CN113158360A - Evaluation method of digital twin model, clamping mechanical arm and storage medium - Google Patents
Evaluation method of digital twin model, clamping mechanical arm and storage medium Download PDFInfo
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Abstract
The invention provides an evaluation method of a digital twin model, a clamping mechanical arm and a storage medium, wherein the method comprises the following steps: acquiring demand information, wherein the demand information represents the functional requirements of the clamping mechanical arm; determining a target function according to the demand information; generating a digital twin model according to the target function, wherein the digital twin model comprises at least two alternatives, and the alternatives comprise one functional part selected from each operating device; determining a function weight value of each functional component, and obtaining a combined weight value of each alternative scheme according to the function weight value; and determining the alternative with the highest combined weight value as the target scheme. According to the scheme provided by the embodiment of the invention, the function weight values of the sub-functions can be automatically calculated, the optimal scheme is determined according to the combined weight value obtained by the function weight values, the subjectivity of the evaluation of the digital twin model is reduced through objective data, and the reliability of the digital twin model is improved.
Description
Technical Field
The invention relates to the field of information processing, in particular to an evaluation method of a digital twin model, a clamping mechanical arm and a storage medium.
Background
Along with the development of science and technology, intelligent centre gripping arm can accomplish the operation voluntarily, is the important production tool of intelligent manufacturing. The conventional clamping robot arm needs manual operation or only can perform fixing action according to a set program, has a small application range and poor expansibility, and if various operation devices such as a driving device, a transmission device and the like are simply added to the clamping robot arm, although the functions which can be realized are increased, in which case which device is used still needs manual selection or presetting. Therefore, how to enable the clamping mechanical arm to automatically select the most appropriate operating device according to different schemes and requirements is a key technology for improving the intellectualization of the clamping mechanical arm.
The digital twin technology fully utilizes data such as physical models, sensor updating, operation history and the like, integrates a multidisciplinary, multi-physical quantity, multi-scale and multi-probability simulation process, and finishes mapping in a virtual space so as to reflect the full life cycle process of corresponding entity equipment. A digital twin model of the clamping mechanical arm can be obtained through the requirement information, the digital twin model comprises a plurality of schemes, each scheme comprises one available function of each operating device, and the specific function selection of each operating device is determined according to the scheme with the highest score. However, the existing evaluation method for the scheme in the digital twin model mainly depends on artificial scoring, the subjectivity is strong, and the obtained scheme cannot be guaranteed to be the optimal scheme.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the invention provides an evaluation method of a digital twin model, a clamping mechanical arm and a storage medium, and an optimal function combination scheme can be obtained through automatic evaluation.
In a first aspect, an embodiment of the present invention provides an evaluation method of a digital twin model, which is applied to a clamping robot arm, where the clamping robot arm includes at least two operating devices, and the operating devices include at least two functional components, and the method includes:
acquiring demand information, wherein the demand information represents the functional demand of the clamping mechanical arm;
determining the target function according to the demand information;
generating a digital twin model according to the target function, wherein the digital twin model comprises at least two alternatives, and the alternatives comprise one functional component selected from each operating device;
determining a function weight value of each functional component, and obtaining a combined weight value of each alternative according to the function weight value;
determining the alternative with the highest combined weight value as a target scheme.
The embodiment of the invention comprises the following steps: acquiring demand information, wherein the demand information represents the functional demand of the clamping mechanical arm; determining the target function according to the demand information; generating a digital twin model according to the target function, wherein the digital twin model comprises at least two alternatives, and the alternatives comprise one functional component selected from each operating device; determining a function weight value of each functional component, and obtaining a combined weight value of each alternative according to the function weight value; determining the alternative with the highest combined weight value as a target scheme. According to the scheme provided by the embodiment of the invention, the function weight values of the sub-functions can be automatically calculated, the optimal scheme is determined according to the combined weight value obtained by the function weight values, the subjectivity of the evaluation of the digital twin model is reduced through objective data, and the reliability of the digital twin model is improved.
As a further improvement of the present invention, the generating of the digital twin model according to the target function includes:
determining a main function of each operating device according to a preset morphological matrix and the target function;
generating the alternative according to the primary function;
generating the digital twin model according to all of the alternatives.
As a further refinement of the invention, said generating said alternatives according to said main function comprises:
decomposing the main function into a plurality of sub-functions, wherein the sub-functions are uniquely corresponding to the functional components;
generating the alternatives according to the sub-functions.
As a further refinement of the invention, said generating said alternatives according to said subfunctions comprises:
selecting an alternative function from the sub-functions corresponding to each operating device;
and composing the alternative functions corresponding to each operating device into the alternative schemes, wherein at least one of the alternative functions is different in different alternative schemes.
As a further improvement of the present invention, the determining the function weight value of each of the functional components includes:
determining a function hierarchy of the primary function and the subfunctions from the morphology matrix, the function hierarchy characterizing a hierarchy of the subfunctions and the primary function;
obtaining an influence degree ratio between the two sub-functions belonging to the same main function according to the hierarchy corresponding relation, wherein the influence degree ratio is obtained through the following formula:
wherein k isnIs a preset scale constant and satisfies
n is the number of said scale constants, vnFor a predetermined value of the degree of influence of each of said partial functions, v (a)ij) The influence degree ratio of the ith sub-function and the jth sub-function on the main function is set;
and determining the function weight value of each functional component according to the influence degree ratio.
As a further improvement of the present invention, said determining a function weight value of each said functional component according to said influence degree ratio includes:
obtaining a reference weight vector according to the influence degree ratio among all the sub-functions belonging to the same main function;
and obtaining the function weight value of the functional component according to the reference weight vector and the influence degree value of the sub-function.
As a further improvement of the present invention, the number of the function hierarchies is k, where k is an integer greater than 2, and obtaining the function weight value of the function component according to the reference weight vector and the influence degree value of the sub-function includes:
acquiring a first weight and a second weight according to the reference weight vector and the degree of influence value of the sub-functions, wherein the first weight represents the weight value of all the sub-functions of the k-1 th layer to the main function, and the second weight represents the weight value of all the sub-functions of the k-1 th layer belonging to one of the sub-functions of the k-1 th layer;
obtaining a function weight value of the functional component according to the first weight and the second weight, wherein a calculation formula of the function weight value is as follows:
wherein, WkFor the functional weight value, WK-1Is the first rightHeavy, PkIs the second weight.
As a further improvement of the present invention, the requirement information includes at least one of:
the movement stability;
the working speed;
running noise.
In a second aspect, embodiments of the present invention further provide a clamping robot arm, which includes a control device and at least two operating devices, the control device is provided with a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the method for evaluating the digital twin model according to the first aspect.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a flow chart of a method for evaluating a digital twin model provided by an embodiment of the present invention;
FIG. 2 is a flow chart of generating a digital twin model provided by another embodiment of the present invention;
FIG. 3 is a flow diagram of a generation alternative provided by another embodiment of the present invention;
FIG. 4 is a flow chart of a generation alternative provided by another embodiment of the present invention;
FIG. 5 is a flow chart of determining functional weight values according to another embodiment of the present invention;
FIG. 6 is a schematic diagram of a function hierarchy provided by another embodiment of the present invention;
FIG. 7 is a flow chart of calculating functional weight values according to another embodiment of the present invention;
FIG. 8 is a flow chart of calculating functional weight values according to another embodiment of the present invention;
figure 9 is a flow chart of a clamp robot provided in accordance with another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that although functional blocks are partitioned in a schematic diagram of an apparatus and a logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the partitioning of blocks in the apparatus or the order in the flowchart. The terms "first," "second," and the like in the description, in the claims, or in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
It should be noted that the clamping mechanical arm may include any device, and may be selected according to actual requirements, and for convenience of description, the clamping mechanical arm including the driving device, the braking device, the transmission device, and the clamping device is used in this embodiment for illustration. It will be appreciated that the optional features of the various devices may be any of those known in the art, each of which has its particular advantages and disadvantages, based on which, through evaluation of the digital twin model, the optimal combination of features can be determined, i.e. the optimal target solution.
For simplicity of description, the drive device, the brake device, the transmission device and the clamping device are briefly explained below. The following devices may be any of the devices described below, and the present embodiment is not limited to this.
A driving device:
the power required by the robot clamping mechanism is provided by a driving device, such as four common modes of hydraulic driving, pneumatic driving, motor driving and mechanical driving.
The hydraulic drive can be completed through a common high-precision cylinder body and a piston, linear motion is realized through relative motion of the cylinder body and a piston rod, the hydraulic drive has the advantages of high power, capability of saving a speed reducer and directly connecting with a driven rod piece, compact structure, good rigidity, quick response and higher precision of servo drive. The hydraulic drive robot system has the defects that a hydraulic source needs to be additionally arranged, liquid leakage is easy to generate, and the hydraulic drive robot system is not suitable for high-temperature and low-temperature occasions, so that the hydraulic drive robot system is mostly used for a robot system with extra high power at present. The hydraulic drive type manipulator is composed of a hydraulic motor (various oil cylinders and oil motors), a servo valve, an oil pump, an oil tank and the like to form a drive system, and a manipulator actuating mechanism is driven to work.
The pneumatic driving structure is simple and generally comprises an air cylinder, an air valve, an air tank and an air compressor. The pneumatic driving system has the characteristics of convenient air source, rapid action, simple structure, lower manufacturing cost, convenient maintenance, cleanness, sensitive action and buffer function. But compared with a hydraulic driving device, the power is small, the rigidity is poor, the noise is large, the speed is not easy to control, and the grabbing and lifting capacity is low. Therefore, the robot is mainly used for point position control robots with low precision.
The electric driving device has the advantages of simple energy source, large speed change range, high efficiency, and high speed and position precision. However, they are often associated with a reduction gear, making direct drive difficult. The electric driving apparatus may be divided into a Direct Current (DC), an Alternating Current (AC) servo motor drive and a stepping motor drive. Motor drive is one of the most used drive methods for a robot. Its advantages are convenient power supply, quick response, high drive power, convenient signal detection, transmission and processing, and flexible control scheme. The driving motor generally adopts a stepping motor, and a direct current servo motor (AC) is a main driving mode. Because of the high speed of the motor, a speed reduction mechanism is usually employed. With this robot, a large torque, low rotation speed motor without a reduction mechanism has been used for Direct Drive (DD), which can simplify the mechanism and improve the control accuracy.
Mechanical drives are only used in fixed motion situations. A cam link mechanism is generally used to realize a predetermined operation. Its advantages are reliable action, high working speed, low cost and not easy regulation.
The transmission device comprises:
the transmission device can be further subdivided into a transmission part and a speed reducer, the transmission device is a key part for connecting a power source and a motion connecting rod, and the common transmission mechanism forms include a linear transmission mechanism and a rotary transmission mechanism according to the joint form. The linear transmission mode can be used for X, Y, Z-direction driving of a rectangular coordinate robot, radial driving and vertical lifting driving of a cylindrical coordinate structure and radial telescopic driving of a spherical coordinate structure. The linear motion can be converted into the rotary motion through transmission elements such as a gear rack, a lead screw nut and the like, can be driven by a linear driving motor, and can also be directly generated by a piston of an air cylinder or a hydraulic cylinder.
The transmission part: the device can be divided into a gear rack, a synchronous belt, a worm gear, a ball screw, chain transmission, pneumatic transmission and linear transmission. Gear rack: typically the rack is fixed. The rotary motion of the gear is converted into the linear motion of the supporting plate, and the advantages are simple structure and large return difference. Synchronous belt: the synchronous belt transmission is composed of an annular belt with equidistant teeth on the inner peripheral surface and a belt wheel with corresponding teeth. Worm gear: the worm and gear structure is usually used for transmitting the motion between two staggered shafts and has the characteristics of self-locking property and low transmission efficiency. A ball screw: the ball is embedded in the spiral grooves of the screw rod and the nut, and the ball can continuously circulate through the guide groove in the nut. Chain transmission: the chain transmission is a transmission mode for transmitting the motion and power of a driving chain wheel with a special tooth form to a driven chain wheel with a special tooth form through a chain, and is characterized in that the chain transmission has no elastic sliding and slipping phenomena, but can only be used for transmission between two parallel shafts, and is not suitable for being used in rapid reverse transmission. Pneumatic transmission: the pneumatic transmission is characterized in that compressed air is used as a power source to drive and control various mechanical devices, and the pneumatic transmission is simple in structure but poor in stability.
Speed reducer: the industrial robot has high requirements on the speed reducer, and the selection of the precise speed reducer is selected from the aspects of torsional rigidity, starting torque, transmission precision, transmission error, transmission efficiency and the like. Generally, one of a precision harmonic reducer, a precision planetary reducer or a precision RV reducer is selected. The RV reducer is developed on the basis of cycloidal pinwheel transmission, has a two-stage reduction and central disc supporting structure, and is a common reducer of a robot due to the advantages of large transmission ratio, high transmission efficiency, high motion precision, small return difference, low vibration, high rigidity, high reliability and the like. The harmonic speed reducer comprises three parts: the harmonic generator makes the flexible gear generate controllable elastic deformation, and the flexible gear and the rigid gear are meshed to transmit power and achieve the purpose of speed reduction; according to the wave generator, there are a cam type, a roller type and an eccentric disc type. A planetary reducer is a reducer in which three planet gears rotate around a sun gear. The planetary reducer has the advantages of small volume, light weight, high bearing capacity, long service life, stable operation and low noise. The special characteristics of power splitting and multi-tooth meshing are provided; the planetary reducer is an industrial product with wide application, the performance of the planetary reducer can be comparable to that of other military grade planetary reducer products, but the planetary reducer has the price of the industrial grade product, and the planetary reducer is applied to wide industrial occasions.
A clamping device:
the clamping device comprises a parallel type clamping device and a serial type clamping device. The parallel structure adopts a closed-loop mechanism, generally consists of an up-and-down motion platform and two or more than two motion branched chains, one or more closed-loop mechanisms are formed between the motion platform and the motion branched chains, and the whole mechanism has a plurality of operable degrees of freedom by changing the motion state of each branched chain. The tandem structure is an open kinematic chain robot, which is formed by connecting a series of connecting rods in series through a rotary joint or a mobile joint. The tandem structure adopts a driver to drive each joint to move so as to drive the relative motion of the connecting rod, so that the welding gun at the tail end reaches a proper position, and an open-loop mechanism is taken as a robot mechanism prototype. The mechanical product finishes the work of clamping objects through a clamping device, and the clamping device consists of an upper arm, a lower arm, a base, a wrist and a tail end manipulator.
A braking device:
the brake device is mainly composed of a brake, and the brake can be divided into an oil disc brake, a V brake, a drum brake, an air pressure brake and an electromagnetic brake. The oil disc brake is driven and braked by oil pressure disc brake and oil pressure transmission. The V-shaped brake has the advantages that two brake shoes clamp the rim mutually to generate friction force, so that the braking effect is achieved. The drum brake is a brake device which utilizes a brake block which is static in a brake drum to rub the brake drum rotating along with a wheel so as to generate friction force to reduce the rotating speed of the wheel. The pneumatic brake is a brake device with a working medium of gas. The electromagnetic brake is a connector for transmitting the torque force of the driving side to the driven side, can be freely combined, separated or braked according to requirements, and has the advantages of compact structure, simplicity in operation, sensitivity in response, long service life, reliability in use, easiness in realizing remote control and the like.
The following describes an embodiment of the present invention with reference to the above-mentioned operation device for a clamping robot arm and the accompanying drawings.
As shown in fig. 1, fig. 1 is a flowchart of an evaluation method of a digital twin model provided by an embodiment of the present invention, the evaluation method of the digital twin model is applied to a holding robot arm, the holding robot arm includes at least two operating devices, the operating devices include at least two functional components, and the evaluation method of the digital twin model includes, but is not limited to, the following steps:
step S110, acquiring demand information, wherein the demand information represents the functional demand of the clamping mechanical arm;
step S120, determining a target function according to the demand information;
step S130, generating a digital twin model according to the target function, wherein the digital twin model comprises at least two alternative schemes, and the alternative schemes comprise one functional component selected from each operating device;
step S140, determining a function weight value of each functional component, and obtaining a combined weight value of each alternative scheme according to the function weight values;
step S150, determining the alternative with the highest combination weight value as the target scheme.
It should be noted that the requirement information may be obtained by integrating feedback information of customers, suppliers, designers, manufacturers, and salespeople before the clamping robot arm is used, and may be obtained by manually inputting the requirement information after manual aggregation, or by performing semantic recognition on the feedback information, which is not limited herein. For example, demands for the gripping robot arm are "start and brake smooth", "work efficiency is high", and "noise is low", and the like.
It should be noted that, for example, for a clamping robot arm having a driving device, a braking device, a transmission device, and a clamping device, among functional components in each operating device, a functional component with higher stability is required to be used to achieve "smooth starting and braking", a functional component with higher operating speed is required to be selected to achieve "low noise", a functional component with lower operating noise is required to be selected to form an alternative scheme by selecting different functional components, a combined weight value of the alternative scheme is determined to represent a degree of meeting a requirement, and the higher the combined weight value is, the more the alternative scheme meets a functional requirement represented by requirement information. Therefore, by adopting the technical scheme of the embodiment, the scheme evaluation of the digital twin model can be performed according to the demand information, so that the optimal target scheme is obtained. It can be understood that, for different requirement information, the function weight values obtained by the same functional component are different, so that the function weight values can represent the degree of fit with the requirement information.
It should be noted that, in the alternative, at least the functional component of each operating device needs to be included, for example, one functional component of each of the driving device, the braking device, the transmission device and the clamping device, and since the operation of the clamping robot arm needs the cooperation of all the operating devices, the alternative is composed of the functional components of each operating device, and the degree of meeting the requirement information of the alternative can be more fully reflected.
It can be understood that the function weight value may be calculated by a set formula, or a function weight value corresponding to each functional component in each usage scenario may be set in advance, which is not limited in this embodiment.
It will be appreciated that since an alternative includes multiple functional components, the combined weight value may be the sum of the functional weight values of all of the functional components in the alternative.
In addition, referring to fig. 2, in an embodiment, the step S130 in the embodiment shown in fig. 1 further includes, but is not limited to, the following steps:
step S210, determining the main function of each operating device according to a preset morphological matrix and a target function;
step S220, generating an alternative scheme according to the main function;
step S230, a digital twin model is generated according to all alternatives.
The morphological matrix may be preset, or may be automatically generated according to the function that can be provided by each operation device, and the obtained morphological matrix may be shown in the following table:
TABLE 1 morphological matrix example Table
It should be noted that, selectable function modules in each operation device are listed in the morphological matrix, after the target function is determined, the function module that can be used for completing the operation in the target function can be selected from the morphological matrix, for example, to implement pressure driving, hydraulic driving and pneumatic driving can be selected from the driving device, and if the required driving force is large, hydraulic driving and motor driving can be selected from the driving device; those skilled in the art will be motivated to adapt the morphology matrix and the corresponding functional components according to the actual situation, and not to limit the scope of the invention.
In addition, referring to fig. 3, in an embodiment, the step S220 in the embodiment shown in fig. 2 further includes, but is not limited to, the following steps:
step S310, the main function is decomposed into a plurality of sub-functions, and the sub-functions are uniquely corresponding to the functional components;
step S320, generating alternatives according to the sub-functions.
It should be noted that the degree of dividing the main function into a plurality of sub-functions may be adjusted according to actual situations, for example, the main function is transmission, the corresponding operating device is a transmission device, and the sub-functions of the transmission device may include a reducer and a transmission part, where the transmission part may include a rack and pinion, a synchronous belt, a worm gear, or the like, and the division may be performed according to functional components of the clamping robot arm.
It should be noted that, by generating the alternatives by the sub-functions, the scheme can be represented by the function of each minimum unit, so that the target scheme is determined according to the function weight value of each sub-function, and the target scheme can more accurately represent the degree of fit with the demand information.
For example, the main functions are "grab" and "put down the object", and the alternatives composed of the sub-functions obtained by decomposition according to the morphological matrix shown in table 1 can be shown in the following table:
table 2 alternative example table
As shown in table 2, the 6 alternatives are: scheme 1: the driving device is driven by hydraulic pressure; the transmission device comprises: ball screw, harmonic reducer; a braking device: an electromagnetic brake; a clamping device: six-freedom-degree series fetching group. Scheme 2: the driving device is driven by hydraulic pressure; the transmission device comprises: synchronous belts and RV reducers; a braking device: an oil disc brake; a clamping device: three-degree-of-freedom serial fetching group. Scheme 3: the driving device is driven by a motor; the transmission device comprises: ball screw, harmonic reducer; a braking device: an electromagnetic brake; a clamping device: six-freedom-degree series fetching group. Scheme 4: the driving device is driven by a motor; the transmission device comprises: synchronous belts and harmonic reducers; a braking device: an oil disc brake; a clamping device: three-degree-of-freedom serial fetching group. Scheme 5: the driving device is driven by a motor; the transmission device comprises: synchronous belts and RV reducers; a braking device: an electromagnetic brake; a clamping device: three-degree-of-freedom serial fetching group. Scheme 6: the driving device is driven by a motor; the transmission device comprises: ball screw, RV reducer; a braking device: an electromagnetic brake; a clamping device: six-freedom-degree series fetching group. It should be noted that the above 6 alternatives are only examples of the present embodiment, and do not limit the technical solution of the present application.
In addition, referring to fig. 4, in an embodiment, the step S320 in the embodiment shown in fig. 3 further includes, but is not limited to, the following steps:
step S410, selecting one alternative function from the sub-functions corresponding to each operation device;
step S420, the alternative functions corresponding to each operating device are combined into alternative solutions, where at least one alternative function in different alternative solutions is different.
After obtaining the sub-functions, available alternative functions may be determined according to the morphological matrix and the requirement information, and the alternative functions of each operating device may be arranged and combined to obtain a plurality of alternatives. For example, in the alternatives shown in table 2, according to the requirement information and the morphological matrix, the functional components of the driving device are selected to include "hydraulic drive" and "electric drive", the transmission part of the transmission device includes "ball screw" and "synchronous belt", the reducer of the transmission device includes "harmonic reducer" and "RV reducer", the braking device includes "electromagnetic brake" and "oil disc brake", the clamping device includes "six-degree-of-freedom series fetching group" and "three-degree-of-freedom series fetching group", and 6 alternatives shown in table 2 are obtained by the arrangement and combination of the above alternative functions. It should be noted that, for simplicity and convenience of description, the alternatives shown in table 2 do not exhaust all alternatives obtained by permutation and combination, and only 6 of the alternatives are selected for illustration, which is not described again in the following.
It should be noted that, in order to distinguish between each alternative, at least one alternative function in different alternatives is different, and the specific different alternative functions may be determined according to actual situations.
In addition, referring to fig. 5 and 6, in an embodiment, the step S140 in the embodiment shown in fig. 1 further includes, but is not limited to, the following steps:
step S510, determining the function levels of the main function and the sub-functions according to the morphological matrix, wherein the function levels represent the hierarchical structures of the sub-functions and the main function;
step S520, obtaining an influence degree ratio between two sub-functions belonging to the same main function according to the hierarchical correspondence, wherein the influence degree ratio is obtained by the following formula:
wherein k isnIs a preset scale constant and satisfies
n is the number of preset scaling constants, vnFor a predetermined influence degree value, v (a), for each partial functionij) The influence degree ratio of the ith sub-function and the jth sub-function on the main function is set;
in step S530, a function weight value of each functional component is determined according to the influence degree ratio.
It should be noted that, according to the function hierarchy, a function hierarchy can be obtained from a morphological matrix, for example, a morphological matrix shown in table 1, and a function hierarchy as shown in fig. 6 can be obtained, in which the highest layer is a target function, the second layer is an operation device, and the third layer is initially a function component in the operation device.
It should be noted that the degree of influence of different functional components on the target function is different for different requirements. By determining the function weight value according to the influence degree ratio, it can be ensured that the higher the function weight value is, the higher the influence degree ratio is, the greater the contribution of the target function represented by the function component is.
It is understood that those skilled in the art will have an incentive to select specific calibration constants according to actual requirements, such as economy, performance, post-manufacturing difficulty, etc., and specific corresponding values are preset. Through a plurality of scale constants, the influence of the functional components on the target function can be reflected in more aspects, and the objectivity of evaluation is improved.
In addition, referring to fig. 7, in an embodiment, step S530 in the embodiment shown in fig. 5 further includes, but is not limited to, the following steps:
step S710, generating and obtaining a reference weight vector according to the influence degree ratio among all the sub-functions belonging to the same main function;
and step S720, obtaining the function weight value of the functional component according to the reference weight vector and the influence degree value of the sub-function.
Note that, for ki(i ═ 1, 2, 3) represents respectively economy, performance, and ease of post-production, and n ═ 3; at the same time, get vi∈[1,9]The constructed comparison matrix is shown in table 3:
| k1 | k2 | k3 | |
| k1 | 1 | 2 | 5 |
| k2 | 1/2 | 1 | 3 |
| k3 | 1/5 | 1/3 | 1 |
TABLE 3 Scale comparison matrix
It should be noted that the obtained comparison matrix is a consistency positive-negative matrix, and for the consistency positive-negative matrix, there is generally a maximum feature root, and the feature vector corresponding to the maximum feature root is a reference weight vector, for example, the reference weight vector calculated by the comparison matrix is Qk＝[0.5815,0.3090,0.1095]T. Then for the influence degree ratio, each v (a) is calculatedij) After the value is obtained, a corresponding comparison matrix is constructed for calculation, which is not described in detail in this embodiment.
In addition, in an embodiment, the number of function levels is k, where k is an integer greater than 2, and referring to fig. 8, step S720 in the embodiment shown in fig. 7 further includes, but is not limited to, the following steps:
step S810, acquiring a first weight and a second weight according to the reference weight vector and the influence degree value of the sub-functions, wherein the first weight represents the weight value of all sub-functions of the k-1 layer to the main function, and the second weight represents the weight value of all sub-functions of the k-1 layer belonging to one sub-function of the k-1 layer;
step S820, obtaining a function weight value of the functional component according to the first weight and the second weight, wherein the calculation formula of the function weight value is as follows:
wherein, WkIs a function weight value, WK-1Is a first weight, PkIs the second weight.
In addition, referring to fig. 6, since there may be a plurality of levels between the partial functions, after the weight of the cost function is obtained, it is necessary to calculate the degree of influence of the partial function corresponding to the previous level between the partial functions of each level and calculate the comparison matrix. E.g. n on the k-1 th layerk-1The weight vector of each sub-function to the highest layer is
Let n on the k-th layerk-1The weight vector of each sub-function to the jth sub-function on the previous layer (layer k-1) is
The resulting comparison matrix
Is nk×nk-1And the matrix represents the weight vector of the sub-function on the k layer to each sub-function of the k-1 layer. The total ordering weight vector of the sub-functions on the k-th layer to the target function is
It should be noted that, by adopting the above formula to calculate, the function weight value of each functional component can be obtained layer by layer, and then all the function weight values are superimposed layer by layer, so as to obtain the combined weight value of the alternative scheme.
In addition, in another embodiment of the present invention, the requirement information includes at least one of:
the movement stability;
the working speed;
running noise.
It should be noted that the requirement information may be selected according to the requirement that can be realized by the clamping robot arm, which is not limited in this embodiment.
In addition, referring to fig. 9, an embodiment of the present invention also provides a gripping robot 900 including at least two operating devices and a control device, the control device including: memory 910, processor 920, and computer programs stored on memory 910 and operable on processor 920.
The processor 920 and the memory 910 may be connected by a bus or other means.
Non-transitory software programs and instructions necessary to implement the evaluation method of the digital twin model of the above-described embodiment are stored in the memory 910, and when executed by the processor 920, the evaluation method of the digital twin model applied to the gripping robot arm 900 of the above-described embodiment is performed, for example, the method steps S110 to S150 in fig. 1, the method steps S210 to S230 in fig. 2, the method steps S310 to S320 in fig. 3, the method steps S410 to S420 in fig. 4, the method steps S510 to S530 in fig. 5, the method steps S710 to S720 in fig. 7, and the method steps S810 to S820 in fig. 8 described above are performed.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions, which are executed by a processor or a controller, for example, by a processor in the above-mentioned embodiment of the clamping robot arm, and can make the above-mentioned processor execute the evaluation method applied to the digital twin model of the clamping robot arm in the above-mentioned embodiment, for example, execute the above-mentioned method steps S110 to S150 in fig. 1, the method steps S210 to S230 in fig. 2, the method steps S310 to S320 in fig. 3, the method steps S410 to S420 in fig. 4, the method steps S510 to S530 in fig. 5, the method steps S710 to S720 in fig. 7, and the method steps S810 to S820 in fig. 8. One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
Claims (10)
1. A method for evaluating a digital twin model, applied to a gripping robot, the gripping robot comprising at least two operating devices, the operating devices comprising at least two functional components, the method comprising:
acquiring demand information, wherein the demand information represents the functional demand of the clamping mechanical arm;
determining the target function according to the demand information;
generating a digital twin model according to the target function, wherein the digital twin model comprises at least two alternatives, and the alternatives comprise one functional component selected from each operating device;
determining a function weight value of each functional component, and obtaining a combined weight value of each alternative according to the function weight value;
determining the alternative with the highest combined weight value as a target scheme.
2. The method of claim 1, wherein generating a digital twin model from the target function comprises:
determining a main function of each operating device according to a preset morphological matrix and the target function;
generating the alternative according to the primary function;
generating the digital twin model according to all of the alternatives.
3. The method of claim 2, wherein the generating the alternatives according to the primary function comprises:
decomposing the main function into a plurality of sub-functions, wherein the sub-functions are uniquely corresponding to the functional components;
generating the alternatives according to the sub-functions.
4. The method of claim 3, wherein the generating the alternatives according to the subfunctions comprises:
selecting an alternative function from the sub-functions corresponding to each operating device;
and composing the alternative functions corresponding to each operating device into the alternative schemes, wherein at least one of the alternative functions is different in different alternative schemes.
5. The method of claim 3, wherein determining the functional weight value for each of the functional components comprises:
determining a function hierarchy of the primary function and the subfunctions from the morphology matrix, the function hierarchy characterizing a hierarchy of the subfunctions and the primary function;
obtaining an influence degree ratio between the two sub-functions belonging to the same main function according to the hierarchy corresponding relation, wherein the influence degree ratio is obtained through the following formula:
wherein k isnIs a preset scale constant and satisfies
n is the number of said scale constants, vnFor a predetermined value of the degree of influence of each of said partial functions, v (a)ij) The influence degree ratio of the ith sub-function and the jth sub-function on the main function is set;
and determining the function weight value of each functional component according to the influence degree ratio.
6. The method of claim 5, wherein determining the functional weight value for each of the functional components according to the impact ratio comprises:
obtaining a reference weight vector according to the influence degree ratio among all the sub-functions belonging to the same main function;
and obtaining the function weight value of the functional component according to the reference weight vector and the influence degree value of the sub-function.
7. The method according to claim 6, wherein the number of function levels is k, where k is an integer greater than 2, and the deriving the function weight value of the function component according to the reference weight vector and the influence degree value of the sub-function comprises:
according to the reference weight vector and the influence degree values of the sub-functions, obtaining a first weight and a second weight, wherein the first weight is the weight value of all the sub-functions of the k-1 th layer to the main function, and the second weight is the weight value of all the sub-functions of the k-1 th layer belonging to one sub-function of the k-1 th layer;
obtaining a function weight value of the functional component according to the first weight and the second weight, wherein a calculation formula of the function weight value is as follows:
wherein, WkFor the functional weight value, WK-1Is the first weight, PkIs the second weight.
8. The method of claim 1, wherein the demand information comprises at least one of:
the movement stability;
the working speed;
running noise.
9. A clamping robot comprising at least two operating devices and a control device, wherein the control device is provided with a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method for evaluating a digital twin model according to any one of claims 1 to 8 when executing the computer program.
10. A computer-readable storage medium storing computer-executable instructions for performing the method of evaluating a digital twin model according to any one of claims 1 to 8.
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