CN113177327A - Simulation method, device, storage medium and processor - Google Patents
Simulation method, device, storage medium and processor Download PDFInfo
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Abstract
The invention discloses a simulation method, a simulation device, a storage medium and a processor. Wherein, the method comprises the following steps: acquiring a plurality of operation data, and creating a corresponding simulation robot for each operation data according to configuration parameters; generating an event list of the simulation robot corresponding to each job data according to each job data, wherein the event list comprises: a sequence event list and a trigger event list; the simulation robot is configured to execute sequential events in order according to the sequential event list; and the simulation robot is configured to monitor trigger signals sent by other simulation robots, wherein the trigger signals are used for triggering the simulation robots to execute the trigger events in the trigger event list. The invention solves the technical problem that building robots of different work types in the same scene are difficult to simulate simultaneously in the prior art.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a simulation method, a simulation device, a storage medium and a processor.
Background
The intelligent building adopting Digitaltain digital twin technology can collect real-time data of a physical building through a sensor, simulate a virtual prototype of the building and a building process and realize digital display of the schedule of the manufacturing process of the intelligent building. The construction robot is a main body in construction engineering of the intelligent building, engineers and designers set operation data according to design will and requirements, and the construction robot completes each process in the building according to the set operation data so as to realize the intelligent building. The construction robot can also perform whole-course simulation on real data, generate a simulation report on a simulation result, analyze the defects of the current real data simulation, calculate data such as energy consumption, operation area, operation time and the like, and reduce collision in operation and energy consumption in operation.
Each construction robot has a set work type, and the construction robot can complete the work task according to the work type. The construction process of the intelligent building usually comprises a plurality of sections of complicated working procedures, and one construction robot can only complete one section of the working procedure, so that a plurality of construction robots of different types are required to be matched with each other to complete the construction of the intelligent building. When a plurality of types of construction robots of different types are matched to complete a plurality of sections of complex processes, the construction robots need to be reasonably arranged to simulate the operation flow of the real construction robot, and the operation behaviors of the construction robots are restored according to operation data, so that the construction robots of different types of construction robots keep consistent operation rhythm and time. However, due to the complexity of the construction process, it is difficult to simulate the construction robots of different types at the same time, and further difficult to realize the arrangement of the operation events in the same scene.
Aiming at the technical problem that the building robots of different types under the same scene are difficult to simulate simultaneously in the prior art, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a simulation method, a simulation device, a storage medium and a processor, which at least solve the technical problem that building robots of different types under the same scene are difficult to simulate simultaneously in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a simulation method including: acquiring a plurality of operation data, and creating a corresponding simulation robot for each operation data according to configuration parameters; generating an event list of the simulation robot corresponding to each job data according to each job data, wherein the event list comprises: a sequence event list and a trigger event list; the simulation robot is configured to execute sequential events in order according to the sequential event list; and the simulation robot is configured to monitor trigger signals sent by other simulation robots, wherein the trigger signals are used for triggering the simulation robots to execute the trigger events in the trigger event list.
Further, before creating a corresponding simulation robot for each of the job data according to the configuration parameters, the method further comprises: performing data verification on the operation data; and under the condition that the verification is passed, performing structural processing on the job data, and entering a step of creating a corresponding simulation robot for each job data according to configuration parameters, wherein the structural processing is used for converting the job data into motion data of components of the simulation robot and binding the motion data with the corresponding components.
Further, the data verification of the operation data comprises at least one of the following items: performing format verification on the operation data, wherein the operation data is determined to pass the format verification under the condition that the operation data is in a preset format; performing characteristic verification on the operation data, wherein the operation data is determined to pass the characteristic verification under the condition that the operation data contains preset characteristic data; and performing range verification on the operation data, wherein the operation data is determined to pass the range verification under the condition that the operation data is in a preset range.
Further, acquiring a plurality of job data, and creating a corresponding simulation robot for each job data according to configuration parameters, comprising: selecting a creation area according to a target scene to be simulated, and entering the target scene; searching operation data in a target scene; and creating a first simulation robot corresponding to the operation data in the target scene according to the configuration parameters.
Further, the event list includes: the system comprises automatic navigation data, simulation action data and operation surface data, wherein the automatic navigation data comprises: the method comprises the following steps of generating an event list of a simulation robot corresponding to each piece of work data according to each piece of work data, wherein the event list comprises movement data and current orientation data, the simulation action data is used for indicating the movement data of a component, the work surface data is used for indicating attribute information of a work surface to be simulated, and the event list comprises: analyzing the operation data to generate events with execution sequences; and arranging the events into an event list according to the execution sequence.
Further, the moving data includes: a starting position coordinate, an ending position coordinate and a moving speed; the current data-oriented includes: a start rotation angle, an end rotation angle, and a rotation speed; the simulated motion data includes a start motion position, an end motion position, a motion path of the component, and a motion animation of the plurality of components.
Further, the simulation robot is configured to execute sequential events in order according to the sequential event list, including: controlling the simulation robot to acquire a calling event which is used for triggering other robot actions and is in the event list, wherein the calling event comprises: the method comprises the steps of (1) event numbering, event receiving object identification and event data; controlling the simulation robot to determine the simulation robot to be triggered according to the event receiving object identifier; and controlling the simulation robot to send a trigger signal carrying the event number and the event data to the simulation robot to be triggered.
According to another aspect of the embodiments of the present invention, there is also provided a simulation apparatus, including: the system comprises an acquisition module, a simulation module and a simulation module, wherein the acquisition module is used for acquiring a plurality of operation data and creating a corresponding simulation robot for each operation data according to configuration parameters; a generating module, configured to generate an event list of the simulated robot corresponding to each piece of the job data according to each piece of the job data, where the event list includes: a sequence event list and a trigger event list; a first control module for the simulated robot configured to execute sequential events in sequence according to the sequential event list; and the second control module is used for monitoring trigger signals sent by other simulation robots, and the trigger signals are used for triggering the simulation robots to execute the trigger events in the trigger event list.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium, where the storage medium includes a stored program, and the apparatus on which the storage medium is located is controlled to execute the simulation method according to any one of the above items when the program runs.
According to another aspect of the embodiments of the present invention, there is also provided a processor, where the processor is configured to execute a program, where the program executes any one of the simulation methods described above.
In the embodiment of the invention, a plurality of operation data are taken, and a corresponding simulation robot is established for each operation data according to configuration parameters; generating an event list of the simulation robot corresponding to each job data according to each job data, wherein the event list comprises: a sequence event list and a trigger event list; the simulation robot is configured to execute sequential events in order according to the sequential event list; and the simulation robot is configured to monitor trigger signals sent by other simulation robots, wherein the trigger signals are used for triggering the simulation robots to execute the trigger events in the trigger event list. The simulation method has the advantages that the plurality of simulation robots which correspond to the robots in the actual scene one by one are established in the simulation scene, the sequence event list and the trigger event list which are consistent with the actual scene are set, the plurality of simulation robots can communicate with each other according to the trigger event list set by a user to cooperate with linkage operation, the simulation of the linkage operation of the plurality of robots in the same scene is realized, and the technical problem that the building robots of different types in the same scene are difficult to simulate simultaneously in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow diagram of a simulation method according to an embodiment of the present invention;
FIG. 2 is an event execution diagram of an alternative architectural simulation robot execution sequence event list according to an embodiment of the present invention;
FIG. 3 is an event diagram of an alternative trigger event list according to an embodiment of the present invention;
FIG. 4 is a flow diagram of an alternative simulation method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of job data structuring and generating an event list according to an embodiment of the present invention;
FIG. 6 is a flow diagram of an alternative data check of json-formatted job data according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a simulation apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a simulation method, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flow chart of a simulation method according to an embodiment of the present invention, as shown in fig. 1, the method includes the steps of:
step S101, a plurality of operation data are obtained, and a corresponding simulation robot is established for each operation data according to configuration parameters.
The operation data is used for representing the operation content of the actual event which needs to be completed by the robot, and the robot executes the corresponding operation according to the operation data so as to complete the execution of the operation content of the actual event. For example, in a building construction scenario, the operation data of robots of different types are different, the operation data of the wall and floor tile caulking robot may include wall height, wall seam width, robot motion data, and the like, and the operation data of the brick supply robot may include length and width data of bricks, coordinate data of a brick moving path, and the like. In an alternative embodiment, the job data may be provided in json format.
The simulation robot is a virtual robot corresponding to a robot that executes the work content of the actual event, and is arranged in the simulation scene. In the actual scene, the robots have different operation data according to different operation contents, in the simulation scene, the simulation robots correspond to the robots of the actual event one by one, and the simulation robots have operation data consistent with the operation data of the robots of the actual event.
It should be noted that, the simulation scene may include a plurality of simulation robots, each simulation robot has a preset corresponding relationship with the operation data, that is, the simulation robot has operation data corresponding to its work type in the simulation scene, and different simulation robots have different operation data.
In an alternative embodiment, in the simulation scenario, a simulation scenario corresponding to the robot and the job data of the actual event is created by configuring a simulation robot number (the simulation robot number of the simulation robot is the same as the robot number of the corresponding actual scenario), a simulation scenario number, and a simulation job number, wherein the simulation scenario includes a plurality of simulation robots and corresponding job data, and each simulation robot performs scheduling and simulation of jobs according to the job data.
Step S102, generating an event list of the simulation robot corresponding to each piece of the operation data according to each piece of the operation data, wherein the event list comprises: a sequence event list and a trigger event list.
The event list is used to represent a list organized according to one or more actions performed by the robot within a certain time, and the robot can perform one or more actions according to the content in the event list. One or more actions in a certain time period in the event list are determined according to the operation data of the robot in an actual scene, for example, in a building construction scene, when the wall and floor tile caulking robot performs caulking on a wall body, the wall and floor tile caulking robot may perform a lifting action first and then perform a caulking action according to the difference of the height of the wall body, and then the event frame includes two actions of lifting and caulking.
The event list includes a plurality of events completing the operation content of at least one actual event, for example, in a building construction scenario, the event list of the wall and floor tile caulking robot may include a path finding movement (to make the wall and floor tile caulking robot reach an area where construction is needed), a height adjustment (to make the height of the wall and floor tile caulking robot meet the requirement of the caulking area), a robot arm performs a caulking action, and the robot completes the corresponding operation content by executing a plurality of event frames in the event list. The event list is determined according to the job data corresponding to the job content of the actual event, and in the corresponding simulation scene, the simulation robot can execute corresponding actions according to the event in the event list, so that the simulation of the job content in the actual scene is realized.
The sequence event list is used for the robot to execute a plurality of events in the sequence event list according to the time sequence, and the robot stops all actions (for example, the robot stops not moving at the current station) until all the events in the sequence event list are executed.
The trigger event list is that the robot does not actively execute the events in the trigger event list, and only when the robot receives the events in the trigger event list sent from the outside, the received events are correspondingly executed. The events in the trigger event list may include an event number, an object of event reception, a robot part that receives the trigger event, a position where the motion is started, a position where the motion is ended, and the like.
It should be noted that, the complete job content of one robot may simultaneously correspond to the sequence event list and the trigger event list, so that during the job process of the robot, the execution action of a part of the job content is executed according to the events in the sequence event list, and the execution action of a part of the job content is executed according to the events in the trigger event list. Each robot has an event list corresponding thereto, and may include only a sequence event list or a trigger event list, or may have both a sequence event list and a trigger event list.
Step S103, the simulation robot is configured to execute sequential events in turn according to the sequential event list; and (c) and (d).
The simulated robot may perform the actions in the events in sequence according to the events in the sequential event list. For example, in the simulation of building construction, the simulation robot may be a building simulation robot that sequentially executes work operations in the order of events in the sequential event list. Fig. 2 is an event execution schematic diagram of an optional execution sequence event list of the building simulation robot, as shown in fig. 2, after a simulation scene is created, job data of a brick making robot is obtained, and simulation robots corresponding to the brick making robot one to one are created in the simulation scene, where the job data may include AGV (automatic guided vehicle) data (including start station coordinates, end station coordinates, and moving speed for a road of the brick making robot), rotation action data of the brick making robot (including a start angle, an end angle, and a rotation speed of rotation), part motion data of the brick making robot (including a part motion start position, a part motion end position, a path name of a part in a model, and a part rotation start angle), and the like.
And generating a sequence event list according to the operation data, specifically, generating an AGV path finding event 21 according to the coordinates of a starting station, the coordinates of an ending station and the moving speed of the path finding of the brick making robot, and generating a rotation event 22 according to the starting angle, the ending angle and the rotating speed of rotation. Since a work sequence may require multiple components to move in coordination, the component movement data for the brick machine robot includes movement data for multiple components, and the sequence event list may contain multiple movement events to cause the brick machine robot to perform a series of actions. In FIG. 2, motion event 23 includes the motion of part A1 and part A2, then motion event 23 including part A1 and part A2 is determined based on the start position of motion of part A1, the end position of part motion, and the start angle of rotation of part A1, the start position of motion of part A2, the end position of part motion, and the start angle of rotation of part A1. As shown in fig. 2, the event list further includes a motion event 24 and a motion event 25, where the motion event 24 includes motions of a component K1 and a component K2, and a plurality of execution actions of the motion event 24 may be determined according to the motion start positions, the component motion end positions, and the rotation start angles of the component K1 and the component K2; motion event 25 includes the motion of part N1 and part N2, and motion event 25 is determined in the same manner as motion event 23.
After the sequence event list is determined, the simulation robot is controlled to sequentially execute the actions in the event frames according to the event frames in the sequence event list, as shown in fig. 2, the simulation robot sequentially executes an AGV routing event 21, a rotation event 22, a motion event 23, a motion event 24 and a motion event 25, so that the simulation of a brick supply process by the brick supply robot in an actual scene is realized.
Step S104, configured to monitor trigger signals sent by other simulation robots, where the trigger signals are used to trigger the simulation robots to execute trigger events in the trigger event list.
The other simulation robots correspond to other robots of different work types in the actual scene, and the simulation robots can execute corresponding actions according to the triggering of the other simulation robots.
Specifically, the other simulation robots send trigger signals to the current simulation robot to trigger the current simulation robot to execute the events of the trigger event list, and the current simulation robot executes corresponding trigger actions according to the components and the motion information included in the events of the trigger event list. Fig. 3 is a schematic diagram of an optional trigger event list 30, as shown in fig. 3, in a building construction scenario, other simulation robots may be brick laying simulation robots, a current simulation robot may be a brick supply simulation robot, and a trigger event list is added for each of the brick supply simulation robot and the brick laying simulation robot, where the trigger event list includes a brick supply simulation robot start working event 31, a brick laying simulation robot move to a next path point event 32, a brick laying simulation robot brick transporting event 33, and a brick supply simulation robot start working event 34. Each event contains an event number EFOrder, an object EFGetObj for event reception (i.e. the second simulated robot receiving the event), a robot part EFPartsId receiving the trigger event, a position StartPos starting the movement, a position EndPos ending the movement, etc. For example, the content of the work starting event 31 for the brick-supplying simulation robot includes the component actions for the brick-supplying simulation robot to perform the transfer to the brick-laying simulation robot, the brick-laying simulation robot starts monitoring after detecting the trigger event list, when the brick-laying simulation robot finishes laying a brick, the brick-supplying simulation robot is triggered to receive the work starting event 31 for the brick-supplying simulation robot in the trigger event list, and the brick-supplying simulation robot performs the action of transferring the next brick to the brick-laying simulation robot after receiving the event.
In an optional implementation, fig. 4 is a flowchart of an optional simulation method, in an embodiment of simulation of building construction, a first simulation robot is a simulation robot a, and a second simulation robot is a simulation robot B, as shown in fig. 4, after a sequence event list and a trigger event list are added to the simulation robot a and the simulation robot B, respectively executing an action according to events in the sequence event list and starting to monitor a trigger event, which specifically includes the following steps:
in step S401, the simulation robot a starts to monitor the trigger event.
In step S402, the simulation robot a sequentially orders the events in the event list.
In step S403, the simulation robot B starts to monitor the trigger event.
In step S404, the simulation robot B sequentially executes the events in its own sequential event list.
Step S401 and step S402 are steps executed by the simulation robot a at the same time, and step S403 and step S404 are steps executed by the simulation robot B at the same time.
Step S405, the simulation robot a initiates a trigger event a to the simulation robot B in the process of executing the events in the own sequence event list.
In step S406, the simulation robot a continues to execute the events in its own sequence event list after initiating the trigger event a.
In step S407, after monitoring the trigger event a initiated by the simulation robot a, the simulation robot B restores the current job state to the trigger event receiving state to indicate a response to the trigger event a.
In step S408, the simulation robot B stops the events in the sequential event list currently being executed, and resets to the currently received trigger event.
In step S409, the simulation robot B executes the trigger event a.
In step S410, after the simulation robot B executes the trigger event a, if the events in the sequence event list of the simulation robot B are not completed yet, the simulation robot B returns to the state of executing the events in the sequence event list.
In step S411, the simulation robot B continues to execute the events in the sequential event list.
For example, the simulation robot a is a brick laying simulation robot, the simulation robot B is a brick supply simulation robot, events in a sequence event list of the brick supply simulation robot relate to a plurality of processes, the sequence event list of the brick laying simulation robot includes brick laying events, when the brick laying simulation robot finishes laying a brick, the brick supply simulation robot is triggered to transmit a next brick, the brick supply simulation robot is currently executing a plastering event according to the sequence event list, after receiving the triggering event of transmitting the next brick by the brick laying simulation robot, the action of the current plastering event is stopped, the brick supply simulation robot is changed to execute a brick feeding event to the brick laying simulation robot, and after the brick supply simulation robot finishes the brick feeding event, the brick supply simulation robot returns to the plastering event in the sequence event list again.
It should be noted that, in different processes, the simulation robot B may also send a trigger event to the simulation robot a, at this time, the first simulation robot is the simulation robot B, the second simulation robot is the simulation robot a, and the first simulation robot and the second simulation robot are determined according to events in the trigger event list.
In the embodiment, the operation data is acquired, the corresponding first simulation robot is created according to the operation data, the event list is generated according to the operation data, and the first simulation robot is controlled to sequentially execute the events in the sequence event list under the condition that the event list comprises the sequence event list; and controlling the first simulation robot to monitor the trigger event list to trigger the second simulation robot to execute the events in the trigger event list according to the trigger event list under the condition that the event list comprises the trigger event list. The simulation method comprises the steps of creating a plurality of simulation robots in one-to-one correspondence with robots in an actual scene in a simulation scene, subdividing parts and corresponding operation actions of the robots according to different work types of the robots, setting a sequence event list and a trigger event list consistent with the actual scene to reasonably store structured operation data, enabling the plurality of simulation robots to be in communication and matched with each other for linkage operation according to the trigger event list set by a user, achieving simulation of linkage operation of the plurality of robots in the same scene, solving the technical problem that building robots of different work types in the same scene are difficult to simultaneously simulate in the prior art, and further achieving reasonable scheduling of linkage operation of the robots.
As an alternative embodiment, before creating a corresponding simulation robot for each of the job data according to the configuration parameters, the method further comprises: performing data verification on the operation data; and under the condition that the verification is passed, performing structural processing on the job data, and entering a step of creating a corresponding simulation robot for each job data according to configuration parameters, wherein the structural processing is used for converting the job data into motion data of components of the simulation robot and binding the motion data with the corresponding components.
The data verification is used for judging the integrity and the validity of the acquired operation data, the verification shows that the acquired operation data is complete and valid, the robot in the actual scene can work normally according to the operation data, the verification failure shows that the format or the characteristics of the acquired operation data are incomplete, and the data are invalid, so that the robot cannot work normally in the actual scene. For example, in a building scene, the height in the operation data of the wall and floor tile caulking robot should be 0 to the height of the wall, and if the height in the operation data exceeds the height range, the robot may collide with the floor or the ceiling during the operation of caulking the wall and floor tiles, and at this time, the above-mentioned verification fails.
The structured processing may be understood as converting the job data in a storage format (for example, json format) set by a user into structured data that can be recognized and executed by the robot, and the structured data may include motion data of each component of the robot, AGV data, and the like, so that robots of different types control the matching motion of various components according to different job contents. For example, in an embodiment of building simulation, job data of a simulation robot designed by a user is set according to different job types, job data in different json formats is set in a simulation scene, data verification is carried out on the job data, when the verification is passed, the job data is analyzed and structured according to the job types and the component structures of the simulation robot, job actions are set on corresponding components of the simulation robot according to the job data, and motion data of the components are stored as structured data, so that the simulation robot simulates correct job actions according to the stored structured data in the simulation.
As an alternative embodiment, the data verification of the job data includes at least one of the following: performing format verification on the operation data, wherein the operation data is determined to pass the format verification under the condition that the operation data is in a preset format; performing characteristic verification on the operation data, wherein the operation data is determined to pass the characteristic verification under the condition that the operation data contains preset characteristic data; and performing range verification on the operation data, wherein the operation data is determined to pass the range verification under the condition that the operation data is in a preset range.
The format of the job data may be a json format, and the format check may include a json format check and a fixed job data format check. For example, the json format includes a WorkState field to indicate the integrity of the data, the preset format may be the json format when the WorkState field is 1, the WorkState field is 1 to indicate that the data is complete, and the WorkState field is 0 to indicate that the data is incomplete. The fixed job data format includes a fixed field header name, a job data number name, a job area number, and the like.
In the building simulation example, the first simulation robot may be a concrete inner wall grinding robot, the operation data of which is stored in a json format, and the complete operation data includes navigation path data, robot facing data and motion data. For example, job data in json format is stored as follows:
fig. 6 is a flowchart of an alternative data check for json-format job data, and as shown in fig. 6, the step of performing format check on job data includes: step S601, acquiring operation data of the concrete inner wall polishing robot; step S602, judging whether the operation data is in json format, if not, entering step S605 to report error and quit data check; if the job data is in json format, go to step S603; step S603, deeply analyzing the job data in the json format; step S604, judging whether a WorkState field in the job data in the json format is 1, if the WorkState field is not 1 (namely, WorkState is 0), indicating that the current job only has navigation path data and robot-facing data, and if action data is lacked, entering step S605 to report an error and quitting data verification; if the work state field is 1, the navigation path data, the robot facing data and the action data are simultaneously contained, and the data format is complete, the step S606 is performed; step S606, continuing to deeply analyze the operation data and carrying out structuralization processing on the data; step S607, the feature verification and the data range verification are carried out on the operation data, the step S608 is entered under the condition that both the feature verification and the data range verification pass, and the step S605 is entered to report an error and quit the data verification under the condition that any one of the feature verification and the data range verification fails; in step S608, the robot executable structured data is obtained.
The characteristic verification of the operation data is to verify the characteristic data of the simulation robot of a specific work type, the preset characteristic data can be determined according to the specific work type, for example, in the embodiment of the building simulation, the length, the width and the height of the brick are the operation data specific to the brick making robot, the length, the width and the height of the brick are taken as the preset characteristic data, and the characteristic verification of the operation data of the brick making robot comprises the verification of the length, the width and the height data of the brick.
And checking the range of the operation data, namely checking the validity of the range of the operation data of the simulation robot, and if the operation data exceeds a preset range, the operation task cannot be normally executed. For example, in a building scene, the height in the operation data of the wall and floor tile caulking robot should be 0 to the height of a wall body, and if the height in the operation data exceeds the height range, the robot collides with the floor or the ceiling during the operation of caulking the wall and floor tiles, and a prompt of failed verification is given during the verification of the range of the operation data.
As an alternative embodiment, acquiring a plurality of job data, and creating a corresponding simulation robot for each of the job data according to configuration parameters includes: selecting a creation area according to a target scene to be simulated, and entering the target scene; searching operation data in a target scene; and creating a first simulation robot corresponding to the operation data in the target scene according to the configuration parameters.
For example, in an embodiment of building simulation, the target scene may be a building, a floor, or an area of a building, and when the simulation is performed, a corresponding simulation area needs to be created for the building, the floor, or the area of the building. Specifically, the simulation scene may correspond to the target scene by configuring configuration parameters consistent with the target scene for the simulation scene, where the configuration parameters include, but are not limited to, a scene unique number, a job data unique number, a robot unique number of the target scene, and the like.
The target scene may be provided with a plurality of first simulation robots, each first simulation robot corresponds to the operation data in the target scene, and it may be understood that in the target scene, the first simulation robot has a unique number, and the corresponding operation data number is unique, and the moving parts of the first simulation robot are unique, so that in the target scene, different first simulation robots determined according to different operation data execute different operation contents, for example, in an embodiment of building simulation, the brick laying robot and the brick laying robot have different numbers, different operation data numbers and different moving part numbers, so that the brick laying robot and the brick laying robot can be distinguished and respectively execute events in the simulation scene.
In the embodiment of the building simulation, a target scene is a building scene to be simulated, a simulation scene consistent with an actual building scene is firstly created, and configuration parameters of the simulation scene are shown in table 1 and comprise a scene unique number, an operation data unique number, a building robot operation script name, a first simulation robot moving part unique number, a first simulation robot simulation communication instruction number and the like.
TABLE 1
| Name of field | Type of field | Description of the invention |
| SceneId | String (String type) | Unique scene number |
| TaskDataId | String (String type) | Unique job data numbering |
| RobotId | String (String type) | Unique serial number of construction robot |
| ScriptName | String (String type) | Construction robot work script name |
| PartsId | String (String type) | Unique numbering of moving parts of first simulation robot |
| OrderId | Int (integer type) | Communication instruction number in simulation of first simulation robot |
| RobotState | Int (integer type) | First simulation robot simulation state |
| BuildingId | String (String type) | Unique number of building |
| FloorId | String (String type) | Unique number of building floors |
| AreaId | String (String type) | Unique number of floor area of building |
Before simulation is carried out, a target scene (namely regional information to be simulated) is selected, operation data needing simulation in the target scene is obtained through query of a scene unique number sceneId, namely an operation data list is obtained, each operation data in the operation data list has a unique number TaskDataId, each operation data corresponds to one construction robot, resources of the construction robot can be obtained through the construction robot unique number RobotId, a model of the construction robot can be created in the simulation scene according to the resource information of the construction robot, and the name of a corresponding operation script (simulation function script corresponding to the actual function of the construction robot) is bound to achieve creation of a first simulation robot.
In an actual scene, there may be multiple types of construction robots with the same model, so that the number taskdatads of the multiple construction robots in the simulation scene are the same, and it is impossible to distinguish which construction robot is controlled to cooperate with the operation during instruction communication, and therefore when creating the first simulation robot, the number of the first simulation robot needs to be renamed, for example, the name field SceneRobotId of the first simulation robot is regenerated, and the name field of the first simulation robot is formed by splicing the operation data unique number taskdatad and the construction robot unique number RobotId.
It should be noted that, in a scenario where the first simulation robot and the second simulation robot cooperate to perform work, the work data is configured in the simulation state RobotState of the first simulation robot, the first simulation robot initiates a corresponding communication instruction in the communication instruction number OrderId, the communication instruction may include starting to wait, starting to return to a previous navigation station, starting construction work, stopping each component of the work in the current state from moving to the initial state, and the like, and the second simulation robot triggers to execute a corresponding trigger event after receiving the communication instruction.
As an alternative embodiment, the event list comprises: the system comprises automatic navigation data, simulation action data and operation surface data, wherein the automatic navigation data comprises: the method comprises the following steps of generating an event list of a simulation robot corresponding to each piece of work data according to each piece of work data, wherein the event list comprises movement data and current orientation data, the simulation action data is used for indicating the movement data of a component, the work surface data is used for indicating attribute information of a work surface to be simulated, and the event list comprises: analyzing the operation data to generate events with execution sequences; and arranging the events into an event list according to the execution sequence.
In the embodiment of the building simulation, the acquired job data can be analyzed into automatic navigation data (i.e. AGV data), simulation action data and job-side data through a structured process, fig. 5 provides a schematic diagram of generating an event list according to the structured data, as shown in fig. 5, the structured job data 51 can be analyzed to obtain AGV data 52, simulation action data 53 and job-side data 54, analyze the AGV data 52, simulation action data 53 and job-side data 54, arrange an event list 55 according to an event sequence, and further divide the event list 55 into a sequence event list 56 and a trigger event list 57 according to an execution attribute of the event.
As an alternative embodiment, the movement data comprises: a starting position coordinate, an ending position coordinate and a moving speed; the current data-oriented includes: a start rotation angle, an end rotation angle, and a rotation speed; the simulated motion data includes a start motion position, an end motion position, a motion path of the component, and a motion animation of the plurality of components.
The moving data can be used for the first simulation robot to execute an AGV path finding event, and when the first simulation robot executes the AGV path finding event in the simulation process, the calculation method of the position RobotPos of the first simulation device person comprises the following steps:
RobotPos＝Positon(0)+CurrentT*i*MoveSpeed；
CurrentT＝(Vector3.Distance(Positon(0)，Positon(1))/MoveSpeed)/ΔT；
wherein, Positon (0) is a start position coordinate of the first simulation robot, Positon (1) is an end position coordinate of the first simulation robot, MoveSpeed is a moving speed of the first simulation robot, vector3.distance is a distance between two points in a three-dimensional space, Δ T is a corresponding time (unit: second) of each frame in the event list, CurrentT is a time (unit: second) of a current frame in the event list, and i is a current frame number (i.e. an ith frame).
When the first simulation robot executes the rotation event in the simulation process, the calculation method of the orientation RobotAngle of the first simulation device robot comprises the following steps:
RobotAngle＝Angle(0)+CurrentAngleT*i*AngleSpeed；
CurrentAngleT＝((Angle(1)-Angle(0))/AngleSpeed)/ΔT；
the Angle (0) is a starting rotation Angle of the first simulation robot, the Angle (1) is an ending rotation Angle of the first simulation robot, the Angle measured is a rotation speed, Δ T is a time (unit: second) corresponding to each frame in the event list, currentangle T is a rotation time (unit: second) of a current frame in the event list, and i is a current frame number (i.e., ith frame).
The simulated motion data may be for a first simulated robot to execute the component event. In the embodiment of the building simulation, when the building robot works, the movement of a plurality of components is controlled to realize the work, such as a robot arm, a load tray, a plastering sprayer, a painting sprayer and the like, and corresponding events of a plurality of components, such as a component A1, a component A2 and the like, need to be added in an event list. The method for calculating the positions MeshPos and the magnification MeshScale of the rectangular operation objects in the dynamic drawing rectangular working surface comprises the following steps of:
MeshPos＝PStartPos+CurrentWorkT*i；
MeshScale＝CurrentWorkT*i/(PEndPos-PStartPos)；
CurrentWorkT＝(Vector3.Distance(PStartPos，PEndPos)/MoveSpeed)/ΔT；
wherein, PStartPos is a part starting motion position, PEndPos is a part ending motion position, PWorkPos is a current position of the part during operation, pmovesped is a part moving speed, Δ T is a time (unit: second) corresponding to each frame in an event list, vector3.distance is a distance between two points in a three-dimensional space, CurrentWorkT is a distance of each frame motion in the event list, and i is a current frame number (i.e. an ith frame).
According to the calculation method, the position and the scale of the working surface change along with the change of the working action of the part (namely the change of the part starting movement position and the part ending movement position), so that the effect of dynamically drawing the working surface is realized.
As an alternative embodiment, the simulation robot is configured to execute sequential events in turn according to the sequential event list, including: controlling the simulation robot to acquire a calling event which is used for triggering other robot actions and is in the event list, wherein the calling event comprises: the method comprises the steps of (1) event numbering, event receiving object identification and event data; controlling the simulation robot to determine the simulation robot to be triggered according to the event receiving object identifier; and controlling the simulation robot to send a trigger signal carrying the event number and the event data to the simulation robot to be triggered.
The trigger signal can be sent by the current simulation robot, other simulation machines monitor events in the trigger event list of the simulation robot, and when the trigger signal is monitored, the corresponding trigger event is executed according to the trigger signal.
Specifically, the invoking event includes: the event data may include AGV data, component motion data, and the like of the simulation robot to be triggered, for example, when a calling event requires a certain component of the simulation robot to be triggered to execute a certain action, the event data includes a component number, a component movement starting position, and a component movement ending position of the simulation robot to be triggered.
In an embodiment of building simulation, the current simulation robot may be a brick laying simulation robot, the simulation robot to be triggered may be a brick supply simulation robot, fig. 3 is a schematic diagram of an optional trigger event list, as shown in fig. 3, a brick transport event 33 of the brick laying simulation robot includes an event number, an object (including a unique number of the brick supply simulation robot), a position where movement starts, a position where movement ends, and the like, when the brick laying simulation robot monitors the brick transport event 33 of the brick supply simulation robot in a call event (for example, when the brick laying simulation robot completes laying a brick), a trigger signal of the event information is sent to the brick supply simulation robot, and after the brick supply simulation robot receives the trigger signal, the brick transport event to the brick laying simulation robot is executed.
Example 2
According to an embodiment of the present invention, there is provided an embodiment of a simulation apparatus, and fig. 7 is a schematic diagram of a simulation apparatus according to an embodiment of the present invention, as shown in fig. 7, the apparatus including:
the acquisition module 71 is configured to acquire a plurality of job data, and create a corresponding simulation robot for each job data according to configuration parameters; a generating module 72, configured to generate, according to each piece of job data, an event list of the simulated robot corresponding to each piece of job data, where the event list includes: a sequence event list and a trigger event list; an execution control module 73 for the simulation robot configured to execute sequential events in order according to the sequential event list; a monitoring control module 74, configured to monitor trigger signals sent by other simulation robots, where the trigger signals are used to trigger the simulation robots to execute the trigger events in the trigger event list.
As an alternative embodiment, the apparatus further comprises: the verification module is used for performing data verification on the operation data before a corresponding simulation robot is established for each operation data according to the configuration parameters; and the structured processing module is used for carrying out structured processing on the job data under the condition that the verification is passed, and entering the step of creating a corresponding simulation robot for each job data according to the configuration parameters, wherein the structured processing is used for converting the job data into the motion data of the components of the simulation robot and binding the motion data with the corresponding components.
As an alternative embodiment, the verification module comprises at least one of: the format checking submodule is used for carrying out format checking on the operation data, wherein the operation data is determined to pass the format checking under the condition that the operation data is in a preset format; the characteristic verification submodule is used for performing characteristic verification on the operation data, wherein the operation data is determined to pass the characteristic verification under the condition that the operation data contains preset characteristic data; and the range checking submodule is used for carrying out range checking on the operation data, wherein the operation data is determined to pass the range checking under the condition that the operation data is in a preset range.
As an alternative embodiment, the obtaining module includes: the area creating submodule is used for selecting a creating area according to a target scene to be simulated and entering the target scene; the searching submodule is used for searching the operation data in the target scene; and the robot creating submodule is used for creating a first simulation robot corresponding to the operation data in the target scene according to the configuration parameters.
As an alternative embodiment, the event list comprises: the system comprises automatic navigation data, simulation action data and operation surface data, wherein the automatic navigation data comprises: the generation module comprises a movement data and a current orientation data, wherein the simulation action data is used for indicating the movement data of the component, and the working surface data is used for indicating the attribute information of the working surface to be simulated, and the generation module comprises: the analysis submodule is used for analyzing the operation data and generating events with execution sequences; and the arranging submodule is used for arranging the events into an event list according to the execution sequence.
As an alternative embodiment, the movement data comprises: a starting position coordinate, an ending position coordinate and a moving speed; the current data-oriented includes: a start rotation angle, an end rotation angle, and a rotation speed; the simulated motion data includes a start motion position, an end motion position, a motion path of the component, and a motion animation of the plurality of components.
As an alternative embodiment, the execution control module includes: the first control submodule is used for controlling the simulation robot to acquire a calling event which is in the event list and used for triggering other robot actions, wherein the calling event comprises: the method comprises the steps of (1) event numbering, event receiving object identification and event data; the second control submodule is used for controlling the simulation robot to determine the simulation robot to be triggered according to the event receiving object identifier; and the third control sub-module is used for controlling the simulation robot to send a trigger signal carrying the event number and the event data to the simulation robot to be triggered.
Example 3
According to an embodiment of the present invention, an embodiment of a storage medium is provided, the storage medium including a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the simulation method in the above-mentioned embodiment 1.
Example 4
According to an embodiment of the present invention, an embodiment of a processor is provided, where the processor is configured to run a program, and the program executes the simulation method in embodiment 1.
The processor is used for running a program, and can call the information stored in the memory and the application program through the transmission device so as to execute the simulation method in the embodiment 1.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple 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, units or modules, and may be in an electrical 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 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 unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A simulation method, comprising:
acquiring a plurality of operation data, and creating a corresponding simulation robot for each operation data according to configuration parameters;
generating an event list of the simulation robot corresponding to each job data according to each job data, wherein the event list comprises: a sequence event list and a trigger event list;
the simulation robot is configured to execute sequential events in order according to the sequential event list; and
the simulation robot is configured to monitor trigger signals sent by other simulation robots, and the trigger signals are used for triggering the simulation robots to execute the trigger events in the trigger event list.
2. The method of claim 1, wherein prior to creating a corresponding simulated robot for each of the job data based on configuration parameters, the method further comprises:
performing data verification on the operation data;
and under the condition that the verification is passed, performing structural processing on the job data, and entering a step of creating a corresponding simulation robot for each job data according to configuration parameters, wherein the structural processing is used for converting the job data into motion data of components of the simulation robot and binding the motion data with the corresponding components.
3. The method of claim 2, wherein the data checking the job data comprises at least one of:
performing format verification on the operation data, wherein the operation data is determined to pass the format verification under the condition that the operation data is in a preset format;
performing characteristic verification on the operation data, wherein the operation data is determined to pass the characteristic verification under the condition that the operation data contains preset characteristic data; and
and performing range verification on the operation data, wherein the operation data is determined to pass the range verification under the condition that the operation data is in a preset range.
4. The method of claim 1, wherein said obtaining a plurality of job data and creating a corresponding simulated robot for each of said job data based on configuration parameters comprises:
selecting a creation area according to a target scene to be simulated, and entering the target scene;
searching the operation data in the target scene;
and creating a simulation robot corresponding to the operation data in the target scene according to the configuration parameters.
5. The method of claim 1, wherein the event list comprises: the system comprises automatic navigation data, simulation action data and operation surface data, wherein the automatic navigation data comprises: the method comprises the following steps of generating a simulation robot event list corresponding to each piece of job data according to each piece of job data, wherein the simulation action data is used for indicating motion data of a component, the job surface data is used for indicating attribute information of a job surface to be simulated, and the simulation robot event list comprises:
analyzing the job data to generate events with execution sequences;
and arranging the events into the event list according to the execution sequence.
6. The method of claim 5, wherein the movement data comprises: a starting position coordinate, an ending position coordinate and a moving speed; the current data-oriented includes: a start rotation angle, an end rotation angle, and a rotation speed; the simulated motion data includes a starting motion position, an ending motion position, a motion path of the component, and a motion animation for a plurality of components.
7. The method of claim 1, wherein the simulated robot is configured to execute sequential events in order according to the sequential event list, comprising:
controlling the simulation robot to acquire a calling event which is used for triggering other robot actions and is in the event list, wherein the calling event comprises: the method comprises the steps of (1) event numbering, event receiving object identification and event data;
controlling the simulation robot to determine the simulation robot to be triggered according to the event receiving object identifier;
and controlling the simulation robot to send a trigger signal carrying the event number and the event data to the simulation robot to be triggered.
8. An emulation apparatus, comprising:
the system comprises an acquisition module, a simulation module and a simulation module, wherein the acquisition module is used for acquiring a plurality of operation data and creating a corresponding simulation robot for each operation data according to configuration parameters;
a generating module, configured to generate an event list of the simulated robot corresponding to each piece of the job data according to each piece of the job data, where the event list includes: a sequence event list and a trigger event list;
a first control module for the simulated robot configured to execute sequential events in sequence according to the sequential event list; and
and the second control module is used for monitoring trigger signals sent by other simulation robots, and the trigger signals are used for triggering the simulation robots to execute the trigger events in the trigger event list.
9. A storage medium, characterized in that the storage medium comprises a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the simulation method according to any one of claims 1 to 7.
10. A processor configured to run a program, wherein the program is configured to execute the simulation method according to any one of claims 1 to 7 when the program is run.
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