CN115098100A - Digital twin body component driving method based on cloud-native industrial application scene - Google Patents
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Abstract
The invention discloses a digital twin body component driving method based on a cloud-native industrial application scene, which comprises the following steps: constructing a digital twin component based on cloud originality, adopting a Collada format file based on an XML frame as a data format of the digital twin component, and storing the kinematic data and the physical data of the physical object in an element definition tag mode; the digital twin body assembly is deployed in a cloud environment through a loading type of a Collada file of the digital twin body assembly, the digital twin body assembly is subjected to data updating according to data source data, the updated data of the digital twin body assembly is rendered and visualized in the cloud environment, the data of the digital twin body assembly is updated circularly, and real-time driving of the digital twin body assembly is achieved. The invention realizes accurate digital control, supports the storage of multi-dimensional data of the digital twin body component, and is convenient for quick deployment, development, update and operation and maintenance cooperative cooperation of the digital twin body component at the cloud.
Description
Technical Field
The invention relates to the technical field of digital twin component driving, in particular to a digital twin component driving method based on a cloud-native oriented industrial application scene.
Background
The digital twin timely intercommunicates the running state data of the physical object and the virtual object through the data channel, and realizes the monitoring, prediction and control of the running state of the physical object and the evolution and evolution of the virtual object. The digital twin body is a digital mapping system which is expressed by data information in a virtual environment by using a digital technology or a computer structured language and completely accords with an actual object. The cloud native technology is beneficial to the establishment and the operation of elastically expandable application of various organizations in novel dynamic environments such as public cloud, private cloud, mixed cloud and the like. Representative technologies of cloud-native include containers, service grids, microservices, immutable infrastructure, and declarative APIs. Features of cloud-native applications include distributed, highly available, high performance, resilient, stateless, locally light dependent, and the like. These techniques enable the construction of a loosely coupled system that is fault tolerant, easy to manage, and easy to observe.
Through the double driving of the multi-dimensional virtual model and the fusion data and the interaction between the physical object and the virtual model, the digital twin can describe the multi-dimensional attributes of the physical object, depict the actual behavior and the real-time state of the physical object and analyze the future development trend of the physical object, thereby realizing the actual function services and the application requirements of monitoring, simulating, predicting, optimizing and the like of the physical object. The digital twin body is a digital mapping system which expresses an actual object in a virtual environment by using data information through an informatization technology and is completely consistent with the actual object, and preconditions are provided for realizing the digital twin technology. However, the realization of the current digital twin technology still faces a plurality of problems, for example, the problems of light weight of structural data, multi-dimensional data expression, light weight deployment, development, update and operation and maintenance cooperative cooperation of a digital twin body, the problem that cloud deployment of the digital twin body has limitations, the digital twin body cannot realize multi-device interaction, single-device precise control and complex kinematic behavior expression in a web environment and conforms to various physical data of actual physical devices, and digital infrastructure service is difficult to provide for small and medium-sized enterprises and colleges.
For the development situation of 3D model data storage, such as common file formats of 3ds, STL, OBJ, FBX, JT, STEP, SolidWorks, and the like, a common URTF file for robot simulation is stored after nodularization of a 3D model, and is used for supporting structural expression of the model, which is mostly general, but if the kinematics expression, simulation, and virtual debugging of the 3D model are required, limitations are embodied, and the above works can be completed by using special software, and cannot be integrated in a cloud environment, such as a web page end for performing macroscopic model multidimensional expression, let alone for realizing the functions of simulation and virtual debugging.
In the existing data visualization scheme of the 3D model in the web, data of each physical component of actual physical equipment which can be represented is limited, descriptions of a digital twin-organism kinematic model, a kinematic scene, a physical model and a physical scene are lacked, accurate digital control of the digital twin-organism component cannot be realized in a dynamic environment, and the digital twin-organism component can be adopted by as many digital users as possible. And the GlTF file format focuses on the skeleton animation, the visual display of the movement is defined in the model file, the grid data of the model and the behavior change of a single model are written, and the model drive is realized by updating the animation data of the model. However, the data storage mode is basically the same as the idea provided by the invention, and various data of the digital twin component are stored by adopting a computer lightweight language.
In addition, the expression of the digital twin in the visualization and behavior expression scheme of the digital twin in the simulation environment is clumsy, a kinematics model and a physics model need to be defined in special software after the modeling is completed (at the moment, grid data of a digital twin component is generated), the generated digital twin is large in limitation, various types of data of the digital twin are mutually independent and large in data volume, the deployment and the control on a cloud (web) are not supported, meanwhile, the expression of the kinematics model of the digital twin is preset, a real-time synchronization process with actual equipment cannot be realized, and the expandability and accurate digital control during running are lacked.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention provides a cloud-native-based industrial application scene-oriented digital twin component driving method which is used as a model driver for creating content of users of authoring tools and interactive applications, various data information is stored in an XML (extensive makeup language) element definition (tag) mode, so that the data information can be freely changed without losing the information, accurate digital control is realized, meanwhile, a tool chain with rich functions can be combined by a plurality of software packages (background drivers), and in combination with the digital twin component driving method provided by the invention, the model data is liberated from a proprietary binary format to become a clear, XML-based, free and open standard format, so that the storage of multi-dimensional data of a digital twin component is supported, the rapid deployment of the digital twin component in a cloud end is facilitated, and the development of the digital twin component driving method is facilitated, The updating and the operation and maintenance cooperate; the simple integration mechanism can enable all data of the model to be the basis of universal data exchange between application programs in an XML element definition mode, and provides services for developers, hardware and middleware manufacturers.
A second object of the present invention is to provide a digital twin component driving system based on a cloud-native industrial application scenario.
A third object of the present invention is to provide a computer-readable storage medium.
It is a fourth object of the invention to provide a computing device.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a digital twin body component driving method based on a cloud-native industrial application scene, which comprises the following steps of:
constructing a digital twin component based on cloud originality, constructing a Collada architecture of the digital twin component oriented to an industrial application scene by adopting a Collada format file based on an XML (extensive Makeup language) frame as a data format of the digital twin component, storing kinematic data and physical data of a physical object in an element definition label mode, and describing a reference relationship among database data and a combined hierarchical relationship with other digital twin components in an identifier mode;
the digital twin body component is deployed in a cloud environment through a loading class of a Collada file of the digital twin body component, all label data under the digital twin body component are traversed, data of the digital twin body component are updated according to data in a data source, new homogeneous coordinates of the digital twin body component in the cloud environment are obtained through matrix change, the updated data of the digital twin body component are rendered and visualized in the cloud environment, the data of the digital twin body component are continuously updated in a circulating mode, and real-time driving of the digital twin body component is achieved.
As a preferred technical solution, the structural data of the digital twin component includes: a visual scene library, a geometric structure library, a model function library, a model material library, a kinematics model, a kinematics system library, a kinematics scene, a physical scene and a physical model;
the grid data in the library of geometric models replicates the grid data generated by the three-dimensional modeling software.
As a preferred technical scheme, a visual scene is defined by a node in a visual scene library, the node is a node in the visual scene, and the visual scene library is provided with: quoting a combined structure library, a quoted model material library and child nodes expressing the combined hierarchical relationship of the structural components of the digital twin component in the visual scene;
the cited model material library instantiates the grid data of the geometric structure into the visual scene;
the geometric structure library comprises grid data of each composition structure of the model, and the grid data comprises structure point data information, triangular relation data and vertex data;
the model function library stores material data of the digital twin component;
the model material library comprises reference material data of each component structure of the model, and the reference material data refers to material data stored in the model function library;
the kinematic structure parameters of the structural components of the digital twin body component are defined by a kinematic model library through Joint and Link;
the kinematic system library comprises an element definition tag motion and element definition tags kinematics, wherein the element definition tag motion comprises a physical model identifier of each structure and a physical system parameter of each motion center axis, and the element definition tags kinematics comprise a kinematic model identifier of each structure and information of each center axis;
the kinematics scene library instantiates a kinematics system in a kinematics scene by defining parameters to constrain information of the referenced kinematics system.
As a preferable technical solution, the updating the data of the digital twin body component according to the data in the data source includes:
the digital twin body component is subjected to motion control by combining a data source through updating all kinematic data of the component under a Joint information element label in a kinematic model library;
combining an inter-complement animation method, after a new data source is obtained, positioning that a kinematic data label needs to be modified for a current digital twin component, and searching all Joint information element labels defined as non-static under the digital twin component;
if the non-static joint is judged, the data parameter variable of the joint in the data source is transmitted to the current non-static joint angle parameter, the non-static joint angle parameter is set as a new variable, the current variable and the complementary animation parameter are transmitted to the digital twin component animation method, the grid data of the digital twin component is updated through matrix change, and new homogeneous coordinates of the digital twin component in the cloud environment are obtained.
As a preferred technical solution, the new homogeneous coordinate of the digital twin component in the cloud environment is obtained through matrix change, a four-dimensional matrix is adopted to transform the grid coordinate data of the digital twin component, and a specific calculation formula is represented as:
wherein, W ij Is a four-dimensional transformation matrix, C is a scaling parameter, X, Y and Z are camera coordinate parameters in a world coordinate system, and X is a coordinate parameter of a camera x ，X y ，X z Three basis vectors, Y, each being an X-axis vector x ，Y y ，Y z Three basis vectors, Z, each being a Y-axis vector x ，Z y ，Z z Three basis vectors which are Z-axis vectors respectively;
W new ＝W base *W ij
W new for the new digital twin component grid coordinate data obtained by the transformation, W base Mesh coordinate data of the base digital twin component.
As a preferred technical solution, the updated data of the digital twin body component is rendered, and the updated mesh data of the digital twin body component is rendered again through a renderer render interface provided by a three.js library in which OpenGL, WebGL and a shader are packaged.
In order to achieve the second object, the invention adopts the following technical scheme:
a digital twinning component drive system based on a cloud-native industrial application scenario, comprising: the system comprises a digital twin component construction module, a cloud deployment module, an operation and maintenance cooperation module, a data updating module and a visualization module;
the digital twin body component construction module is used for constructing a digital twin body component based on cloud originality, constructing a Collada framework of the digital twin body component facing an industrial application scene by adopting a Collada format file based on an XML (extensive Makeup language) frame as a data format of the digital twin body component, storing kinematic data and physical data of a physical object in an element definition label mode, and describing a reference relationship among database data and a combined hierarchical relationship with other digital twin body components in an identifier mode;
the cloud deployment module is used for deploying the digital twin component in a cloud environment through the loading class of the Collada file of the digital twin component;
the operation and maintenance coordination module is used for realizing operation and maintenance coordination of the digital twin body assembly in a cloud environment, continuously and circularly updating data of the digital twin body assembly, and driving the digital twin body assembly through a background motion control method;
the data updating module is used for updating grid coordinate data of the digital twin assembly in a cloud environment, traversing all label data under the digital twin assembly, updating the data of the digital twin assembly according to the data in the data source, and obtaining new homogeneous coordinates of the digital twin assembly in the cloud environment through matrix change;
the visualization module is used for realizing visualization of the digital twin body assembly in a cloud environment, rendering the updated data of the digital twin body assembly and visualizing the data to the cloud environment.
In order to achieve the third object, the invention adopts the following technical scheme:
a computer readable storage medium storing a program which when executed by a processor implements the digital twin component driving method based on the cloud-native industrial application-oriented scenario as described above.
In order to achieve the fourth object, the invention adopts the following technical scheme:
a computing device comprising a processor and a memory for storing processor-executable programs, the processor, when executing the programs stored in the memory, implementing the digital twin component driving method based on the cloud-native industrial-oriented application scenario described above.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the existing method for constructing the digital twin body is not called as a digital twin body component, and the reason that the existing concept of the digital twin body generally refers to a 3D mathematical model of an actual physical model is essentially grid data, the kinematic data and the grid data of the digital twin body are contents of two parts, the method for constructing the digital twin body is that modeling is carried out through application software (such as three-dimensional modeling software such as SolidWorks, inventor, CATIA and the like), the software automatically generates the grid data of the digital twin body, other information data such as the kinematic data, the physical data and the like of a physical object are defined in other corresponding software, the applicability range is small, the limitation is large, and relevant APIs are not provided to change the data information of the digital twin body in a cloud environment;
for other file formats such as XML, 3Ds and GlTF which support 3D visualization at the cloud, data information such as materials and animation skins can be generated through application software or written manually by developers, but data information such as a kinematic model, a kinematic system and a physical model of a digital twin cannot be expressed, and complete functions and behavior components of a digital twin component cannot be completely expressed;
according to the method for constructing the digital twin body component based on the Collada file format of the XML architecture, after grid data of the digital twin body component is generated through an application program, other information such as kinematic data and physical data of the digital twin body component is written in a software development and editing environment, the method has data integrity, openness and high universality, light-weight deployment of large-scale data of the digital twin body component in a cloud environment can be met, all digital users can update bottom data of the digital twin body component through the application program, and secondary development is greatly improved; the data analysis and modification under the universal compiling environment are supported, and the requirement of accurately expressing various data of the physical model by using a computer language in the digital manufacturing field can be met.
(2) In the prior art, a driving method for a digital twin body is generally referred to as a simulation and virtual debugging process, in the simulation process, the digital twin body is introduced into a simulation environment, after a kinematics model of the digital twin body is defined in a corresponding application program, a motion scheme of a certain production beat is set in digital manufacturing application software, for example, how many angles each movable joint moves, how the motion attitude changes, the change of the speed acceleration, and how long the beat time is, which are preset in advance. In the virtual debugging process, a simulation process is included, start-stop data of field physical equipment is collected at the same time, for example, equipment motion data from a PLC or a controller is used as a signal basis for starting and stopping a digital twin body, the motion process is set simulation motion in the simulation process, accurate data control is not really realized, and the drive of the digital twin body is realized in a mode of setting motion data and motion beats by simulating motion postures, capturing start-stop signals in the running process and setting motion data after the drive is defined by kinematics;
the driving method provided by the invention can better realize the real-time requirement in the digital manufacturing process, can accurately show the real motion control process of the physical object in the manufacturing process and is close to the software and hardware driving process of the physical object in the real environment; and aiming at different data sources, the functions of simulation, real-time monitoring during running and motion trend prediction can be realized, different motion control methods can be developed aiming at different physical objects, and the application range is wide.
Drawings
Fig. 1 is a schematic flow chart of a digital twin component driving method based on a cloud-native industrial application scenario according to the present invention;
FIG. 2 is a schematic diagram of element definition tags and identifiers employed by the digital twin component of the present invention;
FIG. 3 is a schematic diagram of a Collada architecture of a digital twin component oriented to an industrial application scenario of the present invention;
FIG. 4 is a schematic diagram of the kinematic data transformation process of the digital twin assembly according to the present invention;
fig. 5 is a schematic diagram of a technical framework of visualization of a digital twin in a cloud environment according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1, the present embodiment provides a digital twin component driving method based on a cloud-native industrial application-oriented scenario, including the following steps:
s1: constructing a digital twin component based on cloud originality;
in the embodiment, on the basis of referring to an industrial 4.0 component, the concept of a digital twin component is innovatively provided, the characteristics of the existing cloud resource are combined, the digital twin component is divided according to the three aspects of structure, function and behavior by adopting a multi-view concept, and the native elasticity and distributed advantages of the cloud are fully exerted. The structural view angle of the digital twin body component describes physical structure models of grid data (3D grid), kinematic parameters, connecting rod parameters, joint types, joint limits, speed, acceleration, materials, appearance and the like of actual equipment of the current component and the combined hierarchical relation of the physical structure models and other digital twin body components, and data information of the set characteristics, material attributes, kinematic models and the like of the physical components of the digital twin body component is constructed; the function view describes an information set which can be accessed by the components under the dynamic environment, provides conditions for the interaction of data among the components and meets the complex requirement of behavior expression; the behavioral view is based on a kinematic model of the current component itself, and a dynamic representation of the digital twin component driven by the data source.
In the embodiment, a Collada format file based on an XML framework is used as a data format of a digital twin component, in a prepared software development editing environment, the structural data of the digital twin component is stored in an XML element definition (tag) manner, and includes data such as a visual scene library, a geometric structure library, a model function library, a model material library, a kinematic model, a kinematic system, a kinematic scene, a physical model, and the like, the kinematic data of a physical object, the physical data, and the like are written in an element definition tag manner, the grid data in the geometric model library can copy the grid data generated by three-dimensional modeling software, and in addition, the reference relationship among database data and the combined hierarchical relationship with other digital twin components are described in an identifier manner, so that the digital twin component can be accurately positioned to a specific data range when being driven, is a condition for achieving accurate digital control.
As shown in fig. 2, in order to solve the data relation problem of the structure, function and behavior of the digital twin component, the relationship between the two components is described by means of element definition tags or identifiers.
In this embodiment, for the description of the digital twin component data, the data information of each part may be placed under an element label, for example, the kinematic model and the kinematic system may be placed under an element label, and this is distinguished by means of a form of a sub-label or an identifier, this is to achieve control accuracy when the digital twin component driver is accurately positioned to a certain data under the component, and its essence is to distinguish each kind of data information of the digital twin component by means of an element definition label or an identifier.
The method for constructing the digital twin body component based on the Collada file format of the XML architecture not only inherits the advantages of free, development and light deployment of the XML, but also enables developers to freely enable data such as a kinematic model, a kinematic system, a kinematic scene, a physical model and the like of the digital twin body component to be expressed in a cloud environment in an element definition (label) mode, can directly update the data at the background, can describe the reference relation among all structure library data and the combined hierarchical relation with other digital twin body components in an identifier mode, enables the data information to be freely changed without losing information, can be directly used for being integrated in the existing content tool chain and adopted by digital users as many as possible, and is convenient for the developers in the background to carry out secondary development, the integration mechanism can enable all data of the model to be the basis of the common data exchange between the application programs in an XML element definition mode.
As shown in fig. 3, a Collada architecture of digital twin components oriented to industrial application scenarios is constructed, wherein:
(1): the visual scene is defined by a node in the visual scene library, and the node is a node in the visual scene. It may contain a transformation (such as a rotation or translation) that references more children. It may refer to a mesh and a camera, and a skin that describes the mesh transform. instantiating the mesh data of the geometric structure to the visual scene by referring to a combined structure library, namely mesh data (mesh); the instance material is a quoted model material library, expresses the appearance of the model, and instantiates the mesh data of the geometric structure into a visual scene; and the other child nodes express the combined hierarchical relationship of the structural components of the digital twin body components in the visual scene.
(2): the geometry library mainly contains the mesh data of each component structure of the model, namely mesh. mesh is a collection of points (Point is also denoted by Vertex), Normal vectors (Normal Vector), and faces (Face), which defines the shape of a 3D object. Therefore, the grid data includes structure point data information (source), triangle relation data (triangle), and vertex data (vertex). OpenGL uses a Draw Arrays mode to combine all vertex data of triangles in Mesh by three modes of Triangle List (every three vertices form a Triangle), Triangle Strip (every vertex is added and forms a Triangle with the previous two vertices) and Triangle Fan (every vertex is added and forms a Triangle with the 0 th vertex), and the topological structure of Mesh is formed by arranging the three modes to form a vertex array, so that a GPU can Draw all the triangles, and further the visualization basis of the digital twin body component in the environment is completed.
(3): the model function library is not written with the function or behavior component of the digital twin body component, but refers to the function required to be embodied by the structure of the component, wherein the written expression is the appearance expression of the component, namely the material data of the digital twin body component, and the model function library can be continuously expanded according to the requirement, and the material data comprises the color data of ambient light and diffuse scattered light.
(4): the model material library contains material data of the structure of each component of the model, where the material data refers to material data written in the function library.
(5) The kinematic structure parameters of the structural components of the digital twin body component are defined by Joint and Link in the kinematic model library.
(6) The kinematics system library needs to be matched with a physics engine, is used for describing and expressing dynamic physical parameters of a digital twin body component, and mainly comprises two element definition tags of motion and kinematics. The motion element definition comprises the physical model identification of each structure and the physical system parameters of each motion central axis, such as the motion speed and the acceleration of the central axis; the kinematics element definition includes the kinematic model identification of each structure thereof, which is referred to as data information in a kinematic model library and can be instantiated in a kinematic system, and also includes information of each central axis, such as whether the central axis is a movable joint or a locked joint.
(7) The kinematics scene library is constrained to the information of the referenced kinematics system by defining parameters, and then instantiates the kinematics system in the kinematics scene.
S2, deploying the digital twin component in a cloud environment;
after the digital twin component is constructed, the method is introduced into a main program to be applied to cloud environment deployment through a loading class (Collada loader) of a Collada architecture file of the digital twin component, in the embodiment, taking html at the front end as an example, a new variable is built in an html file to inherit the Collada loader class, a written Collada file address of the digital twin component is indexed by using a load method of the class, the digital twin component is introduced into the cloud environment, then all label data under the digital twin component are traversed through the load method under the class, a subclass label meeting grid model data judgment is rendered by using a renderer, and the basic behavior of the digital twin component can be controlled.
S3: the operation and maintenance of the digital twin component in the cloud environment are cooperated;
after a digital twin component is deployed in a cloud environment, this embodiment provides a sample of a motion control method by accessing the digital twin component, the digital twin component may be driven by a background motion control method, motion control is performed on the digital twin component in combination with a data source through updating of all kinematic data about the component under a Joint information element label in a kinematics model library, a complementary animation method (firstly, a complementary animation duration is defined, the complementary animation herein refers to a duration of motion of the digital twin component from a current motion posture to a next motion posture, and a motion speed of the current digital twin component in the cloud environment is calculated through a Joint motion speed and an acceleration parameter of a kinematic system under the component) is combined, after a new data source is obtained, the digital twin component is accurately positioned and needs to modify a kinematic data label, searching all Joint information element labels defined as non-static (static) under the digital twin component, if the Joint information element labels are non-static joints, transmitting data parameter variables of the joints in a data source to current non-static Joint angle parameters, setting the Joint angle parameters as new variables, then transmitting the current variables and supplementary animation parameters to a digital twin component animation method, then executing a grid coordinate data updating step of the digital twin component in a cloud environment to obtain homogeneous coordinates of the digital twin component in the cloud environment, and rendering updated grid data of the digital twin component again through a renderer render interface provided by a three.js library which encapsulates OpenGL, WebGL and a shader so as to visualize the cloud environment;
the embodiment executes the visualization step of the digital twin body component in the cloud environment, renders and updates, and circulates the above processes along with the continuous input of the data source, so that the operation and maintenance cooperation of the digital twin body component in the cloud environment is realized.
S4: updating grid coordinate data of the digital twin component in a cloud environment;
in the embodiment, the geometry library includes structure point data information (source), triangle relation data (triangle), and vertex data (vertices). OpenGL makes all vertex data of triangles in Mesh form a Mesh topology structure by three ways, namely Triangle List (every three vertices form a Triangle), Triangle Strip (every addition of a vertex and the former two vertices form a Triangle), and Triangle Fan (every addition of two vertices form a Triangle with the 0 th vertex), and arranges the three ways to form a vertex array, so that the GPU can Draw all the triangles.
As shown in fig. 4, when the background updates the kinematic data of the digital twin according to the data of the data source, the motion pose and the mesh data of the digital twin also change accordingly, and this change process is performed by using a four-dimensional transformation matrix. When the kinematic data (such as coordinates, joint angle information, motion speed or acceleration information) of the digital twin body component in the cloud environment is updated, new digital twin body grid data is obtained by multiplying the new kinematic data by a four-dimensional transformation matrix such as a model matrix, a view matrix and a projection matrix, so that a Vector3 representing one point in a three-dimensional space is converted by multiplying the Vector by the matrix, such as translation, rotation, shearing, scaling, reflection, orthogonal or perspective projection and the like. The matrix is applied to the vector, namely the visualization information such as a new visual angle and coordinates of the digital twin body in the cloud environment.
For example, the grid coordinate data of the digital twin component is transformed by a four-dimensional matrix, which is disclosed as follows:
W ij is a four-dimensional transformation matrix, C is a scaling parameter, X, Y, ZRespectively camera coordinate parameters, X, in a world coordinate system x ，X y ，X z Three basis vectors, Y, each being an X-axis vector x ，Y y ，Y z Three basis vectors, Z, each being a Y-axis vector x ，Z y ，Z z Three basis vectors of the Z-axis vector, respectively.
W new ＝W base *W ij
W new For the new digital twin component grid coordinate data obtained by the transformation, W base Mesh coordinate data of the base digital twin component.
S5: the digital twin component is visualized in a cloud environment;
as shown in fig. 5, in the visualization process of the digital twin component at the cloud, the updated mesh data of the digital twin component is rendered again through a renderer render interface provided by a three.js library in which OpenGL, WebGL and a shader are packaged, so as to visualize the cloud environment.
Firstly, WebGL is utilized to provide hardware 3D acceleration rendering for HTML5Canvas through increasing JavaScript binding of OpenGL ES 2.0, and therefore complex navigation and data visualization can be created in a cloud environment through a system display card. And then drawing graphs and rectangles on grid data of the digital twin in a cloud environment through a canvas element of HTML5 by using a render interface and a renderer execution method, filling the areas with styles and colors, and controlling each pixel by using JavaScript to realize rendering of the digital twin components.
In this embodiment, for the motion control method of the digital twin component, a user can custom develop a motion control method specifically for different devices, but essentially update data under a certain label of the digital twin component according to the data of the data source through the data source and the motion control method (or an animation method), and then implement dynamic visual update in a motion environment through a renderer method and a matrix transformation.
This embodiment is not a delivery format for the game engine or game runtime, but is a model driven for content creation by users and interactive applications as authoring tools, e.g., most games will use proprietary, size-optimized, friendly streaming binary files. For a digital twin service software developer, it is desirable to develop and test relatively simple contents and test models quickly, which still needs to include advanced rendering technologies, such as vertex and pixel programs (shaders), and on the other hand, to implement simulation, virtual debugging and real-time monitoring functions of a cloud, a final model delivery format needs to support complex motion transformation of the model, lightweight deployment of the cloud, integratability, strong expandability, dynamic environment changes, rapid prototyping of contents, and precise digital control, which means that not only grid data containing the model, behavior changes of a single model, but also control of each component structure of the model needs to be supported, and the functions are fast, efficient, and strong expandability.
The invention stores various data information in an XML element definition (label) mode, so that the data information can be freely changed without losing information, accurate digital control is realized, meanwhile, a tool chain with rich functions can be combined by a plurality of software packages (background drive), and in combination with the digital twin body component driving method provided by the invention, model data is liberated from a proprietary binary format to become a clear, XML-based and free open standard format, the storage of multi-dimensional data of the digital twin body component is supported, and the digital twin body component is convenient to rapidly deploy, develop, update and operate and maintain in a cloud; the simple integration mechanism can enable all data of the model to be the basis of universal data exchange between application programs in an XML element definition mode, and provides services for developers, hardware and middleware manufacturers.
The driving method of the digital twin body component provided by the invention adopts flexible data sources, real-time data collected on site, analog data from any database or optimal motion trajectory data obtained through machine learning can be used as driving data of the digital twin body component, only the data sources are changed in the driving method, the driving process perfectly fits the driving process of real equipment, the real-time requirement of an industrial application scene can be realized, and the real-time visualization and monitoring requirements on the site are met. The method can be completely suitable for different types of digital twin body components, and the application range is wide.
Example 2
A digital twinning component drive system based on a cloud-native industrial application scenario, comprising: the system comprises a digital twin component construction module, a cloud deployment module, an operation and maintenance cooperation module, a data updating module and a visualization module;
in the embodiment, the digital twin component construction module is used for constructing a digital twin component based on cloud originality, a Collada format file based on an XML (extensible markup language) frame is adopted as a data format of the digital twin component, a Collada framework of the digital twin component facing an industrial application scene is constructed, kinematic data and physical data of a physical object are stored in an element definition label mode, and reference relations among library data and combination hierarchical relations with other digital twin components are described in an identifier mode;
in this embodiment, the cloud deployment module is configured to deploy the digital twin component in a cloud environment through a loading class of a Collada file of the digital twin component;
in this embodiment, the operation and maintenance coordination module is configured to implement operation and maintenance coordination of the digital twin component in a cloud environment, continuously and cyclically update data of the digital twin component, and drive the digital twin component by a background motion control method;
in this embodiment, the data updating module is configured to update grid coordinate data of the digital twin component in the cloud environment, traverse all tag data of the digital twin component, update data of the digital twin component according to data in the data source, and obtain new homogeneous coordinates of the digital twin component in the cloud environment through matrix change;
in this embodiment, the visualization module is configured to realize visualization of the digital twin body component in the cloud environment, render the updated data of the digital twin body component, and visualize the data to the cloud environment.
Example 3
The present embodiment provides a storage medium, which may be a storage medium such as a ROM, a RAM, a magnetic disk, or an optical disk, and the storage medium stores one or more programs, and when the programs are executed by a processor, the method for driving the digital twin body component based on the cloud-native industrial application-oriented scenario of embodiment 1 is implemented.
Example 4
The embodiment provides a computing device, which may be a desktop computer, a notebook computer, a smart phone, a PDA handheld terminal, a tablet computer, or other terminal devices with a display function, and the computing device includes a processor and a memory, where the memory stores one or more programs, and when the processor executes the programs stored in the memory, the method for driving a digital twin component based on a cloud-native industrial-oriented application scenario of embodiment 1 is implemented.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. A digital twin body component driving method based on a cloud-native industrial application scene is characterized by comprising the following steps:
constructing a digital twin component based on cloud originality, constructing a Collada architecture of the digital twin component facing an industrial application scene by adopting a Collada format file based on an XML (extensive Makeup language) frame as a data format of the digital twin component, storing kinematic data and physical data of a physical object in an element definition label mode, and describing a reference relationship among database data and a combined hierarchical relationship with other digital twin components in an identifier mode;
the digital twin body component is deployed in a cloud environment through a loading class of a Collada file of the digital twin body component, all label data under the digital twin body component are traversed, data of the digital twin body component are updated according to data in a data source, new homogeneous coordinates of the digital twin body component in the cloud environment are obtained through matrix change, the updated data of the digital twin body component are rendered and visualized in the cloud environment, the data of the digital twin body component are continuously updated in a circulating mode, and real-time driving of the digital twin body component is achieved.
2. The cloud-native-oriented industrial application scenario-based digital twin component driving method according to claim 1, wherein the structural data of the digital twin component comprises: the system comprises a visual scene library, a geometric structure library, a model function library, a model material library, a kinematic model, a kinematic system library, a kinematic scene, a physical scene and a physical model;
the grid data in the geometric model library replicates the grid data generated by the three-dimensional modeling software.
3. The cloud-native-oriented industrial application scene-based digital twin component driving method according to claim 2, wherein the visual scene is defined by a node in a visual scene library, the node is a node in the visual scene, and the visual scene library is provided with: quoting a combined structure library, a quoted model material library and child nodes expressing the combined hierarchical relationship of the structural components of the digital twin component in the visual scene;
the cited model material library instantiates the grid data of the geometric structure into the visual scene;
the geometric structure library comprises grid data of each composition structure of the model, and the grid data comprises structure point data information, triangular relation data and vertex data;
the model function library stores material data of the digital twin component;
the model material library comprises reference material data of each component structure of the model, and the reference material data refers to material data stored in the model function library;
the kinematic structure parameters of the structural components of the digital twin body component are defined by a kinematic model library through Joint and Link;
the kinematic system library comprises an element definition tag motion and element definition tags kinematics, wherein the element definition tag motion comprises a physical model identifier of each structure and a physical system parameter of each motion center axis, and the element definition tags kinematics comprise a kinematic model identifier of each structure and information of each center axis;
the kinematics scene library instantiates a kinematics system in a kinematics scene by defining parameters to constrain information of the referenced kinematics system.
4. The method for driving digital twin components based on the cloud-native industrial application scenario according to claim 1, wherein the updating the data of the digital twin components according to the data in the data source comprises the following specific steps:
the digital twin body component is subjected to motion control by combining a data source through updating all kinematic data of the component under a Joint information element label in a kinematic model library;
combining an inter-complement animation method, after a new data source is obtained, positioning that a kinematic data label needs to be modified for a current digital twin component, and searching all Joint information element labels defined as non-static under the digital twin component;
if the non-static joint is judged, the data parameter variable of the joint in the data source is transmitted to the current non-static joint angle parameter, the non-static joint angle parameter is set as a new variable, the current variable and the complementary animation parameter are transmitted to the digital twin component animation method, the grid data of the digital twin component is updated through matrix change, and new homogeneous coordinates of the digital twin component in the cloud environment are obtained.
5. The method for driving a digital twin body component based on a cloud-native industrial application scenario according to claim 1, wherein the new homogeneous coordinate of the digital twin body component in a cloud environment is obtained through matrix change, a four-dimensional matrix is adopted to transform grid coordinate data of the digital twin body component, and a specific calculation formula is expressed as:
wherein, W ij Is a four-dimensional transformation matrix, C is a scaling parameter, X, Y and Z are camera coordinate parameters in a world coordinate system, and X is a coordinate parameter of a camera x ，X y ，X z Three basis vectors, Y, each being an X-axis vector x ，Y y ，Y z Three basis vectors, Z, each being a Y-axis vector x ，Z y ，Z z Three basis vectors which are Z-axis vectors respectively;
W new ＝W base *W ij
W new for the new digital twin component grid coordinate data obtained by the transformation, W base Mesh coordinate data of the base digital twin component.
6. The cloud-native industrial application scene-oriented digital twin component driving method according to claim 1, wherein the updated data of the digital twin component is rendered, and the updated mesh data of the digital twin component is re-rendered through a renderer render interface provided by a three.js library in which OpenGL, WebGL and a shader are packaged.
7. A digital twin component drive system based on a cloud-native industrial application scenario, comprising: the system comprises a digital twin component construction module, a cloud deployment module, an operation and maintenance cooperation module, a data updating module and a visualization module;
the digital twin body component construction module is used for constructing a digital twin body component based on cloud originality, constructing a Collada framework of the digital twin body component facing an industrial application scene by adopting a Collada format file based on an XML (extensive Makeup language) frame as a data format of the digital twin body component, storing kinematic data and physical data of a physical object in an element definition label mode, and describing a reference relationship among database data and a combined hierarchical relationship with other digital twin body components in an identifier mode;
the cloud deployment module is used for deploying the digital twin assembly in a cloud environment through the loading class of the Collambda file of the digital twin assembly;
the operation and maintenance coordination module is used for realizing operation and maintenance coordination of the digital twin body assembly in a cloud environment, continuously and circularly updating data of the digital twin body assembly, and driving the digital twin body assembly through a background motion control method;
the data updating module is used for updating grid coordinate data of the digital twin assembly in a cloud environment, traversing all label data under the digital twin assembly, updating the data of the digital twin assembly according to the data in the data source, and obtaining new homogeneous coordinates of the digital twin assembly in the cloud environment through matrix change;
the visualization module is used for realizing visualization of the digital twin body assembly in a cloud environment, rendering the updated data of the digital twin body assembly and visualizing the data to the cloud environment.
8. A computer readable storage medium storing a program, wherein the program when executed by a processor implements the digital twin component driving method based on the cloud-native industrial application scenario according to any one of claims 1 to 6.
9. A computing device comprising a processor and a memory for storing processor-executable programs, wherein the processor, when executing the memory-stored programs, implements the digital twin component driving method based on the cloud-native industrial application scenario of any of claims 1-6.
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