CN111381515A - Software robot or driver system based on digital twin five-dimensional model and modeling method thereof - Google Patents
Software robot or driver system based on digital twin five-dimensional model and modeling method thereof Download PDFInfo
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Abstract
The invention discloses a software robot or driver modeling method based on a digital twin five-dimensional model, wherein a software robot or driver system comprises a physical model, a virtual model, a twin data information chain and a service system, and twin data are transmitted through the twin data information chain; the physical model comprises a software robot or driver body, a sensor and a control system, real-time state information of the physical software robot or driver is collected through various sensors, a five-dimensional visualization engine is driven to render and generate a virtual software robot or driver model consistent with the physical software robot or driver based on the data, faithful twin mapping of the physical software robot or driver and the virtual software robot or driver is achieved, multi-view visual display can be conducted on line in real time and off line in a non-real time mode, working conditions can be displayed in real time in a natural interactive mode, visual display and prediction can be conducted on information such as the working conditions, and the intelligent level of the software robot or driver is improved.
Description
Technical Field
The invention relates to the technical field of software robots, in particular to a software robot or driver system based on a digital twin five-dimensional model and a modeling method thereof.
Background
The soft robot and the driver are made of soft materials, theoretically have infinite multi-degree of freedom, have the advantages of good compliance, adaptability, safety and the like, have great advantages compared with the traditional rigid robot, are more and more widely applied, and become a hotspot concerned by the academic and engineering circles. However, the current software robot and driver have lower digitization level. The improvement of the digitization level of the soft robot and the driver is a key problem faced by the soft robot and the driver.
Currently, the software-based robot or driver models are mostly limited to one aspect. For example, chinese patent document CN 103978485B discloses a kinematics and dynamics model of a snake-like soft robot or a driver, and designs a snake-like soft robot control system and a control method, which achieve the purpose of simplifying the robot control system and avoid the defects of inflexible motion and difficult control of a common robot; chinese patent document CN 109664312a discloses a method for presetting a deformation of a growing soft robot based on thermal deformation, which is to use a three-dimensional scanner to three-dimensionally scan the shape of a soft robot and then use three-dimensional modeling software to perform modeling when modeling the outline of an outer envelope of the soft robot or a driver by using three-dimensional modeling software. The software robot or driver model proposed by the above patent solves the corresponding problems, but is not convenient for displaying and predicting the working condition in real time, is not convenient for providing intelligent service, and has low management level.
The digital twin integrates multiple physical, multi-scale, multi-field and multi-disciplinary attributes, has the characteristics of real-time synchronization, faithful mapping and high fidelity, and is an effective technical means for realizing interaction and fusion of a physical world and an information world. According to the data twin "five-dimensional structure model", the data twin includes a physical model of a physical space, a virtual model of a virtual space, a management system, twin data, and a twin data information chain connecting the physical model and the virtual model. The virtual model is a digital mirror image of the physical model, can efficiently and accurately evaluate, predict and optimize the entity model, and can provide intelligence for the entity model.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a software robot or driver modeling method based on a digital twin five-dimensional model, which realizes multi-view visual display of online real-time and offline non-real-time states, can realize real-time natural interaction to complete working condition display and prediction, realizes virtual-real mapping and deep information physical fusion of the software robot or driver, and improves the intelligent level of the software robot or driver.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the software robot or driver system based on the digital twin five-dimensional model comprises a physical model, a virtual model, a twin data information chain and a service system; the physical model, the virtual model and the service system are connected with each other through twin data information chains;
the physical model comprises a soft robot or driver body, a sensor and a control system, wherein the sensor is arranged on the soft robot or driver body; the sensor is connected with the control system through different data interfaces; the control system collects and transmits signals of related data through the twin data information chain, controls the movement of the soft robot or the driver and sends out alarm prompt information;
the virtual model comprises a digital twin description model and a digital twin intelligent model, the digital twin description model carries out virtual high-fidelity mapping on the geometric, physical and behavior elements of the physical model based on virtual reality and augmented reality technologies, and the simulation, optimization, evaluation and real-time intelligent monitoring and regulation of the working process of the soft robot or the driver are completed; the digital twin intelligent model realizes the working condition prediction and intelligent service of the soft robot or the driver by analyzing and deciding the real-time data acquired by the physical model sensor and the original historical data;
the twin data comprises physical entity data, virtual model data, service data and knowledge data of the soft robot or the driver;
the twin data information chain realizes real-time information interaction among a physical model, a virtual model, service and twin data of the software robot or the driver;
the service system comprises a management service subsystem and an intelligent service subsystem and is used for finishing data, algorithm, modeling process, fault management and control, service life prediction and interface operation.
Further, when the physical model is modeled, the object is divided into a control part, a functional part and an auxiliary part; the control part comprises a controller, a touch screen, an I/O interface, an electromagnetic valve, a sensor and a digital-to-analog converter; the functional part comprises a soft robot or a driver body, a compressor, a storage tank, a hose, a magnet and a coil; the auxiliary part comprises a filter and a supporting seat.
Further, the digital twin description model comprises a mechanism description model and a data-driven description model;
the mechanism description model comprises an electrical system, a hydraulic system, a material system and a mechanical system and is used for describing the working principle of the soft robot or the driver; the mechanical system is responsible for describing the relationship among all mechanical parts of the physical soft robot or the driver, the hydraulic system describes the relationship of the hydraulic system of the soft robot or the driver, the electrical system describes the relationship of the electrical system of the soft robot or the driver, and the material system describes the material property of the soft robot or the driver;
the data driving description model drives a three-dimensional visualization engine to render and generate a virtual software robot or driver model consistent with a physical software robot or driver by using virtual reality and augmented reality technologies according to real-time data acquired by a physical model sensor and intelligent data provided by a digital twin intelligent model, so that faithful twin mapping and real-time interaction between the physical software robot or driver and the virtual software robot or driver are realized.
Further, the digital twin intelligent model comprises an operation state database, a knowledge base and an inference machine; the running state database stores the controller and the sensing information collected from the software robot or the driver in real time; the knowledge base learns corresponding knowledge from historical data, and the inference engine conducts decision-making inference and predictive diagnosis of faults based on corresponding rules and knowledge.
A modeling method of a software robot or driver system based on a digital twin five-dimensional model is characterized by comprising the following steps:
step 1, creating a software robot or driver physical model
The sensor is arranged on a soft robot or a driver body, and transmits speed, position, acceleration, internal pressure, stress strain, volume, air pressure, flow, humidity, voltage, current and temperature signals of the soft robot or the driver to a control system; the control system collects data of an operation panel of the soft robot or the driver body and a sensor of the soft robot or the driver, transmits the collected data to the virtual model in a signal communication mode, and controls the motion of the soft robot or the driver;
step 2, creating a software robot or driver virtual model
The method comprises the steps of performing virtual high-level real mapping on geometric, physical and behavior elements of a physical model based on virtual reality and augmented reality technologies to obtain a virtual model, completing simulation, optimization, evaluation and real-time intelligent monitoring and regulation of the working process of the soft robot or driver, and realizing working condition prediction and intelligent service of the soft robot or driver;
step 3, creating dynamic real-time twin data information chain
The method comprises the following steps of creating a twin data information chain by means of a modern information transmission technology, and realizing real-time information interaction among a physical model, a virtual model, service and twin data of the software robot or the driver;
step 4, creating service system
A Browser/Server mode is adopted, a back end develops a service system by using PHP and Mysql according to MVC specifications, and user login, permission judgment, information management, historical data lookup and data analysis are realized;
step 5, mining twin data
Twin data is obtained according to physical entity data, virtual model data, service data and knowledge data of the soft robot or the driver.
Further, the physical entity data of the soft robot or the driver comprises the specification, the performance and the operation related data of the soft robot or the driver; the virtual model data comprises size, assembly, position and material data of the virtual model; the service data comprises an algorithm, a data processing method and related management data; the knowledge data includes expert knowledge in the virtual model and model base data.
Further, the virtual model in the step 2 comprises a digital twin description model and a digital twin intelligent model, and the step of constructing the digital twin description model comprises the following steps:
firstly, dividing a soft robot or a driver into parts by utilizing an object-oriented idea and a componentization-based mathematical equation method;
then, a unified multi-domain modeling language is utilized, expression models of corresponding parts and subsystems are established based on constraint equations, constraints, parameters and the like of corresponding systems, and the subsystems in all the domains are integrated in different domains through energy converters to form a digital twin multi-domain description model.
Further, the step of creating a twin data information chain in step 3 includes:
firstly, establishing an expression template of perception data obtained by a sensor based on extensible markup language;
then, establishing an incidence relation between the sensing data and the sensor;
and finally, creating a twin data information chain of the perception data and the intelligent decision data based on the corresponding relation of the perception data and the intelligent decision data.
The invention has the beneficial effects that:
the invention relates to a software robot or driver system based on a digital twin five-dimensional model, which comprises a physical model, a virtual model, a twin data information chain, twin data and a service system; the physical model, the virtual model, the twin data and the service system are connected through twin data information chains, and the twin data is transmitted through the twin data information chains; the physical model comprises a software robot or driver body, a sensor and a control system, the real-time state information of the physical software robot or driver is collected through various sensors, and a three-dimensional visualization engine is driven to render and generate a virtual software robot or driver model consistent with the physical software robot or driver based on the real-time state information, so that the faithful twin mapping of the physical software robot or driver and the virtual software robot or driver is realized. The generated virtual model can be visually displayed in multiple visual angles in real time on line and in non-real time off line, the working conditions can be naturally and interactively displayed in real time, information such as the working conditions and the like can be visually displayed and predicted, and the intelligent level of the software robot or the driver is improved. By constructing a service system, data, algorithms, modeling processes and the like involved in the work of the software robot or the driver can be controlled and displayed through a human-computer friendly interface, so that the management level is improved.
Drawings
FIG. 1 is a schematic diagram of the overall architecture of the system of the present invention
FIG. 2 physical model surface object-oriented classification
FIG. 3 is a schematic view of a virtual model
FIG. 4 is a schematic diagram of a digital twin intelligent model structure
FIG. 5 is a schematic diagram of a bending soft-body driver system
Detailed Description
The present invention will be described in further detail with reference to the following examples, which are not intended to limit the invention thereto.
As shown in fig. 1, the present embodiment provides a software robot or driver system based on a digital twin five-dimensional model, which includes a physical model, a virtual model, a twin data information chain and a service system; the physical model, the virtual model and the service system are connected with each other through a twin data information chain, and twin data are transmitted through the twin data information chain.
The physical model comprises a soft robot or driver body, a sensor and a control system, wherein the sensor is installed on the soft robot or driver body; the sensor is connected with the control system through different data interfaces; and the control system collects and transmits related data through the twin data information chain, controls the movement of the soft robot or the driver and sends information such as alarm prompt and the like.
As shown in fig. 2, the object of the physical soft robot or the driver is divided into three major parts, namely a control part, a function part and an auxiliary part, when modeling the digital twin of the physical soft robot or the driver. The control part comprises a controller, a touch screen, an I/O interface, an electromagnetic valve, a sensor, a digital-to-analog converter and the like; the functional part comprises a soft robot or a driver body, a compressor, a storage tank, a hose, a magnet, a coil and the like; the auxiliary portion includes a filter, a support base, etc.
As shown in fig. 3, the virtual model is composed of a digital twin description model and a digital twin intelligence model. The digital twin description model comprises a mechanism description model and a data-driven description model.
The mechanism description model is composed of an electrical system, a hydraulic system, a material system and a mechanical system, and describes the working principle of the soft robot or the driver by means of related subject principles; the mechanical system is responsible for describing the relationship among all mechanical parts of the physical soft robot or the driver, the hydraulic system describes the relationship of the hydraulic system of the soft robot or the driver, the electrical system describes the relationship of the electrical system of the soft robot or the driver, and the material system describes the material property of the soft robot or the driver.
The data-driven description model drives a three-dimensional visualization engine to render and generate a virtual software robot or driver model consistent with a physical software robot or driver based on the data by using virtual reality and augmented reality technologies according to real-time data acquired by a sensor and intelligent data provided by a digital twin intelligent model, so that faithful twin mapping and real-time interaction between the physical software robot or driver and the virtual software robot or driver are realized.
As shown in fig. 4, the digital twin intelligent model mainly comprises an operating state database, a knowledge base and an inference machine, wherein the operating state database stores controller and sensing information acquired from the soft robot or the driver in real time, the knowledge base learns corresponding knowledge from historical data, the inference machine performs decision-making inference and fault predictive diagnosis and the like based on corresponding rules and knowledge to complete intelligent prediction of working conditions, and feeds back results to a physical entity in the form of data to optimize the working state of the soft robot or the driver; and meanwhile, the result is transmitted to the virtual model in a data form, so that the virtual model is promoted to be adjusted and displayed in real time, and real-time interactive display and optimal work are achieved.
The method comprises the following steps of creating a twin data information chain by means of a modern information transmission technology, and realizing real-time information interaction among a physical model, a virtual model, service and twin data of the software robot or the driver;
the service system comprises an administrative service subsystem and an intelligent service subsystem; the twin data information chain realizes real-time information interaction among a physical model, a virtual model, service and twin data of the software robot or the driver.
The invention relates to a software robot or driver system modeling method based on a digital twin five-dimensional model, which comprises the following steps:
1. creating a software robot or driver physical model;
2. creating a software robot or driver virtual model;
3. creating a dynamic real-time twin data information chain;
4. creating a service system;
5. and mining twin data.
In the step 1, the physical model comprises a soft robot or driver body, a sensor and a control system, wherein the sensor is arranged on the soft robot or driver body and transmits speed, position, acceleration, internal pressure, stress strain, volume, air pressure, flow, humidity, voltage, current and temperature signals of the soft robot or driver to the control system; the control system collects data of an operation panel of the soft robot or the driver body and a sensor of the soft robot or the driver, transmits the collected data to the virtual model in a signal communication mode, and controls the motion of the soft robot or the driver;
in step 2, the virtual model comprises a digital twin description model and a digital twin intelligent model. The digital twin description model is used for performing virtual high-level real mapping on geometric, physical and behavior elements of the physical model based on virtual reality and augmented reality technologies, and mainly completing simulation, optimization, evaluation and real-time intelligent monitoring and regulation of the working process of a soft robot or a driver; the digital twin description model comprises a mechanism description model and a data-driven description model. The mechanism description model is established according to soft robotics, hydromechanics, electromagnetism, mechanics and the like. The data-driven description model is rendered in real time on line and in non-real time off line by a three-dimensional visualization engine under the drive of a twin data information chain database to generate a virtual software robot or driver which is consistent with the physical software robot or driver, has multi-view visual display and can display the working condition in real time and naturally;
further, in step 2, the steps of constructing the digital twin description model are as follows:
firstly, dividing a soft robot or a driver by utilizing an object-oriented idea and a componentization-based mathematical equation method until all parts are obtained;
then, engineers in each field use a unified multi-field modeling language, expression models of corresponding parts and subsystems are established based on constraint equations, constraints, parameters and the like of corresponding systems, and the subsystems in each field are integrated in different fields through energy converters to form a digital twin multi-field description model.
Furthermore, in step 2, the digital twin intelligent model mainly comprises an operating state database, a knowledge base and an inference machine, and the working condition prediction and intelligent service of the soft robot or the driver are realized by analyzing and deciding the real-time data collected by the sensor and the original historical data.
In step 3, the dynamic real-time twin data information chain realizes real-time information interaction among a physical model, a virtual model, a service and twin data of the software robot or the driver by means of a modern information transmission technology. And completing the connection of the physical model and the virtual model, the connection of the twin data and the physical model and the virtual model, and the connection of the service system and the twin data, the physical model and the virtual model.
Further, the step of creating a twin data information chain in step 3 includes: firstly, an expression template of perception data obtained by a sensor is created based on extensible markup language, then an incidence relation between the perception data and the sensor is established, and finally a twin data information chain of the perception data and the intelligent decision data is created based on a corresponding relation between the perception data and the intelligent decision data.
In step 4, the created service system mainly completes the work of data, algorithm, modeling process, fault management and control, service life prediction, operation interface and the like. The management system can log in on site or remotely at any time, control the software robot or the driver, check the production scheme and optimize the system configuration; the management system adopts a Browser/Server mode, the rear end uses PHP and Mysql to develop according to MVC specification, and the functions of user login, permission judgment, information management, historical data lookup, data analysis and the like can be realized; a user can log in the system at a PC (personal computer) end or a mobile client through an account and a password of the system to perform tasks such as ordering, data downloading and state monitoring; the system can complete the work of fault management and control, service life prediction and the like.
In step 5, twin data is the key driving force. The twin data includes software robot or driver physical entity data, virtual model data, service data, and knowledge data. The physical entity data of the software robot or the driver comprises the relevant data of the specification, the performance, the operation and the like of the software robot or the driver; data such as dimensions, assembly, position and material of the virtual model; the service data comprises an algorithm, a data processing method and related management data; the knowledge data comprises expert knowledge in the virtual model, a model base and the like.
As shown in fig. 5: the present embodiment is a curved soft body actuator that uses air as a power source. In the embodiment, the flexible sensor arranged on the bending soft driver transmits data related to physical properties (such as bending, output force and the like) to the digital twin model of the bending soft driver, and the digital twin model of the bending soft driver generates a virtual model of the bending soft driver consistent with the physical model according to subject professional mechanisms such as electrics, hydraulics, mechanics, materials and the like and by combining the data and displays the working condition of the virtual model in real time; meanwhile, the digital twin model is intelligently analyzed and predicted by combining with the stored historical data to determine whether the current physical attribute value is reasonable. If the device is unreasonable, the input air pressure of the bending soft driver is adjusted by controlling the electromagnetic valve, so that the physical attribute value of the bending soft driver is in a reasonable state.
The design service module of the service system is combined with the simulation technology (using ABAQUS, ANSYS and other software) and the data modeling technology to realize the real-time high-confidence simulation prediction of the software driver, so that the design verification capability can be improved, the design speed is accelerated, and the design precision is improved. The fault prediction and monitoring module of the service system is used for rapidly capturing faults, accurately positioning fault reasons, evaluating the state of the software driver and performing prediction and maintenance on the basis of real-time data provided by twin data through analyzing and processing the acquired data. The service system can also complete the statistical analysis of the twin data and display the twin data. The operator can also complete the control of the soft robot through the human-computer interface.
The management system can log in on site or remotely at any time, control a software driver, check a working scheme and optimize system configuration; the management system adopts a Browser/Server mode, the rear end uses PHP and Mysql to develop according to MVC specification, and the functions of user login, permission judgment, information management, historical data lookup, data analysis and the like can be realized; a user can log in the system at a PC (personal computer) end or a mobile client through an account and a password of the system to perform tasks such as ordering, data downloading and state monitoring.
The present invention has been described in detail with reference to the above examples, and it will be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (8)
1. Software robot or driver system based on five dimension models of digit twin, its characterized in that: the system comprises a physical model, a virtual model, a twin data information chain and a service system; the physical model, the virtual model and the service system are connected with each other through a twin data information chain, and twin data are transmitted through the twin data information chain;
the physical model comprises a soft robot or driver body, a sensor and a control system, wherein the sensor is arranged on the soft robot or driver body; the sensor is connected with the control system through different data interfaces; the control system collects and transmits signals of related data through the twin data information chain, controls the movement of the soft robot or the driver and sends out alarm prompt information;
the virtual model comprises a digital twin description model and a digital twin intelligent model, the digital twin description model carries out virtual high-fidelity mapping on the geometric, physical and behavior elements of the physical model based on virtual reality and augmented reality technologies, and the simulation, optimization, evaluation and real-time intelligent monitoring and regulation of the working process of the soft robot or the driver are completed; the digital twin intelligent model realizes the working condition prediction and intelligent service of the soft robot or the driver by analyzing and deciding the real-time data acquired by the physical model sensor and the original historical data;
the twin data comprises physical entity data, virtual model data, service data and knowledge data of the soft robot or the driver;
the twin data information chain realizes real-time information interaction among a physical model, a virtual model, service and twin data of the software robot or the driver;
the service system comprises a management service subsystem and an intelligent service subsystem and is used for finishing data, algorithm, modeling process, fault management and control, service life prediction and interface operation.
2. The digital twin five-dimensional model-based soft-bodied robot or driver system of claim 1, wherein: when the physical model is modeled, the object is divided into a control part, a functional part and an auxiliary part; the control part comprises a controller, a touch screen, an I/O interface, an electromagnetic valve, a sensor and a digital-to-analog converter; the functional part comprises a soft robot or a driver body, a compressor, a storage tank, a hose, a magnet and a coil; the auxiliary part comprises a filter and a supporting seat.
3. The digital twin five-dimensional model-based soft-bodied robot or driver system of claim 1, wherein: the digital twin description model comprises a mechanism description model and a data driving description model;
the mechanism description model comprises an electrical system, a hydraulic system, a material system and a mechanical system and is used for describing the working principle of the soft robot or the driver; the mechanical system is responsible for describing the relationship among all mechanical parts of the physical soft robot or the driver, the hydraulic system describes the relationship of the hydraulic system of the soft robot or the driver, the electrical system describes the relationship of the electrical system of the soft robot or the driver, and the material system describes the material property of the soft robot or the driver;
the data driving description model drives a three-dimensional visualization engine to render and generate a virtual software robot or driver model consistent with a physical software robot or driver by using virtual reality and augmented reality technologies according to real-time data acquired by a physical model sensor and intelligent data provided by a digital twin intelligent model, so that faithful twin mapping and real-time interaction between the physical software robot or driver and the virtual software robot or driver are realized.
4. The digital twin five-dimensional model-based soft-bodied robot or driver system of claim 1, wherein: the digital twin intelligent model comprises an operating state database, a knowledge base and an inference machine; the running state database stores the controller and the sensing information collected from the software robot or the driver in real time; the knowledge base learns corresponding knowledge from historical data, and the inference engine conducts decision-making inference and predictive diagnosis of faults based on corresponding rules and knowledge.
5. A modeling method of a soft robot or driver system based on a digital twin five-dimensional model according to claims 1-4, characterized by comprising the steps of:
step 1, creating a software robot or driver physical model
The sensor is arranged on a soft robot or a driver body, and transmits speed, position, acceleration, internal pressure, stress strain, volume, air pressure, flow, humidity, voltage, current and temperature signals of the soft robot or the driver to a control system; the control system collects data of an operation panel of the soft robot or the driver body and a sensor of the soft robot or the driver, transmits the collected data to the virtual model in a signal mode, and controls the motion of the soft robot or the driver;
step 2, creating a software robot or driver virtual model
The method comprises the steps of performing virtual high-level real mapping on geometric, physical and behavior elements of a physical model based on virtual reality and augmented reality technologies to obtain a virtual model, completing simulation, optimization, evaluation and real-time intelligent monitoring and regulation of the working process of the soft robot or driver, and realizing working condition prediction and intelligent service of the soft robot or driver;
step 3, creating dynamic real-time twin data information chain
According to the fact that the twin data information chain is a set of physical data, information data and information physical fusion data of the soft robot or the driver, the twin data information chain is created by means of a modern information transmission technology, and real-time information interaction among a physical model, a virtual model, service and the twin data of the soft robot or the driver is achieved;
step 4, creating service system
A Browser/Server mode is adopted, a back end develops a service system by using PHP and Mysql according to MVC specifications, and user login, permission judgment, information management, historical data lookup and data analysis are realized;
step 5, mining twin data
Twin data is obtained according to physical entity data, virtual model data, service data and knowledge data of the soft robot or the driver.
6. The modeling method of a soft robot or driver system based on a digital twin five-dimensional model according to claim 5, characterized in that: the physical entity data of the soft robot or the driver comprises the specification, the performance and the operation related data of the soft robot or the driver; the virtual model data comprises size, assembly, position and material data of the virtual model; the service data comprises an algorithm, a data processing method and related management data; the knowledge data includes expert knowledge in the virtual model and model base data.
7. The modeling method of the software robot or driver system based on the digital twin five-dimensional model as claimed in claim 5, wherein the virtual model in the step 2 comprises a digital twin description model and a digital twin intelligent model, and the step of constructing the digital twin description model comprises the following steps:
firstly, dividing a soft robot or a driver into parts by utilizing an object-oriented idea and a componentization-based mathematical equation method;
then, a unified multi-domain modeling language is utilized, expression models of corresponding parts and subsystems are established based on constraint equations, constraints, parameters and the like of corresponding systems, and the subsystems in all the domains are integrated in different domains through energy converters to form a digital twin multi-domain description model.
8. The modeling method of a digital twin five-dimensional model-based soft robot or driver system according to claim 5, wherein the step of creating a twin data information chain in the step 3 comprises:
firstly, establishing an expression template of perception data obtained by a sensor based on extensible markup language;
then, establishing an incidence relation between the sensing data and the sensor;
and finally, creating a twin data information chain of the perception data and the intelligent decision data based on the corresponding relation of the perception data and the intelligent decision data.
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