CN111474853B - Beat constraint-based dynamic control method for twin workshop model of circuit breaker - Google Patents
Beat constraint-based dynamic control method for twin workshop model of circuit breaker Download PDFInfo
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Abstract
The invention provides a circuit breaker twin workshop model dynamics control method based on beat constraint, which divides the control process into three stages of pretreatment, intersection detection and dynamics control; in the preprocessing stage, a dynamic octree model is used for performing subspace segmentation on a twin workshop, detecting the subspace movement distance and generating conditions for implementing intersection detection judgment; in the intersection detection stage, surrounding boxes in the upper, middle and lower multilayer directions of the circuit breaker are constructed, collision directions are screened to reduce the detection number, and a hierarchical traversal mode is further adopted to traverse the surrounding boxes to improve the efficiency; in the dynamics control stage, dynamics modeling is carried out on the twin body on the basis of calculating the beat, and the twin body is controlled in the fixed beat and the flexible beat through driving force loading, movement logic control and switching. By implementing the method, the precise control and real-time mapping of the twin workshop system of the circuit breaker are realized, and the stability and reliability of the operation of the twin system are improved.
Description
Technical Field
The invention relates to the technical field of industrial assembly line detection and digital modeling, in particular to a dynamics control method of a breaker twin workshop model based on beat constraint.
Background
The circuit breaker is an important protective device in a distribution network, is widely applied to the fields of electric power, petroleum, chemical industry, buildings and the like, is used by tens of billions every year, and is an important basis for maintaining the safety of the distribution network in China. Due to the huge yield, the implementation of a digital manufacturing mode is an important means for improving the efficiency of manufacturing enterprises and reducing the operation cost at present.
The digital twin workshop system is a hot spot of the current domestic and foreign research, and the related research of most digital twin workshops is developed in China. For example, wang shilong et al propose a human-computer-object virtual-real fusion driving control mechanism based on digital twins, so as to realize industrial big data interconnection and intercommunication and human-computer-object data deep fusion; for another example, Guodong and the like utilize a digital twinning technology and are modeled by combining products, processes and resources in a space structure manufacturing workshop, so that the production capacity of the workshop is improved; lixixing et al propose a heterogeneous data integration method based on Web Service and a database intermediate table, and realize data integration and sharing of a digital intelligent management platform for textile machinery manufacturing; the people like the yew put forward a new intelligent manufacturing service mode of complex products driven by big data of life cycle, and the intelligent decision-making capability of the whole manufacturing process and the whole life cycle management is improved.
However, the research work mainly aims at aspects of workshop manufacturing and things association, workshop data integration, intelligent workshop operation and accurate workshop management and the like, and at present, research on aspects of digital twin dynamics control is less, and particularly in a batch industrial manufacturing system with a production line as a main operation mode, a specific method is not provided for modeling and processing a real mapping relation between a model and an actual system when a twin is considered to be constrained by time and beat.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a circuit breaker twin workshop model dynamics control method based on beat constraint, which introduces a production beat into a model dynamics control scheme, regulates and controls twin bodies through loading and control of driving loads in different motion behaviors aiming at production beats of different production lines, realizes accurate control and real-time mapping of the motion of a circuit breaker twin workshop model, obviously improves response time and detection accuracy of twin body collision, and improves operation stability and reliability of the circuit breaker twin workshop model.
In order to solve the technical problem, an embodiment of the present invention provides a beat constraint-based dynamic control method for a breaker twin plant model, which is used in a breaker digital twin plant system including a breaker physical plant, a breaker twin plant, plant twin data, and a plant service system, and includes the following steps:
s1, obtaining the technological process of each production line in the circuit breaker assembly line system and the corresponding time beat according to the production task of the circuit breaker physical workshop;
step S2, performing subspace segmentation on a corresponding breaker assembly line system in a breaker twin workshop by using a preset dynamic octree algorithm to obtain subspaces with the number of collision twin bodies smaller than or equal to a preset capacity value; wherein the breaker twin plant comprises a collision twin and a non-collision twin; the collision twin includes a breaker twin and a blocking mechanism twin; the non-collision twin body comprises an assembling mechanism twin body and a detecting mechanism twin body;
s3, according to the motion track of the breaker in the twin workshop of the breaker, performing distance detection on the obtained subspaces, and screening out the subspaces meeting the intersection detection preset conditions;
s4, constructing multilayer directional bounding boxes of an upper layer, a middle layer and a lower layer of each breaker twin body in a subspace according to the geometric characteristics of each breaker twin body, carrying out intersection detection on the bounding boxes in a hierarchical traversal mode, and further screening collision directions of the breaker twin bodies to reduce the detection quantity of collision separation axes during intersection detection;
step S5, performing dynamic modeling on the breaker twin body according to the time beat and the process data, and solving the driving force and the loading mode when the fixed beat and the flexible beat are calculated;
and step S6, controlling the breaker twin body in the fixed beat and the flexible beat through motion logic script control and switching according to the intersection detection result and the calculation of the driving force, and performing corresponding dynamic control on the breaker twin body in the subspace with the collision condition to freeze the motion behavior of the breaker twin body in the subspace with the collision condition or reduce the driving force to realize that the collision resultant force is 0.
Wherein the method further comprises:
calculating the production beat of the detection assembly line to be k according to the information of daily working time, daily yield, reject ratio and the like of the detection line of the circuit breaker physical workshopβCalculated by the following formula:
in the formula, T represents the daily working time of a workshop, mu is the yield, and sigma is the reject ratio of the product. The beat of two mirror image assembly lines is 2 times of detection line, promptly:
kα＝2kβ (2)。
wherein, the step S2 specifically includes:
taking the whole breaker twin workshop as a root node, and dividing the breaker twin workshop into eight subspaces, namely eight child nodes;
according to the fact that the number of collision twin bodies changes in real time along with the production process, the collision twin bodies entering each sub node and the collision twin bodies leaving the subspace are dynamically recorded by means of a dynamic octree, and the number of collision twin bodies in each sub node is counted;
if the number of collision twin bodies in a certain child node exceeds the preset capacity value, the child space continues to divide the space downwards, namely the child node divides eight grandchild nodes;
and if the number of collision twin bodies in a certain child node is less than or equal to the preset capacity value, reserving and outputting.
Wherein, the step S3 specifically includes:
in the obtained subspace, if the distance between two adjacent breaker twins is smaller than a preset value, determining that the subspace accords with collision detection and outputting the subspace; otherwise, the subspace is determined to be not eligible for collision detection.
Wherein, the step S4 specifically includes:
firstly, constructing a multilayer directional surrounding box of a circuit breaker twin body in a subspace according to the geometrical characteristics of the circuit breaker twin body; the multilayer directional bounding box has three surface directions and comprises an upper layer bounding box, a middle layer bounding box and a bottom layer bounding box;
secondly, sequentially carrying out intersection detection on the breaker twin in all the subspaces in a hierarchical traversal mode according to the sequence from the upper surrounding box, the middle surrounding box and the bottom surrounding box, and specifically as follows:
if the upper surrounding box and the middle surrounding box of the breaker twin body and the other breaker twin body in a certain subspace are intersected, the intersection detection result is recorded as the collision condition between the breaker twin bodies, the intersection detection of the bottom surrounding box between the breaker twin bodies is stopped, and further, the colliders with the same structure as the upper surrounding boxes are given to the breaker twin bodies subjected to the intersection detection;
if the upper layer surrounding boxes of the breaker twin body and the other breaker twin body in a certain subspace are intersected but the middle layer surrounding boxes of the breaker twin body and the other breaker twin body are not intersected, the situation that the breaker twin body subjected to intersection detection is possibly collided with the mechanism twin body subjected to corresponding blocking is determined, two colliders with the same structure as the middle layer surrounding box and the bottom layer surrounding box corresponding to the breaker twin body subjected to intersection detection are respectively endowed to the breaker twin body subjected to intersection detection, the bottom layer surrounding boxes between the breaker twin bodies subjected to intersection detection are further continuously subjected to intersection detection until the bottom layer surrounding boxes between the breaker twin bodies subjected to intersection detection are intersected, and the intersection detection result is recorded as the situation that the breaker twin body is collided with the blocking mechanism twin body.
Finally, performing circuit breaker twin body intersection detection, and further screening the collision directions of the circuit breaker twin bodies to reduce the detection number of collision separation shafts during intersection detection, wherein the detection number is as follows:
when the circuit breaker moves along with the conveyor belt, the circuit breaker twin body moves along the x axis and the z axis, and the collision condition between the circuit breaker monomers needs to be considered for the intersection detection of the circuit breaker twin body;
when the circuit breaker moves along with the operating mechanism, the circuit breaker twin body moves along the directions of x, y and z axes, and the circuit breaker is taken as a child object of the operating mechanism and follows the motion relation of 'the parent rotor must move', so that the circuit breaker does not move independently after the circuit breaker follows the operating mechanism and is separated from the conveyor belt, and when the circuit breaker twin body intersection detection is carried out, the collision condition among the circuit breaker monomers does not need to be considered;
when collision among the breaker twins is concentrated on the conveyor belt, the collision directions are only two, namely the x axis and the z axis, and when the breaker twins are subjected to intersection detection, the 15 separation axis tests among the enclosing boxes can be simplified into two separation axes.
Wherein, the step S5 specifically includes:
performing dynamic modeling on the breaker twin body according to the time beat and the process data, and solving the driving force and the loading mode when calculating the fixed beat and the flexible beat;
the method comprises the steps of calculating the driving force of a twin body of the circuit breaker to judge the process step of the twin body, further calculating the corresponding movement speed of the conveyor belt through the production rhythm, further obtaining the acceleration of the acceleration process of the circuit breaker, and then combining the Newton's mechanical formula to obtain the driving force of the twin body of the circuit breaker, so that the driving force is adjusted to be 0 when the movement speed of the twin body of the circuit breaker is matched with the conveyor belt.
Wherein, the step S6 specifically includes:
according to the calculation of the intersection detection result and the driving force, the control of the breaker twin body in the fixed beat and the flexible beat is carried out through the control and switching of the motion logic script, the corresponding dynamic control is carried out on the breaker twin body in the subspace with the collision condition, and the motion behavior of the breaker twin body in the subspace with the collision condition is frozen or the driving force is reduced to realize that the collision resultant force is 0;
when the intersection detection result shows that a collision condition occurs between the breaker twin and the corresponding blocking mechanism twin, if the breaker twin in the subspace with the collision condition is in a uniform speed state on the conveyor belt, freezing the motion behavior of the breaker twin in the subspace with the collision condition; or if the breaker twin in the subspace with the collision is in an accelerating state on the conveyor belt, canceling the driving force loaded on the breaker twin in the subspace with the collision, freezing the motion behavior of the breaker twin in the subspace with the collision on the conveyor belt, and rapidly reducing the driving force of the breaker twin in the subspace with the collision to realize that the collision resultant force is 0.
Wherein the method further comprises:
and performing dynamics control on the flexible beat, specifically, designing motion logics of non-collision twin bodies for different types of circuit breakers to flexibly adjust the motion tracks, performing logic script control on the motion tracks, editing different motion paths according to actual processes, and switching and controlling scripts by detecting the pole numbers of different circuit breakers to realize flexible matching of the non-collision twin bodies and the beat.
Wherein the athletic performance includes movement and rotation.
The embodiment of the invention has the following beneficial effects:
the invention carries out motion detection and judgment on the single circuit breaker and a matched assembly line system, carries out dynamic modeling on the twin body of the circuit breaker on the basis of beat calculation, and realizes twin mapping of the assembly line system during fixed beat and flexible beat through driving force loading, motion logic script control and switching. And a multilayer directional bounding box of the upper layer, the middle layer and the lower layer of the circuit breaker and a hierarchical traversal mode thereof are established, and the direction of the breaker twin body in collision is analyzed and screened, so that the detection number of collision separation shafts is reduced, the collision response time is reduced, the collision detection precision is improved, the shaking phenomenon in collision of the twin body is reduced, and the running stability and reliability of the twin system are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
Fig. 1 is a flowchart of a circuit breaker twin plant model dynamics control method based on beat constraint according to an embodiment of the present invention;
fig. 2 is a comparison graph of a speed curve of a breaker twin plant model dynamics control method based on beat constraint, which is provided by an embodiment of the present invention, and a speed curve of a breaker twin plant model which is not subjected to dynamics control in the prior art;
fig. 3 is a comparison graph of a breaker twin plant model dynamics control method based on beat constraint, provided by an embodiment of the present invention, and an acceleration curve without dynamics control in the prior art.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
The circuit breaker digital twin workshop system consists of a circuit breaker physical workshop, a circuit breaker twin workshop, workshop twin data and a workshop service system; wherein the content of the first and second substances,
the physical workshop of the circuit breaker is used as a reference of the twin workshop and mainly comprises production line equipment, people, environment and the like. The PLC drives production line equipment and collects the motion state and motion logic relation of each equipment of the production line, and senses the position information of the circuit breaker through equipment such as a sensor and the like to control and drive the automation equipment to move.
The breaker twin workshop comprises physical models such as production line equipment, people and environment and motion rules of the physical models. The method comprises the steps of three-dimensional modeling, hierarchical modeling and twin body motion rule construction of a physical workshop of the circuit breaker, and real-time production data are introduced to control the motion of the twin bodies, so that real mapping of the physical workshop of the circuit breaker in a virtual space full-element full flow is realized.
The workshop twin data comprises four parts, namely physical workshop data, virtual workshop data, workshop service system data and data generated by fusing the physical workshop data, the virtual workshop data and the workshop service system data. Twin data in a workshop are integrated and shared for production data, twin system management and information interaction are realized, and the problem of information isolated island caused by incomplete information links is solved. And the fusion of twin data in the workshop is beneficial to realizing the intelligent production and decision of the twin system of the circuit breaker.
The workshop service system is composed of all service system functions driven by twin data, and manages and controls the production state of each device in the breaker workshop through a production data acquisition system penetrating into bottom devices. And the workshop resource allocation is analyzed, the production plan and the production process are optimized, the intelligent management and control of the breaker twin system are realized, and the production efficiency of enterprises is improved.
The inventor finds that the complete circuit breaker assembly line system comprises two mirror image assembly lines and a detection line, the production beats of each assembly line are different and are mutually related, and the circuit breaker assembly line system is flexibly adjustable according to actual production tasks. When the twin system lacks beat constraint and logic control, the twin body is easy to have problems of motion logic error, motion pose deviation and the like, and cannot be mapped with a real physical workshop state. In order to construct a motion control logic which accords with the real mapping of the automatic manufacturing workshop of the circuit breaker, the dynamic modeling and control of the twin body are performed under the production beat constraint, which is very important.
Therefore, as shown in fig. 1, for the embodiment of the present invention, the inventor provides a dynamic control method of a breaker twin plant model based on beat constraint, which is used on a breaker digital twin plant system including a breaker physical plant, a breaker twin plant, plant twin data and a plant service system, and the method includes the following steps:
s1, obtaining the technological process of each production line in the circuit breaker assembly line system and the corresponding time beat according to the production task of the circuit breaker physical workshop;
step S2, performing subspace segmentation on a corresponding breaker assembly line system in a breaker twin workshop by using a preset dynamic octree algorithm to obtain subspaces with the number of collision twin bodies smaller than or equal to a preset capacity value; wherein the breaker twin plant comprises a collision twin and a non-collision twin; the collision twin includes a breaker twin and a blocking mechanism twin; the non-collision twin body comprises an assembling mechanism twin body and a detecting mechanism twin body;
s3, according to the motion track of the breaker in the twin workshop of the breaker, performing distance detection on the obtained subspaces, and screening out the subspaces meeting the intersection detection preset conditions;
s4, constructing multilayer directional bounding boxes of an upper layer, a middle layer and a lower layer of each breaker twin body in a subspace according to the geometric characteristics of each breaker twin body, carrying out intersection detection on the bounding boxes in a hierarchical traversal mode, further screening collision directions of the breaker twin bodies, and reducing the detection quantity of collision separation axes during intersection detection;
step S5, performing dynamic modeling on the breaker twin body according to the time beat and the process data, and solving the driving force and the loading mode when the fixed beat and the flexible beat are calculated;
and step S6, controlling the breaker twin body in the fixed beat and the flexible beat through motion logic script control and switching according to the intersection detection result and the calculation of the driving force, and performing corresponding dynamic control on the breaker twin body in the subspace with the collision condition to freeze the motion behavior of the breaker twin body in the subspace with the collision condition or reduce the driving force to realize that the collision resultant force is 0.
In step S1, the process flow of each production line in the circuit breaker assembly line system and the corresponding time beat are obtained according to the production task of the circuit breaker physical workshop.
In step S2, since all the twins in the breaker twin plant are in a dynamically changing state, it is necessary to construct a dynamic octree model that is quickly updated according to the dynamic scenario. According to the actual process flow, the breaker twin can be divided into a non-collision twin and a collision twin. The non-collision twin body comprises an assembling mechanism twin body, a detecting mechanism twin body and the like, and does not need collision detection; collision twins include breaker twins, blocking mechanism twins, and the like, and scene segmentation needs to be performed by a dynamic octree.
The specific steps of the dynamic octree for scene segmentation are as follows:
firstly, taking the whole breaker twin workshop as a root node, and dividing the breaker twin workshop into eight subspaces, namely eight child nodes;
secondly, according to the real-time change of the number of collision twins along with the production process, dynamically recording the collision twins entering each sub-node and deleting the collision twins leaving the subspace by using a dynamic octree, and counting the number of the collision twins in each sub-node;
finally, if the number of collision twin bodies in a certain child node exceeds the preset capacity value, the child space continues to divide the space downwards, namely the child node divides eight grandchild nodes; and if the number of collision twin bodies in a certain child node is less than or equal to the preset capacity value, reserving and outputting.
In step S3, in the actual production process, the movement track of the circuit breaker unit on the conveyor belt is relatively fixed, and it is necessary to optimize the detection condition in the subspace according to the movement track of the circuit breaker, and detect and determine the distance in the movement process of the circuit breaker in the subspace. Therefore, in the obtained subspace, if the distance between two adjacent breaker twins is smaller than a preset value, the subspace conforming to collision detection is determined and output; otherwise, the sub-space which is not suitable for collision detection is determined, namely when the distribution of the circuit breakers is in a non-centralized state, collision detection is not carried out between the models, so that the calculation consumption of the system is reduced through distance detection, and the calculation amount and time are saved.
In step S4, the directional bounding box is a rectangular parallelepiped with an arbitrary direction and wraps the entire object. The expression mode of the directional bounding box is simple, and the model central point, a rotation matrix and three half-length bounding boxes capable of constructing the model are obtained. When the circuit breaker carries out the rotation operation in process of production, the bounding box follows the model rotation, still closely surrounds the model, prevents to cause too much redundant space.
When the circuit breaker model is positioned in the assembly line system, a part of blocking mechanism acts on the upper model of the circuit breaker and does not contact the bottom of the circuit breaker; the other part of the blocking mechanism acts on the bottom model of the circuit breaker and does not contact the upper part of the circuit breaker. Thus, a multi-layer directional enclosure is used herein, divided into an upper, middle and bottom OBB enclosure. The upper OBB bounding box comprises the whole breaker twin body, and a certain redundant space is designed for roughly detecting whether the breaker collides. The middle layer OBB bounding box covers the bottom model of the circuit breaker, and the bottom OBB bounding box covers the upper model of the circuit breaker. The multilayer direction surrounding box is also suitable for blocking a mechanism twin body, the motion state of the breaker twin body is judged according to the intersecting result of the multilayer direction surrounding boxes of the twin body, corresponding dynamic control is carried out on the breaker twin body, and twin mapping is achieved.
Intersection tests among directional bounding boxes (OBB) are carried out based on a separation axis theory, if the projections of the two directional bounding boxes on any one axis do not overlap, the axis is called a separation axis, and the two directional bounding boxes can be judged to be not intersected. The separation axis is typically chosen to be a cross product of two of the 3 planes of each bounding box or the sides of the two bounding boxes. Twin bodies in the circuit breaker production line mainly move along the directions of x, y, z axes and the like, wherein the circuit breaker twin bodies make different kinds of movement due to different following objects, and the following objects can be divided into a conveyor belt and an operating mechanism. When the circuit breaker follows the conveyer belt and moves, mainly move along x, z axle, need consider the collision condition between the circuit breaker monomer this moment. When the circuit breaker moves along with the operating mechanism, the circuit breaker mainly moves along the directions of x, y and z axes, the circuit breaker is used as a child object of the operating mechanism and follows the motion relation of 'a parent mover must move', the circuit breaker does not move independently after the circuit breaker follows the operating mechanism and is separated from the conveyor belt, and the collision among circuit breaker monomers does not need to be considered at the moment.
Another factor that affects the computation rate and the collision response time during collision detection is the traversal of the bounding box. Different from the existing single traversal mode of the bounding box in the multilayer direction, the invention provides a hierarchical traversal mode of the bounding box in the multilayer direction, which comprises the following specific steps:
firstly, constructing a multilayer directional surrounding box of the circuit breaker twin body in the subspace with the driving force adjusted according to the geometrical characteristics of the circuit breaker twin body; the multilayer directional bounding box comprises an upper-layer bounding box, a middle-layer bounding box and a bottom-layer bounding box;
secondly, performing intersection detection on the breaker twins in all the subspaces with the adjusted driving force in a hierarchical traversal mode according to the sequence from the upper surrounding box, the middle surrounding box and the bottom surrounding box, and specifically as follows:
if the upper surrounding box and the middle surrounding box of the breaker twin body and the other breaker twin body in a certain subspace are intersected, the intersection detection result is recorded as the collision condition between the breaker twin bodies, the intersection detection of the bottom surrounding box between the breaker twin bodies is stopped, and further, the colliders with the same structure as the upper surrounding boxes are given to the breaker twin bodies subjected to the intersection detection;
if the upper layer surrounding boxes of the breaker twin body and the other breaker twin body in a certain subspace are intersected but the middle layer surrounding boxes of the breaker twin body and the other breaker twin body are not intersected, the situation that the breaker twin body detected in an intersecting manner is possibly collided with the mechanism twin body correspondingly blocked is determined, two colliders with the same structure as the middle layer surrounding box and the bottom layer surrounding box respectively corresponding to the breaker twin body detected in an intersecting manner are given to the breaker twin body detected in an intersecting manner, the intersecting detection of the bottom layer surrounding boxes between the breaker twin bodies is further continued until the bottom layer surrounding boxes between the breaker twin bodies are intersected, and the intersecting detection result is recorded as the situation that the breaker twin body is collided with the mechanism twin body.
In step S5, dynamic control before collision includes rhythm constraints of different production lines and dynamic control at flexible rhythm, that is, includes matching adjustment of the driving force of the collision twin based on the time rhythm constraints of the respective production lines, and flexible adjustment of the driving force of the non-collision twin based on the motion logic of the non-collision twin.
(1) In the beat constraint process of different production lines, the breaker twin workshop comprises two assembly lines of mirror images and a detection assembly line, and the beat constraint of different production lines needs to be considered when the breaker twin is subjected to dynamic control. Deducing the production beat of the detection assembly line as k according to the information such as daily working time, daily yield and disqualification rate of the detection line of the circuit breaker physical workshopβCalculated by the following formula:
in the formula, T represents the daily working time of a workshop, mu is the yield, and sigma is the reject ratio of the product. The beat of two mirror image assembly lines is 2 times of detection line, promptly:
kα＝2kβ (2)
when the motion of the twin body of the circuit breaker is controlled, the state of the twin body model, namely the process step needs to be judged, and then the corresponding motion speed of the conveyor belt is calculated through the production beat. Based on the formula (1) and the formula (2), measuring the distance between products at the tail end of the detection line conveyor belt, and further obtaining the movement speed v of the detection line conveyor beltβ：
Where Δ S is the product spacing at the end of the conveyor belt, vαIs the assembly line conveyor speed. Taking a breaker detection line as an example, the time t and the distance S from the point to the point of the breaker are obtained from the conveyor belt displacement sensor, wherein the time t from the point to the point comprises the acceleration time t of the breaker0And a uniform motion time t1And further obtaining the acceleration a of the acceleration process of the breaker, and then obtaining the driving force of the twin body of the breaker by combining a Newton mechanics formula, namely:
in the formula, FβThe resultant force of the circuit breaker in the detection line is A, and the acceleration of the circuit breaker in the acceleration motion process is A. Obtaining the resultant force F required by the circuit breaker from static to uniform motion through a kinetic equation setβI.e. the driving force applied to the circuit breaker. When the circuit breaker moving speed and the conveyer belt are matched, the driving force is adjusted to be 0, and the circuit breaker follows the conveyer belt to move at a constant speed. By using a similar analysis method, the driving force F of the circuit breaker twin body in the assembly line can be obtained by the combination formula (4)α。
(2) In the dynamics control during flexible beat, when the circuit breaker workshop carries out actual production, need produce the circuit breaker product of one utmost point to the different models of quadrupole according to the demand, the circuit breaker number of poles is different, and its production beat is corresponding to be changed, consequently needs carry out the dynamics control of flexible beat according to the order demand.
The circuit breaker mirror image assembly line does not relate to a product assembling process, and the production beat of the circuit breaker mirror image assembly line does not need to be adjusted. The multipole circuit breaker needs to be assembled, riveted and the like to the monopole circuit breaker, and the time beats of different types of circuit breakers are related to the pole number of the circuit breaker. The detection line beat k of the single-pole circuit breaker can be obtained by the formula (1)βThe tact of the detection line when producing the multi-pole circuit breaker is:
kn＝λkβ (5)
in the formula, λ represents the number of poles of the breaker, knThe multipole circuit breaker detection line beats. The time beat of the detection line of the multi-pole circuit breaker is flexibly adjusted along with the pole number of the circuit breaker, and the non-collision twin body motion is influenced.
In order to realize flexible beat control of one-to-four-pole circuit breakers, non-collision twin body motion logics are designed for different types of circuit breakers, and motion tracks of the circuit breakers are flexibly adjusted. The multi-pole circuit breaker is mainly acted by multi-pole penetrating nails, multi-pole riveting, multi-pole assembling and other process units, logic script control is carried out on the multi-pole circuit breaker, and different motion paths are edited according to actual processes. And the script is switched and controlled by detecting different circuit breaker pole numbers, so that the flexible matching of the non-collision twin model and the beat is realized. For example, the single-pole punching mechanism is used for blanking 5 rivets when producing a single-pole circuit breaker; blanking 2 rivets when the multi-pole circuit breaker is used. The transfer printing mechanism can accommodate 4 single-pole circuit breakers, 2 two-pole circuit breakers, 1 three-pole circuit breaker or 1 four-pole circuit breaker, and different movement actions can be executed through script switching.
Therefore, when the multi-pole circuit breaker is produced, the distance between the twin bodies of the circuit breaker on the conveyor belt is in direct proportion to the number of poles of the circuit breaker, and the proportional relation between the running time of the twin bodies and the distance is unchanged, so that the twin bodies are not influenced by flexible beats. However, the mass of the multi-pole circuit breaker is increased, the mass m is changed into λ m, and when the driving force magnitude is calculated, the driving force magnitude needs to be multiplied by the pole number λ correspondingly, so that the corresponding driving force magnitude is obtained.
Therefore, according to the acquired time beat, driving force and production requirement of each production line, the corresponding dynamic control is carried out on the collision twin and the non-collision twin, and the driving force of the screened subspace can be adjusted.
In step S6, dynamic control at the time of collision is classified into collision between breaker twins and collision between a breaker twin and a barrier mechanism.
When the breaker twin body moves at a constant speed along with the conveyor belt, the resultant force of the breaker twin body is 0. When collision happens, the breaker cannot rapidly enter a static state due to the existence of collision force, and the model shaking phenomenon easily occurs. Through the detection of collision information, the dynamic control can be carried out on the breaker model, the stress condition of the breaker model on the conveyor belt is adjusted, the resultant force of the breaker model is enabled to quickly tend to zero, and the model shake is reduced.
Wherein, the blocking mechanism on the conveyor belt collides with the circuit breaker, a circuit breaker set C is established at the moment, the motion state of the current circuit breaker is recorded and marked as C1. When the subsequent circuit breaker and C1Recording the subsequent breaker movement state and marking as C when colliding2Until no subsequent breaker collides with the breaker in C. When the set C newly-added circuit breaker is assembled, firstly, the motion state of the newly-added circuit breaker is obtainedAnd judging whether the vehicle reaches a constant speed state before collision. If the newly-added circuit breaker is in a constant speed state, the actions of the newly-added circuit breaker such as movement and rotation on the conveyor belt are frozen, namely the actions of the newly-added circuit breaker such as displacement on x, y and z axes and rotation around the axis are frozen, so that the circuit breaker enters a static state as soon as possible. If the newly-added circuit breaker is in an acceleration state, the driving force loaded on the circuit breaker before collision is cancelled, and the actions of movement, rotation and the like of the circuit breaker on the conveyor belt are frozen again, so that the resultant force of the circuit breaker tends to zero under the condition of rapidness. After the circuit breakers in the set C enter a static state, the motion state of the circuit breakers is kept stable and is not influenced by collision impact generated by subsequent circuit breakers, and twin body shaking is reduced.
Therefore, in step S6, when the intersection detection result indicates that a collision situation occurs between the breaker twins, the force conditions of the breaker twins on the conveyor belt in all the subspaces in which the collision situation occurs are adjusted, and the driving forces of the breaker twins in all the subspaces in which the collision situation occurs are reduced to achieve that the resultant collision force is 0;
in step S6, when the intersection detection result indicates that a collision occurs between a breaker twin and a corresponding blocking mechanism twin, if the breaker twin in the subspace where the collision occurs is in a uniform speed state on the conveyor belt, freezing the motion behavior of the breaker twin in the subspace where the collision occurs; or if the breaker twin in the subspace with the collision is in an accelerating state on the conveyor belt, canceling the driving force loaded on the breaker twin in the subspace with the collision, freezing the motion behavior of the breaker twin in the subspace with the collision on the conveyor belt, and rapidly reducing the driving force of the breaker twin in the subspace with the collision to realize that the collision resultant force is 0; wherein the athletic performance includes movement and rotation.
In an embodiment of the invention, dynamic control after collision is also included. In actual production, when the blocking mechanism withdraws from the conveying belt, the circuit breaker acts through friction force, and moves with the conveying belt again in an accelerated manner to enter the next operation link. Accordingly, the method further comprises:
after the blocking mechanism twin bodies in the subspace where the collision occurs are evacuated, corresponding dynamic control is carried out on the breaker twin bodies corresponding to the evacuation blocking mechanism twin bodies, so that the frozen motion behaviors of the breaker twin bodies corresponding to the evacuation blocking mechanism twin bodies are restored again and corresponding driving forces are reloaded, namely when the breaker twin bodies collide, the colliding breakers are sequentially recorded into a set C by means of the blocking mechanism. When the blocking mechanism withdraws from the conveyor belt, the circuit breakers in the set C move again, the circuit breakers are frozen by removing movement, rotating and other actions, and corresponding driving force is applied to the circuit breakers according to the production line and the pole number of the circuit breakers until the circuit breakers move at a constant speed along with the conveyor belt.
As shown in fig. 2 to fig. 3, the dynamics control method and the dynamics control effect of the breaker twin plant model based on the beat constraint provided by the embodiment of the invention are verified, and three contents of the collision detection response time, the detection precision and the model motion stability are respectively compared.
The response functions of the Unity3D were used as objects, and the comparison results are shown in table 1.
TABLE 1
As can be seen in table 1, the proposed method consumes less time for the same number of intersection detections, with an optimization effect of up to 15%.
As shown in table 2, the comparison results of the detection accuracy are obtained by calculating accuracy parameters of the geometric distance between the twins when the collision information is transmitted by the measurement script, and performing measurement 10 times. The comparison results in table 2 show that when the Unity3D function detects collision information, the model spacing is still large, and a certain error exists. By the aid of the method for detecting intersection of the breaker level bounding boxes, overlapping degree of model bounding boxes is extremely small, accuracy is higher, and compared with a Unity3D detection function, accuracy is improved by 96.26%.
TABLE 2
The dynamics control method of the breaker model is verified, and the speed and acceleration curves of the breaker model when the breaker model is collided are compared respectively when the control is not applied (scheme 1) and the dynamics control is performed on the basis of beat constraint (scheme 2), and the results are shown in fig. 2 and 3. As can be seen from the comparison result, the breaker model can rapidly complete the acceleration process under the action of the driving force and move at a constant speed along with the conveyor belt. When control constraint is not performed, the model jitter phenomenon is obvious, and the model jitter phenomenon is influenced by continuous impact of a subsequent breaker on a production line, the speed curve oscillates, and a similar phenomenon can be observed in the acceleration curve shown in fig. 3. Dynamics control is carried out on the basis of beat constraint, and as can be seen from the speed and acceleration curves in the graphs in fig. 2 and 3, the model has small vibration, and the breaker model can quickly enter a static state, so that the stability and the running stability of the twin system are improved.
Therefore, by using collision detection algorithms such as the dynamic octree and the multilayer directional bounding box, the response time and the detection precision of the twin collision are obviously improved, and the real mapping relation of the twin system is realized. The collision response time is reduced by 15% to the maximum extent, the collision detection precision is improved by 96.26%, and through model dynamics control, the jitter phenomenon in the collision process of the twin body of the circuit breaker is reduced, and the running stability and reliability of the twin system are improved.
The embodiment of the invention has the following beneficial effects:
the invention carries out motion detection and judgment on the single circuit breaker and a matched assembly line system, carries out dynamic modeling on the twin body of the circuit breaker on the basis of beat calculation, and realizes twin mapping of the assembly line system during fixed beat and flexible beat through driving force loading, motion logic script control and switching. And a multilayer directional bounding box of the upper layer, the middle layer and the lower layer of the circuit breaker and a hierarchical traversal mode thereof are established, and the direction of the breaker twin body in collision is analyzed and screened, so that the detection number of collision separation shafts is reduced, the collision response time is reduced, the collision detection precision is improved, the shaking phenomenon in collision of the twin body is reduced, and the running stability and reliability of the twin system are improved.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program, and the program may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (7)
1. A dynamic control method of a breaker twin workshop model based on beat constraint is used for a breaker digital twin workshop system comprising a breaker physical workshop, a breaker twin workshop, workshop twin data and a workshop service system, and is characterized by comprising the following steps:
s1, obtaining the technological process of each production line in the circuit breaker assembly line system and the corresponding time beat according to the production task of the circuit breaker physical workshop;
step S2, performing subspace segmentation on a corresponding breaker assembly line system in a breaker twin workshop by using a preset dynamic octree algorithm to obtain subspaces with the number of collision twin bodies smaller than or equal to a preset capacity value; wherein the breaker twin plant comprises a collision twin and a non-collision twin; the collision twin includes a breaker twin and a blocking mechanism twin; the non-collision twin body comprises an assembling mechanism twin body and a detecting mechanism twin body;
s3, according to the motion track of the breaker in the twin workshop of the breaker, performing distance detection on the obtained subspaces, and screening out the subspaces meeting the intersection detection preset conditions;
s4, constructing multilayer directional bounding boxes of an upper layer, a middle layer and a lower layer of each breaker twin body in a subspace according to the geometric characteristics of each breaker twin body, carrying out intersection detection on the bounding boxes in a hierarchical traversal mode, and further screening collision directions of the breaker twin bodies to reduce the detection quantity of collision separation axes during intersection detection;
step S5, (1) in the beat constraint process of different production lines, a breaker twin workshop comprises two mirrored assembly production lines and a detection production line, and the beat constraint of different production lines needs to be considered when the breaker twin is subjected to dynamic control; deducing the production beat of the detection assembly line as k according to the daily working time, daily yield and failure rate information of the detection line of the circuit breaker physical workshopβCalculated by the following formula:
in the formula, T represents the daily working time of a workshop, mu is the yield, and sigma is the reject ratio of the product; the beat of two mirror image assembly lines is 2 times of detection line, promptly:
kα＝2kβ (2)
when the motion of the twin body of the circuit breaker is controlled, the state of the twin body model, namely the process step needs to be judged, and the corresponding motion speed of the conveying belt is calculated through the production beat; based on the formula (1) and the formula (2), measuring the distance between products at the tail end of the detection line conveyor belt, and further obtaining the movement speed v of the detection line conveyor beltβ：
Where Δ S is the product spacing at the end of the conveyor belt, vαConveyor belt speed for assembly line; taking a breaker detection line as an example, the time t and the distance S from the point to the point of the breaker are obtained from the conveyor belt displacement sensor, wherein the time t from the point to the point comprises the acceleration time t of the breaker0And a uniform motion time t1Further obtaining the acceleration a of the acceleration process of the breaker and then combiningAnd combining Newton's mechanical formula to obtain the driving force of the breaker twin, namely:
in the formula, FβThe resultant force of the circuit breaker in the detection line is, and a is the acceleration of the circuit breaker in the acceleration motion process; obtaining the resultant force F required by the circuit breaker from static to uniform motion through a kinetic equation setβI.e. the driving force applied to the circuit breaker; when the movement speed of the circuit breaker is matched with the conveyor belt, the driving force is adjusted to be 0, and the circuit breaker moves at a constant speed along with the conveyor belt; by the analysis method, the driving force F of the circuit breaker twin body in the assembly line can be obtained by the combination formula (4)α；
(2) In the dynamic control during flexible beat, when a breaker manufacturing workshop carries out actual production, breaker products of different models from one pole to four poles need to be produced according to requirements, and the production beat correspondingly changes when the number of poles of the breaker is different, so that the dynamic control of the flexible beat needs to be carried out according to the order requirement;
the circuit breaker mirror image assembly line does not relate to a product assembling process, and the production beat does not need to be adjusted; the multipole circuit breaker needs to be assembled and riveted, and the time beats of different types of circuit breakers are related to the pole number of the circuit breaker; the detection line beat k of the single-pole circuit breaker can be obtained by the formula (1)βThe tact of the detection line when producing the multi-pole circuit breaker is:
kn＝λkβ (5)
in the formula, λ represents the number of poles of the breaker, knDetecting line beats for the multipole circuit breaker; the time beat of the detection line of the multi-pole circuit breaker is flexibly adjusted along with the pole number of the circuit breaker, and the non-collision twin body motion is influenced;
in order to realize flexible beat control of one-to-four-pole circuit breakers, non-collision twin body motion logics are designed for different types of circuit breakers, and motion tracks of the circuit breakers are flexibly adjusted; the multi-pole through nail, multi-pole riveting and multi-pole assembling process units mainly act on the multi-pole circuit breaker, logic script control is carried out on the multi-pole circuit breaker, and different motion paths are edited according to actual processes; switching and controlling the script by detecting the pole numbers of different breakers, thereby realizing the flexible matching of the non-collision twin model and the beat; the method comprises the steps of a single-pole nailing and pad printing process, wherein 5 rivets are blanked when the single-pole nailing mechanism produces the single-pole circuit breaker; blanking 2 rivets during the multi-pole circuit breaker; 4 single-pole circuit breakers, 2 two-pole circuit breakers, 1 three-pole circuit breaker or 1 four-pole circuit breaker can be accommodated in the pad printing mechanism, and different movement actions can be executed through script switching;
therefore, when the multi-pole circuit breaker is produced, the distance of the twin body of the circuit breaker on the conveyor belt is in direct proportion to the number of poles of the circuit breaker, and the proportional relation between the running time of the twin body and the distance of the twin body is unchanged, so that the twin body is not influenced by flexible beats; however, the mass of the multi-pole circuit breaker is increased, the mass m is changed into lambda m, and the driving force needs to be multiplied by the pole number lambda correspondingly when the driving force is calculated, so that the corresponding driving force is obtained;
and step S6, controlling the breaker twin body in the fixed beat and the flexible beat through motion logic script control and switching according to the intersection detection result and the calculation of the driving force, and performing corresponding dynamic control on the breaker twin body in the subspace with the collision condition to freeze the motion behavior of the breaker twin body in the subspace with the collision condition or reduce the driving force to realize that the collision resultant force is 0.
2. The method for dynamically controlling the breaker twin plant model based on the beat constraint of claim 1, wherein the step S2 specifically includes:
taking the whole breaker twin workshop as a root node, and dividing the breaker twin workshop into eight subspaces, namely eight child nodes;
according to the fact that the number of collision twin bodies changes in real time along with the production process, the collision twin bodies entering each sub node and the collision twin bodies leaving the subspace are dynamically recorded by means of a dynamic octree, and the number of collision twin bodies in each sub node is counted;
if the number of collision twin bodies in a certain child node exceeds the preset capacity value, the child space continues to divide the space downwards, namely the child node divides eight grandchild nodes;
and if the number of collision twin bodies in a certain child node is less than or equal to the preset capacity value, reserving and outputting.
3. The method for dynamically controlling the breaker twin plant model based on the beat constraint of claim 1, wherein the step S3 specifically includes:
in the obtained subspace, if the distance between two adjacent breaker twins is smaller than a preset value, determining that the subspace accords with collision detection and outputting the subspace; otherwise, the subspace is determined to be not eligible for collision detection.
4. The method for dynamically controlling the breaker twin plant model based on the beat constraint of claim 1, wherein the step S4 specifically includes:
firstly, constructing a multilayer directional surrounding box of a circuit breaker twin body in a subspace according to the geometrical characteristics of the circuit breaker twin body; the multilayer directional bounding box has three surface directions and comprises an upper layer bounding box, a middle layer bounding box and a bottom layer bounding box;
secondly, sequentially carrying out intersection detection on the breaker twin in all the subspaces in a hierarchical traversal mode according to the sequence from the upper surrounding box, the middle surrounding box and the bottom surrounding box, and specifically as follows:
if the upper surrounding box and the middle surrounding box of the breaker twin body and the other breaker twin body in a certain subspace are intersected, the intersection detection result is recorded as the collision condition between the breaker twin bodies, the intersection detection of the bottom surrounding box between the breaker twin bodies is stopped, and further, the colliders with the same structure as the upper surrounding boxes are given to the breaker twin bodies subjected to the intersection detection;
if upper layer surrounding boxes of a circuit breaker twin body and another circuit breaker twin body in a certain subspace are intersected but middle layer surrounding boxes of the circuit breaker twin body and the other circuit breaker twin body are not intersected, determining that a collision condition possibly occurs between the circuit breaker twin body subjected to intersection detection and a correspondingly blocked mechanism twin body, endowing the circuit breaker twin body subjected to intersection detection with two colliders respectively corresponding to the middle layer surrounding box and the bottom layer surrounding box and having the same structure, further continuously carrying out intersection detection on a bottom layer surrounding box between the circuit breaker twin bodies subjected to intersection detection until the bottom layer surrounding boxes between the circuit breaker twin bodies subjected to intersection detection are intersected, and recording an intersection detection result as a collision condition between the circuit breaker twin body and the blocking mechanism twin body;
finally, performing circuit breaker twin body intersection detection, and further screening the collision directions of the circuit breaker twin bodies to reduce the detection number of collision separation shafts during intersection detection, wherein the detection number is as follows:
when the circuit breaker moves along with the conveyor belt, the circuit breaker twin body moves along the x axis and the z axis, and the collision condition between the circuit breaker monomers needs to be considered for the intersection detection of the circuit breaker twin body;
when the circuit breaker moves along with the operating mechanism, the circuit breaker twin body moves along the directions of x, y and z axes, and the circuit breaker is taken as a child object of the operating mechanism and follows the motion relation of 'the parent rotor must move', so that the circuit breaker does not move independently after the circuit breaker follows the operating mechanism and is separated from the conveyor belt, and when the circuit breaker twin body intersection detection is carried out, the collision condition among the circuit breaker monomers does not need to be considered;
when collision among the breaker twins is concentrated on the conveyor belt, the collision directions are only two, namely the x axis and the z axis, and when the breaker twins are subjected to intersection detection, the 15 separation axis tests among the enclosing boxes can be simplified into two separation axes.
5. The method for dynamically controlling the breaker twin plant model based on the beat constraint of claim 1, wherein the step S6 specifically includes:
according to the calculation of the intersection detection result and the driving force, the control of the breaker twin body in the fixed beat and the flexible beat is carried out through the control and switching of the motion logic script, the corresponding dynamic control is carried out on the breaker twin body in the subspace with the collision condition, and the motion behavior of the breaker twin body in the subspace with the collision condition is frozen or the driving force is reduced to realize that the collision resultant force is 0;
when the intersection detection result shows that a collision condition occurs between the breaker twin and the corresponding blocking mechanism twin, if the breaker twin in the subspace with the collision condition is in a uniform speed state on the conveyor belt, freezing the motion behavior of the breaker twin in the subspace with the collision condition; or if the breaker twin in the subspace with the collision is in an accelerating state on the conveyor belt, canceling the driving force loaded on the breaker twin in the subspace with the collision, freezing the motion behavior of the breaker twin in the subspace with the collision on the conveyor belt, and rapidly reducing the driving force of the breaker twin in the subspace with the collision to realize that the collision resultant force is 0.
6. The beat constraint-based breaker twin plant model dynamics control method of claim 5, further comprising:
and performing dynamics control on the flexible beat, specifically, designing motion logics of non-collision twin bodies for different types of circuit breakers to flexibly adjust the motion tracks, performing logic script control on the motion tracks, editing different motion paths according to actual processes, and switching and controlling scripts by detecting the pole numbers of different circuit breakers to realize flexible matching of the non-collision twin bodies and the beat.
7. The beat constraint-based breaker twin plant model dynamics control method according to claim 5, wherein the motion behavior includes movement and rotation.
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