CN112513860A - Data processing method, device, system, storage medium and processor - Google Patents
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Abstract
Data processing method, device, system, storage medium and processor. The method comprises the following steps: acquiring geometric data and statistical data of a source object from a kinematic model of the source object according to the relationship between the object to be modeled and the source object; and according to the relation between the object to be modeled and the source object, converting the acquired geometric data and statistical data of the source object into geometric data and statistical data for performing mathematical modeling on the object to be modeled. With information from the kinematic model, the mathematical model can be built easily and quickly.
Description
The present application relates to the field of industrial production simulation. In particular, the present application relates to a data processing method, apparatus, system, storage medium, processor and computer program product for fast modeling of mathematical models in plant simulation.
In general, a kinematic simulation and a mathematical simulation may be performed on the equipment and/or the workpiece in the factory to obtain a kinematic model and a mathematical model, respectively, which are independent of each other. The derivation of the kinematic model is based on kinematic constraint, the kinematic constraint is added on the production line model to detect the movement speed of the workpiece, the coordination and interference among all the stations are determined by taking time sequence or event trigger as a derivation mechanism, and the parameters of the production line are input. The mathematical model takes mathematical formulas as derivation bases, productivity, energy consumption and the like as outputs, and the mathematical model also takes time series or event triggering as a derivation mechanism and takes parameters of a production line as inputs.
Disclosure of Invention
According to an aspect of an embodiment of the present application, there is provided a data processing method including: acquiring geometric data and statistical data of a source object from a kinematic model of the source object according to the relationship between the object to be modeled and the source object; and according to the relation between the object to be modeled and the source object, converting the acquired geometric data and statistical data of the source object into geometric data and statistical data for performing mathematical modeling on the object to be modeled.
In this way, the user can more quickly and easily build a mathematical model (which is in a plant simulation) using a kinematic model (which is in a machining simulation).
According to an exemplary embodiment of the application, the method further comprises: and inputting the relation between the object to be modeled and the source object.
In this way, the user can flexibly manage the relationship between the object to be modeled and the source object according to actual needs.
The data processing method further comprises at least one of the following steps: performing three-dimensional mathematical modeling of the object to be modeled using the converted geometric data to obtain a three-dimensional mathematical model of the object to be modeled, and performing two-dimensional mathematical modeling of the object to be modeled using the converted statistical data to obtain a two-dimensional mathematical model of the object to be modeled.
In this way, more accurate geometric data and statistical data can be obtained from the kinematic model on the basis of determining the relationship between the object to be modeled and the source object, so that the geometric data and the statistical data can be utilized for rapid modeling in mathematical modeling.
According to an exemplary embodiment of the present application, in the data processing method, the source object includes at least one of one or more devices in a factory and one or more workpieces processed by the one or more devices in the factory, and the relationship between the object to be modeled and the source object includes: the object to be modeled and the source object are the same object; the object to be modeled is a combination of the source objects; the object to be modeled and the source object are correlated in the production process; the position of the object to be modeled in the plant is correlated to the position of the source object in the plant.
In this way, the data required in the data model modeling can be acquired from the kinematic model by using the relationship between the respective workpieces or devices in the factory, thereby improving the speed and efficiency of modeling.
According to an exemplary embodiment of the application, in the data processing method, in case the source object comprises one or more devices in a plant, the geometry data of the source object comprises at least one of: a geometric model of the source object; orientation information of the source object in the plant; location information of the source object in the plant, and the statistical data of the source object comprises at least one of: the name of the source object; the type of the source object; a translation speed of the source object; the rotational speed of the source object; the length of the source object; a processing duration of a currently processing workpiece of the source object; the source object waits for a wait duration to process the workpiece.
In this way, geometric and statistical data from kinematic models of one or more devices in a plant can be transformed in mathematical models to rapidly perform 3D and 2D modeling, respectively.
According to an exemplary embodiment of the application, in the data processing method, in case the source object comprises one or more workpieces processed by one or more devices in a plant, the geometric data of the source object comprises at least one of: a geometric model of the source object; orientation information of the source object in the plant; location information of the source object in the plant, and the statistical data of the source object comprises at least one of: the name of the source object; the type of the source object; a translation speed of the source object; a movement duration of the source object; the rotational speed of the source object; the length of the source object; a processed duration of the source object currently being processed; a wait to be processed duration of the source object waiting to be processed.
In this way, data of a kinematic model of a source object can be automatically converted based on a relationship between the source object and an object to be modeled, thereby enabling rapid modeling of a mathematical model.
According to an exemplary embodiment of the application, in the data processing method, the step of converting the acquired geometric data and statistical data of the source object into geometric data and statistical data of the object to be modeled comprises: the step of converting the acquired geometric data and statistical data of the source object into geometric data and statistical data for mathematically modeling the object to be modeled comprises: when the object to be modeled and the source object are the same object, the acquired geometric data and statistical data of the source object are used as the geometric data and statistical data for performing mathematical modeling on the object to be modeled; when the object to be modeled is a combination of source objects, the acquired geometric data and statistical data of all the source objects are used as the geometric data and statistical data for performing mathematical modeling on the object to be modeled; when the object to be modeled and the source object are mutually associated in the production process, converting the acquired geometric data of the source object into geometric data for performing mathematical modeling on the object to be modeled according to the conversion relation, based on the production process, of the geometric data of the object to be modeled and the geometric data of the source object, and converting the acquired statistical data of the source object into statistical data for performing mathematical modeling on the object to be modeled according to the conversion relation, based on the production process, of the statistical data of the object to be modeled and the statistical data of the source object; when the position of the object to be modeled in the factory is correlated with the position of the source object in the factory, the acquired geometric data of the source object is converted into geometric data for performing mathematical modeling on the object to be modeled according to the conversion relation between the geometric data of the object to be modeled and the geometric data of the source object based on the position in the factory, and the acquired statistical data of the source object is converted into statistical data for performing mathematical modeling on the object to be modeled according to the conversion relation between the statistical data of the object to be modeled and the statistical data of the source object based on the position in the factory.
In this way, data of a kinematic model of a source object can be automatically converted based on a relationship between the source object and an object to be modeled, thereby enabling rapid modeling of a mathematical model.
According to another aspect of the embodiments of the present application, there is provided a data processing apparatus including: the acquisition unit is used for acquiring geometric data and statistical data of the source object from the kinematic model of the source object according to the relation between the object to be modeled and the source object; and the conversion unit is used for converting the geometric data and the statistical data of the source object acquired by the acquisition unit into the geometric data and the statistical data for performing mathematical modeling on the object to be modeled according to the relationship between the object to be modeled and the source object.
In this way, the user can more quickly and easily build a mathematical model (which is in a plant simulation) using a kinematic model (which is in a machining simulation).
The data processing apparatus further includes: and the input unit is used for inputting the relation between the object to be modeled and the source object.
The modeling apparatus further includes at least one of the following elements: the three-dimensional modeling unit is used for acquiring and obtaining three-dimensional mathematical modeling of the object to be modeled by utilizing the converted geometric data so as to obtain a three-dimensional mathematical model of the object to be modeled; and the two-dimensional modeling unit is used for acquiring and obtaining the two-dimensional mathematical modeling of the object to be modeled by utilizing the converted statistical data so as to obtain a two-dimensional mathematical model of the object to be modeled.
In the modeling apparatus, the source object includes at least one of one or more devices in a plant and one or more workpieces processed by the one or more devices in the plant, and the relationship between the object to be modeled and the source object includes: the object to be modeled and the source object are the same object; the object to be modeled is a combination of the source objects; the object to be modeled and the source object are correlated in the production process; the position of the object to be modeled in the plant is correlated to the position of the source object in the plant.
In the data processing apparatus, in case the source object comprises one or more devices in the plant, the geometric data of the source object comprises at least one of: a geometric model of the source object; orientation information of the source object in the plant; location information of the source object in the plant, and the statistical data of the source object comprises at least one of: the name of the source object; the type of the source object; a translation speed of the source object; the rotational speed of the source object; the length of the source object; a processing duration of a currently processing workpiece of the source object; the source object waits for a wait duration to process the workpiece.
In the data processing apparatus, in the case where the source object includes one or more workpieces processed by one or more devices in the plant, the geometric data of the source object includes at least one of: a geometric model of the source object; orientation information of the source object in the plant; location information of the source object in the plant, and the statistical data of the source object comprises at least one of: the name of the source object; the type of the source object; a translation speed of the source object; a movement duration of the source object; the rotational speed of the source object; the length of the source object; a processed duration of the source object currently being processed; a wait to be processed duration of the source object waiting to be processed.
In the data processing apparatus, the conversion unit is configured to: when the object to be modeled and the source object are the same object, the acquired geometric data and statistical data of the source object are used as the geometric data and statistical data for performing mathematical modeling on the object to be modeled; when the object to be modeled is a combination of source objects, the acquired geometric data and statistical data of all the source objects are used as the geometric data and statistical data for performing mathematical modeling on the object to be modeled; when the object to be modeled and the source object are mutually associated in the production process, converting the acquired geometric data of the source object into geometric data for performing mathematical modeling on the object to be modeled according to the conversion relation, based on the production process, of the geometric data of the object to be modeled and the geometric data of the source object, and converting the acquired statistical data of the source object into statistical data for performing mathematical modeling on the object to be modeled according to the conversion relation, based on the production process, of the statistical data and the statistical data of the source object; when the position of the object to be modeled in the factory is correlated with the position of the source object in the factory, the acquired geometric data of the source object is converted into geometric data for performing mathematical modeling on the object to be modeled according to the conversion relation between the geometric data of the object to be modeled and the geometric data of the source object based on the position in the factory, and the acquired statistical data of the source object is converted into statistical data for performing mathematical modeling on the object to be modeled according to the conversion relation between the statistical data of the object to be modeled and the statistical data of the source object based on the position in the factory.
According to another aspect of embodiments of the present application, there is provided a data processing system including: a kinematics model simulator for obtaining a kinematics model of the source object; the acquisition unit is used for acquiring geometric data and statistical data of a source object from a kinematic model of the source object of the kinematic model simulator according to the relation between the object to be modeled and the source object; the conversion unit is used for converting the geometric data and the statistical data of the source object acquired by the acquisition unit into the geometric data and the statistical data for performing mathematical modeling on the object to be modeled according to the relationship between the object to be modeled and the source object; and the mathematical model simulator is used for performing three-dimensional mathematical modeling on the object to be modeled by using the geometric data converted by the conversion unit to obtain a three-dimensional mathematical model of the object to be modeled, and performing two-dimensional mathematical modeling on the object to be modeled by using the statistical data converted by the conversion unit to obtain a two-dimensional mathematical model of the object to be modeled.
In this way, the user can more quickly and easily build a mathematical model (which is in a plant simulation) using a kinematic model (which is in a machining simulation).
According to another embodiment of the application, a storage medium is provided, the storage medium storing a program, wherein the method according to any of the above is performed when the program is run.
According to another embodiment of the present application, there is provided a processor coupled to a memory, wherein the memory stores a program and the processor executes the program to perform the method according to any one of the above.
According to another embodiment of the application, there is also provided a computer program product stored on a computer-readable medium and comprising computer-executable instructions that, when executed, cause at least one processor to perform a method according to any of the above.
The method according to the embodiment of the application can be realized by a program on a storage medium and a processor, so as to determine the accurate required production equipment path.
In the embodiment of the present application, a mathematical model can be easily constructed using information obtained from a kinematic model. Thereby greatly reducing the time required for modeling in a mathematical model. Therefore, it is very easy and meaningful to establish a "bridge" between the kinematic simulator (machining simulation) and the mathematical simulator (factory simulation). This means that in case the operator already has a machining simulation model, it is then very easy to build a plant simulation model.
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 schematic diagram illustrating the relationship between a kinematic model of an object and the data it relates to a mathematical model according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a relationship between a kinematic model and a mathematical model of a robot according to an embodiment of the present application;
FIG. 3 is a flow chart of a data processing method according to an embodiment of the present application;
FIG. 4 is a flow chart of a conversion step in a data processing method according to an embodiment of the present application;
FIG. 5 is a block diagram of a data processing apparatus according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a file structure of an information acquisition module of a data processing apparatus according to an embodiment of the present application;
FIG. 7 is a block diagram of a data processing system according to an embodiment of the present application;
FIG. 8 is a block diagram of a kinematic model, a three-dimensional mathematical model of a mathematical model, and a two-dimensional mathematical model according to an embodiment of the present application;
FIG. 9 is a block diagram of a plant level simulation according to an embodiment of the present application.
Description of the reference numerals
104 the same type of data to which the kinematic model of the object relates as the mathematical model
102 data involved by the kinematic model but not involved by the mathematical model
106 data involved by the mathematical model but not involved by the kinematic model
202 kinematic model of robot
Geometric model, processing time, waiting time in kinematic model of 202-2 robot
Collision and movement trajectory in kinematic model of 202-4 robot
204 mathematical model of the robot
Geometric model, processing time, waiting time in mathematical model of 204-2 robot
Energy consumption, throughput in mathematical model of 204-4 robot
S302 inputting the relation between the object to be modeled and the source object
S304, according to the input relation, acquiring geometric data and statistical data of the source object from the kinematic model of the source object
S306, according to the input relation, the acquired geometric data and statistical data of the source object are converted into the geometric data and statistical data of the object to be modeled
S308, performing three-dimensional mathematical modeling on the object to be modeled by using the converted geometric data to obtain a three-dimensional mathematical model of the object to be modeled
S310, two-dimensional mathematical modeling of the object to be modeled is carried out by utilizing the converted statistical data to obtain a two-dimensional mathematical model of the object to be modeled
S402 determines the relationship between the object to be modeled and the source object input in step S302 of FIG. 3
S404, using the acquired geometric data and statistical data of the source object as the geometric data and statistical data of the object to be modeled
S406, using the acquired geometric data and statistical data of all the source objects as the geometric data and statistical data of the object to be modeled
S408, the acquired geometric data and statistical data of the source object are converted into the geometric data and statistical data of the object to be modeled
S410, converting the acquired geometric data of the source object into the geometric data of the object to be modeled according to the conversion relation between the geometric data of the object to be modeled and the geometric data of the source object based on the position in the factory, and converting the acquired statistical data of the source object into the statistical data of the object to be modeled according to the conversion relation between the statistical data of the object to be modeled and the statistical data of the source object based on the position in the factory
S412, according to the conversion relation between the geometric data of the object to be modeled and the geometric data of the source object based on the production process, the acquired geometric data of the source object is converted into the geometric data of the object to be modeled, and according to the conversion relation between the statistical data of the object to be modeled and the statistical data of the source object based on the production process, the acquired statistical data of the source object is converted into the statistical data of the object to be modeled
502 input unit
504 acquisition unit
504-2 geometric data acquisition unit
504-4 statistical data acquisition unit
506 conversion unit
506-2 geometric data conversion unit
506-4 statistical data conversion unit
508 modeling unit
A conveyer belt
Speed B
Width of C
Length of D
E position in the plant
Orientation of F in the plant
Storage path of G geometric information
702 kinematics model simulator
704 input unit
706 acquisition unit
708 conversion unit
710 mathematical model simulator
Kinematic model of 802 source objects
804 3D model of a mathematical model of an object to be modeled
806 2D model of a mathematical model of an object to be modeled
902 physical layer level simulation
904 simulation of product line level
906 simulation at the factory level.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules or elements is not necessarily limited to those steps or modules or elements expressly listed, but may include other steps or modules or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic diagram showing a relationship between a kinematic model of an object and data to which its mathematical model relates, according to an embodiment of the present application. The object may be equipment in a factory (e.g., a robotic arm, a conveyor belt) or a workpiece in a factory (e.g., a workpiece being machined on a conveyor belt). In fig. 1, the area 104 represents the same type of data to which the kinematic model of the object and the mathematical model relate, for example, a geometric model representing a robot arm (e.g., a model of a robot arm in three-dimensional space represented in CAD format), equipment parameters representing a conveyor belt (e.g., length of the conveyor belt, speed), a duration of being processed of a workpiece currently being processed, and the like. The region 102 represents data that the kinematic model relates to but the mathematical model does not relate to, such as a movement trajectory of an object. In particular, the kinematic constraint, the kinematic pair, the motion speed and the motion freedom degree of the mechanical arm can be realized. Region 106 represents data that the mathematical model relates to but that the kinematic model does not relate to, e.g., the number of workpieces processed by the robot arm per unit time, the energy consumption of the robot arm, etc. As shown in fig. 1, information from the kinematic model (which is in the process simulation) is typically redundant to the mathematical model (which is in the plant simulation). The following description will be made of a robot arm as an example of a machining simulation and a factory simulation. The kinematic model of the mechanical arm in the machining simulation is generated by performing kinematic modeling on the mechanical arm generating the displacement. The kinematic model of the mechanical arm in the machining simulation refers to a virtual model of the mechanical arm which is created in a virtual space for simulating the real mechanical arm and has the same geometric structure and physical motion characteristics as the real mechanical arm according to data related to the geometric structure and physical motion characteristics of the real mechanical arm. The virtual model can run in a virtual space according to the same physical law and operation law as the real mechanical arm in a real space, and can simulate the structure, running condition and physical state of the real mechanical arm in the real space in the virtual space. The simulation may include generating kinematic models for a plurality of robotic arms involved in the machining process to create a virtual environment in virtual space that is consistent with the equipment spatial relationships in real space. During the operation of the kinematic models of the plurality of robot arms in the virtual environment, events such as collision between the kinematic models of the robot arms (for example, collision between the kinematic model of the first robot arm and the kinematic model of the second robot arm at the processing position during the return to the original position), cooperation (for example, cooperation between the kinematic model of the first robot arm at the first processing step and the kinematic model of the second robot arm at the second processing step) and the like may occur. The modeling involved in such a kinematic model in a machining simulation is mainly used to examine the detailed design of the production line of interest. On the other hand, the mathematical model of the robot arm is a model obtained by mathematically modeling the robot arm, and is a mathematical expression of information relating to the robot arm by a mathematical expression. For example, the mathematical model may include a three-dimensional mathematical model that is three-dimensionally mathematically represented by a mathematical expression and a two-dimensional mathematical model that is two-dimensionally mathematically represented by a mathematical expression. In a mathematical model of an f-arm in a plant simulation, the arm is defined as a unit of work, and the mathematical model also includes data such as inputs, derivation mechanisms, and outputs. The input is a parameter of the robot arm expressed mathematically (e.g., the equipment initialization time of the robot arm), the derivation mechanism is a time series or trigger event expressed mathematically, and the output is the unit operating time of the robot arm and energy consumption, etc. The mathematical model of the mechanical arm is not used for a specific motion analysis of the mechanical arm. For example, a mathematical model of a robotic arm does not provide information such as the motion trajectory of the robotic arm. It can therefore also be understood that: the mathematical model of the mechanical arm (relating to the plant simulation) is located at the upper layer of the kinematic model (relating to the machining simulation), and the kinematic model at the lower layer embodies more detailed information than the mathematical model at the upper layer. For example, a kinematic model relates to geometric information (i.e., a geometric model of an object in three-dimensional space), kinematic information (e.g., kinematic constraints, kinematic pairs, kinematic velocities, kinematic degrees of freedom), equipment parameters (e.g., length, velocity), and processing time (e.g., unit of work time), among others. The mathematical model may relate to geometric information, kinematic information, equipment parameters, processing time and throughput, energy consumption information, and the like. Both of which relate to geometric information, kinematic information, device parameters, processing time, etc. (as shown in section 104 of fig. 1). Some of the information and data involved in the kinematic and data models are listed in table 1:
TABLE 1
Further, fig. 2 shows a schematic diagram of a relationship between a kinematic model and a mathematical model of a robot according to an embodiment of the present application, taking as an example a robot commonly used in a factory. The kinematic model and the data model of the robot each relate to data as shown in table 2 below:
TABLE 2
| Kinematic model of robot | Mathematical model of robot |
| Geometric model | Geometric |
| Working time | |
| 1 | |
| |
|
| |
|
| Collision of vehicles | Energy consumption |
| Moving track | Throughput capacity |
In fig. 2, 202-2 in the kinematic model 202 of the robot represents the geometric model, the processing time, and the waiting time in the kinematic model of the robot. 204-2 in the mathematical model 204 of the robot represents the geometric model, machining time, waiting time in the mathematical model of the robot. 202-4 in the kinematic model 202 of the robot represents the collision, movement trajectory (e.g., the kinematic degree of freedom of the robot) in the kinematic model of the robot. Part 204-4 of the mathematical model 204 of the robot represents the energy consumption, throughput, in the mathematical model of the robot. According to an exemplary embodiment, data from 202-2 in the kinematic model of the robot may be converted to data from 204-2 in the mathematical model of the robot, as indicated by arrow 1. Further, the data of 204-4 in the mathematical model of the robot may be externally obtained (e.g., input) as indicated by arrow 2.
In general, kinematic models are used for kinematic simulations with more comprehensive geometric information. Similarly, the kinematic model also has more comprehensive data of equipment parameters, processing efficiency and the like. Thus, while data from motion trajectories in the kinematic model may not be needed to construct the mathematical model, some manufacturing parameters from the kinematic model (e.g., machine parameters such as length and width, machining time per unit of operating time, etc.) may help to construct the mathematical model.
Thus, according to an exemplary embodiment, data may be obtained from a kinematic model and mapped to a mathematical model (plant simulation). With the information from the kinematic model, a mathematical model can be built easily and quickly.
Fig. 3 is a flowchart of a data processing method according to an embodiment of the present application. As shown in fig. 3, the method includes:
step S302, for example, a user inputs a relationship between an object to be modeled and a source object via a user interface. In particular, the user may enter the relationship through the I/O interface. One or more of the I/O devices are capable of communicating between an individual and a computer system. By way of example, and not by way of limitation, I/O devices may include keyboards, keys, microphones, displays, mice, printers, scanners, speakers, still cameras, styli, tablets, touch screens, trackballs, cameras, and so forth. The data processing method may be used for plant modeling, the source object including at least one of one or more devices in a plant and one or more workpieces processed by the plant devices. For example, the object to be modeled and the source object may be a workpiece to be machined, a robot arm, a conveyor belt. The relationship between the object to be modeled and the source object may include at least one of: the object to be modeled and the source object are the same object; the object to be modeled is a combination of source objects (e.g., the source object is each robot arm of a production line in a plant, and the object to be modeled is a combination of all robot arms on a production line in the plant); the object to be modeled is interrelated with the source object in the production process (e.g., the source object is a first robotic arm in a first processing step on the production line, and the object to be modeled is a second robotic arm in a second processing step on the production line); the location of the object to be modeled in the factory correlates to the location of the source object in the factory (e.g., the object to be modeled is a conveyor belt and the source object is a workpiece being conveyed on the conveyor belt).
Step S304, according to the relation between the object to be modeled and the source object input in step S302, the geometric data and the statistical data of the source object are obtained from the kinematic model of the source object. In the case where the source object comprises one or more devices in the plant, the geometric data of the source object comprises at least one of: orientation information of the source object in the plant; location information of the source object in the plant, and the statistical data of the source object comprises at least one of: the name of the source object; the type of the source object; a translation speed of the source object; the rotational speed of the source object; the length of the source object; a processing duration of a currently processing workpiece of the source object; the source object waits for a wait duration to process the workpiece. Where the source object comprises at least one of one or more workpieces processed by the factory equipment, the geometric data of the source object comprises at least one of: a geometric model of the source object; orientation information of the source object in the plant; location information of the source object in the plant, and the statistical data of the source object comprises at least one of: the name of the source object; the type of the source object; a translation speed of the source object; the rotational speed of the source object; the length of the source object; a processed duration of the source object currently being processed; a wait to be processed duration of the source object waiting to be processed. Wherein the geometric data is used for 3D modeling in a mathematical model. The purpose of acquiring the geometric data is to input the acquired model and its relative position for 3D visualization. The statistical data obtained is used for 2D modeling in a mathematical model. The purpose of obtaining statistical data is to input statistical data information to the 2D model for simulation.
Step S306, according to the relation between the object to be modeled and the source object input in step S302, the acquired geometric data and statistical data of the source object are converted into the geometric data and statistical data of the object to be modeled. The specific way in which the geometric data and statistics of the source object are converted into those of the object to be modeled will be described in detail in fig. 4.
Step S308, the converted geometric data is utilized to carry out three-dimensional mathematical modeling on the object to be modeled so as to obtain a three-dimensional mathematical model of the object to be modeled. A three-dimensional mathematical model of the object to be modeled is shown, for example, in part 804 of fig. 8.
Step S310, the converted statistical data is utilized to carry out two-dimensional mathematical modeling on the object to be modeled so as to obtain a two-dimensional mathematical model of the object to be modeled. A two-dimensional mathematical model of the object to be modeled is shown, for example, at 806 in fig. 8.
Moreover, although this disclosure describes and illustrates an example method for data processing, including particular steps of the method of fig. 3, this disclosure contemplates any suitable method for data processing, including any suitable steps, which may include all, some, or none of the steps of the method of fig. 3, where appropriate. For example, in the case where the relationship between the object to be modeled and the source object has been stored in advance, step S302 may be omitted. Moreover, in the case where only the acquired geometric data and statistical data of the source object need to be converted into geometric data and statistical data of the object to be modeled, the process may be ended at step S306 without performing steps S308 and S310. Moreover, although this disclosure describes and illustrates particular components, devices, or systems performing particular steps of the method of fig. 3, this disclosure contemplates any suitable combination of any suitable components, devices, or systems performing any suitable steps of the method of fig. 3.
In addition, step S302 may be omitted according to design requirements and hardware conditions, for example, in the case where the relationship between the source object and the object to be modeled is stored in advance, user input may not be required. Further, the execution order of step S308 and step S310 is adjusted. For example, steps S308 and S310 may be performed in parallel, or may be performed in any serial order.
Through the embodiment, the modeling of the mathematical model by using the kinematic model is realized. Namely, the conversion from machining simulation to factory simulation is realized.
Next, fig. 4 is referred to. Fig. 4 is a flowchart of a conversion step in a data processing method according to an embodiment of the present application, and specific details of the conversion step in the data processing method according to the embodiment of the present application are further described in conjunction with fig. 4. The converting step includes:
step S402, in which it is determined which of the following is the relationship between the object to be modeled and the source object input in step S302 of fig. 3: the object to be modeled and the source object are the same object; the object to be modeled is a combination of the source objects; the object to be modeled is correlated to the position of the source object in the production process or in the factory.
Step S404, when the object to be modeled and the source object are determined to be the same object in step S402, the acquired geometric data and statistical data of the source object are used as the geometric data and statistical data of the object to be modeled. For example, when both the object to be modeled and the source object are the first robot arm, the acquired geometric data and statistical data of the kinematic model of the first robot arm are respectively used as the geometric data and statistical data of the mathematical model of the first robot arm.
Step S406, when it is determined in step S402 that the object to be modeled is a combination of source objects, taking the acquired geometric data and statistical data of all the source objects as the geometric data and statistical data of the object to be modeled. For example, in the case where the object to be modeled is a single robot arm and the source objects are all combinations of robot arms, the geometric data and the statistical data of the kinematic model of the nth robot arm (N is an integer greater than 3) of the first robot arm, the second robot arm, and the third robot arm … on each flow line are acquired as the geometric data and the statistical data of the mathematical model of the combination of all robot arms on each flow line.
Step S408, when it is determined in step S402 that the object to be modeled and the source object are associated with each other in position in the production process or in the factory, the acquired geometric data and statistical data of the source object are converted into geometric data and statistical data of the object to be modeled. When determining that the positions of the object to be modeled and the source object in the plant are related to each other, step S410 is executed, in which the acquired geometric data of the source object is converted into the geometric data of the object to be modeled according to a conversion relation between the geometric data of the object to be modeled and the geometric data of the source object based on the position in the plant, and the acquired statistical data of the source object is converted into the statistical data of the object to be modeled according to a conversion relation between the statistical data of the object to be modeled and the statistical data of the source object based on the position in the plant. For example, the data acquired from the kinematic model is about the movement time of the workpiece, while the corresponding object in the mathematical model is the conveyor belt. Therefore, in order to realize modeling in a mathematical model using data of a kinematic model, it is necessary to convert the moving time of the workpiece into the speed of the conveyor belt. In the present embodiment, the relationship between the object of the kinematic model and the object between the mathematical models has been stored in advance, and therefore, the data acquired from the kinematic model can be processed in accordance with the predetermined relationship, thereby calculating a required value in the mathematical model. Furthermore, when the object to be modeled and the source object are associated with each other in the production process, step S412 is performed, in which the acquired geometric data of the source object is converted into geometric data of the object to be modeled according to a production process-based conversion relationship of the geometric data of the object to be modeled and the geometric data of the source object, and the acquired statistical data of the source object is converted into statistical data of the object to be modeled according to a production process-based conversion relationship of the statistical data of the object to be modeled and the statistical data of the source object. For example, the data acquired from the kinematic model is about the duration of the machining of a first workpiece currently being machined, while the corresponding object in the mathematical model is a second workpiece in the next machining stage after the first workpiece is machined. Therefore, in order to realize modeling in a mathematical model using data of a kinematic model, it is necessary to convert a duration of time for which a first workpiece is to be machined into a duration of time for which a second workpiece is to be machined. In the present embodiment, the relationship between the object of the kinematic model and the object between the mathematical models has been stored in advance, and therefore, the data acquired from the kinematic model can be processed in accordance with the predetermined relationship, thereby calculating a required value in the mathematical model.
As mentioned before, depending on the actual situation and the design requirements, a user interface UI may be provided, allowing a user to manually define the relationship between the object to be modeled and the source object, and to give a conversion relationship between the geometric data and statistical data of the object to be modeled and the geometric data and statistical data of the source object. For example, a kinematic model of the slide as a workpiece to be processed and a kinematic model of the conveyor as a device in a factory may be known or obtained, and the relationship of the slide and the conveyor in relation to each other in the production process may be determined or input such that the slide is placed on the conveyor and the slide performs a translational motion as the conveyor is conveyed. Therefore, the moving time of the slider can be obtained from the kinematic model of the slider, and the length of the conveyor belt can be obtained from the kinematic model of the conveyor belt. At the same time, the following conversion relationship may be determined or entered:
S＝L/T (1)
in expression (1), S represents the speed of the conveyor belt in the mathematical model of the conveyor belt as the object to be modeled, L represents the length of the conveyor belt derived from the kinematic model of the conveyor belt as the source object, and T represents the movement time of the slider derived from the kinematic model of the slider as the source object.
From the above-described conversion relationship, the speed of the conveyor belt for mathematically modeling the conveyor belt as an object to be modeled can be obtained.
Another example is described below in which the object to be modeled is a conveyor belt and the object is a workpiece. First, a user inputs a conveyor belt and a workpiece on a graphical interface via an input device such as a keyboard or a touch panel. For example, the workpiece is a workpiece being transported on a conveyor belt. Therefore, the positions of the conveyor belt and the workpiece in the factory are correlated with each other. Geometric data (e.g., orientation information of the workpiece in the factory, position information in the factory) and statistical data (e.g., movement duration of the workpiece) are obtained from a kinematic model of the workpiece. Next, the acquired geometric data and statistical data of the workpiece are converted into geometric data and statistical data of the object to be modeled (for example, the speed of the conveyor belt), respectively, according to a conversion relationship of the statistical data of the conveyor belt and the statistical data of the workpiece determined in advance according to the position in the factory. Alternatively, the user may manually define a conversion relationship between the statistical data of the conveyor belt and the statistical data of the workpiece according to the position in the factory through the graphical user interface, and further convert the acquired statistical data of the workpiece (for example, the moving time of the workpiece) into the statistical data of the conveyor belt (for example, the speed of the conveyor belt). For example, in the case where the workpiece is a workpiece being conveyed on a conveyor belt, the length of the conveyor belt is divided by the duration of movement of the workpiece, thereby obtaining the speed of the conveyor belt. And finally, carrying out three-dimensional mathematical model modeling and two-dimensional mathematical model modeling by using the converted geometric data and statistical data, thereby obtaining a three-dimensional mathematical model and a two-dimensional mathematical model of the conveyor belt. Among them, a three-dimensional mathematical model and a two-dimensional mathematical model of the conveyor belt can be performed using a mathematical modeling method (NX MOTION, NX MCD) known in the art.
According to an embodiment of the present application, a data processing apparatus is provided. Fig. 5 is a block diagram of a data processing apparatus according to an embodiment of the present application. As shown in fig. 5, the data processing apparatus includes: an input unit 502, configured to input, by a user, a relationship between an object to be modeled and a source object; an obtaining unit 504, configured to obtain geometric data and statistical data of the source object from a kinematic model of the source object according to the relationship output by the input unit; a conversion unit 506, configured to convert the geometric data and the statistical data of the source object acquired by the acquisition unit into geometric data and statistical data of an object to be modeled, respectively, according to the relationship output by the input unit; the modeling unit 508 is configured to perform three-dimensional mathematical modeling on the object to be modeled by using the geometric data obtained by the obtaining unit to obtain a three-dimensional mathematical model of the object to be modeled, and the modeling unit is configured to perform two-dimensional mathematical modeling on the object to be modeled by using the statistical data obtained by the obtaining unit to obtain a two-dimensional mathematical model of the object to be modeled. Wherein, the obtaining unit 504 includes: a geometric data obtaining unit 504-2, configured to obtain geometric data of the source object from the kinematic model of the source object according to the relationship determined by the determining unit; a statistical data obtaining unit 504-4, configured to obtain statistical data of the source object from the kinematic model of the source object according to the relationship determined by the determining unit. Accordingly, the conversion unit 506 includes: a geometric data conversion unit 506-2, configured to convert the geometric data of the source object acquired by the geometric data acquisition unit 504-2 into geometric data of an object to be modeled according to the relationship determined by the determination unit; the statistical data conversion unit 506-4 is configured to convert the statistical data of the source object acquired by the statistical data acquisition unit 504-4 into the statistical data of the object to be modeled according to the relationship determined by the determination unit. Wherein, as its name implies, the geometric data acquisition section acquires geometric information and relative position and orientation information. The statistical data acquisition unit acquires statistical data information (e.g., object name, object type, speed, length, processing time, waiting time). Specifically, the geometric data acquisition section acquires geometric data of all objects from the kinematic model. The geometric data acquisition section can acquire geometric information of all objects in the kinematics simulator. The acquired geometric information may be saved as a file in a format that the mathematical simulator can support. In addition, the geometric information may be saved under the path of the saved file. For example, the geometric information is saved under the path as a file in CAD format. Wherein the statistical data acquiring unit acquires statistical data of a part of the objects from the kinematic model. The statistical data acquisition unit can acquire all necessary statistical data information. As defined in the relative categories, only a portion of the object's parameters are required for modeling of the mathematical model. Wherein the acquisition unit uses an object-oriented method. And establishing a category for storing information of all the objects. The category has several attributes. Which includes the object name, the object type, the object geometry model. And, for different object types, their inherent different properties. Further, in the acquisition unit 504, the acquired data can be stored in an object-oriented manner. In the kinematic model, classes are established and all source objects are stored by class. For each source object, corresponding information is stored. For example, attributes such as object name, object type, object geometry model, etc. may be stored for each source object. It will be apparent that each source object may have a variety of different attributes. For example, fig. 6 is a schematic diagram of a file structure of an information acquisition module of a data processing apparatus according to an embodiment of the present application. Taking the class "conveyor belt" (denoted a in fig. 6) as an example, it may have attributes such as speed (denoted B in fig. 6), width (denoted C in fig. 6), length (denoted D in fig. 6), position in the plant (denoted E in fig. 6), orientation in the plant (denoted F in fig. 6), and storage path of geometric information (denoted G in fig. 6). That is, in the acquisition unit 504, the attribute for the category "carousel" is stored in an object-oriented manner as shown in table 3 below.
TABLE 3
And, the acquired data is stored in a folder for subsequent use in a format that can be supported by the mathematical model. Since the acquired information is object-oriented, an automatic mapping in the conversion unit 506 may be achieved. For example, only a part of the statistical data in the kinematic model of the source object or a part of the statistical data of the object may be obtained according to the requirements for modeling in the mathematical model or according to the relationship between the object to be modeled and the source object. Further, in some cases, some statistics can be generated based on the geometry data. For example, statistics such as the length of the object may be generated from the geometric data of the source object. For example, although geometric data is a geometric model of an object in a three-dimensional space, the data does not have such information as length, width and height, but statistical data can be acquired in a specific way. For example, if the geometric model is a rectilinear conveyor belt, we can obtain the maximum and minimum coordinate points of x or y in three-dimensional space, and the difference can be the length and width of the conveyor belt.
The data processing apparatus and the internal units thereof perform the data processing method shown in fig. 3, and are not described herein again. In this way, a means of modeling in a mathematical model is provided.
According to an embodiment of the present application, a modeling system is provided. FIG. 7 is a block diagram of a data processing system according to an embodiment of the present application. As shown in fig. 7, the system includes: a kinematic model simulator 702 for obtaining a kinematic model of a source object; an input unit 704, configured to input a relationship between an object to be modeled and a source object; an obtaining unit 706, configured to obtain geometric data and statistical data of the source object from the kinematic model of the source object according to the relationship output by the input unit; a conversion unit 708, configured to convert the geometric data and the statistical data of the source object acquired by the acquisition unit into geometric data and statistical data of the object to be modeled according to the relationship output by the input unit; a mathematical model simulator 710, configured to perform three-dimensional mathematical modeling on the object to be modeled by using the geometric data converted by the conversion unit to obtain a three-dimensional mathematical model of the object to be modeled, and perform two-dimensional mathematical modeling on the object to be modeled by using the statistical data converted by the conversion unit to obtain a two-dimensional mathematical model of the object to be modeled. As shown in fig. 8, which is a block diagram of a kinematic model, a three-dimensional mathematical model of a mathematical model, and a two-dimensional mathematical model according to an embodiment of the present application. Where reference numeral 802 of fig. 8 represents a kinematic model of a source object, reference numeral 804 represents a 3D model of a mathematical model of an object to be modeled, and reference numeral 806 represents a 2D model of a mathematical model of an object to be modeled.
In particular embodiments, the system may be an electronic device including hardware, software, or embedded logic elements or a combination of two or more such elements, and capable of performing appropriate functions implemented or supported by the system. By way of example, and not by way of limitation, a system may include a computer system, such as a desktop, notebook or laptop computer, notebook, tablet, e-reader, GPS device, camera, Personal Digital Assistant (PDA), handheld electronic device, cellular telephone, smartphone, augmented/virtual reality device, other suitable electronic device, or any suitable combination thereof. The present disclosure contemplates any suitable system. The system may enable network users on client systems to access the network. The system may have its user communicate with other users on other client systems.
According to another embodiment of the present application, there is provided a storage medium including a stored program, wherein the apparatus on which the storage medium is located is controlled to execute the above-described data processing method when the program is executed.
According to another embodiment of the present application, a processor for executing a program is provided, wherein the program executes to perform the above data processing method.
According to another embodiment of the present application, there is also provided a computer program product tangibly stored on a computer-readable medium and comprising computer-executable instructions that, when executed, cause at least one processor to perform the above-described data processing method.
The method according to the embodiment of the application can be realized in a storage medium, a processor and a terminal through programs, so that rapid and convenient modeling is realized in a mathematical model. In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
Generally, the lower the model level, the more information the model has throughout the simulation line. FIG. 9 is a block diagram of a plant level simulation according to an embodiment of the present application. As shown in fig. 9, reference numeral 902 represents a simulation of a plurality of individual robot arms as equipment in a plant, which is generally a physical level simulation (NX MOTION, NX MCD, which has not only kinematic information but also physical information (e.g., mass, force), reference numeral 904 of fig. 9 represents a simulation of a plurality of product line levels including a plurality of robot arms, respectively, which is generally used with a kinematic model, reference numeral 906 of fig. 9 represents a use of a mathematical model for a simulation of a plant level including all product lines, and therefore, in the present application, a mathematical model can be easily and quickly constructed using information obtained from the kinematic model, a lot of time required for modeling is saved, a kinematic simulator (machining simulation) and a mathematical simulator (plant simulation) are in the same production line, and therefore, it is very easy and meaningful to establish such a "bridge", if a user has a machining simulation model, it is very easy to build a plant simulation model. This fast modeling approach helps to change the product line model from a kinematic model to a mathematical model.
According to the solution of the present application, a mathematical model can be easily constructed using information obtained from a kinematic model. Thereby greatly reducing the time required for modeling in a mathematical model. Therefore, it is very easy and meaningful to establish a "bridge" between the kinematic simulator (machining simulation) and the mathematical simulator (factory simulation). This means that in case the operator already has a machining simulation model, it is then very easy to build a plant simulation model.
The user can more quickly and easily build a mathematical model (which is in a plant simulation) using a kinematic model (which is in a process simulation). Specifically, by first defining information that is required for a mathematical model and that kinematics can provide, acquiring the information by means of an API that provides a kinematics simulator, and using the acquired information, a model can be automatically created in the mathematical simulator, enabling the connection of the entire product line of a plant simulation. The product relationship will be more compact.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units or modules is only one logical division, and there may be other divisions when the actual implementation is performed, for example, a plurality of units or modules or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of modules or units through some interfaces, and may be in an electrical or other form.
The units or modules described as separate parts may or may not be physically separate, and parts displayed as units or modules may or may not be physical units or modules, may be located in one place, or may be distributed on a plurality of network units or modules. Some or all of the units or modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional units or modules in the embodiments of the present application may be integrated into one processing unit or module, or each unit or module may exist alone physically, or two or more units or modules are integrated into one unit or module. The integrated unit or module may be implemented in the form of hardware, or may be implemented in the form of a software functional unit or module.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (18)
- A data processing method, characterized in that the data processing method comprises:acquiring geometric data and statistical data of a source object from a kinematic model of the source object according to the relationship between the object to be modeled and the source object;and according to the relation between the object to be modeled and the source object, converting the acquired geometric data and statistical data of the source object into geometric data and statistical data for performing mathematical modeling on the object to be modeled.
- The data processing method of claim 1, further comprising:inputting the relationship between the object to be modeled and the source object.
- The data processing method of claim 1, further comprising at least one of:performing three-dimensional mathematical modeling of the object to be modeled using the converted geometric data to obtain a three-dimensional mathematical model of the object to be modeled, anAnd performing two-dimensional mathematical modeling on the object to be modeled by using the converted statistical data to obtain a two-dimensional mathematical model of the object to be modeled.
- The data processing method of claim 1, wherein the source object includes at least one of one or more devices in a factory and one or more workpieces processed by the one or more devices in the factory,the relationship between the object to be modeled and the source object comprises:the object to be modeled and the source object are the same object;the object to be modeled is a combination of the source objects;the object to be modeled and the source object are correlated in the production process;the position of the object to be modeled in the plant is correlated with the position of the source object in the plant.
- The data processing method of claim 1, wherein, in the case where the source object comprises one or more devices in a plant,the geometric data of the source object comprises at least one of:a geometric model of the source object;orientation information of the source object in the plant;location information of the source object in the plant, andthe statistical data of the source object comprises at least one of:a name of the source object;a type of the source object;a translation speed of the source object;a rotational speed of the source object;a length of the source object;a processing duration of a currently processing workpiece of the source object;the source object waits for a wait duration to process the workpiece.
- The data processing method of claim 3, wherein, in the case where the source object comprises one or more workpieces processed by one or more devices in a factory,the geometric data of the source object comprises at least one of:a geometric model of the source object;orientation information of the source object in the plant;location information of the source object in the plant, andthe statistical data of the source object comprises at least one of:a name of the source object;a type of the source object;a translation speed of the source object;a movement duration of the source object;a rotational speed of the source object;a length of the source object;a processed duration of the source object that is currently being processed;a wait to be processed duration of the source object waiting to be processed.
- The data processing method of claim 4, wherein the step of converting the acquired geometric and statistical data of the source object into geometric and statistical data for mathematically modeling the object to be modeled comprises:when the object to be modeled and the source object are the same object, taking the acquired geometric data and statistical data of the source object as geometric data and statistical data for performing mathematical modeling on the object to be modeled;when the object to be modeled is the combination of the source objects, the acquired geometric data and statistical data of all the source objects are used as the geometric data and statistical data for performing mathematical modeling on the object to be modeled;when the object to be modeled and the source object are correlated in a production process, converting the acquired geometric data of the source object into geometric data for mathematically modeling the object to be modeled according to a conversion relation, based on the production process, of the geometric data of the object to be modeled and the geometric data of the source object, and converting the acquired statistical data of the source object into statistical data for mathematically modeling the object to be modeled according to a conversion relation, based on the production process, of the statistical data of the object to be modeled and the statistical data of the source object;when the position of the object to be modeled in the factory is correlated with the position of the source object in the factory, the acquired geometric data of the source object is converted into geometric data for mathematically modeling the object to be modeled according to the conversion relation between the geometric data of the object to be modeled and the geometric data of the source object based on the position in the factory, and the acquired statistical data of the source object is converted into statistical data for mathematically modeling the object to be modeled according to the conversion relation between the statistical data of the object to be modeled and the statistical data of the source object based on the position in the factory.
- Data processing apparatus, characterized in that the data processing apparatus comprises:the acquisition unit is used for acquiring geometric data and statistical data of the source object from the kinematic model of the source object according to the relation between the object to be modeled and the source object;a conversion unit, configured to convert the geometric data and the statistical data of the source object acquired by the acquisition unit into geometric data and statistical data used for performing mathematical modeling on the object to be modeled according to the relationship between the object to be modeled and the source object.
- The data processing apparatus of claim 8, wherein the data processing apparatus further comprises:and the input unit is used for inputting the relation between the object to be modeled and the source object.
- The data processing apparatus of claim 8, wherein the modeling apparatus further comprises at least one of:the three-dimensional modeling unit is used for acquiring and obtaining three-dimensional mathematical modeling of the object to be modeled by utilizing the converted geometric data so as to obtain a three-dimensional mathematical model of the object to be modeled;and the two-dimensional modeling unit is used for acquiring and obtaining the two-dimensional mathematical modeling of the object to be modeled by utilizing the converted statistical data so as to obtain a two-dimensional mathematical model of the object to be modeled.
- The data processing apparatus of claim 8, wherein the source object comprises at least one of one or more devices in a factory and one or more workpieces processed by the one or more devices in the factory,the relationship between the object to be modeled and the source object comprises:the object to be modeled and the source object are the same object;the object to be modeled is a combination of the source objects;the object to be modeled and the source object are correlated in the production process;the position of the object to be modeled in the plant is correlated with the position of the source object in the plant.
- The data processing apparatus of claim 8, wherein, in the case that the source object comprises one or more devices in a plant,the geometric data of the source object comprises at least one of:a geometric model of the source object;orientation information of the source object in the plant;location information of the source object in the plant, andthe statistical data of the source object comprises at least one of:a name of the source object;a type of the source object;a translation speed of the source object;a rotational speed of the source object;a length of the source object;a processing duration of a currently processing workpiece of the source object;the source object waits for a wait duration to process the workpiece.
- The data processing apparatus of claim 10, wherein, in the case where the source object comprises one or more workpieces processed by one or more devices in a factory,the geometric data of the source object comprises at least one of:a geometric model of the source object;orientation information of the source object in the plant;location information of the source object in the plant, andthe statistical data of the source object comprises at least one of:a name of the source object;a type of the source object;a translation speed of the source object;a movement duration of the source object;a rotational speed of the source object;a length of the source object;a processed duration of the source object that is currently being processed;a wait to be processed duration of the source object waiting to be processed.
- The data processing apparatus of claim 11, wherein the conversion unit is configured to:when the object to be modeled and the source object are the same object, taking the acquired geometric data and statistical data of the source object as geometric data and statistical data for performing mathematical modeling on the object to be modeled;when the object to be modeled is the combination of the source objects, the acquired geometric data and statistical data of all the source objects are used as the geometric data and statistical data for performing mathematical modeling on the object to be modeled;when the object to be modeled and the source object are correlated in a production process, converting the acquired geometric data of the source object into geometric data for performing mathematical modeling on the object to be modeled according to a conversion relation, based on the production process, of the geometric data of the object to be modeled and the geometric data of the source object, and converting the acquired statistical data of the source object into statistical data for performing mathematical modeling on the object to be modeled according to a conversion relation, based on the production process, of the statistical data and the statistical data of the source object;when the position of the object to be modeled in the factory is correlated with the position of the source object in the factory, the acquired geometric data of the source object is converted into geometric data for mathematically modeling the object to be modeled according to the conversion relation between the geometric data of the object to be modeled and the geometric data of the source object based on the position in the factory, and the acquired statistical data of the source object is converted into statistical data for mathematically modeling the object to be modeled according to the conversion relation between the statistical data of the object to be modeled and the statistical data of the source object based on the position in the factory.
- A data processing system, characterized in that the data processing system comprises:a kinematics model simulator for obtaining a kinematics model of the source object;an obtaining unit, configured to obtain geometric data and statistical data of the source object from the kinematics model of the source object of the kinematics model simulator according to a relationship between an object to be modeled and the source object;a conversion unit, configured to convert the geometric data and the statistical data of the source object, which are acquired by the acquisition unit, into geometric data and statistical data for performing mathematical modeling on the object to be modeled, according to the relationship between the object to be modeled and the source object;and the mathematical model simulator is used for performing three-dimensional mathematical modeling on the object to be modeled by using the geometric data converted by the conversion unit to obtain a three-dimensional mathematical model of the object to be modeled, and performing two-dimensional mathematical modeling on the object to be modeled by using the statistical data converted by the conversion unit to obtain a two-dimensional mathematical model of the object to be modeled.
- Computer-readable storage medium, characterized in that the storage medium stores a program, wherein the method according to any of claims 1 to 7 is performed when the program is run.
- A processor coupled to a memory, wherein the memory stores a program, and wherein the processor executes the program to perform the method of any of claims 1-7.
- Computer program product, characterized in that the computer program product is stored on a computer-readable medium and comprises computer-executable instructions that, when executed, cause at least one processor to perform the method according to any of claims 1 to 7.
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| CN105700530A (en) * | 2016-04-11 | 2016-06-22 | 南京埃斯顿自动化股份有限公司 | Track planning method for robot joint space conveyor belt following movement |
| CN107949868A (en) * | 2015-09-07 | 2018-04-20 | 西门子产品生命周期管理软件公司 | Modeling method and system |
| CN108122277A (en) * | 2016-11-28 | 2018-06-05 | 华为技术有限公司 | A kind of modeling method and device |
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| CN102004447A (en) * | 2010-11-11 | 2011-04-06 | 西北工业大学 | Integrated-navigation and control hardware-in-the-loop simulation test system of underwater vehicle |
| CN103331756A (en) * | 2013-06-04 | 2013-10-02 | 浙江工业大学 | Mechanical arm motion control method |
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| CN105700530A (en) * | 2016-04-11 | 2016-06-22 | 南京埃斯顿自动化股份有限公司 | Track planning method for robot joint space conveyor belt following movement |
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