CN111610725A

CN111610725A - Combined simulation method

Info

Publication number: CN111610725A
Application number: CN202010261312.3A
Authority: CN
Inventors: 夏智武; 李成伟; 朱秀丽; 刘浪
Original assignee: Beijing CHL Robotics Co ltd
Current assignee: Beijing CHL Robotics Co ltd
Priority date: 2020-04-03
Filing date: 2020-04-03
Publication date: 2020-09-01
Anticipated expiration: 2040-04-03
Also published as: CN111610725B

Abstract

The invention provides a joint simulation method, which is used for performing joint simulation on target equipment of a plurality of different manufacturers according to a simulation starting file acquired by a data acquisition module and a plurality of preset data interaction models in a data interaction module; each model in the data interaction module corresponds to at least one target device, and when joint simulation is carried out, network parameters of the model corresponding to the target devices are adopted according to information in the simulation starting file, so that at least two target devices to be simulated carry out data interaction; in the data interaction process, the variable of the target equipment is converted into a variable which can be identified by another target equipment by means of a model corresponding to the target equipment, and the identifiable variable is processed and subjected to data interaction with the other target equipment through a variable association rule in the model. The simulation among target devices of different manufacturers and different models is supported, the service scene is transversely expanded, and the simulation of the program before production is ensured.

Description

Combined simulation method

Technical Field

The invention relates to the technical field of virtual simulation, in particular to a joint simulation method for products of multiple different manufacturers.

Background

Executing unverified programs in an actual production environment involves a considerable risk of loss of production. The digital twins technology is provided, the dilemma is solved, and the computer program can be optimized, simulated and tested in a virtual environment before being put into production.

The digital twins copy a physical object in a digital mode, simulate the behavior of the object in a real environment, and perform virtual simulation on products, manufacturing processes and even the whole factory, thereby improving the production efficiency of product research and development and manufacturing of manufacturing enterprises. At present, the realization of the digital twins technology is researched and developed by respective manufacturers, but because the network communication modes supported by products of different manufacturers are different and the variable types supported by the products of different manufacturers are different, the realization of the digital twins technology is only suitable for the products of the manufacturers at present and cannot realize linkage debugging among different products of multiple manufacturers. However, in an actual production environment, many devices are combined, and communication among the devices is necessarily required to be realized, so that a simulation platform is urgently needed to realize data interaction among products of different manufacturers and achieve the purpose of joint simulation.

In the prior art, S7-PLCSIM simulation software released by Siemens Share corporation can replace simulation software of Siemens hardware PLC, and virtual simulation between mechanical design and PLC is realized by combining with a mechanical and electrical integration concept design solution (MCD). And S7-PLCSIM acquires external I/O variables in the PLC program by building a virtual controller, and associates the I/O variables in the MCD to realize data interaction. However, in the scheme of implementing data interaction between the PLC and the MCD in the S7-PLCSIM, products in 2 are all developed by siemens, and in an actual production environment, the products of siemens may not all be used, and currently, siemens only develops a mechatronic simulation scheme, and does not relate to other service scenarios such as robots, numerical control machines, visual inspection, and the like. Therefore, the S7-PLCSIM cannot realize joint simulation with products of other companies, has certain limitations, and cannot meet the business requirements of the factory level.

Disclosure of Invention

Technical problem to be solved

In order to solve the above problems in the prior art, the present invention provides a joint simulation method. The simulation among target devices of different manufacturers and different models is supported, the service scene is transversely expanded, and the simulation of the program before production is ensured.

(II) technical scheme

In order to achieve the purpose, the invention adopts the main technical scheme that:

a joint simulation method is characterized in that joint simulation is carried out on target equipment of a plurality of different manufacturers according to a simulation starting file acquired by a data acquisition module and a plurality of preset data interaction models in a data interaction module; each model in the data interaction module corresponds to at least one target device, and when joint simulation is carried out, network parameters of the model corresponding to the target devices are adopted according to information in the simulation starting file, so that at least two target devices to be simulated carry out data interaction; in the data interaction process, the variable of the target equipment is converted into a variable which can be identified by another target equipment by means of a model corresponding to the target equipment, and the identifiable variable is processed and subjected to data interaction with the other target equipment through a variable association rule in the model.

As an improvement of the method, the target equipment is a digital twin product or a hardware product; the target devices include PLCs, robots, 3D models, numerically controlled machine tools and computer vision.

As an improvement of the method of the invention, the transformation of the variable of the target device into a variable recognizable by another target device by means of a corresponding model of the target device comprises: and converting the variable of the target equipment into a variable which can be identified by another target equipment by means of the variable which is added in advance in the corresponding model of the target equipment.

As an improvement of the method of the invention, the recognizable variable is processed and data interaction is carried out with another target device through the variable association rule in the model, which comprises the following steps: one model variable as an input quantity is associated with one model variable as an output quantity, and one model variable as an output quantity is associated with one or more model variables as an output quantity.

As an improvement of the method of the present invention, before performing joint simulation on target devices of a plurality of different manufacturers according to a simulation boot file acquired by a data acquisition module and a plurality of preset data interaction models in a data interaction module, the method includes: and judging whether a simulation starting file exists or not, if not, selecting the simulation file which is not damaged within the preset time for a user to select, and sorting the simulation files which are not damaged within the preset time according to the creation time.

As an improvement of the method, if the simulation starting file exists, whether a variable for simulation exists in the simulation starting file is judged; if the simulation starting file does not exist, a simulation control panel is directly generated and used for carrying out joint simulation on target equipment of a plurality of different manufacturers according to the simulation starting file acquired by the data acquisition module and a plurality of preset data interaction models in the data interaction module; if the virtual controller exists, judging whether the target equipment and the data interaction model need to establish the virtual controller or not, and if so, establishing a corresponding virtual controller and generating a simulation control panel; if not, directly generating a simulation control panel.

As an improvement of the method of the present invention, after creating the corresponding virtual controller and generating the simulation control panel, the method further includes: and judging whether target equipment needing code downloading exists or not, and if so, downloading the code to the corresponding virtual controller.

As an improvement of the method, in the joint simulation process, data interaction is performed with the target equipment at regular time according to a time interval set in the network parameters, action information of each target equipment is obtained, whether joint operation of each target equipment meets a preset condition or not is judged according to the action information of each target equipment, and abnormal information is recorded when the joint operation of each target equipment does not meet the preset condition.

As an improvement of the method of the present invention, after performing joint simulation on target devices of a plurality of different manufacturers according to a simulation boot file acquired by a data acquisition module and a plurality of preset data interaction models in a data interaction module, the method includes: and judging whether the resources need to be released when the simulation project stops, and if so, releasing the corresponding resources.

(III) advantageous effects

The invention has the beneficial effects that:

1. the method has the advantages that the simulation file symmetrically encrypted by the AES is obtained, the safety of the simulation file is guaranteed, meanwhile, when the simulation file is decrypted in the memory, no landing file is generated, the decrypted file is in an XML format, and the method is very high in readability.

2. Through the first correction module, the first simulation module, the second simulation module and the third simulation module, the stability of the joint simulation is improved.

3. The joint simulation method supports the simulation among target devices of different manufacturers and different models and transversely expands the service scene through the preset network parameters, the preset variables and the preset variable association rules in the data interaction model, and ensures the optimization, the simulation and the test of the program before production.

4. The method supports software virtual simulation, full hardware entity simulation and semi-software semi-hardware entity mixed simulation, can not only carry out data interaction with a digital twin product, but also directly carry out data interaction with a hardware product, saves project development period and development cost, and simultaneously avoids a plurality of unpredictable losses.

5. The data association is mutually restricted, the variable I/O type is input quantity, can be associated with only one output quantity, has no limit to the output quantity, and the model variables of the same variable type can be associated, so that the uniqueness and the reliability of the input quantity are ensured.

Drawings

The invention is described with the aid of the following figures:

FIG. 1 is a flowchart of a joint simulation method for products of a plurality of different manufacturers according to an embodiment of the present invention.

Detailed Description

For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.

The invention provides a joint simulation method for products of a plurality of different manufacturers, which comprises the following steps as shown in figure 1:

step S1, the data obtaining module obtains the simulation start file.

Preferably, the simulation starting file is a simulation file encrypted in advance, and the encryption mode adopts an AES symmetric encryption algorithm. The security of the simulation file is guaranteed, meanwhile, when the simulation file is decrypted in the memory, no landing file is generated, and the decrypted file is in an XML format and has strong readability.

And step S2, the first correction module judges whether a simulation starting file exists in the data acquisition module, if the simulation starting file does not exist, undamaged simulation files which are sequenced according to the creation time within the preset time are selected for a user to select, if the user selects the simulation files, the simulation files selected by the user are used as the simulation starting files in the data acquisition module, and if the user does not select the simulation files, the step S1 is returned.

Step S3, when the simulation start file exists in the data obtaining module, the first simulation module determines whether the simulation start file has a variable for simulation, and directly generates the simulation control panel when the variable for simulation does not exist. When the simulation starting file has a variable for simulation, the second simulation module judges whether the target device to be simulated and the data interaction model need to create a virtual controller or not for data interaction, and directly generates a simulation control panel when the virtual controller does not need to be created. And when the simulation target equipment and the data interaction model need to create a virtual controller for data interaction, the third simulation module creates a corresponding virtual controller and generates a simulation control panel.

The first simulation module is used for full hardware entity simulation, and the second simulation module and the third simulation module are used for software virtual simulation and semi-software semi-hardware entity mixed simulation. And when the data interaction can be realized only by creating the virtual controller (for example, the PLC simulates in a PCSDK mode), the third simulation module ensures the smooth proceeding of the simulation.

Preferably, after the third simulation module creates the corresponding virtual controller and generates the simulation control panel, it is determined whether there is a target device requiring code downloading (for example, the PLC simulates in a PCSDK manner), and when there is a target device requiring code downloading, the code is downloaded to the corresponding virtual controller.

And step S4, performing joint simulation on target equipment of a plurality of different manufacturers according to the simulation starting file acquired by the data acquisition module and a plurality of preset data interaction models in the data interaction module based on the simulation control panel.

Preferably, each model in the data interaction module corresponds to at least one target device, and when joint simulation is performed, according to information in the simulation starting file, network parameters of the model corresponding to the target device are adopted, so that at least two target devices to be simulated perform data interaction; in the data interaction process, the variable of the target equipment is converted into a variable which can be identified by another target equipment by means of a model corresponding to the target equipment, and the identifiable variable is processed and subjected to data interaction with the other target equipment through a variable association rule in the model.

The network parameters are modes for data communication between the platform and target devices, the target devices are different, and supported network communication modes are also different, for example, a PLC supports a PCSDK mode and a Socket mode, a robot supports the PCSDK mode, a 3D model supports an OSC mode, a numerical control machine supports an OPC mode, and a visual support Socket mode. The variable is data used for data interaction between the target device and other target devices, and the target devices are different in type of supported variable, for example, a PLC supports a boot type, and other target devices support a boot, String, and Int type. The joint simulation method supports the simulation among target devices of different manufacturers and different models and transversely expands the service scene through the preset network parameters, the preset variables and the preset variable association rules in the data interaction model, and ensures the optimization, the simulation and the test of the program before production.

Preferably, the target device is a "digital twins" product or a hardware product; the target devices include PLCs, robots, 3D models, numerically controlled machine tools and computer vision. The method of the invention relates to the service scenes of robots, numerical control machines, visual detection and the like; meanwhile, the method supports software virtual simulation, full hardware entity simulation and semi-software semi-hardware entity mixed simulation, can perform data interaction with a digital twin product, and can also perform data interaction with a hardware product directly, so that the project development period and the development cost are saved, and a lot of unpredictable losses are avoided.

Further preferably, the 3D model variables are recorded in array. And the access is realized in a subscript mode, so that the access/modification speed is improved.

Further preferably, the variables of the target device are converted into variables recognizable by another target device by means of variables added in advance in the model corresponding to the target device.

Further preferably, the processing the recognizable variable and the data interaction with another target device are performed through a variable association rule in the model, including: one model variable as an input quantity is associated with one model variable as an output quantity, and one model variable as an output quantity is associated with one or more model variables as input quantities. The data association is mutually restricted, the variable I/O type is input quantity, can be associated with only one output quantity, has no limit to the output quantity, and the model variables of the same variable type can be associated, so that the uniqueness and the reliability of the input quantity are ensured.

Preferably, in the joint simulation process, the monitoring module performs data interaction with the target devices at regular time according to time intervals set in the network parameters to acquire action information of each target device, judges whether joint operation of each target device meets preset conditions or not according to the action information of each target device, and records abnormal information when the joint operation of each target device does not meet the preset conditions.

Step S5, the resource releasing module determines whether the simulation project needs to release the resource when it stops, and releases the corresponding resource when it needs to. Such as port binding in virtual controller and Socket communications.

It should be understood that the above description of specific embodiments of the present invention is only for the purpose of illustrating the technical lines and features of the present invention, and is intended to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.

Claims

1. A joint simulation method is characterized in that joint simulation is carried out on target equipment of a plurality of different manufacturers according to a simulation starting file acquired by a data acquisition module and a plurality of preset data interaction models in a data interaction module;

each model in the data interaction module corresponds to at least one target device, and when joint simulation is carried out, the network parameters of the model corresponding to the target devices are adopted according to the information in the simulation starting file, so that at least two target devices to be simulated carry out data interaction;

in the data interaction process, the variable of the target equipment is converted into a variable which can be identified by another target equipment by means of the model corresponding to the target equipment, and the identifiable variable is processed and subjected to data interaction with the other target equipment through the variable association rule in the model.

2. The method of claim 1, wherein the target device is a "digital twins" product or a hardware product;

the target device comprises a PLC, a robot, a 3D model, a numerical control machine tool and computer vision.

3. The method of claim 1, wherein converting the variable of the target device into a variable recognizable to another target device by means of the corresponding model of the target device comprises:

and converting the variable of the target equipment into a variable which can be identified by another target equipment by means of the variable which is added in advance in the model corresponding to the target equipment.

4. The method of claim 1, wherein processing the recognizable variable and performing data interaction with another target device through a variable association rule in the model comprises:

one model variable as an input quantity is associated with one model variable as an output quantity, and one model variable as an output quantity is associated with one or more model variables as an output quantity.

5. The method according to claim 1, wherein before performing joint simulation on target devices of a plurality of different manufacturers according to the simulation boot file acquired by the data acquisition module and a plurality of preset data interaction models in the data interaction module, the method comprises:

judging whether a simulation starting file exists or not, if not, selecting the simulation file which is not damaged within the preset time for a user to select, and sorting the simulation files which are not damaged within the preset time according to the creation time.

6. The method of claim 5, wherein if the simulation boot file exists, determining whether a variable for simulation exists in the simulation boot file;

if the simulation starting file does not exist, a simulation control panel is directly generated and used for carrying out joint simulation on target equipment of a plurality of different manufacturers according to the simulation starting file acquired by the data acquisition module and a plurality of preset data interaction models in the data interaction module;

if the virtual controller exists, judging whether the target equipment and the data interaction model need to establish the virtual controller or not, and if so, establishing a corresponding virtual controller and generating a simulation control panel; if not, directly generating a simulation control panel.

7. The method of claim 6, further comprising, after said creating a corresponding virtual controller and generating a simulation control panel:

and judging whether target equipment needing code downloading exists or not, and if so, downloading the code to the corresponding virtual controller.

8. The method as claimed in claim 1, wherein in the joint simulation process, data interaction is performed with the target devices at regular time according to time intervals set in network parameters to obtain action information of each target device, whether joint operation of each target device meets preset conditions is judged according to the action information of each target device, and abnormal information is recorded when the joint operation of each target device does not meet the preset conditions.

9. The method according to claim 1, wherein after performing joint simulation on target devices of a plurality of different manufacturers according to the simulation boot file acquired by the data acquisition module and a plurality of preset data interaction models in the data interaction module, the method comprises: and judging whether the resources need to be released when the simulation project stops, and if so, releasing the corresponding resources.