and to configure the operation content of the business process based on the auxiliary information and the external interface information, so as to obtain operation configuration information. The section configuration module is used to define the basic information of multiple sections in the task page of the plugin, and to define the task flow of each section based on the operation configuration information. The task flow is used to set the corresponding action class and business process class during the material picking and placing process. The operation control information generation module is used to call the work section and corresponding task process configured in the task page based on the task command. Through the plug-in, it automatically parses the operation content of the action process class and business process class associated with each task process, the mapping relationship between motion pairs and points, auxiliary information and external interface information, and generates equipment operation control information containing the action parameters of each motion mechanism of the equipment, task execution logic and external signal interaction rules.

[0008] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: a device for automatically generating a device based on a 3D model driven control program, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method for automatically generating a device based on a 3D model driven control program as described above.

[0009] Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for automatically generating a device 3D model-driven control program as described above.

[0010] The beneficial effects of this invention are as follows: By relying on plugins in 3D modeling tools to construct a process of "defining kinematic pairs, configuring point mapping, setting process information, configuring operation content, designing work section tasks, and generating control information," the integrated connection between equipment 3D modeling and control program generation is achieved. The physical features such as kinematic pairs and reference points in the equipment model are directly converted into motion parameters and point data required for control, eliminating the need for manual secondary conversion and effectively breaking down the barriers between traditional modeling and control. At the same time, each step forms a standardized process through clear correlation, reducing manual input and repeated verification, improving the accuracy and efficiency of control information generation, and adapting to complex equipment scenarios with multiple work sections and multiple tasks, thus reducing the technical threshold and cycle of non-standard automated equipment control program design. Attached Figure Description

[0011] Figure 1 A flowchart of a method for generating equipment operation control information provided in an embodiment of the present invention; Figure 2 A functional block diagram of the device for generating equipment operation control information provided in an embodiment of the present invention. Detailed Implementation

[0012] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0013] Example 1: As Figure 1As shown, this embodiment of the invention provides a method for generating equipment operation control information based on a 3D modeling tool, including the following steps: S1. In a 3D modeling tool, use a plugin to define the kinematic pairs in the device model and add reference points for each kinematic pair to obtain a list of kinematic pairs. S2. Add the list of motion pairs to the point page of the plugin, configure the number of points and point type for each motion pair based on the list of motion pairs, and generate a mapping table between motion pairs and points. S3. Configure auxiliary information and external interface information in the plugin's process information window; S4. In the operation configuration window of the plugin, the action-type operation content of the point is configured based on the mapping relationship table between the motion pair and the point, and the operation content of the business process class is configured based on the auxiliary information and the external interface information to obtain the operation configuration information. S5. In the task page of the plugin, define the basic information of multiple work sections, and define the task flow of each work section based on the operation configuration information. The task flow is used to set the corresponding action class and business process class during the material picking and placing process. S6. Based on the task command, call the work section and corresponding task process configured in the task page. The plugin automatically parses the operation content of the action process class and business process class associated with each task process, the mapping relationship between motion pairs and points, auxiliary information and external interface information, and generates equipment operation control information containing the action parameters of each motion mechanism of the equipment, task execution logic and external signal interaction rules.

[0014] In the above embodiments, by relying on plugins in the 3D modeling tool to construct a process of "defining kinematic pairs, configuring point mapping, setting process information, configuring operation content, designing section tasks, and generating control information," the integrated connection between equipment 3D modeling and control program generation is realized. The physical features such as kinematic pairs and reference points in the equipment model are directly converted into motion parameters and point data required for control, without the need for manual secondary conversion, effectively breaking down the barriers between traditional modeling and control. At the same time, each step forms a standardized process through clear correlation, reducing manual input and repeated verification, improving the accuracy and efficiency of control information generation, and adapting to complex equipment scenarios with multiple sections and tasks, reducing the technical threshold and cycle of non-standard automated equipment control program design.

[0015] Preferably, the kinematic pairs in the device model are defined using a plugin in a 3D modeling tool, and reference points for each kinematic pair are added to obtain a list of kinematic pairs, including: In the plugin's configuration page, define the kinematic pairs corresponding to each moving mechanism in the device model. Configure the content of the kinematic pair definition, including the kinematic pair's structural attributes, parameter attributes, and name. The structural attributes include fixed structure, display structure, connecting mechanism, motion structure, and their parameter items and hierarchical relationships to obtain a list of kinematic pairs.

[0016] For example, name it "XY axis linkage slide table - kinematic pair".

[0017] Structure attribute configuration: Fixed structure: Select the equipment base (the base component that remains stationary throughout the entire process, serving as the fixed reference for the entire composite motion pair); Action structure: X-axis associated motion section: Select the X-axis slider (a component that moves only with the X-axis drive and does not move independently with the Y-axis, excluding the Y-axis slider that moves with the Y-axis and its subsequent sub-components), and declare the X-axis movement direction as "horizontal X-direction (along the length of the device)"; Y-axis associated motion section: Select the Y-axis slider (a component that moves synchronously with the X-axis slider and can move independently along the Y-axis), and declare the Y-axis movement direction as "horizontal Y direction (along the width of the device)"; Hierarchical relationship: set to "Level 1" (as the upper-level basic kinematic pair of the grasping module, with no higher-level kinematic pairs driven). Parameter attribute configuration: X-axis parameter association: Select the X-axis guide rail assembly (including guide rail, lead screw and other parts), the program automatically queries the database for the properties of the guide rail assembly, matches the 3D model and calculates the X-axis travel (e.g. 0-800mm), default motion speed (e.g. 50mm / s), and positioning accuracy (e.g. ±0.05mm). Y-axis parameter association: Select the Y-axis guide component, and automatically query the component's properties and calculate the Y-axis travel (e.g., 0-500mm), default motion speed (e.g., 45mm / s), and positioning accuracy (e.g., ±0.05mm).

[0018] Once configured, the plugin automatically summarizes the name, structural attributes, and parameter attribute information of this kinematic pair, and generates a list of kinematic pairs.

[0019] In the above embodiments, on the plug-in configuration page, for the kinematic pairs corresponding to each moving mechanism of the device, the kinematic pair name, structural attributes including fixed structure, action structure and hierarchical relationship, and parameter attributes adapted to the movement requirements of the mechanism are clearly configured, and finally a list of kinematic pairs is generated. By standardizing the configuration of core information of the kinematic pairs, the motion association logic of each moving mechanism is clearly defined, avoiding motion conflicts caused by ambiguity in the association between the kinematic mechanisms. By unifying the physical structural characteristics and operating parameters of kinematic pairs into a structured list, the need for manual, fragmented recording or secondary conversion is eliminated. This provides accurate and standardized basic motion data for subsequent point configuration and task flow design, reducing subsequent configuration errors caused by missing or chaotic information. At the same time, it reduces the cost for engineers to understand and access kinematic pair information, and improves the efficiency and accuracy of the entire process of generating equipment control programs.

[0020] Preferably, the list of motion pairs is added to the point page of the plugin, and the number and type of points for each motion pair are configured based on the list of motion pairs to generate a mapping table between motion pairs and points, including: Add the list of motion pairs to the point page of the plugin; For each motion pair displayed on the point page, set the total number of points required for the motion pair based on actual motion requirements; For each point of each kinematic pair, if the point is an initial point or an isolated point, then select the corresponding spatial reference point from the reference points added for the moving mechanism as the physical location pointer of the point. If the point is an array type, then select an existing array feature in the device model, and normalize multiple positions in the array feature into the array points of the kinematic pair. If the point is a limit type, associate the distance limit feature of the moving mechanism and set the position corresponding to the distance limit feature as the limit point. Obtain the point information data required for each kinematic pair, and generate a mapping relationship table between kinematic pairs and points based on the point information data required for each kinematic pair.

[0021] Specifically, configure the locations of each motion sub-point on the point location page. It includes the number of points in each sub-configuration, the type and specific location of each point, and whether each point can be queried in real time.

[0022] The point types include initial point, array, isolated point, limit point, etc. The initial point and isolated point can be selected to point to a reference point in the model; The array type can be selected to point to a specific array feature in the model.

[0023] The limit type can be selected to point to a certain distance limit feature in the model.

[0024] For example, import the generated list of motion pairs into the plugin's point page, and then configure points for each motion pair according to the actual motion requirements of the device: For the "X-axis slide table - linear pair", a total of 4 points are configured: 2 working points (loading station and unloading station) and 2 limit protection points (left limit and right limit). Among them, the loading station point is set as an isolated point type, and its position corresponds to the spatial coordinates (150,0,0) of the loading station; the unloading station point is set as an isolated point type, and its position corresponds to the spatial coordinates (450,0,0) of the unloading station; the left limit point is set as a limit point type with a value of 0, and its function is used for left limit protection; the right limit point is set as a limit point type with a value of 600.

[0025] The "Grip Module - Lifting Unit" is configured with three points: two working height points (grip height and placement height) and one limit protection point (lower limit). The gripping height point is set as an isolated point, corresponding to the spatial coordinates (0,0,80) of the material in the tray, and is used for gripping materials. The placement height point is also set as an isolated point, corresponding to the spatial coordinates (0,0,150) of the material, and is used for placing materials. The lower limit point is set as a limit point with a value of 0.

[0026] Based on the point information configured for the aforementioned kinematic pairs, the plugin automatically establishes the association between the kinematic pairs and the points, generating a mapping table. This table clearly identifies the four points corresponding to "X-axis slide table - linear pair": loading station ((150,0,0), isolated point, loading positioning), unloading station ((450,0,0), isolated point, unloading positioning), left limit (0, limit point, left protection), and right limit (600, limit point, right protection). It also clearly identifies the three points corresponding to "gripping module - lifting pair": gripping height ((0,0,80), isolated point, gripping material), placement height ((0,0,150), isolated point, placing material), and lower limit (0, limit point, lower protection). This table fully presents the type, position, and functional association between each kinematic pair and its corresponding point.

[0027] In the above embodiments, by importing the list of kinematic pairs into the plug-in point page, the total number of points for each kinematic pair is set according to actual needs. For types such as initial points, isolated points, array points, and limit points, the physical location of each point is determined by associating it with reference points, array features, and distance limitation features in the device model. Finally, a mapping table between kinematic pairs and points is generated. The core advantage is that it directly determines the value of each point based on the information of the device model itself, without the need for manual calculation or input. This ensures that the point data is highly matched with the actual structure of the device and reserves space for subsequent point expansion. At the same time, through a standardized point configuration process, the association between kinematic pairs and points is clearly established, reducing configuration errors caused by chaotic point information. This provides accurate and standardized basic point data for subsequent operation configuration and task flow design, improving the accuracy and efficiency of device control program generation.

[0028] In this embodiment, the point type is not limited to initial point, array, isolated point, and limit point; other types can be added later.

[0029] During the iteration process of industrial automation equipment, it is often necessary to add special types of points (such as vision inspection points and transit buffer points). Existing technologies have fixed point configuration logic, requiring the redevelopment of configuration modules for new types, resulting in poor scalability. This technical solution adopts a "basic type + extensible framework" structure in its point type design: it supports basic types such as initial points, isolated points, array points, and limit points, while reserving an expansion channel through the point configuration interface of the plugin—if new point types (such as vision imaging points or external device docking points) are needed later, only the association rule of "new point type - corresponding model feature" needs to be added to the existing configuration logic (such as the camera installation position reference point in the vision imaging point association model), without reconstructing the entire configuration process. This design not only meets the current equipment's configuration requirements for basic point types but also provides flexible adaptation capabilities for point type expansion in subsequent equipment function iterations, avoiding the need to redevelop the point configuration module due to equipment upgrades, extending the life cycle of the technical solution, and reducing long-term equipment maintenance costs.

[0030] Preferably, auxiliary information and external interface information are configured in the plugin's process information window, including: In the plugin's process information window, configure the external IO table, material tray table, and external task table.

[0031] In the external IO table, each sub-item contains two sub-items, which define the meaning of being connected and disconnected, respectively.

[0032] For example, five new IO sub-items are added, each with a defined on / off meaning: "Photoelectric Sensor IO" (On: Material detected, Off: No material detected), "Feeding Cylinder Control IO" (On: Cylinder extends to push material, Off: Cylinder retracts to return to its original position), "Processing Completion Signal IO" (On: Processing equipment completes operation, Off: Processing equipment does not complete operation), "Unloading Conveyor Belt Start IO" (On: Conveyor belt runs, Off: Conveyor belt stops), and "Emergency Stop Signal IO" (On: Equipment stops urgently, Off: Equipment runs normally).

[0033] The material tray table specifies the meaning of each material tray.

[0034] For example, loading tray A (meaning: storing materials to be processed), transfer tray B (meaning: temporarily storing processed materials), and unloading tray C (meaning: storing completed materials).

[0035] The external task table is configured with the content of external tasks and an external process interface is established.

[0036] For example, the MES system receives production tasks, including material numbers, production quantities, and processing parameters issued by the MES; the external process interface connects with the factory's MES system via TCP / IP protocol and reads task data periodically. Equipment status reporting includes: uploading equipment operating status (e.g., normal / faulty) and the current material quantity at the workstation to the MES system; external process interface: pushing status data to the MES system interface in real time via HTTP protocol.

[0037] In the above embodiments, by configuring external IO tables, material tray tables, and external task tables in the plugin's process information window, the external IO tables clearly define the meaning of each sub-item's connection and disconnection, the material tray tables define the specific meaning of each material tray, and the external task tables configure task content and establish external process interfaces, a structured and standardized configuration of equipment auxiliary information and external interface information is achieved. This makes the signal interaction logic between the equipment and external components (such as sensors and cylinders), the functional definition of material carriers, and the task connection rules with external systems (such as MES systems) clear and unambiguous, avoiding equipment and external collaboration failures caused by chaotic or missing information configuration. At the same time, this configuration method provides accurate external interaction data support for the configuration of subsequent business process operation content, reduces debugging costs caused by unclear interface information, and improves the coordination and stability of the overall equipment operation control.

[0038] Preferably, in the plugin's operation configuration window, the motion pair and point mapping relationship table is used to configure the action-type operation content for the points, and the auxiliary information and external interface information are used to configure the operation content for the business process class, resulting in operation configuration information, including: Based on the mapping table between the kinematic pairs and the points, configure the operation content of the action flow class, and based on the auxiliary information and external interface information, configure the operation content of the business flow class and the custom flow class. Select the pallet information from the pallet table, use it as a business process class to perform a counting operation on the pallets, and configure the counting operation for the pallets. Select the source and target material tray information from the material tray table, insert them as a custom process class into the task list, and determine the method of material tray data and information transmission. Select the IO from the external IO table, insert it into the task list as a custom process class, and configure the output, status waiting operation and expected IO status; Select an external process from the external task table, insert it into the task list as a custom process class, and establish the association information for calling the task.

[0039] For example, based on the mapping table between kinematic pairs and points, the motion flow operation content is configured for the "loading station position" of the "X-axis slide kinematic pair" to ensure that the slide accurately reaches the loading position.

[0040] Configure process operations based on auxiliary information and external interface information: Select "Loading Tray A" in the material tray table as the business process class to configure the counting operation, and set the count to automatically decrement by 1 after grabbing material once; Select "Loading Tray A" (source material tray) and "Transfer Tray B" (target material tray) as custom process classes and insert them into the task list to determine the real-time data synchronization transmission method between the two; Select "Loading Cylinder Control IO" in the external IO table as the custom process class and insert it into the task list to configure the operation and status waiting time of IO connection (cylinder extends to push material) when reaching the loading point and disconnection (cylinder reset) after completion; Select "MES Production Task Receiving" process in the external task table as the custom process class and insert it into the task list to establish the association information of calling this process to obtain the next batch of tasks when reaching the unloading point.

[0041] After completing the above configuration, you will obtain operation configuration information that includes actions, business logic, and custom process operations.

[0042] In the above embodiments, the plugin operation configuration window utilizes a two-dimensional configuration logic—binding the action flow class to the motion pair-point mapping table and associating the business / definition flow class with auxiliary information / external interface information—which offers several technical advantages: On the one hand, the operation content of the motion process is directly linked to the kinematic pair-point mapping table to ensure that the equipment motion parameters (such as point movement speed and positioning logic) are accurately matched with the physical characteristics of the kinematic pair, and to avoid the disconnect between the motion configuration and the actual structure of the equipment. On the other hand, by standardizing the path to call the material tray table, external IO table, and external task table information—configuring material tray counting operations for business process classes, and clarifying the material tray data transmission method, IO output and status waiting rules, and external process call relationships for custom process classes—it achieves structured reuse of auxiliary information and external interface information, while avoiding logical chaos caused by fragmented manual configuration. At the same time, the entire process relies on the plug-in window for visual configuration, eliminating the need for manual coding, significantly reducing the operational threshold, reducing configuration errors caused by differences in personnel experience, and ensuring that the operation content of each process class is strongly correlated with the basic configuration data, providing an accurate and standardized data source for subsequent task process design and control information generation, significantly improving the accuracy, efficiency, and traceability of equipment control program configuration.

[0043] Preferably, the method further includes the step of configuring action items for the kinematic pair: In the plugin's operation configuration window, select the motion pair to be executed, select a target point from the motion pair and point mapping relationship table to perform the movement action, or select two points as the photo point and the target point respectively to perform the spatial position correction action.

[0044] In the above embodiments, by selecting the corresponding photo point and target point of the motion pair for spatial position correction, the deviation between the initial configuration of the point and the actual physical position of the equipment is accurately eliminated, ensuring the positioning accuracy when the motion pair drives the equipment to perform actions. At the same time, relying on the mapping relationship table between the motion pair and the point, the point is directly associated, eliminating the need for manual re-measurement and calibration, reducing manual operation errors, improving the accuracy and stability of equipment action control, providing a precise position benchmark for subsequent business process execution (such as picking up and placing materials, material transfer), and reducing process coordination failures and debugging costs caused by point deviations.

[0045] Preferably, in the task page of the plugin, basic information of multiple work sections is defined, and the task flow of each work section is defined based on the operation configuration information. The task flow is used to set the corresponding action class and business process class during the material picking and placing process, including: In the task page of the plugin, define the basic information of multiple work sections. The basic information includes setting the number of work sections, naming each work section, determining the equipment control range corresponding to each work section, configuring the parallel mode between each work section, and determining the runtime sequence logic of different work sections. Configure a dedicated task pool for each work section, set the number of task processes in the task pool based on the functional requirements of the work section, name each task process, and determine the serial execution order of each task process in the task pool. Based on the configuration content of action flow class, business flow class and custom flow class in the operation configuration information, a basic flow framework is built for the task flow in the task pool of each section. The basic flow framework is the sequence of first moving to a certain point, then performing the material picking operation, then moving to another point, and finally performing the material unloading operation. Based on the task requirements of the work section, add custom process nodes to the basic process framework and associate the custom process nodes with any number of operation configuration information.

[0046] For example, taking the "Automated Material Loading-Transfer-Unloading Equipment" (including three core mechanisms: X-axis slide, gripping module, and transfer platform) as an example, the work section and task flow configuration is completed in the plug-in task page, as follows: Define basic information for each work section: Set the number of work sections to 3, named "Loading Section", "Transfer Section", and "Unloading Section" respectively; Determine the control range of each work section - "Loading Section" controls the X-axis slide and loading tray, "Transfer Section" controls the gripping module and transfer platform, and "Unloading Section" controls the X-axis slide and unloading tray; Configure the parallel mode as "Loading and unloading can be synchronized, transfer requires connection between loading / unloading", and the timing logic is "Loading Section completes 1 loading → Transfer Section completes 1 material transfer → Unloading Section completes 1 unloading" loop.

[0047] Configure dedicated task pools for each work section: The "Feeding Section" task pool has 2 tasks (named "Feeding Tray Retrieve Material" and "Transfer Platform Release Material"), with the execution order being "Retrieve Material and Release Material"; the "Transfer Section" task pool has 2 tasks (named "Transfer Platform Retrieve Material" and "Detect Material Status"), with the execution order being "Retrieve Material and Detect Material"; the "Unloading Section" task pool has 2 tasks (named "Transfer Platform Retrieve Material" and "Unloading Tray Release Material"), with the execution order being "Retrieve Material and Release Material".

[0048] Establish a basic process framework: Based on the operation configuration information, establish a framework for "Material Section - Material Loading Tray Picking" that is "X-axis slide moves to the material loading tray position → executes material picking operation → X-axis slide moves to the transfer platform position → executes material unloading operation"; establish a framework for "Unloading Section - Unloading Tray Unloading" that is "X-axis slide moves to the transfer platform position → executes material picking operation → X-axis slide moves to the unloading tray position → executes material unloading operation".

[0049] Add custom process nodes and associate configurations: In the "Feeding Section - Feeding Tray Retrieval" framework, add a "Material Existence Detection Node" and associate it with the configuration information of the feeding tray count and photoelectric sensor IO signal interaction in the business process class (if IO is connected, material is confirmed); In the "Transfer Section - Detect Material Status" framework, add a "Work Timeout Alarm Node" and associate it with the time threshold and exception handling configuration information of "If detection exceeds 5 seconds, trigger alarm" in the custom process class; In the "Unloading Section - Unloading Tray Discharge" framework, add a "Equipment Status Verification Node" and associate it with the configuration information of the X-axis slide running speed and unloading tray position in the action process class (discharge material after verifying that the slide positioning accuracy meets the standard).

[0050] In the above embodiments, by first clarifying the number of work segments, names, control scope, and runtime sequence logic of task items in the task page of the plugin, then configuring a dedicated task pool for each work segment and determining the task sequence order, and finally building the basic task framework and custom nodes by combining action flow configuration information, the technical advantages are as follows: It realizes the structured and hierarchical configuration of multi-work segment equipment task flow, which avoids multi-work segment operation conflicts by clarifying the control scope and timing logic of the work segments, and standardizes the task execution order within the work segment by setting a dedicated task pool and serial order; at the same time, it deeply associates action flow configuration information with process nodes, ensuring that each link of the task flow has a precise action basis, reducing the blindness of process configuration and the modification cost of subsequent debugging, and significantly improving the standardization, traceability, and execution stability of multi-work segment task flow configuration for complex equipment.

[0051] Preferably, after defining the task flow, the following steps are also included: The defined task flow is saved as a scene template. The scene template is used to associate and store the full configuration data under the corresponding application scenario, and is imported into the task item of the plugin by loading to complete the quick configuration of the task flow. The full configuration data includes the motion pair information, operation flow configuration information and task information associated with the task flow.

[0052] Furthermore, the scene information in the scene template can be saved to the device's 3D model. When importing the model, the complete scene information and associated full configuration data contained therein can be automatically obtained, enabling rapid loading and configuration of the task flow.

[0053] Specifically, when similar scenarios exist in subsequent project applications, the "Load Scenario Template" function is triggered on the task page of the plugin. The plugin will automatically parse all the configuration data (motion pair information, operation process configuration information, task information, etc.) stored in the template and import this data into the corresponding modules of the task page, such as the work segment definition, task pool configuration, and process framework construction. There is no need to manually configure repeatedly on the task page, and the deployment of task processes under similar scenarios can be completed quickly.

[0054] For example, the configuration of the "automated material loading-transfer-unloading equipment" mentioned in the above embodiments can be saved as a scenario template. If a similar application scenario exists, the scenario template can be loaded directly, the motion pair parameters can be corrected, and the point coordinates and material tray association information can be adjusted to quickly complete the task flow construction of the new scenario.

[0055] The advantages of scene templates are: First, importing scenes is extremely convenient. After loading a scene template, you only need to correct and associate the data of the motion pairs and modify the relevant points and material tray information to quickly build a task flow that adapts to the new scene without having to configure it from scratch. Second, it is flexible in adapting to different scene differences. If there are differences in details between the new scene and the template, you can make fine adjustments based on the imported configuration without having to reconstruct the process framework, which greatly reduces configuration costs and time costs and further improves the generation efficiency and adaptability of non-standard automated equipment control programs.

[0056] In the above embodiments, traditional configurations require engineers to be proficient in professional knowledge such as kinematic pair definition and process logic design, which has a high technical threshold. Scenario templates encapsulate complex configuration logic into standardized templates. Non-professionals do not need to understand the underlying configuration principles; they only need to select the corresponding template according to the scenario requirements to complete accurate configuration, reducing the technical threshold for designing control programs for non-standard automated equipment and facilitating rapid application. Scenario templates can be stored long-term and repeatedly called to form a standardized template library, enabling rapid deployment of task flows under similar scenarios. Furthermore, subsequent device upgrades or scenario fine-tuning can be based on existing templates without refactoring the configuration logic. Simultaneously, all configuration data associated with the templates can be traced back to the original task flow, allowing for rapid identification of the configuration source during troubleshooting, simplifying later maintenance and version management, and extending the lifecycle of the technical solution.

[0057] Example 2: As Figure 2 As shown, this embodiment of the invention also provides a device for automatically generating control programs based on device 3D models, applied to the above-described method for automatically generating control programs based on device 3D models, including: The kinematic pair building module is used to define kinematic pairs in a device model using a plugin in a 3D modeling tool, and to add reference points for each kinematic pair to obtain a list of kinematic pairs. The mapping relationship table construction module is used to add the list of motion pairs to the point page of the plugin, configure the number of points and point type for each motion pair based on the list of motion pairs, and generate a mapping relationship table between motion pairs and points. The process information configuration module is used to configure auxiliary information and external interface information in the plugin's process information window; The operation configuration module is used to configure the action-type operation content of the points based on the mapping relationship table between the kinematic pairs and the points, and to configure the operation content of the business process based on the auxiliary information and the external interface information, so as to obtain operation configuration information. The section configuration module is used to define the basic information of multiple sections in the task page of the plugin, and to define the task flow of each section based on the operation configuration information. The task flow is used to set the corresponding action class and business process class during the material picking and placing process. The operation control information generation module is used to call the work section and corresponding task process configured in the task page based on the task command. Through the plug-in, it automatically parses the operation content of the action process class and business process class associated with each task process, the mapping relationship between motion pairs and points, auxiliary information and external interface information, and generates equipment operation control information containing the action parameters of each motion mechanism of the equipment, task execution logic and external signal interaction rules.

[0058] Example 3: This embodiment of the invention also provides an apparatus for automatically generating a device based on a device 3D model-driven control program, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method for automatically generating a device 3D model-driven control program as described above.

[0059] Example 4: This embodiment of the invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the method for automatically generating a device 3D model-driven control program as described above.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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 process, method, article, or apparatus.

[0061] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0062] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0063] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0064] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatically generating control programs based on 3D models of equipment, characterized in that, Includes the following steps: In a 3D modeling tool, a plugin is used to define the kinematic pairs in the device model, and reference points for each kinematic pair are added to obtain a list of kinematic pairs. Add the list of motion pairs to the point page of the plugin, configure the number of points and point type for each motion pair based on the list of motion pairs, and generate a mapping table between motion pairs and points. Configure auxiliary information and external interface information in the plugin's process information window; In the operation configuration window of the plugin, the action-type operation content of the points is configured based on the mapping relationship table between the motion pair and the point, and the operation content of the business process class is configured based on the auxiliary information and the external interface information to obtain the operation configuration information. In the task page of the plugin, basic information of multiple work sections is defined, and the task flow of each work section is defined based on the operation configuration information. The task flow is used to set the corresponding action class and business process class during the material picking and placing process. Based on the task command, the work section and corresponding task process configured in the task page are invoked. The plugin automatically parses the operation content of the action process class and business process class associated with each task process, the mapping relationship between motion pairs and points, auxiliary information and external interface information, and generates equipment operation control information containing the motion parameters of each motion mechanism of the equipment, task execution logic and external signal interaction rules.

2. The method for automatically generating a control program based on a 3D model of a device according to claim 1, characterized in that, In a 3D modeling tool, a plugin is used to define the kinematic pairs in the device model, and reference points are added for each kinematic pair to obtain a list of kinematic pairs, including: In the plugin's configuration page, define the kinematic pairs corresponding to each moving mechanism in the device model. Configure the content of the kinematic pair definition, including the kinematic pair's structural attributes, parameter attributes, and name. The structural attributes include fixed structure, motion structure, and hierarchical relationship, resulting in a list of kinematic pairs.

3. The method for automatically generating a control program based on a 3D model of a device according to claim 1, characterized in that, Add the list of motion pairs to the plugin's point page. Based on the list of motion pairs, configure the number and type of points for each motion pair, and generate a mapping table between motion pairs and points, including: Add the list of motion pairs to the point page of the plugin; For each motion pair displayed on the point page, set the total number of points required for the motion pair based on actual motion requirements; For each point of each kinematic pair, if the point is an initial point or an isolated point, then select the corresponding spatial reference point from the reference points added for the moving mechanism as the physical location pointer of the point. If the point is an array type, then select an existing array feature in the device model, and normalize multiple positions in the array feature into the array points of the kinematic pair. If the point is a limit type, associate the distance limit feature of the moving mechanism and set the position corresponding to the distance limit feature as the limit point. Obtain the point information data required for each kinematic pair, and generate a mapping relationship table between kinematic pairs and points based on the point information data required for each kinematic pair.

4. The method for automatically generating a control program based on a 3D model of a device according to claim 1, characterized in that, Configure auxiliary information and external interface information in the plugin's process information window, including: In the plugin's process information window, configure the external IO table, material tray table, and external task table. In the external I / O table, each sub-entry contains two sub-entries, defining the meaning of "on" and "off" states, respectively. The material tray table specifies the exact meaning of each material tray. The external task table is configured with the content of external tasks and an external process interface is established.

5. The method for automatically generating a control program based on a 3D model of a device according to claim 4, characterized in that, In the plugin's operation configuration window, the motion pair and point mapping relationship table is used to configure the action-type operation content for the points, and the auxiliary information and external interface information are used to configure the operation content for the business process class, resulting in operation configuration information, including: Based on the mapping table between the kinematic pairs and the points, configure the operation content of the action flow class, and based on the auxiliary information and external interface information, configure the operation content of the business flow class and the custom flow class. Select the pallet information from the pallet table, use it as a business process class to perform a counting operation on the pallets, and configure the counting operation for the pallets. Select the source and target material tray information from the material tray table, insert them as a custom process class into the task list, and determine the method of material tray data and information transmission. Select the IO from the external IO table, insert it into the task list as a custom process class, and configure the output, status waiting operation and expected IO status; Select an external process from the external task table, insert it into the task list as a custom process class, and establish the association information for calling the task.

6. The method for automatically generating a control program based on a 3D model of a device according to claim 5, characterized in that, It also includes the steps for configuring action items for the kinematic pairs: In the plugin's operation configuration window, select the motion pair to be executed, select a target point from the motion pair and point mapping relationship table to perform the movement action, or select two points as the photo point and the target point respectively to perform the spatial position correction action.

7. The method for automatically generating a control program based on a 3D model of a device according to claim 4, characterized in that, In the plugin's task page, basic information for multiple work sections is defined, and the task flow for each work section is defined based on the operation configuration information. The task flow is used to set the corresponding action classes and business process classes during the material handling process, including: In the task page of the plugin, define the basic information of multiple work sections. The basic information includes setting the number of work sections, naming each work section, determining the equipment control range corresponding to each work section, configuring the parallel mode between each work section, and determining the runtime sequence logic of different work sections. Configure a dedicated task pool for each work section, set the number of task processes in the task pool based on the functional requirements of the work section, name each task process, and determine the serial execution order of each task process in the task pool. Based on the configuration content of action flow class, business flow class and custom flow class in the operation configuration information, a basic flow framework is built for the task flow in the task pool of each section. The basic flow framework is the sequence of first moving to a certain point, then performing the material picking operation, then moving to another point, and finally performing the material unloading operation. Based on the task requirements of the work section, add custom process nodes to the basic process framework and associate the custom process nodes with any number of operation configuration information.

8. The method for automatically generating a control program based on a 3D model of a device according to claim 7, characterized in that, After defining the task flow, the steps also include: The defined task flow is saved as a scene template. The scene template is used to associate and store the full configuration data under the corresponding application scenario, and is imported into the task item of the plugin by loading to complete the quick configuration of the task flow. The full configuration data includes the motion pair information, operation flow configuration information and task information associated with the task flow.

9. An apparatus for automatically generating a device based on a 3D model driven control program, applied to the method for automatically generating a device based on a 3D model driven control program as described in claims 1 to 8, characterized in that, include: The kinematic pair building module is used to define kinematic pairs in a device model using a plugin in a 3D modeling tool, and to add reference points for each kinematic pair to obtain a list of kinematic pairs. The mapping relationship table construction module is used to add the list of motion pairs to the point page of the plugin, configure the number of points and point type for each motion pair based on the list of motion pairs, and generate a mapping relationship table between motion pairs and points. The process information configuration module is used to configure auxiliary information and external interface information in the plugin's process information window; The operation configuration module is used to configure the action-type operation content of the points based on the mapping relationship table between the kinematic pairs and the points, and to configure the operation content of the business process based on the auxiliary information and the external interface information, so as to obtain operation configuration information. The section configuration module is used to define the basic information of multiple sections in the task page of the plugin, and to define the task flow of each section based on the operation configuration information. The task flow is used to set the corresponding action class and business process class during the material picking and placing process. The operation control information generation module is used to call the work section and corresponding task process configured in the task page based on the task command. Through the plug-in, it automatically parses the operation content of the action process class and business process class associated with each task process, the mapping relationship between motion pairs and points, auxiliary information and external interface information, and generates equipment operation control information containing the action parameters of each motion mechanism of the equipment, task execution logic and external signal interaction rules.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for automatically generating a device 3D model-driven control program as described in any one of claims 1 to 8.

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