CN113934154A - Bracket simulation method based on digital twinning technology - Google Patents
Bracket simulation method based on digital twinning technology Download PDFInfo
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Abstract
The application provides a stent simulation method based on a digital twinning technology, wherein the method comprises the following steps: the method comprises the steps of constructing a digital twin model of the stent, monitoring a control instruction for the stent, inputting the control instruction to the digital twin model to obtain output attitude data of the stent, and displaying the attitude of the stent after responding to the control instruction according to the attitude data. The method can output the posture data of the bracket through the digital twin model of the bracket corresponding to the real world bracket mapping, and visually and clearly display the posture action of the bracket.
Description
Technical Field
The application relates to the technical field of kinematics simulation, in particular to a stent simulation method based on a digital twinning technology.
Background
In mining work, the support is used as core equipment of a working face, and the posture change condition of the support needs to be monitored in the process of adapting to surrounding rocks and coal seam changes of a working face stope, so that automation and safe production of the fully mechanized mining face are guaranteed. In order to monitor the real-time posture change condition of the support, the sensor is used for sensing the support electrohydraulic control action, and closed-loop control of the support action is realized. In order to clearly and truly reflect the working action condition of the bracket, the bracket is subjected to kinematic simulation.
At present, an underground support is only provided with an inclination angle sensor on a top beam and a base, a pressure sensor and a height measurement sensor are arranged on an upright post, sensing data are not enough to represent the posture of the complete support, and the measured data have shaking and jumping conditions and have deviation with real values, so that the simulation result can not accurately reflect the actual condition. In addition, the current bracket real-time state monitoring adopts two-dimensional color blocks to represent the action condition, different actions correspond to different color blocks, the display effect is not visual, and the understanding is not easy.
Disclosure of Invention
Therefore, the application provides a bracket simulation method and device based on a digital twinning technology and electronic equipment, so as to solve the technical problems that the posture of the bracket is represented inaccurately and the display is not intuitive in the prior art.
The embodiment of the first aspect of the application provides a stent simulation method based on a digital twinning technology, which comprises the following steps:
constructing a digital twinning model of the stent;
monitoring a control instruction for the bracket;
inputting the control instruction to the digital twin model to acquire the output posture data of the stent;
and displaying the posture of the support after responding to the control command according to the posture data.
Optionally, the digital twinning model of the build scaffold comprises: acquiring an abstract rod system model established according to the structural information of the bracket; constructing the digital twin model according to the structural parameters in the abstract rod system model; and analyzing parameters in the twin model by using a Powell optimization algorithm.
Optionally, the constructing a digital twin model according to the structural parameters in the abstract rod system model includes: establishing a vector loop equation set according to the structural parameters in the abstract rod system model; and deducing the vector loop equation set to obtain a model equation of the twin model.
Optionally, the displaying the posture of the cradle after responding to the control instruction according to the posture data includes: establishing a three-dimensional model of the stent; binding and mapping the three-dimensional model and the digital twin model; importing the three-dimensional model to a three-dimensional engine; inputting the pose data into the three-dimensional engine to show a pose that the scaffold is in after responding to the control instruction.
Optionally, the creating a three-dimensional model of the stent comprises: determining parent-child node relationships between components of the support; and establishing the three-dimensional model based on the parent-child node relation.
The embodiment of the second aspect of the present application provides a stent simulation device based on a digital twinning technology, including:
the model generation unit is used for constructing a digital twin model of the stent;
the monitoring unit is used for monitoring a control instruction of the bracket;
the calculation unit is used for inputting the control instruction to the digital twin model so as to obtain the output posture data of the stent;
and the simulation unit is used for displaying the posture of the bracket after responding to the control instruction according to the posture data.
Optionally, the model generating unit is specifically configured to: acquiring an abstract rod system model established according to the structural information of the bracket; constructing the digital twin model according to the structural parameters in the abstract rod system model; and analyzing parameters in the twin model by using a Powell optimization algorithm.
Optionally, the simulation unit is specifically configured to: establishing a three-dimensional model of the stent; binding and mapping the three-dimensional model and the digital twin model;
importing the three-dimensional model to a three-dimensional engine; inputting the pose data into the three-dimensional engine to show a pose that the scaffold is in after responding to the control instruction.
An embodiment of a third aspect of the present application provides an electronic device, including: a processor and a memory, the memory having stored therein instructions, the instructions being executable by the processor to enable the processor to perform the method as described in the embodiments of the first aspect of the present application.
A fourth aspect of the present application provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect of the present application.
According to the support simulation method based on the digital twinning technology, the digital twinning model of the support is constructed, the control instruction of the support is monitored, the control instruction is input into the digital twinning model to obtain the output posture data of the support, and the posture of the support after responding to the control instruction is displayed according to the posture data. The method can output the posture data of the bracket through the digital twin model of the bracket corresponding to the real world bracket mapping, and visually and clearly display the posture action of the bracket.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a stent simulation method based on a digital twinning technique according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of another stent simulation method based on the digital twinning technology according to an embodiment of the present application;
FIG. 3 is a diagram illustrating an abstract bar system model according to an embodiment of the present disclosure;
FIG. 4a is a schematic diagram of an abstract bar system model labeled with labels of angle parameters in structural parameters of the abstract bar system model according to an embodiment of the present application;
FIG. 4b is a schematic diagram of an abstract bar system model labeled with labels of dimension parameters in structural parameters of the abstract bar system model according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram illustrating a parent-child node relationship between components of a support according to an embodiment of the present disclosure;
FIG. 6 is a schematic view of a stent labeled with key rotation center points of the stent according to an embodiment of the present disclosure;
FIG. 7 is a schematic view of a three-dimensional model of a stent according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of another stent simulation device based on a digital twinning technique according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an embodiment of an electronic device according to the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The stent simulation method and device based on the digital twinning technique according to the embodiment of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a stent simulation method based on a digital twinning technique according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
The digital twin is a simulation process integrating multiple disciplines, multiple physical quantities, multiple scales and multiple probabilities by fully utilizing data such as a physical model, sensor updating and operation history, and can complete mapping in a virtual space so as to reflect the full life cycle process of corresponding entity equipment.
The digital twin model of the stent is a model that can accurately express the posture of the stent.
The control command is a control signal command sent from the controller and can control the valve group to drive the support to act.
In some embodiments, listening for control commands to the rack may be receiving control commands sent by the controller over the bus via the signal converter.
Alternatively, the control instruction transmitted by the controller may be received by software.
And 103, inputting the control command to the digital twin model to acquire the output posture data of the stent.
In some embodiments, the digital twin model calculates the posture data of the stent according to the input control command. The posture data of the support can completely and accurately represent the posture of the support.
Wherein the pose data may include: the angle between the rear connecting rod and the horizontal plane, the angle between the front connecting rod and the horizontal plane, the angle between the upright post and the horizontal plane, the angle between the shield beam and the horizontal plane, the angle between the balancing pole and the horizontal plane, the length of the upright post oil cylinder and the length of the balancing oil cylinder.
It can be understood that different types of attitude data can be set according to different requirements, and meanwhile, limitations such as computational complexity and the like can also be considered.
And 104, displaying the posture of the bracket after responding to the control command according to the posture data.
In some embodiments, the pose data may be graphed, with the pose of the stent being shown graphically.
In some embodiments, the gesture of the stent is clearly and intuitively demonstrated by building a three-dimensional modeling of the stent.
Alternatively, the pose data may be input into a three-dimensional model of the stent, such that the three-dimensional model may exhibit the pose of the stent in response to the control commands.
In this embodiment, a digital twin model of a stent is constructed, a control instruction for the stent is monitored, the control instruction is input to the digital twin model to obtain output posture data of the stent, and a posture of the stent after responding to the control instruction is displayed according to the posture data. The method can output the posture data of the bracket through the digital twin model of the bracket corresponding to the real world bracket mapping, and visually and clearly display the posture action of the bracket.
Fig. 2 is a schematic flowchart of another stent simulation method based on a digital twinning technique according to an embodiment of the present application, and as shown in fig. 2, the method includes the following steps:
The structural information of the support comprises composition information of a motion main body part of the support, information of the driving part, motion characteristics of the whole mechanism and the like.
In one embodiment, taking a two-column shield type hydraulic support as an example, the moving main body part of the two-column shield type hydraulic support is composed of a base, a front connecting rod, a rear connecting rod, a shield beam, a top beam, a vertical column and a balance jack. Because there are three motion transfer rings from the base to the top beam, and the driving part balance jack and the upright post belong to two different rings, the mechanism can be regarded as a set of parallel mechanism, and can be simplified into a set of plane parallel motion mechanism by combining the structure of the hydraulic support and the motion characteristics during working, so as to obtain the abstract rod system model shown in fig. 3.
And 202, constructing a digital twin model according to the structural parameters in the abstract rod system model.
Wherein the structural parameters include length and inclination. It should be noted that the structural parameters include the dimension of the support structure that can be measured by a drawing, the angle and height data that can be measured by a sensor, and the unknown parameters to be solved.
Optionally, the structural parameters may include: the device comprises at least one of a front connecting rod, a rear connecting rod, an upright post, a balancing rod, a shield beam and a horizontal plane, the included angle between the upright post oil cylinder length and the balancing oil cylinder length, a base, a front pin shaft and a rear pin shaft of the base, an upright post pin shaft, a front connecting rod, a rear connecting rod, a shield beam pin shaft, a shield beam, a balancing oil cylinder, a shield beam pin shaft, a shield beam and top beam pin shaft, an upright post, a top beam pin shaft and a top beam.
In one embodiment, constructing a digital twin model from structural parameters in an abstract rod system model comprises:
establishing a vector loop equation set according to the structural parameters in the abstract rod system model; and deducing the vector loop equation set to obtain a model equation of the twin model.
Optionally, fig. 4a marks the angle parameter in the abstract bar system model structure parameter, and fig. 4b marks the dimension parameter in the abstract bar system model structure parameter, and it should be noted that the unknown quantity mark is included therein. The correspondence between each mark and the name in fig. 4a and 4b is shown in the following table.
TABLE 1 Stent unknown quantity mark correspondence table
TABLE 2 ZY12000/20/40D two-column shield support structure size table
According to the parameters in the abstract rod system model and the structural relation of the hydraulic support, the following three vector equations can be obtained by the four-bar vector ring, the balance oil cylinder and top beam shield beam vector ring and the support integral structure vector ring containing the upright post respectively, and a vector equation set is established.
RAB+RBD＝RAC+RCD (1)
REG+RGF＝REF (2)
RKA+RAC+RCG+RGI＝RKI (3)
Wherein R isXYRepresenting a vector of X points to Y points, each of which may be one of the points A, B, C, D, E, F, G, K labeled in fig. 4 b.
The position vectors can be represented as complex numbers as follows:
wherein L isXYIndicating the length between the X and Y points, which may be points A, B, respectively, as noted in FIG. 4b,B. C, D, E, F, G, K.
From the scaffold structure relationship, the following identity can be obtained:
LAc＝L6 (8)
LBD＝L7 (9)
order:
then:
conversion of the original complex expressions (4) to (6)
According to the Euler formula
ejα＝cosα+j sinα (40)
(37) Equation (39) is expanded by the real part of the imaginary part to obtain the following six equations:
the structure is as follows according to the height of the bracket:
H＝S1sinθ10+L5+L17cosθ13 (47)
wherein H represents the shelf height.
That is, the model equations (41) to (47) of the twin model are derived from the vector loop equation system.
And step 203, analyzing parameters in the twin model by using a Powell optimization algorithm.
The parameters in the twin model refer to unknown parameters in the model equation, that is, the Powell optimization algorithm is used for solving the equation sets (41) - (47). The Powell optimization algorithm has the advantages that the solving problem of the nonlinear equation set with the initial value is solved, the solving speed and the solving precision are achieved, and when multiple solutions exist, the optimal solution can be found quickly. With regard to the principle of the Powell optimization algorithm, reference may be made to the relevant description.
Optionally, resolving parameters in the twin model using the Powell optimization algorithm may include the following steps 203a-203 h:
given an initial point, 7 linearly independent sets of directions are chosen, initially as coordinate unit vectors.
From the initial point of this round, a one-dimensional search is performed in sequence in the direction, resulting in 7 points.
And 203c, taking the last point as a starting point, moving along the direction of a connecting line of the last point and the first point, and obtaining the distance from the last point to the first point. Three points are obtained here, namely starting points F0End point F1And a reflection point F2The corresponding coordinates and function values are written as:
203d, calculating a function value of each intermediate point and a reduction amount to obtain a maximum value delta of the reduction amountmAnd a corresponding direction dm。
203e, judging whether F is satisfied2＜F0And (F)0-2F1+F2)(F0-F1-Δm)2＜0.5Δm(F0-F2)2To determine whether to replace the original direction group, if not, 203f is executed, and if so, 203g is executed.
And 203f, using the original direction group in the next iteration, and taking the minimum value of the function values of the end point and the reflection point as the starting point of the next iteration.
203g. willdmAnd removing, wherein the connecting line direction of the starting point and the end point is put into the direction group, and the last direction group is used as the iteration direction group of the next round, and the starting point of the next round of iteration is the optimal point which is searched in one dimension along the connecting line direction by taking the end point as the starting point.
And 203h, judging whether a termination condition is met, if so, terminating, and if not, performing the next iteration.
Optionally, a three-dimensional model of the stent is established according to a drawing of the stent as a three-view of a two-dimensional stent.
In one embodiment, creating a three-dimensional model of the stent comprises:
determining parent-child node relationships among all parts of the support; and establishing a three-dimensional model of the support based on the parent-child node relation.
Wherein, the parent-child node relationship is the hierarchical structure relationship among the components.
Optionally, the frame type stent main body member comprises: the base, the pushing device, the front and rear connecting rods, the upright post, the shield beam, the top beam, the telescopic beam and the side guard plate, and the relationship of father and son nodes among all the components of the bracket is determined as shown in figure 5.
Alternatively, as shown in fig. 6, each key rotational center point position is determined to enable rotational manipulation of the members of the three-dimensional model of the stent. It can be understood that the pushing, side guard plates, the movable column of the upright column, the middle column and the piston rod of the jack perform linear motion by taking the corresponding parent-stage part as a reference system, and the rotating center of the pushing, side guard plates and the piston rod of the upright column does not need to be determined.
And step 205, binding and mapping the three-dimensional model and the digital twin model.
Optionally, parameters in the digital twin model are mapped into the three-dimensional model.
Optionally, the three-dimensional engine is a Unity3D engine.
Optionally, in the three-dimensional engine, the bracket model may be subjected to attachment mapping and baking light rendering, so that the bracket may be displayed more clearly and intuitively, as shown in fig. 7.
In some embodiments, a control instruction sent by the controller via the signal converter via the bus is received.
Alternatively, the control command is to raise or lower the column, as shown in the table below.
TABLE 3 instruction control Table
In some embodiments, the controller may also receive and forward sensing data measured by the stent sensor.
And step 208, inputting the control command to the digital twin model to acquire the output posture data of the stent.
Optionally, a control command and sensing data are input into the digital twin model, and the digital twin model calculates posture data of the stent.
It will be appreciated that the pose data of the stent may also include sensory data.
And step 209, inputting the posture data into the three-dimensional engine to show the posture of the support after responding to the control command.
And inputting the attitude data into a three-dimensional engine, wherein the three-dimensional model can show the attitude of the support responding to the control instruction according to the attitude data.
In this embodiment, an abstract rod system model established according to the structural information of the stent is obtained, a digital twin model is established according to structural parameters in the abstract rod system model, parameters in the twin model are analyzed by using a Powell optimization algorithm, a three-dimensional model of the stent is established, the three-dimensional model and the digital twin model are bound and mapped, the three-dimensional model is led into a three-dimensional engine, a control instruction for the stent is monitored, the control instruction is input into the digital twin model to obtain output pose data of the stent, and the pose data is input into the three-dimensional engine to show the pose of the stent after responding to the control instruction. According to the method, the posture data of the stent are output through the digital twin model of the stent so as to completely represent the posture of the stent, and the posture data are input into the three-dimensional model bound and mapped with the digital twin model, so that the posture action of the stent can be visually and clearly displayed through the three-dimensional model.
The present application further provides a stent simulation device based on a digital twinning technology, and fig. 8 is a schematic structural diagram of the stent simulation device based on the digital twinning technology provided in the embodiment of the present application.
As shown in fig. 8, the stent simulation apparatus based on the digital twinning technique includes: a model generation unit 810, a listening unit 820, a calculation unit 830 and a simulation unit 840.
A model generation unit 810 for constructing a digital twin model of the stent;
a monitoring unit 820, configured to monitor a control instruction for the rack;
a calculating unit 830, configured to input the control instruction to the digital twin model to obtain output posture data of the stent;
and the simulation unit 840 is used for displaying the posture of the bracket after responding to the control instruction according to the posture data.
In some embodiments, the model generation unit is specifically configured to:
acquiring an abstract rod system model established according to the structural information of the bracket;
constructing the digital twin model according to the structural parameters in the abstract rod system model;
and analyzing parameters in the twin model by using a Powell optimization algorithm.
In some embodiments, the simulation unit is specifically configured to:
establishing a three-dimensional model of the stent;
binding and mapping the three-dimensional model and the digital twin model;
importing the three-dimensional model to a three-dimensional engine;
inputting the pose data into the three-dimensional engine to show a pose that the scaffold is in after responding to the control instruction.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the apparatus of this embodiment, and is not repeated herein.
According to the device provided by the embodiment of the application, a digital twin model is established according to the structure parameters in the abstract rod system model by obtaining the abstract rod system model established according to the structure information of the support, the parameters in the twin model are analyzed by using a Powell optimization algorithm, the three-dimensional model of the support is established, the three-dimensional model and the digital twin model are bound and mapped, the three-dimensional model is led into a three-dimensional engine, a control instruction for the support is monitored, the control instruction is input into the digital twin model to obtain the output posture data of the support, and the posture data are input into the three-dimensional engine to show the posture of the support after responding to the control instruction. According to the method, the posture data of the stent are output through the digital twin model of the stent so as to completely represent the posture of the stent, and the posture data are input into the three-dimensional model bound and mapped with the digital twin model, so that the posture action of the stent can be visually and clearly displayed through the three-dimensional model.
An embodiment of the present application further provides an electronic device, which includes the apparatus according to any of the foregoing embodiments.
Fig. 9 is a schematic structural diagram of an embodiment of an electronic device provided in the present application, which may implement the processes of the embodiments shown in fig. 1-2 of the present invention, and as shown in fig. 9, the electronic device may include:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the foregoing digital twinning technique based stent simulation methods.
The embodiment of the application also provides a non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are used for causing a computer to execute any one of the above-mentioned stent simulation methods based on the digital twinning technology.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A stent simulation method based on a digital twinning technology is characterized by comprising the following steps:
constructing a digital twinning model of the stent;
monitoring a control instruction for the bracket;
inputting the control instruction to the digital twin model to acquire the output posture data of the stent;
and displaying the posture of the support after responding to the control command according to the posture data.
2. The method of claim 1, wherein constructing a digital twinning model of a stent comprises:
acquiring an abstract rod system model established according to the structural information of the bracket;
constructing the digital twin model according to the structural parameters in the abstract rod system model;
and analyzing parameters in the twin model by using a Powell optimization algorithm.
3. The method of claim 2, wherein constructing a digital twin model from the structural parameters in the abstract rod system model comprises:
establishing a vector loop equation set according to the structural parameters in the abstract rod system model;
and deducing the vector loop equation set to obtain a model equation of the twin model.
4. The method of claim 1, wherein said presenting the pose of the stent in response to the control command based on the pose data comprises:
establishing a three-dimensional model of the stent;
binding and mapping the three-dimensional model and the digital twin model;
importing the three-dimensional model to a three-dimensional engine;
inputting the pose data into the three-dimensional engine to show a pose that the scaffold is in after responding to the control instruction.
5. The method of claim 4, wherein said creating a three-dimensional model of said stent comprises:
determining parent-child node relationships between components of the support;
and establishing the three-dimensional model based on the parent-child node relation.
6. A stent simulation device based on a digital twinning technique is characterized by comprising:
the model generation unit is used for constructing a digital twin model of the stent;
the monitoring unit is used for monitoring a control instruction of the bracket;
the calculation unit is used for inputting the control instruction to the digital twin model so as to obtain the output posture data of the stent;
and the simulation unit is used for displaying the posture of the bracket after responding to the control instruction according to the posture data.
7. The apparatus according to claim 6, wherein the model generation unit is specifically configured to:
acquiring an abstract rod system model established according to the structural information of the bracket;
constructing the digital twin model according to the structural parameters in the abstract rod system model;
and analyzing parameters in the twin model by using a Powell optimization algorithm.
8. The apparatus according to claim 6, wherein the simulation unit is specifically configured to:
establishing a three-dimensional model of the stent;
binding and mapping the three-dimensional model and the digital twin model;
importing the three-dimensional model to a three-dimensional engine;
inputting the pose data into the three-dimensional engine to show a pose that the scaffold is in after responding to the control instruction.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
10. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
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