CN112091982A - Master-slave linkage control method and system based on digital twin mapping - Google Patents
Master-slave linkage control method and system based on digital twin mapping Download PDFInfo
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- CN112091982A CN112091982A CN202011277936.0A CN202011277936A CN112091982A CN 112091982 A CN112091982 A CN 112091982A CN 202011277936 A CN202011277936 A CN 202011277936A CN 112091982 A CN112091982 A CN 112091982A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Abstract
The application relates to a master-slave linkage control method and a system based on digital twin mapping, wherein the master-slave linkage control method based on the digital twin mapping comprises the following steps: by loading a preset digital twinning system, the preset digital twinning system comprises: the system comprises a digital twin body and a verification model, wherein the digital twin body is a dynamic copy body of slave equipment in a digital space, and the verification model is a digital model used for collision verification in the digital space; acquiring a motion parameter of the main equipment during motion, inputting the motion parameter into the digital twin body, and acquiring a motion result obtained by the digital twin body executing the motion parameter; performing collision verification on the motion result through a verification model; if the slave equipment is in the shielding room, the slave equipment is controlled to move according to the movement parameters, otherwise, the alarm is given, the problem that the slave equipment in the shielding room is not easy to observe in the related technology is solved, an operator can conveniently observe the slave equipment in the shielding room, the operation state of the slave equipment in the shielding room is mastered, and the operation safety of the slave equipment is improved.
Description
Technical Field
The application relates to the technical field of digital twin mapping, in particular to a master-slave linkage control method and system based on digital twin mapping.
Background
The digital twin is a full life cycle process of reflecting corresponding entity equipment by integrating multidisciplinary, multi-physical quantity, multi-scale and multi-probability simulation processes by fully utilizing data such as physical models, sensor updating, operation histories and the like and completing mapping in a virtual space. The technology is subversive in that the technology can completely bypass real objects and directly carry out simulation, emulation and prediction by manipulating digital twins.
In the related art, the nuclear industry working environment usually has high radioactive elements, and further, the nuclear industry working environment must be physically isolated, namely, a shielding chamber is arranged, and a series of operations of the shielding chamber are usually operated by a manipulator arranged inside the shielding chamber; generally, an operator controls a master device (master manipulator) disposed outside a shield room, and then controls a slave device (i.e., slave manipulator) disposed inside the shield room to perform a series of operations inside the shield room; however, when the master device is controlled to indirectly control the slave device located inside the shielding room to work, because the slave device is located inside the shielding room under the working environment of the nuclear industry, an operator cannot sufficiently grasp the condition of the device inside the shielding room, and further, when the master device and the slave device are different in structure, the slave device in the shielding room is difficult to observe during remote operation.
At present, no effective solution is provided for the problem that the shielding indoor slave equipment is difficult to observe in the remote operation process in the related art.
Disclosure of Invention
The embodiment of the application provides a master-slave linkage control method and a master-slave linkage control system based on digital twin mapping, and aims to at least solve the problem that remote operation of slave equipment in a shielding room is difficult to observe in the related art.
In a first aspect, an embodiment of the present application provides a master-slave linkage control method based on a digital twin mapping, where the method includes:
loading a preset digital twinning system, the preset digital twinning system comprising: a digital twin which is a dynamic replica of a slave device in a digital space, and a verification model which is a digital model for performing collision verification in the digital space;
acquiring a motion parameter when a main device moves, inputting the motion parameter into the digital twin body, and acquiring a motion result obtained by the digital twin body executing the motion parameter;
performing collision verification on the motion result through the verification model;
and if the collision verification is passed, controlling the slave equipment to move according to the motion parameters, and otherwise, giving an alarm.
In some embodiments, performing collision verification on the motion result through the verification model comprises:
controlling the verification model to move according to the movement result, and judging whether a preset collision area is contacted in the movement process of the verification model;
and if the collision areas are not contacted, the collision verification is passed, otherwise, the collision verification is not passed.
In some of these embodiments, the motion parameters include joint angles; the method for acquiring the motion parameters of the master device during motion comprises the following steps:
acquiring angles of all main motors when the main equipment moves;
and determining the angle of each joint when the main equipment moves according to the angle of each main motor.
In some embodiments, if the collision verification passes, controlling the slave device to move according to the motion parameter includes:
if the collision verification is passed, converting the joint angles into slave motor angles corresponding to the slave equipment;
and controlling the slave equipment to move according to the angles of the slave motors.
In some embodiments, if the collision verification passes, converting the respective joint angles to respective slave motor angles corresponding to the slave device includes:
acquiring the reduction ratio of each slave motor in the slave equipment;
and determining the angles of the slave motors according to the product of the reduction ratios and the joint angles.
In some embodiments, after controlling the slave device to move according to the slave motor angles, the method further comprises:
acquiring the torque increment of each joint when the slave equipment moves;
and judging whether the load of the slave equipment exceeds a preset load or not according to the torque increment of each joint and a preset increment.
In some of these embodiments, the digital twin comprises a first digital twin and a second digital twin, both being dynamic replicas of the slave device in digital space; acquiring a motion parameter when a main device moves, inputting the motion parameter into the digital twin body, and acquiring a motion result obtained by the digital twin body executing the motion parameter, wherein the motion result comprises the following steps:
acquiring a motion parameter when a main device moves, inputting the motion parameter into the first digital twin body, and acquiring a motion result obtained by the first digital twin body executing the motion parameter;
after performing collision verification on the motion result through the verification model, the method further includes:
if the collision verification is passed, controlling the second digital twin body to move according to the motion parameters;
acquiring motion information of the second digital twin in unit time;
and predicting the service life of the slave equipment according to the motion information.
In a second aspect, an embodiment of the present application provides a master-slave linkage control system based on digital twin mapping, where the system includes a master device, a master controller, an industrial personal computer, a slave controller, and a slave device;
the main controller is connected with the main equipment to obtain the motion parameters of the main equipment during motion;
the industrial personal computer is used for loading a preset digital twinning system, and the preset digital twinning system comprises: a digital twin which is a dynamic replica of a slave device in a digital space, and a verification model which is a digital model for performing collision verification in the digital space; the industrial personal computer is connected with the main controller and used for inputting the motion parameters into the digital twin body, obtaining a motion result obtained by the digital twin body executing the motion parameters, performing collision verification on the motion result through the verification model, and sending the motion parameters to the slave controller if the collision verification is passed, otherwise giving an alarm;
one end of the slave controller is connected with the industrial personal computer to obtain the motion parameters, and the other end of the slave controller is connected with the slave equipment and used for controlling the motion of the slave equipment according to the motion parameters.
In a third aspect, an embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the processor implements the master-slave linkage control method based on the digital twin mapping according to the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the digital twin mapping-based master-slave linkage control method according to the first aspect.
Compared with the related art, the master-slave linkage control method and system based on the digital twin mapping provided by the embodiment of the application have the advantages that the preset digital twin system is loaded, and the preset digital twin system comprises the following steps: a digital twin which is a dynamic replica of a slave device in a digital space, and a verification model which is a digital model for performing collision verification in the digital space; acquiring a motion parameter when a main device moves, inputting the motion parameter into the digital twin body, and acquiring a motion result obtained by the digital twin body executing the motion parameter; performing collision verification on the motion result through the verification model; if the collision verification is passed, the slave equipment is controlled to move according to the movement parameters, otherwise, an alarm is given, the problem that the slave equipment in the shielding room is difficult to observe in the related technology when the slave equipment is remotely operated is solved, operators can conveniently observe the slave equipment in the shielding room, and the operation condition of the slave equipment in the shielding room is mastered.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a first flowchart of a master-slave linkage control method based on digital twin mapping according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for performing collision verification on a motion result through a verification model according to an embodiment of the application;
FIG. 3 is a flowchart of a method for obtaining motion parameters of a master device during motion according to an embodiment of the present application;
FIG. 4 is a flowchart of a method for controlling the motion of a slave device according to motion parameters according to an embodiment of the present application;
FIG. 5 is a flowchart II of a method for controlling the motion of a slave device according to motion parameters according to an embodiment of the present application;
FIG. 6 is a second flowchart of a master-slave linkage control method based on digital twin mapping according to an embodiment of the present application;
FIG. 7 is a flow chart III of a master-slave linkage control method based on digital twin mapping according to an embodiment of the application;
FIG. 8 is a block diagram of a master-slave coordinated control system based on digital twin mapping according to an embodiment of the present application;
fig. 9 is a schematic diagram of an internal structure of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The present embodiment provides a master-slave linkage control method based on digital twin mapping, and fig. 1 is a first flowchart of the master-slave linkage control method based on digital twin mapping according to the embodiment of the present application, as shown in fig. 1, the method includes the following steps:
step S101, loading a preset digital twinning system, wherein the preset digital twinning system comprises: the system comprises a digital twin body and a verification model, wherein the digital twin body is a dynamic copy body of slave equipment in a digital space, and the verification model is a digital model used for collision verification in the digital space;
it should be noted that the digital twin technology fully utilizes data such as physical models, sensor updating, operation history and the like, integrates simulation processes of multiple disciplines, multiple physical quantities, multiple scales and multiple probabilities, and completes mapping in a virtual space so as to reflect the full life cycle process of corresponding entity equipment; the device can completely bypass real objects, namely slave equipment, and directly simulate, simulate and predict by controlling digital twin bodies.
Step S102, acquiring a motion parameter when the main equipment moves, inputting the motion parameter into the digital twin body, and acquiring a motion result obtained by the digital twin body executing the motion parameter;
the master manipulator can be a master manipulator which is positioned outside the shielding chamber and can be moved by an operator directly and manually applying an acting force, and motion parameters of the master manipulator are acquired when the master manipulator moves; the motion parameters of the master device are input into the digital twin body, so that the digital twin body can map the space state of each joint of the current slave manipulator in real time, and the digital twin body can be zoomed, perspective and observed at 360-degree rotation angles, and the refined operation of the slave device is facilitated.
Step S103, performing collision verification on the motion result through a verification model;
the verification model can be preset with verification data, and a motion result obtained by the digital twin executing motion parameters can be matched with the verification data, so that whether the collision verification passes or not can be judged.
And step S104, if the collision verification is passed, controlling the slave equipment to move according to the motion parameters, and otherwise, giving an alarm.
Through steps S101 to S104, based on the digital twin technology, mapping of the slave device is completed in the virtual space, that is, the digital twin is a dynamic replica of the slave device in the digital space, on one hand, the motion parameters of the master device are input into the digital twin, so that the digital twin can map the spatial state of each joint of the current slave manipulator in real time, thereby facilitating the refinement operation of the slave device, on the other hand, the motion parameters of the master device are input into the digital twin before being input into the slave device in the shielding room, so that the motion results obtained by the motion parameters of the digital twin can be subjected to collision verification, and after the collision verification is passed, the motion of the slave device is controlled according to the motion parameters, and even if there is a difference in the structures of the master device and the slave device, due to the existence of an anti-collision verification link, the operation safety of the slave device is improved, the problem that the slave device in the shielding room is difficult to observe in the related technology during remote operation is solved, operators can conveniently observe the slave device in the shielding room, the operation condition of the slave device in the shielding room is mastered, and the operation safety of the slave device is improved.
In some embodiments, fig. 2 is a flowchart of a method for performing collision verification on a motion result through a verification model according to an embodiment of the present application, and as shown in fig. 2, the method includes the following steps:
step S201, controlling the verification model to move according to the movement result, and judging whether a preset collision area is contacted in the movement process of the verification model;
step S202, if the collision areas are not contacted, the collision verification is passed, otherwise, the collision verification is not passed;
the verification model may be a replica of a digital twin body provided with a collision zone, or may be understood as a simulation model of the slave device, and further the verification model may be composed of virtual joints, and the collision zone may be an outer contour of each joint, or a peripheral area of the preset verification model, where the peripheral area may be set according to environmental information at a position of the slave device in the shielding room. When the verification model moves according to the movement result, if the collision areas are not contacted, the collision verification is passed, and once the collision areas are contacted, an alarm is given, namely the collision verification is not passed.
In some embodiments, the motion parameter includes joint angles, fig. 3 is a flowchart of a method for acquiring a motion parameter of the master device during motion according to an embodiment of the present application, and as shown in fig. 3, the method includes the following steps:
step S301, acquiring angles of all main motors when the main equipment moves;
and step S302, determining each joint angle when the main equipment moves according to each main motor angle.
The main equipment, namely the main manipulator, can be used for driving each joint of the main equipment to move by applying acting force manually by an operator, and considering that each joint of the main equipment depends on the acting force applied manually, the angle of each joint of the main equipment is related to the magnitude of the acting force applied manually; when each joint of the main equipment moves, each main motor in the main equipment rotates, and the angle of each joint when the main equipment moves can be indirectly determined by acquiring the rotating angle of the main motor;
the motor angle = motor reduction ratio + joint angle, and the joint angle can be determined under the condition that the motor reduction ratio and the motor angle are known; considering that the positions of the manipulator parts controlled by the motors in the main equipment are different, the reduction ratios of the motors are different, and further, the joint angles at the positions of the manipulator parts can be determined according to the motor reduction ratios and the motor angles corresponding to the positions of the manipulator parts.
Through the steps S301 to S302, the joint angles of the main device during movement are reversely deduced according to the main motor angles of the main device during movement, so that the determined joint angles of the main device are more accurate.
In some embodiments, fig. 4 is a flowchart illustrating a method for controlling a slave device to move according to a motion parameter according to an embodiment of the present application, where the method includes the following steps, as shown in fig. 4:
step S401, if the collision verification is passed, converting each joint angle into each slave motor angle corresponding to the slave equipment;
step S402, controlling the slave equipment to move according to the angles of the slave motors;
the motion of the slave device is realized by coupling each slave motor corresponding to the slave device and arranged outside the shielding room through a control gear, and further, each slave motor angle corresponding to the slave device is determined under the condition that each joint angle is known, so that each slave motor in the slave device can accurately control the motion of the slave device according to the corresponding slave motor angle, and the operation task in the shielding room in the nuclear industry environment is completed.
In some embodiments, fig. 5 is a flowchart of a method for controlling a slave device to move according to a motion parameter according to an embodiment of the present application, and as shown in fig. 5, if the collision verification is passed, converting each joint angle into each slave motor angle corresponding to the slave device includes the following steps:
step S501, acquiring the reduction ratio of each slave motor in the slave equipment;
step S502, each slave motor angle is determined according to the product of each reduction ratio and each joint angle.
Note that, in the slave device, the robot member position controlled by each slave motor differs, and the slave motor reduction ratio differs, and the joint angle at the slave robot member position can be determined from the slave motor reduction ratio and the joint angle corresponding to the slave robot member position by using the motor angle = motor reduction ratio + joint angle.
In some embodiments, fig. 6 is a second flowchart of a master-slave linkage control method based on digital twin mapping according to an embodiment of the present application, and as shown in fig. 6, the method further includes the following steps:
step S601, acquiring torque increment of each joint when the slave equipment moves;
the joint torque increment during the motion of the slave equipment is the joint torque increment caused by the load of the tail end of the slave equipment, and the joint torque increment can be obtained by subtracting the initial joint torque from the actual joint torque of each joint of the slave equipment;
step S602, judging whether the load of the slave equipment exceeds a preset load according to the torque increment of each joint and a preset increment;
for example, the torque increment of each joint is compared with the corresponding preset increment to obtain a deviation, if the deviation is smaller, the deviation is a system error of master-slave linkage, and the master device can be triggered to perform motion compensation on the slave device; if the deviation is large, it indicates that the error is not only the error caused by the system, and if the load of the slave device (the actual load of the slave device) far exceeds the preset load, the load parameter needs to be adjusted; after the load parameters are adjusted, new preset increments can be obtained until the deviation between the torque increment of each joint and the new preset increments is within a reasonable range, which indicates that the adjusted load parameters are reasonable.
Through the steps S601 to S602, whether the load of the slave device exceeds the preset load is judged according to the torque increment of each joint and the preset increment during the motion of the slave device, so that the load parameter of the slave device is convenient to regulate and control, the time for the slave device to work beyond the preset load is shortened, and the service life of the slave device is prolonged.
In some of these embodiments, the digital twin includes a first digital twin and a second digital twin, both being dynamic replicas of the slave device in digital space; acquiring a motion parameter when the main equipment moves, inputting the motion parameter into the digital twin body, and acquiring a motion result obtained by the digital twin body executing the motion parameter, wherein the motion result comprises the following steps: acquiring a motion parameter when the main equipment moves, inputting the motion parameter into the first digital twin body, and acquiring a motion result obtained by the first digital twin body executing the motion parameter;
fig. 7 is a flowchart three of a master-slave linkage control method based on digital twin mapping according to an embodiment of the present application, and as shown in fig. 7, after performing collision verification on a motion result through a verification model, the method further includes:
step S701, if the collision verification is passed, controlling the second digital twin body to move according to the motion parameters;
if the collision verification is passed, the slave equipment is controlled to move according to the motion parameters, and meanwhile, the replica of the slave equipment, namely the second digital twin body, is also controlled to move according to the motion parameters, under the condition, the second digital twin body positioned inside and outside the shielding room and the slave equipment positioned inside the shielding room are mapped in real time, namely the motion condition of the second digital twin body is always consistent with the motion condition of the slave equipment inside the shielding room;
step S702, acquiring motion information of the second digital twin in unit time;
for example, the movement information of the second digital twin in several months may be recorded in units of days, such as the angle of each slave motor in the second digital twin, the time of each slave motor moving every day, and the like;
step S703, predicting the service life of the slave device according to the motion information;
for example, the life ranges of important components in the slave equipment in the shielding room can be indirectly predicted according to the recorded motion information of a large number of second digital twins based on the accumulation of a large amount of information and by combining practical experience, and when the life ranges are close to the maximum life ranges, replacement reminding of the corresponding components or the slave equipment can be carried out.
Through the steps S701 to S703, the service life of the slave device in the shielding room is indirectly predicted through the motion information of the second digital twin located inside and outside the shielding room based on the real-time mapping between the second digital twin located inside and outside the shielding room and the slave device located inside the shielding room, so that the operator can conveniently and timely overhaul and replace the slave device.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
In some embodiments, fig. 8 is a block diagram of a master-slave linkage control system based on digital twin mapping according to an embodiment of the present application, and as shown in fig. 8, the master-slave linkage control system based on digital twin mapping includes a master device 81, a master controller 82, an industrial personal computer 83, a slave controller 84, and a slave device 85;
the main controller 82 is connected with the main device 81 to acquire the motion parameters of the main device 81 during motion;
the industrial computer 83 is used for loading a preset digital twinning system, and the preset digital twinning system comprises: the system comprises a digital twin body and a verification model, wherein the digital twin body is a dynamic copy body of slave equipment in a digital space, and the verification model is a digital model used for collision verification in the digital space; the industrial personal computer 83 is connected with the main controller 82 and used for inputting the motion parameters into the digital twin body, obtaining the motion result obtained by the digital twin body executing the motion parameters, performing collision verification on the motion result through the verification model, and sending the motion parameters to the slave controller 84 if the collision verification is passed, otherwise giving an alarm;
the industrial personal computer 83 can also display the digital twin body, and the digital twin body displayed on the industrial personal computer 83 can receive a control instruction output by an operator to zoom, see through and observe a 360-degree corner, so that the operator can indirectly realize the fine operation of the slave device 85 conveniently.
One end of the slave controller 84 is connected with the industrial personal computer 83 to obtain the motion parameters, and the other end of the slave controller 84 is connected with the slave device 85 to control the slave device 85 to move according to the motion parameters.
The master-slave linkage control system based on the digital twin mapping is based on the digital twin technology, the mapping of the slave device is completed in the virtual space, namely the digital twin is a dynamic copy body of the slave device in the digital space, on one hand, the motion parameters of the master device are input into the digital twin, so that the digital twin can map the space state of each joint of the current slave manipulator in real time, the refined operation of the slave device is convenient, on the other hand, the motion parameters of the master device are input into the digital twin before being input into the slave device entity in the shielding chamber, so that the motion results obtained by the motion parameters of the digital twin can be subjected to collision verification, the motion of the slave device is controlled according to the motion parameters after the collision verification is passed, and even if the structure of the master device and the slave device is different, due to the existence of an anti-collision verification link, the operation safety of the slave device is improved, the problem that the slave device in the shielding room is difficult to observe in the related technology during remote operation is solved, operators can conveniently observe the slave device in the shielding room, the operation condition of the slave device in the shielding room is mastered, and the operation safety of the slave device is improved.
In some embodiments, the master controller 82, the industrial personal computer 83 and the slave controller 84 are further configured to implement the steps in the master-slave linkage control method based on the digital twin mapping provided in each of the above embodiments, and are not described herein again.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a master-slave linkage control method based on a digital twin map. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
In an embodiment, fig. 9 is a schematic internal structural diagram of a computer device according to an embodiment of the present application, and as shown in fig. 9, there is provided a computer device, which may be a server, and its internal structural diagram may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a master-slave linkage control method based on a digital twin map.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the digital twin mapping-based master-slave linkage control method provided in the foregoing embodiments.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement the steps of the digital twin mapping based master-slave linkage control method provided by the above embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A master-slave linkage control method based on digital twin mapping is characterized by comprising the following steps:
loading a preset digital twinning system, the preset digital twinning system comprising: a digital twin which is a dynamic replica of a slave device in a digital space, and a verification model which is a digital model for performing collision verification in the digital space;
acquiring a motion parameter when a main device moves, inputting the motion parameter into the digital twin body, and acquiring a motion result obtained by the digital twin body executing the motion parameter;
performing collision verification on the motion result through the verification model;
and if the collision verification is passed, controlling the slave equipment to move according to the motion parameters, and otherwise, giving an alarm.
2. The master-slave linkage control method based on the digital twin mapping according to claim 1, wherein the performing collision verification on the motion result through the verification model comprises:
controlling the verification model to move according to the movement result, and judging whether a preset collision area is contacted in the movement process of the verification model;
and if the collision areas are not contacted, the collision verification is passed, otherwise, the collision verification is not passed.
3. The master-slave linkage control method based on the digital twin mapping according to claim 1, wherein the motion parameters include joint angles; the method for acquiring the motion parameters of the master device during motion comprises the following steps:
acquiring angles of all main motors when the main equipment moves;
and determining the angle of each joint when the main equipment moves according to the angle of each main motor.
4. The master-slave linkage control method based on the digital twin mapping according to claim 3, wherein if the collision verification is passed, controlling the slave device to move according to the motion parameters comprises:
if the collision verification is passed, converting the joint angles into slave motor angles corresponding to the slave equipment;
and controlling the slave equipment to move according to the angles of the slave motors.
5. The master-slave linkage control method based on the digital twin map according to claim 4, wherein converting the respective joint angles into respective slave motor angles corresponding to the slave devices if the collision verification passes comprises:
acquiring the reduction ratio of each slave motor in the slave equipment;
and determining the angles of the slave motors according to the product of the reduction ratios and the joint angles.
6. The master-slave linkage control method based on the digital twin map according to claim 4, wherein after controlling the slave device to move according to the angle of each slave motor, the method further comprises:
acquiring the torque increment of each joint when the slave equipment moves;
and judging whether the load of the slave equipment exceeds a preset load or not according to the torque increment of each joint and a preset increment.
7. The master-slave linkage control method based on the digital twin mapping according to claim 1, wherein the digital twin includes a first digital twin and a second digital twin, both of which are dynamic replicas of the slave device in digital space; acquiring a motion parameter when a main device moves, inputting the motion parameter into the digital twin body, and acquiring a motion result obtained by the digital twin body executing the motion parameter, wherein the motion result comprises the following steps:
acquiring a motion parameter when a main device moves, inputting the motion parameter into the first digital twin body, and acquiring a motion result obtained by the first digital twin body executing the motion parameter;
after performing collision verification on the motion result through the verification model, the method further includes:
if the collision verification is passed, controlling the second digital twin body to move according to the motion parameters;
acquiring motion information of the second digital twin in unit time;
and predicting the service life of the slave equipment according to the motion information.
8. A master-slave linkage control system based on digital twin mapping is characterized by comprising master equipment, a master controller, an industrial personal computer, slave controllers and slave equipment;
the main controller is connected with the main equipment to obtain the motion parameters of the main equipment during motion;
the industrial personal computer is used for loading a preset digital twinning system, and the preset digital twinning system comprises: a digital twin which is a dynamic replica of a slave device in a digital space, and a verification model which is a digital model for performing collision verification in the digital space; the industrial personal computer is connected with the main controller and used for inputting the motion parameters into the digital twin body, obtaining a motion result obtained by the digital twin body executing the motion parameters, performing collision verification on the motion result through the verification model, and sending the motion parameters to the slave controller if the collision verification is passed, otherwise giving an alarm;
one end of the slave controller is connected with the industrial personal computer to obtain the motion parameters, and the other end of the slave controller is connected with the slave equipment and used for controlling the motion of the slave equipment according to the motion parameters.
9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the digital twin map based master-slave linkage control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the digital twin map based master-slave linkage control method according to any one of claims 1 to 7 when executed.
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| CN202011277936.0A CN112091982B (en) | 2020-11-16 | 2020-11-16 | Master-slave linkage control method and system based on digital twin mapping |
| PCT/CN2021/087148 WO2022099997A1 (en) | 2020-11-16 | 2021-04-14 | Master-slave linkage control method and system based on digital twin mapping |
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