CN112698632B - Full-automatic production line digital twinning system, method and equipment - Google Patents
Full-automatic production line digital twinning system, method and equipment Download PDFInfo
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- CN112698632B CN112698632B CN202011568271.9A CN202011568271A CN112698632B CN 112698632 B CN112698632 B CN 112698632B CN 202011568271 A CN202011568271 A CN 202011568271A CN 112698632 B CN112698632 B CN 112698632B
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Abstract
The invention relates to a full-automatic production line digital twin system, a method and equipment, wherein the full-automatic production line digital twin system restores the production equipment layout on the production line site in real time through a robot inspection subsystem, carries out three-dimensional modeling on the production equipment with high precision, and forms a twin model of the production equipment through a generation equipment twin subsystem according to the production equipment layout and the three-dimensional imaging of the production equipment. And through the cooperation of the processing flow analysis subsystem, the production link monitoring subsystem and the dynamic production simulation subsystem, real-time twinning of all links of the production line is realized, the actual production process of the production line is simulated, and a user can accurately master the production state of the production line.
Description
Technical Field
The embodiment of the application relates to the technical field of digital twinning, in particular to a system, a method and equipment for full-automatic production line digital twinning.
Background
The digital twinning technology is characterized in that the characteristics, behaviors, forming processes and performances of physical entity objects are described and modeled in a digital mode, the behaviors of the physical entities in a real environment are simulated by means of data, and digital mirror images of the physical entities are established in a digital space through technical means such as virtual-real interaction feedback and data fusion analysis, so that a digital space model and a physical space model of a product and a production system are in real-time interaction, and the product and the physical space model can timely master the dynamic changes of each other and make a response in real time.
Due to numerous links of the full-automatic production line, the digital twin processing of the full-automatic production line is very complex, a large amount of basic data still needs to be input in advance in the existing digital twin technology of the full-automatic production line, and each link of an original production scene is difficult to restore efficiently and in real time, so that the production state of the full-automatic production line cannot be mastered accurately.
Disclosure of Invention
The embodiment of the application provides a full-automatic production line digital twinning system, method and device, which can solve the problems of low accuracy and poor real-time performance of the full-automatic production line digital twinning, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a full-automatic production line digital twin system, including:
the robot inspection subsystem, the production equipment twin subsystem, the processing flow analysis subsystem, the production link monitoring subsystem and the dynamic production twin subsystem;
the robot inspection subsystem comprises a work investigation deployment module, a robot control module and a three-dimensional imaging module;
the work survey deployment module is used for acquiring work survey data of a production line site and drawing a robot patrol map; the robot patrol map comprises a preset shooting path of the robot; the robot control module is used for controlling the robot to move according to the preset shooting path; the three-dimensional imaging module is used for acquiring surface imaging of production equipment in the moving process of the robot and reconstructing three-dimensional imaging of the production equipment according to the surface imaging of the production equipment;
the production equipment twin subsystem performs fusion splicing on the three-dimensional imaging of the production equipment to form a production equipment twin model;
the processing flow analysis subsystem is used for acquiring output products of each link of a production line and modeling the output products to obtain product models of each link of the production line;
the production link monitoring subsystem controls the laser scanner to scan the output products at a first target position in real time, and sends a control signal corresponding to one output product to the dynamic production simulation subsystem when each output product is scanned; the laser scanner is placed at the first target position corresponding to each production link;
the dynamic production simulation subsystem adds a corresponding product model to a second target position in the twin model of the production equipment according to the control signal to dynamically simulate the production state of each equipment; and the first target position corresponds to the second target position one by one.
Optionally, the three-dimensional imaging module includes a structural photon module and a reconstruction analysis sub-module;
the structural photonic module is used for controlling a projector to emit structural light to the surface of the production equipment and controlling a camera to shoot the image of the structural light on the surface of the production equipment; wherein the projector and the camera are both mounted on the robot;
the reconstruction analysis sub-module acquires an absolute phase diagram corresponding to the surface of the production equipment according to the imaging of the structured light on the surface of the production equipment, and acquires the three-dimensional imaging of the production equipment according to the absolute phase diagram, the coordinates of the stop point of the robot on the preset shooting path and the calibration geometric parameters of the camera and the projector.
Optionally, the digital twinning system of the fully-automatic production line further includes: a production equipment monitoring subsystem; the production equipment monitoring subsystem comprises a production equipment analysis module and a simulation processing simulation module;
the production equipment analysis module is used for acquiring the processing parts of the production equipment and modeling the processing parts to obtain a part model in each production equipment;
and the simulation processing simulation module is used for acquiring the control parameters of the processing part in the production equipment in the working process of the production equipment and controlling the corresponding part model to simulate the simulation action according to the control parameters of the processing part.
Optionally, the digital twinning system of the fully-automatic production line further includes: an intelligent monitoring subsystem;
and the intelligent monitoring subsystem is used for monitoring each link of the production line according to the interval time for receiving the control signal corresponding to the output product and early warning the fault of the production equipment.
Optionally, the digital twinning system of the fully-automatic production line further includes: a human-computer interaction subsystem;
the human-computer interaction subsystem is used for receiving touch operation of a user on a system display screen and remotely adjusting the corresponding control parameters of the production equipment according to the touch operation.
Optionally, the digital twinning system of the fully-automatic production line further includes: an intelligent sorting subsystem;
the intelligent sorting subsystem comprises a product quality inspection module, an emulation sorting simulation module and a quality control module;
the product quality inspection module is used for acquiring technical parameters of a final product of the production line and judging whether the final product passes quality inspection or not according to the technical parameters;
when the final product passes the quality inspection, the simulation sorting simulation module carries out simulation sorting on a product model corresponding to the final product to a qualified area, and when the final product does not pass the quality inspection, the simulation sorting simulation module carries out simulation sorting on the product model corresponding to the final product to an unqualified area;
and the quality control module dynamically generates a quality control monitoring graph according to the sorting simulation result of the product model.
In a second aspect, an embodiment of the present application provides a digital twinning method for a fully-automatic production line, including the steps of:
acquiring work survey data of a production line site, and drawing a robot inspection map; the robot patrol map comprises a preset shooting path of the robot;
controlling the robot to move according to the preset shooting path;
in the moving process of the robot, acquiring surface imaging of production equipment, and reconstructing three-dimensional imaging of the production equipment according to the surface imaging of the production equipment;
fusing and splicing the three-dimensional imaging of the production equipment to form a twin model of the production equipment;
obtaining output products of each link of a production line, and modeling the output products to obtain product models of each link of the production line;
controlling a laser scanner to scan the output products at a first target position in real time, and sending a control signal corresponding to one output product to the dynamic production simulation subsystem when each output product is scanned; the laser scanner is placed at a first target position corresponding to each production link;
according to the control signal, adding a corresponding product model to a second target position in the twin model of the production equipment, and dynamically simulating the production state of each equipment; and the first target position corresponds to the second target position one by one.
Optionally, in the moving process of the robot, acquiring a surface image of the production equipment, and reconstructing a three-dimensional image of the production equipment according to the surface image of the production equipment, includes:
controlling a projector to emit structured light to the surface of the production equipment, and controlling a camera to shoot the image of the structured light on the surface of the production equipment; wherein the projector and the camera are both mounted on the robot;
and acquiring an absolute phase diagram corresponding to the surface of the production equipment according to the imaging of the structured light on the surface of the production equipment, and acquiring the three-dimensional imaging of the production equipment according to the absolute phase diagram, the coordinates of the stop point of the robot on the preset shooting path and the calibration geometric parameters of the camera and the projector.
Optionally, the digital twinning method of the fully-automatic production line further includes the steps of:
obtaining a processing part of the production equipment, and modeling the processing part to obtain a part model in each production equipment;
and in the working process of the production equipment, acquiring control parameters of a processing part in the production equipment, and controlling the corresponding part model to simulate simulation action according to the control parameters of the processing part.
Optionally, the digital twinning method of the fully-automatic production line further includes the steps of:
and monitoring each link of the production line according to the interval time for receiving the control signal corresponding to the output product, and early warning the fault of the production equipment.
Optionally, the digital twinning method of the fully-automatic production line further includes the steps of:
and receiving touch operation of a user on a system display screen, and remotely adjusting the corresponding control parameters of the production equipment according to the touch operation.
Optionally, the digital twinning method of the fully-automatic production line further includes the steps of:
acquiring technical parameters of a final product of the production line, and judging whether the final product passes quality inspection or not according to the technical parameters;
when the final product passes the quality inspection, simulating and sorting a product model corresponding to the final product to a qualified area, and when the final product does not pass the quality inspection, simulating and sorting the product model corresponding to the final product to an unqualified area;
and dynamically generating a quality control monitoring graph according to the sorting simulation result of the product model.
In a third aspect, an embodiment of the present application provides a full-automatic production line digital twin device, including: a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the fully automated production line digital twinning method according to the second aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the fully automatic production line digital twinning method as described in the second aspect.
According to the digital twin system of the full-automatic production line, the layout of production equipment on the production line site can be reduced in real time through the robot inspection subsystem, three-dimensional modeling is conducted on the production equipment with high accuracy, and then the twin model of the production equipment is formed through the twin subsystem of the production equipment according to the layout of the production equipment and three-dimensional imaging of the production equipment. And the cooperation of the processing flow analysis subsystem, the production link monitoring subsystem and the dynamic production simulation subsystem realizes real-time twin of each link of the production line, simulates the actual production process of the production line, enables a user to observe the processing process of the product in real time, and accurately masters the production state of the automatic production line.
For a better understanding and implementation, the technical solutions of the present application are described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a fully automated production line digital twinning system provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a robot inspection sub-system 101 in a fully automatic production line digital twin system according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a three-dimensional imaging module 1013 in a fully automated production line digital twin system according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a fully automated production line digital twinning system provided in another embodiment of the present application;
FIG. 5 is a schematic structural diagram of a production equipment monitoring subsystem 106 in the fully automated production line digital twin system according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an intelligent sorting subsystem 109 in a fully automated production line digital twin system according to an embodiment of the present application;
FIG. 7 is a schematic flow chart of a fully automated production line digital twinning method according to an embodiment of the present application;
FIG. 8 is a schematic flow chart of a fully automated production line digital twinning method according to another embodiment of the present application;
FIG. 9 is a schematic structural diagram of a digital twin device of a fully automated production line according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if/if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Referring to fig. 1, a schematic structural diagram of a fully automatic production line digital twin system according to an embodiment of the present application is provided, where the system 10 includes: the robot inspection system comprises a robot inspection subsystem 101, a production equipment twin subsystem 102, a processing flow analysis subsystem 103, a production link monitoring subsystem 104 and a dynamic production twin subsystem 105.
In an alternative embodiment, referring to fig. 2, the robot inspection subsystem 101 includes a survey deployment module 1011, a robot control module 1012, and a three-dimensional imaging module 1013;
the work survey deployment module 1011 is used for acquiring work survey data of a production line site and drawing a robot patrol map; the robot patrol inspection map comprises a preset shooting path of the robot.
Specifically, acquiring work survey data of a production line site, and drawing a robot inspection map as follows: the robot is provided with a laser sensor or an infrared sensor, moves from a certain point in a production line field, scans obstacles in the production line field, obtains position information of all the obstacles in the production line field in a robot coordinate system after the robot finishes walking in the production line field, and generates a robot routing inspection map.
And then, planning a shooting path of the robot on the robot patrol map, wherein the shooting path comprises the coordinates of the robot stop points and the sequencing information of the robot stop points.
The setting of the coordinates of the robot stop points is determined by the visual angle range of the camera carried by the robot, and the larger the visual angle range is, the larger the interval between the robot stop points is.
The robot control module 1012 is configured to control the robot to move according to the preset shooting path;
the three-dimensional imaging module 1013 is configured to acquire a surface image of the production equipment during the movement of the robot, and reconstruct a three-dimensional image of the production equipment according to the surface image of the production equipment.
In an alternative embodiment, referring to fig. 3, the three-dimensional imaging module 1013 comprises: a structural photonic module 10131 and a reconstruction analysis sub-module 10132;
the structural photonic module 10131 is used for controlling a projector to emit structural light to the surface of the production equipment and controlling a camera to shoot the image of the structural light on the surface of the production equipment; wherein the projector and the camera are both mounted on the robot.
In order to improve the accuracy of the final three-dimensional imaging, the structured light comprises structured light with a plurality of frequencies, the structured light with different frequencies is respectively emitted to the surface of the production equipment, and the camera is controlled to shoot the images of the structured light with different frequencies on the surface of the production equipment.
The reconstruction analysis sub-module 10132 obtains an absolute phase map corresponding to the surface of the production equipment according to the imaging of the structured light on the surface of the production equipment, and obtains a three-dimensional imaging of the production equipment according to the absolute phase map, the coordinates of a dwell point of the robot on the preset shooting path, and the calibration geometric parameters of the camera and the projector.
Specifically, the reconstruction analysis sub-module 10132 obtains an initial phase map corresponding to each image according to a plurality of images of the structured light with different frequencies on the surface of the production equipment; and performing phase unwrapping on the initial phase diagram corresponding to each imaging to obtain an absolute phase diagram corresponding to the surface of the production equipment, wherein the absolute phase diagram can reflect height information of the surface of the production equipment, and then the three-dimensional imaging of the production equipment can be obtained according to the absolute phase diagram, coordinates of a stop point of the robot on the preset shooting path and calibration geometric parameters of the camera and the projector.
In an optional embodiment, the robot inspection sub-system 101 further includes an equipment tag recognition module (not shown), which captures an equipment tag from the acquired surface image of the production equipment during the process of acquiring the three-dimensional image of the production equipment, and obtains layout information of the production equipment in the robot inspection map according to the equipment tag.
The production equipment twin subsystem 102 performs fusion splicing on the three-dimensional imaging of the production equipment to form the production equipment twin model.
Specifically, the production equipment twin subsystem 102 performs fusion splicing on the three-dimensional imaging of the production equipment according to the layout information of the production equipment in the robot routing inspection map to form the production equipment twin model, so that the production equipment twin model can be restored to the production equipment in the full-automatic production line in a real-time manner.
The processing flow analysis subsystem 103 is configured to obtain output products of each link of the production line, and model the output products to obtain a product model of each link of the production line.
In the embodiment of the application, the specific type of the production line is not limited, and the output product of each link of the production line can be a processed part after pretreatment, a semi-finished product in the processing link, or a final finished product.
The output products of all links of the production line are obtained by splitting the processing links of the production line, so that the twin system is more real, and the product models of all links of the production line are accurately restored. Specifically, the process of modeling the output product may be performed in the same manner as the three-dimensional imaging of the production equipment, or may be performed by using simulation models of different colors or shapes, corresponding to the output product of each link.
The production link monitoring subsystem 104 controls the laser scanner to scan the output products at the first target position in real time, and sends a control signal corresponding to one output product to the dynamic production simulation subsystem every time one output product is scanned.
The laser scanner is placed at the first target position corresponding to each production link. The laser scanner scans each output port of the production equipment at a certain frequency, that is, scans the first target position corresponding to each production link at a certain frequency.
The dynamic production simulation subsystem 105 adds a corresponding product model to a second target position in the twin model of the production equipment according to the control signal, and dynamically simulates the production state of each equipment; and the first target position corresponds to the second target position one by one.
It should be noted that the second target position is a virtual position, and is a position corresponding to the first target position in the twin model of the production facility.
According to the digital twin system of the full-automatic production line, the layout of production equipment on the production line site can be reduced in real time through the robot inspection subsystem, three-dimensional modeling is conducted on the production equipment with high accuracy, and then the twin model of the production equipment is formed through the twin subsystem of the production equipment according to the layout of the production equipment and three-dimensional imaging of the production equipment. And the cooperation of the processing flow analysis subsystem, the production link monitoring subsystem and the dynamic production simulation subsystem realizes real-time twin of each link of the production line, simulates the actual production process of the production line, enables a user to observe the processing process of the product in real time, and accurately masters the production state of the automatic production line.
In an alternative embodiment, referring to fig. 4, fig. 4 is a schematic structural diagram of a fully-automatic production line digital twin system according to another embodiment of the present application, where the system 10 further includes: a production facility monitoring subsystem 106, an intelligent monitoring subsystem 107, a human-computer interaction subsystem 108, and an intelligent sorting subsystem 109.
Referring to fig. 5, the manufacturing equipment monitoring subsystem 106 includes a manufacturing equipment analysis module 1061 and a simulation module 1062. The production equipment analysis module 1061 is configured to obtain a machined part of the production equipment, and model the machined part to obtain a part model in each production equipment. The simulation machining simulation module 1062 is configured to, during a working process of the production equipment, obtain a control parameter of a machined component in the production equipment, and control the corresponding component model to simulate a simulation action according to the control parameter of the machined component.
The machining part control parameters include position control parameters, motion control parameters and the like of the machining part.
By acquiring the control parameters of the processing components in the production equipment, the component models corresponding to the processing components are controlled to perform simulation actions, the processing flow of each production equipment can be simulated more truly, and the automatic production line can be controlled more accurately.
The intelligent monitoring subsystem 107 is configured to monitor each link of the production line according to the interval time for receiving the control signal corresponding to the output product, and perform early warning on a fault of the production equipment.
The interval time for receiving the control signal corresponding to the output product is kept constant with the interval time for sending the output product by the production equipment, so that the control signal is monitored, namely the processing speed of the production equipment is monitored.
Under a normal state, the interval time of the control signal corresponding to the output product should meet a certain condition, and when the interval time is greater than a certain highest threshold or smaller than a certain minimum threshold, the production equipment is indicated to possibly have a fault, and then the fault of the production equipment is early warned.
The human-computer interaction subsystem 108 is used for receiving touch operation of a user on a system display screen, and remotely adjusting the corresponding control parameters of the production equipment according to the touch operation.
Specifically, when a user touches the system display screen and clicks a certain production device, the control parameters corresponding to the production device are correspondingly popped up, and the user can adjust the control parameters through the system display screen, so that the remote adjustment of the production device can be realized.
Referring to fig. 6, in an alternative embodiment, the intelligent sorting subsystem 109 includes a product quality inspection module 1091, a simulation sorting simulation module 1092, and a quality control module 1093.
The product quality inspection module 1091 is configured to obtain technical parameters of a final product of the production line, and determine whether the final product passes quality inspection according to the technical parameters.
When the final product passes the quality inspection, the simulation sorting simulation module 1092 performs simulation sorting on the product model corresponding to the final product to a qualified area, and when the final product does not pass the quality inspection, the simulation sorting simulation module 1092 performs simulation sorting on the product model corresponding to the final product to an unqualified area.
The quality control module 1093 dynamically generates a quality control monitoring graph according to the sorting simulation result of the product model.
Through this kind of intelligence letter sorting, can high-efficient production quality management and control detect the picture, make the user can the visual observation quality control condition of present product.
Referring to fig. 7, a schematic flow chart of a fully automatic production line digital twin method according to an embodiment of the present application, where the fully automatic production line digital twin method is performed by a fully automatic production line digital twin device, and the method includes:
s201: acquiring work survey data of a production line site, and drawing a robot inspection map; the robot patrol inspection map comprises a preset shooting path of the robot.
S202: and controlling the robot to move according to the preset shooting path.
S203: and in the moving process of the robot, acquiring the surface imaging of the production equipment, and reconstructing the three-dimensional imaging of the production equipment according to the surface imaging of the production equipment.
In an optional embodiment, the step S203 includes the following steps:
controlling a projector to emit structured light to the surface of the production equipment, and controlling a camera to shoot the image of the structured light on the surface of the production equipment; wherein the projector and the camera are both mounted on the robot.
And acquiring an absolute phase diagram corresponding to the surface of the production equipment according to the imaging of the structured light on the surface of the production equipment, and acquiring the three-dimensional imaging of the production equipment according to the absolute phase diagram, the coordinates of the stop point of the robot on the preset shooting path and the calibration geometric parameters of the camera and the projector.
S204: and fusing and splicing the three-dimensional imaging of the production equipment to form a twin model of the production equipment.
S205: the method comprises the steps of obtaining output products of all links of a production line, and modeling the output products to obtain product models of all the links of the production line.
S206: controlling a laser scanner to scan the output products at a first target position in real time, and sending a control signal corresponding to one output product to the dynamic production simulation subsystem when each output product is scanned; the laser scanner is placed at a first target position corresponding to each production link.
S207: according to the control signal, adding a corresponding product model to a second target position in the twin model of the production equipment, and dynamically simulating the production state of each equipment; and the first target position corresponds to the second target position one by one.
In an alternative embodiment, referring to fig. 8, in order to further improve the twinning effect and accurately grasp the production status of the automatic production line, the method further includes the following steps:
s208: and obtaining the machining parts of the production equipment, and modeling the machining parts to obtain a part model in each production equipment.
S209: and in the working process of the production equipment, acquiring control parameters of a processing part in the production equipment, and controlling the corresponding part model to simulate simulation action according to the control parameters of the processing part.
S210: and monitoring each link of the production line according to the interval time for receiving the control signal corresponding to the output product, and early warning the fault of the production equipment.
S211: and receiving touch operation of a user on a system display screen, and remotely adjusting the corresponding control parameters of the production equipment according to the touch operation.
S212: and acquiring technical parameters of the final product of the production line, and judging whether the final product passes quality inspection according to the technical parameters.
S213: and when the final product passes the quality inspection, simulating and sorting a product model corresponding to the final product to a qualified area, and when the final product does not pass the quality inspection, simulating and sorting the product model corresponding to the final product to an unqualified area.
S214: and dynamically generating a quality control monitoring graph according to the sorting simulation result of the product model.
The fully automatic production line digital twin method is a method corresponding to the system 10, and the specific implementation manner and explanation thereof are already explained in the description of the system 10, and are not described herein again.
The digital twinning method of the full-automatic production line provided by the embodiment of the application can be used for reducing the layout of production equipment on the production line site in real time, carrying out three-dimensional modeling on the production equipment with high precision, and forming a twinning model of the production equipment according to the layout of the production equipment and the three-dimensional imaging of the production equipment. In addition, the method also realizes real-time twinning of each link of the production line, simulates the actual production process of the production line, enables a user to observe the product processing process in real time, and accurately masters the production state of the automatic production line.
Please refer to fig. 9, which is a schematic structural diagram of a digital twin device of a fully automated production line according to an embodiment of the present application. As shown in fig. 3, the digital twin apparatus 3 of the fully automated production line may include: a processor 30, a memory 31 and a computer program 32 stored in said memory 31 and executable on said processor 30, such as: a digital twinning procedure of a full-automatic production line; the processor 30, when executing the computer program 32, implements the steps in the above-described method embodiments, such as the steps S201 to S207 shown in fig. 7. Alternatively, the processor 30, when executing the computer program 32, implements the functions of the subsystems/modules in the system embodiments, such as the functions of the subsystems 101 to 105 shown in fig. 1.
The processor 30 may include one or more processing cores, among others. The processor 30 is connected to various parts in the control device 3 by various interfaces and lines, and executes various functions of the control device 3 and processes data by operating or executing instructions, programs, code sets or instruction sets stored in the memory 31 and calling data in the memory 31, and optionally, the processor 30 may be implemented in at least one hardware form of Digital Signal Processing (DSP), Field-Programmable gate Array (FPGA), Programmable Logic Array (PLA). The processor 30 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing contents required to be displayed by the touch display screen; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 30, but may be implemented by a single chip.
The Memory 31 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 31 includes a non-transitory computer-readable medium. The memory 31 may be used to store instructions, programs, code sets or instruction sets. The memory 31 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch instructions, etc.), instructions for implementing the above-mentioned method embodiments, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 31 may optionally be at least one memory device located remotely from the aforementioned processor 30.
An embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, where the instructions are suitable for being loaded by a processor and being used to execute the method steps in the embodiments shown in fig. 7 to 8, and a specific execution process may refer to specific descriptions of the embodiments shown in fig. 7 to 8, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units 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 through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (14)
1. A digital twinning system of a fully-automatic production line is characterized by comprising: the robot inspection subsystem, the production equipment twin subsystem, the processing flow analysis subsystem, the production link monitoring subsystem and the dynamic production twin subsystem;
the robot inspection subsystem comprises a work investigation deployment module, a robot control module and a three-dimensional imaging module;
the work survey deployment module is used for acquiring work survey data of a production line site and drawing a robot patrol map; the robot patrol map comprises a preset shooting path of the robot; the robot control module is used for controlling the robot to move according to the preset shooting path; the three-dimensional imaging module is used for acquiring surface imaging of production equipment in the moving process of the robot and reconstructing three-dimensional imaging of the production equipment according to the surface imaging of the production equipment;
the production equipment twin subsystem performs fusion splicing on the three-dimensional imaging of the production equipment to form a production equipment twin model;
the processing flow analysis subsystem is used for acquiring output products of each link of a production line and modeling the output products to obtain product models of each link of the production line;
the production link monitoring subsystem controls the laser scanner to scan the output products at a first target position in real time, and sends a control signal corresponding to one output product to the dynamic production simulation subsystem when each output product is scanned; the laser scanner is placed at the first target position corresponding to each production link;
the dynamic production simulation subsystem adds a corresponding product model to a second target position in the twin model of the production equipment according to the control signal to dynamically simulate the production state of each equipment; and the first target position corresponds to the second target position one by one.
2. The digital twinning system of a fully automated production line of claim 1, wherein: the three-dimensional imaging module comprises a structural photon module and a reconstruction analysis sub-module;
the structural photonic module is used for controlling a projector to emit structural light to the surface of the production equipment and controlling a camera to shoot the image of the structural light on the surface of the production equipment; wherein the projector and the camera are both mounted on the robot;
the reconstruction analysis sub-module acquires an absolute phase diagram corresponding to the surface of the production equipment according to the imaging of the structured light on the surface of the production equipment, and acquires the three-dimensional imaging of the production equipment according to the absolute phase diagram, the coordinates of the stop point of the robot on the preset shooting path and the calibration geometric parameters of the camera and the projector.
3. The digital twinning system of a fully automated production line of claim 1, further comprising: a production equipment monitoring subsystem;
the production equipment monitoring subsystem comprises a production equipment analysis module and a simulation processing simulation module;
the production equipment analysis module is used for acquiring the processing parts of the production equipment and modeling the processing parts to obtain a part model in each production equipment;
and the simulation processing simulation module is used for acquiring the control parameters of the processing part in the production equipment in the working process of the production equipment and controlling the corresponding part model to simulate the simulation action according to the control parameters of the processing part.
4. The digital twinning system of a fully automated production line of claim 1, further comprising: an intelligent monitoring subsystem;
and the intelligent monitoring subsystem is used for monitoring each link of the production line according to the interval time for receiving the control signal corresponding to the output product and early warning the fault of the production equipment.
5. The digital twinning system of a fully automated production line of claim 1, further comprising: a human-computer interaction subsystem;
the human-computer interaction subsystem is used for receiving touch operation of a user on a system display screen and remotely adjusting the corresponding control parameters of the production equipment according to the touch operation.
6. The digital twinning system of a fully automated production line of claim 1, further comprising: an intelligent sorting subsystem;
the intelligent sorting subsystem comprises a product quality inspection module, an emulation sorting simulation module and a quality control module;
the product quality inspection module is used for acquiring technical parameters of a final product of the production line and judging whether the final product passes quality inspection or not according to the technical parameters;
when the final product passes the quality inspection, the simulation sorting simulation module carries out simulation sorting on a product model corresponding to the final product to a qualified area, and when the final product does not pass the quality inspection, the simulation sorting simulation module carries out simulation sorting on the product model corresponding to the final product to an unqualified area;
and the quality control module dynamically generates a quality control monitoring graph according to the sorting simulation result of the product model.
7. A digital twinning method of a full-automatic production line is characterized by comprising the following steps:
acquiring work survey data of a production line site, and drawing a robot inspection map; the robot patrol map comprises a preset shooting path of the robot;
controlling the robot to move according to the preset shooting path;
in the moving process of the robot, acquiring surface imaging of production equipment, and reconstructing three-dimensional imaging of the production equipment according to the surface imaging of the production equipment;
fusing and splicing the three-dimensional imaging of the production equipment to form a twin model of the production equipment;
obtaining output products of each link of a production line, and modeling the output products to obtain product models of each link of the production line;
controlling a laser scanner to scan the output products at a first target position in real time, and sending a control signal corresponding to one output product to a dynamic production simulation subsystem when each output product is scanned; the laser scanner is placed at a first target position corresponding to each production link;
according to the control signal, adding a corresponding product model to a second target position in the twin model of the production equipment, and dynamically simulating the production state of each equipment; and the first target position corresponds to the second target position one by one.
8. The digital twinning method of a fully automated production line according to claim 7, wherein the step of acquiring surface images of a production device during the movement of the robot and reconstructing three-dimensional images of the production device according to the surface images of the production device comprises the steps of:
controlling a projector to emit structured light to the surface of the production equipment, and controlling a camera to shoot the image of the structured light on the surface of the production equipment; wherein the projector and the camera are both mounted on the robot;
and acquiring an absolute phase diagram corresponding to the surface of the production equipment according to the imaging of the structured light on the surface of the production equipment, and acquiring the three-dimensional imaging of the production equipment according to the absolute phase diagram, the coordinates of the stop point of the robot on the preset shooting path and the calibration geometric parameters of the camera and the projector.
9. The digital twinning method of a fully automated production line as claimed in claim 7, further comprising the steps of:
obtaining a processing part of the production equipment, and modeling the processing part to obtain a part model in each production equipment;
and in the working process of the production equipment, acquiring control parameters of a processing part in the production equipment, and controlling the corresponding part model to simulate simulation action according to the control parameters of the processing part.
10. The digital twinning method of a fully automated production line as claimed in claim 7, further comprising the steps of:
and monitoring each link of the production line according to the interval time for receiving the control signal corresponding to the output product, and early warning the fault of the production equipment.
11. The digital twinning method of a fully automated production line as claimed in claim 7, further comprising the steps of:
and receiving touch operation of a user on a system display screen, and remotely adjusting the corresponding control parameters of the production equipment according to the touch operation.
12. The digital twinning method of a fully automated production line as claimed in claim 7, further comprising the steps of:
acquiring technical parameters of a final product of the production line, and judging whether the final product passes quality inspection or not according to the technical parameters;
when the final product passes the quality inspection, simulating and sorting a product model corresponding to the final product to a qualified area, and when the final product does not pass the quality inspection, simulating and sorting the product model corresponding to the final product to an unqualified area;
and dynamically generating a quality control monitoring graph according to the sorting simulation result of the product model.
13. A fully automated production line digital twinning device comprising a processor, a memory and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 7 to 12 are implemented when the computer program is executed by the processor.
14. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 7 to 12.
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