CN115129909A

CN115129909A - Method and device for twin and subscription of historical state of entity

Info

Publication number: CN115129909A
Application number: CN202210767339.9A
Authority: CN
Inventors: 林伟
Original assignee: Beijing Wellintech Co Ltd
Current assignee: Beijing Wellintech Co Ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-09-30
Anticipated expiration: 2042-06-30
Also published as: CN115129909B

Abstract

The application provides a method and a device for history states of twin and subscribed entities, which are used for realizing the history states of the twin entities through a digital twin technology. The method specifically comprises the following steps: respectively establishing a target entity model and at least one sub-entity model aiming at the target entity and at least one sub-entity attached to the target entity; the target solid object model and the at least one solid object model both comprise a time attribute; setting the values of the time attributes in the target entity model and the at least one entity model as historical time, wherein the historical time is used for indicating the time corresponding to the data in the target entity model and the at least one entity model; and establishing a first incidence relation between the target entity model and the at least one entity model, wherein the first incidence relation is used for correlating the at least one entity model to the target entity model.

Description

Method and device for twin and subscription of historical state of entity

Technical Field

The application relates to the technical field of data processing, in particular to a method and a device for twin and subscribing to historical states of entities.

Background

The Digital Twin (DT) is also called as "Digital mapping" or "Digital mirror image", and is a simulation process that makes full use of data such as physical models, sensor updates, and operation histories, integrates multiple disciplines, multiple physical quantities, multiple scales, and multiple probabilities, and completes mapping in a virtual space, thereby reflecting the full life cycle process of corresponding entity equipment. In short, a digital twin is a virtual "digital twin", "digital clone" of a transaction in the real world in a virtual digital space. The digital twins originate from the field of industrial manufacturing, and with the industrial informatization, automation and the rapid development of the internet of things, the heat of the digital twins technology is continuously improved, so that the digital twins technology is considered to be one of the key technologies of the interconnection of everything.

In the industrial field, twinning of solid objects by digital twinning technology has been an irresistible development boomer. However, existing techniques for digitally twinning physical objects generally lack specialized digital twinning theories and techniques for historical status of physical objects.

Therefore, a method for twinning the historical state of an entity is needed to achieve digital twinning of the historical state of the entity.

Disclosure of Invention

The application provides a method and a device for twin and subscription of historical states of physical objects, which are used for realizing digital twin of the physical objects.

In a first aspect, the present application provides a method for history status of twin entities, specifically comprising: respectively establishing a target entity model and at least one sub-entity model aiming at a target entity and at least one sub-entity attached to the target entity; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a time attribute; setting values of the time attributes in the target solid object model and the at least one solid object model as historical time, wherein the historical time is used for indicating time corresponding to data in the target solid object model and the at least one solid object model; establishing a first association relationship between the target solid object model and the at least one solid object model, wherein the first association relationship is used for associating the at least one solid object model to the target solid object model.

In the scheme, each entity can be subjected to digital twinning according to the actual entity condition to obtain the corresponding entity model, so that the information of each entity is provided for a user through the creation of each entity model, and the digital management of the entities is realized. Meanwhile, the time corresponding to each historical data in the entity model is recorded through the time attribute, so that the information stored in the entity model is more accurate and comprehensive. And moreover, the incidence relation between the entity models can be established according to the hierarchical relation between the real entities, so that the information of the relation between the real entities is provided for the user through the incidence relation between the entity models, and the efficiency of the user for managing the real entities is improved.

Optionally, the historical time is at least one time before the current time or at least one duration before the current time.

In the method, the user can acquire the time corresponding to each historical data through the time attribute in the entity model, so that the historical state of the entity corresponding to the entity model and the information corresponding to the historical state are acquired more clearly, and the management of the entity information is enhanced.

Optionally, the first association relationship is used to indicate that the target entity model and the at least one sub-entity model are in a parent-child relationship.

In the method, the relation between the models is strengthened through the first incidence relation, and the model management efficiency is improved.

Optionally, the establishing a first association relationship between the target entity model and the at least one entity-entity model includes: identifying a target solid model as a parent solid model, identifying the at least one child solid model as a child solid model belonging to the parent solid model.

Optionally, the target entity model and the at least one sub-entity model further include spatial attributes, and the spatial attributes are used to describe one or more of the following information of the target entity model and the at least one sub-entity model: coordinate system information, geometric shape information, spatial position information, spatial rotation angle information, spatial range information.

In the method, the space attribute is added in the entity model, so that the entity information contained in the entity model is more comprehensive and complete. Meanwhile, the association relation among the entity models is associated based on the space attributes, so that the association among the entity models is tighter, and the management of fast searching and the like of the entity models is facilitated.

Optionally, the spatial attribute includes spatial range information, and the spatial range information is used to describe a spatial range in which the target entity model and the at least one entity model are located; wherein a spatial extent in the at least one solid entity model does not exceed a spatial extent of the target solid entity model.

Optionally, a first coordinate system is established in the target physical model, a second coordinate system is established in the first physical sub-entity model, the first physical sub-entity model is one of the at least one physical sub-entity model, and an origin of the second coordinate system is determined according to the origin of the first coordinate system; determining spatial position information of the target solid object model and the at least one solid object model according to a first coordinate system; or determining the spatial position information of the target physical model according to a first coordinate system, and determining the spatial position information of the at least one sub-physical model according to a second coordinate system; determining geometric shape information of the target solid object model and the at least one solid object model according to a first coordinate system; or determining the geometric shape information of the target physical object model according to a first coordinate system, and determining the geometric shape information of the first physical object model according to a second coordinate system.

In the method, a plurality of different methods for assigning the spatial attributes of the model are provided, so that the flexibility and universality of the scheme are improved. Specifically, when the spatial attributes of the target entity and the entity model associated with the target entity model are assigned according to the first coordinate system in the target entity model, the target entity and the entity have a uniform reference coordinate system, and the relationship between the relative positions of the target entity and the entity model is displayed more intuitively and closely, so that the association between the target entity model and the entity model is further enhanced, and the management efficiency of the entity model is improved. When a first coordinate system and a second coordinate system are respectively established in the target entity model and the entity model, and the origin of the second coordinate system is established according to the origin of the first coordinate system, the spatial attributes of the models after being assigned have a built-in incidence relation, and have certain independence, so that the entity model can be conveniently and finely managed.

Optionally, the spatial attribute includes the spatial location information, the target solid object model and the at least one sub-solid object model further include a location attribute, and the method further includes: when the spatial position information of the target entity is changed, the change of the spatial position information is stored to a position attribute in the target entity model; the location attribute is used for describing the location change of the target entity at least one time before the current time, or the location change of the target entity at least one continuous time period before the current time.

In the method, the position change condition of the entity is recorded through the position attribute, the data in the entity model is perfected, and the management of the entity model is improved.

Optionally, when the spatial position of the second sub-entity does not belong to the spatial range of the target entity, updating a first association relationship between a second sub-entity model corresponding to the second sub-entity and the target entity model, and updating a spatial attribute and a temporal attribute of the second sub-entity model; wherein the second sub-entity is one of the at least one sub-entity.

In this embodiment, the association relationship of the model corresponding to the physical object is updated in time, and the effectiveness of the physical object management by the physical object model can be ensured.

Optionally, generating, by the target entity model and the at least one entity-entity model, a parent object record corresponding to the target entity model and a child object record corresponding to the at least one entity-entity model at least one time before the current time or at least one duration time before the current time; wherein the parent object record is used for describing the attribute state of the target entity at least one time before the current time or at least one duration before the current time; the sub-object record is used for describing the attribute state of the at least one sub-entity object at least one time before the current time or at least one duration before the current time.

In the method, the corresponding object record is generated through the model, so that the user can obtain the same and standard historical state information about the entity, the use experience of the user is improved, and the complexity of obtaining the information is reduced.

Optionally, a second association relationship between the parent object record and the at least one child object record is established, where the second association relationship is used to associate the at least one child object record to the parent object record; wherein each child object record has a unique parent object record, the parent object record and the at least one child object record each include a time range, and the time range of the child object record is within the parent object record time range.

In the method, the generated parent object record and the child object record are linked, so that the association relationship between the entity models can be implemented, the association relationship between the entities and the information can be enhanced, and the efficiency of entity information management is improved.

Optionally, when the spatial attribute includes the spatial range information, the parent object record and the child object record are used to describe change information of the spatial range of the target entity and the at least one child entity at least one time before the current time or at least one duration before the current time; the spatial range of the child object record corresponding to the at least one child entity is included in the spatial range of the parent object record at least one time before the current time or at least one duration before the current time.

In this embodiment, the object record includes the spatial range change of the corresponding physical object, and the user can be effectively helped to obtain the corresponding information.

Optionally, when the spatial attribute includes the spatial location information, the parent object record and the child object record are used to describe change information of spatial location movement of the target entity and the at least one child entity at least one time before the current time or at least one duration before the current time; the spatial location of the at least one child entity is contained within the spatial extent of the parent object record at least one time prior to the current time or at least one time duration prior to the current time.

In this embodiment, the object record includes the spatial position change of the corresponding physical object, and the user can be effectively helped to obtain the corresponding information.

Optionally, when the spatial attribute includes the geometric shape information, the parent object record and the child object record are used to describe change information of the geometric shape of the target entity and the geometric shape of the at least one child entity at least one time before the current time or at least one duration before the current time; the geometry of the at least one child entity is contained within the geometry of the parent object record at least one time prior to the current time or at least one time duration prior to the current time.

In this embodiment, the object record includes the change in the geometric shape of the corresponding physical object, and the user can be effectively helped to obtain the corresponding information.

Optionally, the target entity model and the at least one entity model further include member attributes, and the member attributes are used for describing user-defined data.

In the method, the user can respectively store the differentiation information of each entity in the entity model corresponding to the entity through the member attributes, so that the condition that all entity models are modified due to the differentiation information of the individual entities is avoided, and the adaptability and the practicability of the scheme are improved.

In a second aspect, the present application provides a method for subscribing to a historical status of an entity, the method comprising: respectively establishing a target entity model and at least one sub-entity model aiming at a target entity and at least one sub-entity attached to the target entity; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a time attribute; setting values of the time attributes in the target solid object model and the at least one solid object model as historical time, wherein the historical time is used for indicating time corresponding to data in the target solid object model and the at least one solid object model; establishing a first association relationship between the target physical model and the at least one entity model, the first association relationship being used for associating the at least one entity model to the target physical model; receiving a first request from a terminal device, wherein the first request is used for requesting to subscribe the historical state of the target entity; in response to the first request, performing a subscription operation on the target physical object model; and executing the subscription operation on the at least one entity model according to the first incidence relation between the at least one entity model and the target entity model.

In this scheme, after subscribing to the target entity model, the same subscription operation may be performed on the associated at least one entity model according to the association relationship in the target entity model, based on the existence of the first association relationship between the models. Therefore, the user only needs to send out an instruction of subscribing the target entity model, and can simultaneously subscribe the entity models associated with the target entity model and obtain the change information of the models in time. More comprehensive information can be obtained through simple operation, and the intelligent degree of subscription operation is improved.

Optionally, when the target entity model and/or the at least one sub-entity model changes, generating subscription information matched with the subscription item; and sending the subscription information to the terminal equipment.

In the method, the server sends the corresponding subscription information to the terminal device according to the subscription item carried in the first request, so that the subscription requirement of the user can be met, tracking of other model information is avoided, and fine management of entity information is realized.

Optionally, the subscription item includes one or more of: spatial attributes, location attributes, member attributes.

Optionally, the variation comprises: a change in a fruit body model indicating a change in the number of the at least one fruit body model corresponding to the target fruit body model.

In a third aspect, the present application provides an apparatus for historical status of twin objects, the apparatus comprising: creating a model for respectively establishing a target entity model and at least one sub-entity model for a target entity and at least one sub-entity attached to the target entity; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a time attribute; a processing module, configured to set a value of the time attribute in the target solid object model and the at least one solid object model as a historical time, where the historical time is used to indicate a time corresponding to data in the target solid object model and the at least one solid object model; establishing a first incidence relation between the target physical model and the at least one entity model, wherein the first incidence relation is used for correlating the at least one entity model to the target physical model.

Optionally, when the processing module is configured to establish a first association relationship between the target entity model and the at least one entity-specific sub-entity model, the processing module is specifically configured to: identifying a target solid model as a parent solid model, identifying the at least one solid model as a solid model belonging to the parent solid model.

Optionally, the processing module is further configured to: establishing a first coordinate system in the target physical model, establishing a second coordinate system in a first physical model, wherein the first physical model is one of the at least one physical model, and the origin of the second coordinate system is determined according to the origin of the first coordinate system; determining spatial position information of the target solid object model and the at least one solid object model according to a first coordinate system; or determining the spatial position information of the target physical model according to a first coordinate system, and determining the spatial position information of the at least one sub-physical model according to a second coordinate system; determining geometric shape information of the target solid object model and the at least one solid object model according to a first coordinate system; or, determining the geometric shape information of the target physical object model according to a first coordinate system, and determining the geometric shape information of the first physical object model according to a second coordinate system.

Optionally, the spatial attribute includes the spatial location information, the target entity model and the at least one sub-entity model further include a location attribute, and the processing module is further configured to: when the spatial position information of the target entity changes, the change of the spatial position information is stored to a position attribute in the target entity model; the location attribute is used for describing the location change of the target entity at least one time before the current time, or the location change at least one continuous time period before the current time.

Optionally, the processing module is further configured to: when the spatial position of the second sub-entity does not belong to the spatial range of the target entity, updating a first association relation between a second entity model corresponding to the second sub-entity and the target entity model, and updating the spatial attribute and the time attribute of the second entity model; wherein the second sub-entity is one of the at least one sub-entity.

Optionally, the processing module is further configured to: generating, by the target entity model and the at least one entity sub-entity model, a parent object record corresponding to the target entity model and at least one child object record corresponding to the at least one entity sub-entity model at least one time before the current time or at least one duration time before the current time; wherein the parent object record is used for describing the attribute state of the target entity at least one time before the current time or at least one duration before the current time; the at least one sub-object record is used for describing the attribute state of the at least one sub-entity object at least one time before the current time or at least one duration before the current time.

Optionally, the processing module is further configured to: establishing a second association relationship between the parent object record and the at least one child object record, wherein the second association relationship is used for associating the at least one child object record to the parent object record; wherein each child object record of the at least one child object record has a unique parent object record, the parent object record and the at least one child object record each include a time range, and the time range of the child object record is within the time range of the parent object record.

Optionally, when the spatial attribute includes a spatial range, the parent object record and the at least one child object record are used to describe change information of the spatial range of the target entity and the at least one child entity at least one time before the current time or at least one duration before the current time; wherein the spatial range of the at least one child entity is contained within the spatial range of the parent object record at least one time prior to the current time or at least one time duration prior to the current time.

Optionally, when the spatial attribute is a shape, the parent object record and the child object record are used to describe change information of the shapes of the target entity and the at least one child entity at least one time before the current time or at least one duration before the current time; the shape of the at least one child entity is contained within the shape of the parent object record at least one time prior to the current time or at least one duration prior to the current time.

In a fourth aspect, the present application provides an apparatus for subscribing to a history status of an entity, the apparatus including: the system comprises a creating module, a calculating module and a judging module, wherein the creating module is used for respectively establishing a target entity model and at least one entity sub-model for a target entity and at least one entity sub-attached to the target entity; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a time attribute; a processing module, configured to set a value of the time attribute in the target solid object model and the at least one solid object model as a historical time, where the historical time is used to indicate a time corresponding to data in the target solid object model and the at least one solid object model; establishing an incidence relation between the target entity model and the at least one entity model, wherein the incidence relation is used for correlating the at least one entity model to the target entity model; a receiving module, configured to receive a first request from a terminal device, where the first request is used to request subscription to a history state of the target entity; the response module is used for responding to the first request and executing subscription operation on the target entity model; and executing the subscription operation on the at least one entity model according to the incidence relation between the at least one entity model and the target entity model.

Optionally, the first request carries a subscription item, and the response module is further configured to: when the target entity model and/or the at least one entity model are/is changed, generating subscription information matched with the subscription item; and sending the subscription information to the terminal equipment.

Optionally, the varying includes: a change in a fruit body model indicating a change in the number of the at least one fruit body model corresponding to the target fruit body model.

In a fifth aspect, an electronic device is provided, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor causes the apparatus to perform the method of the first aspect or any one of the alternative embodiments of the first aspect by executing the instructions stored by the memory.

A sixth aspect provides a computer-readable storage medium for storing instructions that, when executed, cause a method as in the first aspect or any one of the optional embodiments of the first aspect to be implemented.

The technical effects or advantages of one or more of the technical solutions provided in the third, fourth, fifth and sixth aspects of the embodiments of the present application can be correspondingly explained by the technical effects or advantages of one or more of the corresponding technical solutions provided in the first and second aspects.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a method for history status of twin objects according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a possible relationship between entities according to an embodiment of the present disclosure;

fig. 3 is a flowchart of a method for assigning a spatial attribute according to an embodiment of the present application;

fig. 4 is a flowchart of another method for assigning spatial attributes according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a member structure provided in an embodiment of the present application;

fig. 6 is a flowchart of a method for subscribing to a history status of an entity according to an embodiment of the present disclosure;

fig. 7 is a flowchart of a method for querying a history status of an entity according to an embodiment of the present disclosure;

fig. 8 is a flowchart of a method for deleting a history status of an entity according to an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of an apparatus for providing a history of twin objects according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of an apparatus for subscribing to a history status of an entity according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.

It should be understood that the terms first, second, etc. in the description of the embodiments of the present application are used for distinguishing between the descriptions and not for indicating or implying relative importance or order. The term "plurality" in the description of the embodiments of the present application means two or more.

The term "and/or" in the embodiment of the present application is only a first association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the digital twin field, the historical state of an objective world entity can be twinned into historical data of the entity, the objective entity has spatial properties in reality, the properties can be identified through geometric shapes and set positions, and spatial information of each past moment of the entity and other properties of the entity can be used for representing the historical state of the entity. The twinning of this information into a unified data structure is a numerical twinning of the historical state of the physical object. Based on the above thought, the present application provides a method for history status of twin objects.

Referring to fig. 1, an execution subject of the method for twinning the historical state of an entity provided in the embodiment of the present application may be various devices with a computing function, such as a notebook computer, a desktop computer, a server, and the like, or various mobile terminal devices, such as a mobile phone, a platform, and other terminal devices that can implement a computing function. It should be understood that the above-described apparatus is illustrative only and that the present application is not limited thereto. The method comprises the following specific steps:

step S101: and respectively establishing a target entity model and at least one sub-entity model aiming at the target entity and at least one sub-entity attached to the target entity.

The affiliation between the target entity and the child entity may be a relationship between the whole and part thereof, or may be a relationship between the target entity and the child entity. For example, the target entity may be a plant a, and the child entities attached to the target entity may be devices 1, 2, 3, and the like in the plant a, and represent the inclusion and inclusion relationships between the target entity and the child entities. For example, the target entity may be a truck, and the sub-entities corresponding to the target entity are a semitrailer, a headstock, tires, and the like towed by the truck, and represent the relationship between the target entity and the sub-entities in whole and in part.

The target entity model corresponds to the target entity and is used for describing the historical state of the target entity; at least one fruiting body model corresponds to the at least one fruiting body model and is used for describing the historical state of the at least one fruiting body model. The various entity models all include time attributes for describing the time corresponding to the data in the organization model.

It should be noted that the existence forms of the created entity models may include different kinds. For example, the data may be stored in a data table format, may be stored in an image format, or may be stored in other possible data storage formats, and the present application is not limited thereto.

Step S102: and setting the values of the time attributes in the target entity model and the at least one entity model as historical time, wherein the historical time is used for indicating the time corresponding to the data in the target entity model and the at least one entity model.

Optionally, in each type of entity model, the time attribute is used to describe time corresponding to data in two entity models. For example, for the plant a, the first piece of historical data of the corresponding entity model may be a record of the plant a put into use, and the time corresponding to the record is the time of the plant a put into use, and at this time, the value of the time attribute corresponding to the record may be: year 2020, 1 month and 1 day. For another example, a certain piece of data in the model corresponding to the plant a indicates that a new machine appears in the plant a, and therefore, the value of the time attribute corresponding to the record may be: year 2020, 6 month 1 day.

Therefore, the user can know the time corresponding to each historical data through the time attributes in the entity models, so that the historical state of the entity corresponding to the entity model and the corresponding information of the entity are more clearly obtained, and the management of the entity information is enhanced.

Optionally, the historical time may be at least one time before the current time or at least one duration before the current time.

For example, the historical time corresponding to the historical data of the plant a in use may be recorded at a certain time of 1 month and 1 day of 2020, or may be recorded as the whole duration of 1 month and 1 day. Specific historical data selects which historical time to record, and can be selected according to actual requirements, and the method is not limited in the application.

Optionally, each type of physical model may further include a data time attribute, where the data time attribute is used to describe a time when historical data in the physical model is recorded or modified.

Illustratively, the first historical data of the workshop A is taken as an example for illustration. Although the time attribute corresponding to the historical data of the workshop A indicates that the workshop is put into use in 1 month and 1 day in 2020, the creation of the entity model occurs in 1 month and 1 day in 2022, so the value of the data time attribute corresponding to the historical data is 2022, 1 month and 1 day. In addition, for some historical data, an error revision may occur, for example, when an error is found in a piece of historical data in the model, the value may be revised, and at this time, the value of the data time attribute corresponding to the piece of historical data may be updated in time to indicate the latest revision time of the piece of historical data.

In the method, the historical data can be displayed to the user more accurately through the data time attribute, and the updating condition of the historical data is displayed, so that the user can manage the entity information more finely.

Step S103: establishing a first incidence relation between the target entity model and the at least one entity model, wherein the first incidence relation is used for enabling the at least one entity model to be associated to the target entity model.

Specifically, a first association relationship between the target entity model and the at least one entity model is established based on an association relationship between the target entity and the at least one entity, and the first association relationship is used for associating the at least one entity model with the target entity model.

Exemplarily, referring to fig. 2, a schematic diagram of an association relationship between possible entities provided in the embodiment of the present application is shown. In fig. 2, a plant a and the machines 1, 2, and 3 included in the plant a exist, and if the plant a is assumed to be a target entity, after the entity model is created, a first association relationship between the target entity model corresponding to the plant a and the entity models 1, 2, and 3 corresponding to the machines 1, 2, and 3 may be established according to an inclusion and included relationship between the plant a and the machines 1, 2, and 3, and the first association relationship is used to associate the entity models 1, 2, and 3 with the target entity model.

Optionally, the first association relationship may be used to indicate that the target entity model and the at least one child entity model are in a parent-child relationship (or an inclusion-contained relationship, a whole-part relationship, etc.). The parent-child relationship is used for indicating that the child model belongs to the parent model, and corresponds to reality, and then the child entity belongs to the target entity.

Optionally, when the first association relationship between the target entity model and the at least one entity model is created, the target entity model may be further identified as a parent model, and the at least one entity model may be identified as a child model belonging to the parent model.

Optionally, the various physical models further include a spatial attribute, and the spatial attribute is used to describe one or more of the following information in each physical model: coordinate system information, geometric shape information, spatial position information, spatial rotation angle information, spatial range information.

Coordinate system information, spatial position information, geometric shape information, spatial range information.

The coordinate system information is used for indicating information of a reference coordinate system specifically selected by the physical object model, the spatial position information is used for indicating position information of a physical object corresponding to the physical object model, the geometric shape information is used for indicating information of a physical object shape corresponding to the physical object model, and the spatial range information is used for indicating spatial range information of a physical object corresponding to the physical object model. It should be noted that the spatial extent of at least one entity model does not exceed the spatial extent of the target entity model.

Optionally, based on the information included in the spatial attributes, the first association relationship between the entity models further includes a geometric relationship between the entity geometric shapes and a spatial relationship between the spatial positions at the past time.

The geometric relation among the solid object geometric shapes is used for indicating the relation such as intersection, separation, contact and the like existing among the solid objects, and simultaneously can also indicate data such as the distance among the solid objects.

The spatial relationship between the spatial positions of the physical objects is used to indicate that the physical objects corresponding to the physical object model are spatially related to each other, for example: including, separated, touching, etc., and also for indicating a certain spatial distance between the physical objects corresponding to the physical object model.

By the mode, the space attribute is added in the entity model, so that the entity information contained in the entity model is more comprehensive and complete. Meanwhile, the incidence relation among the entity models also comprises a geometric relation and a spatial relation, so that the relation among the entity models is tighter, and the management of fast searching and the like on the entity models is facilitated.

Optionally, the value of the spatial attribute in each entity model may be obtained in the following different manners.

Mode one, single coordinate system

Referring to fig. 3, a flowchart of a method for assigning a spatial attribute according to an embodiment of the present application is provided.

Step S301: a first coordinate system is established in the target physical model, and the first coordinate system can be stored in the spatial attributes in the target physical model.

Step S302: and determining the spatial position information of the target entity model and at least one entity model related to the target entity according to the first coordinate system.

Step S303: and determining the geometric shape information of the target solid object model and at least one solid object model according to the first coordinate system.

Step S304: and the server assigns values to the space attributes in the target entity model and the at least one entity model according to the space position information and the geometric shape information.

In the method, the server assigns the spatial attributes of the target entity and the entity model associated with the target entity model only according to the first coordinate system in the target entity model, so that the target entity and the entity have a uniform reference coordinate system, the relative position relationship of the target entity and the entity model is displayed more intuitively and closely, the association between the target entity model and the entity model is further enhanced, and the management efficiency of the entity model is improved.

Mode two, dual coordinate system

Referring to fig. 4, a flowchart of another method for assigning a spatial attribute according to an embodiment of the present application is provided.

Step S401: the server establishes a first coordinate system in the target entity model and establishes a second coordinate system in the first entity model; wherein the first sub-entity model is one of the at least one entity model, and the origin of the second coordinate system is determined according to the origin of the first coordinate system.

Step S402: the server determines spatial position information of the target entity model according to the first coordinate system, and determines a spatial position relation of at least one entity model associated with the target entity model according to the second coordinate system.

Therefore, the spatial position information of all the sub-entity models related to the target entity model is determined based on the same reference coordinate system, and the management of the sub-entity models is facilitated.

Step S403: the server determines the geometric shape information of the target entity model according to the first coordinate system, and determines the geometric shape information of at least one entity model related to the target entity model according to the second coordinate system.

Step S404: and the server assigns values to the space attributes in the target entity model and the at least one entity model according to the space position information and the geometric shape information.

In the method, the server establishes a first coordinate system and a second coordinate system in the target entity model and the entity model respectively, and the origin of the second coordinate system is established according to the origin of the first coordinate system, so that the spatial attributes of the models after being assigned have a built-in incidence relation, and have certain independence, thereby facilitating the fine management of the entity model.

Optionally, the various entity models further include a position attribute, where the position attribute is used to describe a position change of the target entity at least one time before the current time, or a position change in at least one duration of the duty at the current time.

For example, when the server assigns a value to the location attribute in the model, when the spatial location information of the target entity changes, the change of the spatial location information may be stored in the target entity model. Similarly, when the spatial position information of the child entity changes, the server may store the corresponding information in the child entity model corresponding to the child entity.

Optionally, when the spatial position of a second sub-entity in the at least one sub-entity is changed and moves out of the spatial range of the target entity, the server updates the first association relationship between the second sub-entity model corresponding to the second sub-entity and the target entity model, and updates the spatial attribute and the temporal attribute of the second sub-entity model, so as to ensure that the position change is recorded in the second sub-entity model.

Taking the workshop a as an example, the machine 1 in the workshop a is the second sub-entity, and when the machine 1 has a record transferred from the workshop a to another workshop, the server can correspondingly update the first association relationship between the workshop a and the target entity model and the second sub-entity model corresponding to the machine 1, and update the spatial attribute and the time attribute of the second sub-entity model at the same time, so as to ensure that the record can be smoothly stored in the second sub-entity model.

Optionally, when the target entity or the at least one sub-entity is in the history state, an object record corresponding to each entity model at least one time or at least one duration before the current time may be generated according to the target entity model or the at least one sub-entity model corresponding to the target entity or the at least one sub-entity.

The object record generated by the target entity model may be marked as a parent object record describing the attribute status of the target entity at least one time or at least one time duration before the current time. The object records generated by the at least one sub-entity model may be referred to as sub-object records describing the state of the attributes of the at least one sub-entity at least one time instant or at least one time duration before the current time instant.

Illustratively, through the history states included in the established target entity model, a parent object record for describing the history states is generated, and the record includes the values of the attributes in the history states corresponding to the target entity model. For example, according to the historical state that the workshop A corresponding to the target organization entity object is established, a parent object record is generated, and the parent object record comprises the time of putting the workshop A into use, the spatial position of the workshop A, workshop personnel included when the workshop A is put into use and the like.

Optionally, for the generated parent object record and at least one child object record, the following processing modes may also be executed: and establishing a second association relationship between the parent object record and at least one child object record, wherein the second association relationship is used for associating at least one child object record to the parent object record, or the second association relationship is also used for indicating that the entity model corresponding to the parent object record and the at least one child entity model corresponding to the at least one child object record have the first association relationship.

Each child object record in the at least one child object record has a unique parent object record, and the records each include an attribute of a time range, which is used for indicating the time range of the attribute state corresponding to each record. And, the time range of each of the at least one child object records is within the time range of the parent object record.

In this mode, the generated parent object record and child object record are linked, so that the association relationship between the entities can be implemented, the association relationship between the entities and the association relationship between the information can be strengthened, and the efficiency of entity information management can be improved.

Optionally, when the spatial attribute of the target entity model includes spatial range information, the parent object record corresponding to the target entity model and the child object record corresponding to the at least one child entity model are used to describe change information of the spatial range of the target entity and the at least one child entity within at least one time before the current time or at least one duration time before the current time.

It should be noted that the spatial range in the child object record is contained within the spatial range of the parent object record at least one time prior to the current time or at least one duration prior to the current time.

Optionally, when the spatial attribute of the target entity model includes spatial location information, the parent object record corresponding to the target entity model and the child object record corresponding to the at least one child entity model are further used to describe change information of spatial location movement of the target entity and the at least one child entity within at least one time before the current time or at least one duration time before the current time.

It should be noted that the spatial location of at least one child entity is contained within the spatial range of the parent object record at least one time prior to the current time or at least one time duration prior to the current time.

Optionally, when the spatial attribute of the target entity model includes geometric shape information, the parent object record corresponding to the target entity model and the child object record corresponding to the at least one child entity model are used to describe change information of the geometric shape of the target entity and the at least one child entity within at least one time before the current time or at least one duration before the current time.

It is noted that the geometry in the child object record is contained within the geometry of the parent object record at least one time prior to the current time or at least one time duration prior to the current time.

Optionally, each entity model created as described above further includes member attributes, and the member attributes are used for describing user-defined data.

Specifically, the member attributes of the entity model may include several members. The member refers to a data structure, and all information of differentiated attributes of an organization can be stored in the data structure and stored in an organization model corresponding to the organization.

Exemplarily, referring to fig. 5, a schematic diagram of a member structure provided in the embodiments of the present application is shown. In fig. 5, the members include different member information, such as member ID, member name, member data type, and member value. Through the structured data information, the user can add corresponding member information to different entity models. For example, the target entity model corresponding to the plant A can be added with member information describing the number of people in the plant or member information describing the number of machines in the plant. According to the member structure shown in fig. 5, the member information for describing the number of persons in the plant and the member information for describing the number of machines in the plant can be represented as data shown in table 1.

TABLE 1

Member ID	0001	0002
			Name of Member	Number of persons in workshop	Number of machines in workshop
Member data type	INT	INT
			Membership value	20	4

In the method, the user can respectively store the differentiation information of each entity in the entity model corresponding to the entity through the member attributes, so that the situation that all entity models are modified due to the differentiation information of the independent entity is avoided, and the adaptability and the practicability of the scheme are improved.

The above describes a twin approach to the current state of a physical object by building a physical model, and several possible applications of the built model are described below.

Application 1, subscribing to historical state of entity

Referring to fig. 6, a flowchart of a method for subscribing to a history status of an entity object according to an embodiment of the present application is provided. The method is executed by a computer, a server and other devices which are in communication connection with the terminal device, and for convenience of description, specific implementation steps of the method are described below by taking the server and the terminal device as examples.

Step S601: the server receives a first request from the terminal device, the first request requesting a subscription to the historical status of the target entity.

The first request may carry information for determining a target entity model, and the information may specifically be: model identification of the target solid object model; or, a value of one or more attributes in the target solid object model; alternatively, a model identification of the target solid object model and a value of one or more attributes in the target solid object model.

For example, when the terminal device needs to subscribe to the target entity model, a first request may be sent to the server, where the first request carries a model identifier of the target entity model, and after receiving the first request, the server may complete a subscription operation for the target entity model according to the model identifier.

Thus, the server can determine the target entity model from the entity models through the information carried in the first request. And the entity models are stored in the database corresponding to the server, and after the entity models are established, the entity models are stored in the database corresponding to the server, so that the reliability of subsequent information query is ensured.

Step S602: the server responds to the first request and executes subscription operation on the target entity model.

For example, the subscribing operation may be to store the identification information of the subscribed target entity model in a corresponding subscription data table, where the identification information of all the subscribed entity models is recorded in the subscription data table.

Still taking the target entity model as an example for explanation, after receiving a first request for subscribing to the target entity model, the server responds to the first request, and stores the model identifier of the target entity model into the subscription data table, so as to implement subscription to the target entity model.

Step S603: the server determines at least one entity model from a plurality of entity models, and the at least one entity model and the target organization model have a first association relation; and executing a subscription operation on at least one sub-entity model.

Illustratively, after determining the target entity model, the server obtains information about a first association relationship between the target entity model and at least one entity model from the target entity model, and determines the at least one entity model from the entity models according to the information about the first association relationship, that is, the entity model 1, the entity model 2, and the entity model 3, and then subscribes to the three entity models. Similarly, when the first request received by the server is for subscribing to the sub-entity model 1, the server may determine the target entity model according to the first association relationship according to the information related to the first association relationship in the sub-entity model 1, and then subscribe to the target entity model. In other words, the server may determine and subscribe to the child model from the parent model according to the association relationship, or may determine and subscribe to the parent model from the child model according to the association relationship.

Step S604: and when the target entity model and/or at least one sub-entity model changes, sending the change condition to the terminal equipment.

After the target entity model and at least one sub-entity model are subscribed, the server detects data conditions of the models, and immediately sends the change conditions to the terminal equipment when data of the target entity model and/or the at least one sub-entity model is changed or sub-entity model changes. The change of the fruit body model is used for indicating that the number of the fruit body models having the first association relation with the target entity model changes, taking the target entity model as a workshop A as an example, when part of machines in the workshop A are eliminated, the number of the machines in the workshop A changes, at the moment, the number of the fruit body models having the first association relation with the target entity model also changes, and at the moment, the change of the fruit body models is represented.

Optionally, when the server sends the change condition to the terminal device, the following method may be selected for sending:

when the target entity model and/or at least one sub-entity model changes, generating subscription information matched with the subscription item, wherein the subscription item is carried in the first request; and sending the subscription information to the terminal equipment.

The subscription item carried in the first request may be names of various attributes included in the entity model, such as a space attribute or a location attribute; the attribute information may also be part of information of the entity model that a user needs to pay attention to, for example, names of members in the member attributes.

In this way, when data in the entity model changes, the server may generate subscription information correspondingly according to the subscription items included in the first request, for example, the subscription items carried in the first request only include spatial attributes, and when the spatial attributes of the target entity model and/or the at least one sub-entity model change, the subscription information generated by the server may be subscription information only used for indicating the change of the spatial attributes of the target entity model and/or the at least one sub-entity model.

Application 2, querying historical status of entity

Referring to fig. 7, a flowchart of a method for querying a history status of an entity according to an embodiment of the present application is provided. The method comprises the following specific steps:

s701: the server receives a second request from the terminal device, wherein the second request is used for inquiring the target entity model.

Similar to the application 1, the second request may carry information for determining the target entity model, and the information may specifically be: model identification of the target solid object model; or, a value of one or more attributes in the target solid object model; alternatively, a model identification of the target solid object model and a value of one or more attributes in the target solid object model.

Step S702: the server determines a target entity model from the plurality of organizational models in response to the second request.

Step S703: the server determines at least one entity model from the entity models according to the information related to the first incidence relation in the target entity model, and an entity corresponding to the at least one entity model and an entity corresponding to the target entity model have the first incidence relation.

Step S704: the server outputs information of the target solid object model and the at least one solid object model to the terminal device.

In this way, the server can determine the sub-model from the parent model according to the first association relationship between the target entity model and the at least one sub-entity model, and simultaneously transmit the sub-model to the terminal device to complete the response to the second request.

In the method, the information of the entity models related to the entity model can be acquired by only inputting the query information of one entity model, so that the query operation of a user is simplified, and the use experience of the user is improved.

Optionally, the second request may further carry a query term to instruct the server to perform feedback according to the corresponding query term.

For example, the query term may be a spatial attribute and/or a member attribute in the entity model, and when receiving the second request including the query term, the server determines information of the spatial attribute and/or the member attribute from the determined target entity model, generates corresponding query information, and sends the corresponding query information to the terminal device.

In the method, the information in the entity model can be pertinently sent by the limitation of the query item, so that the refinement degree of the entity model management is improved.

Application 3, deleting historical state of entity

Referring to fig. 8, a flowchart of a method for deleting a history status of an entity according to an embodiment of the present application is provided. The method comprises the following specific steps:

s801: the server receives a third request from the terminal device, wherein the third request is used for deleting the target entity model.

S802: in response to the third request, the server determines a target physical model from the plurality of organization models, and determines at least one sub-physical model having a first association with the target physical model according to information about the first association in the target physical model.

S803: and deleting the target entity model and at least one entity model.

In the method, through the first association relationship between the target entity model and the at least one entity model, after the instruction for deleting the target entity model is received, the at least one entity model having the first association relationship with the target entity model is deleted, so that the user operation is simplified, and the use experience for the user is improved.

In the above, the operations of subscribing, querying and deleting based on the first association relationship between the target entity model and at least one entity model are introduced, but in actual use, the operations may be performed not only according to the first association relationship, but also according to the spatial relationship between the entity models.

Taking the space attribute as an example, as shown in fig. 2, the space range occupied by the machines 1, 2, 3 is included in the space range occupied by the first workshop, and at this time, the first workshop and the machines 1, 2, 3 have an inclusion and included space relationship. Thus, when subscribing, inquiring and deleting operations are executed, the server can determine the entity models 1, 2 and 3 corresponding to the machines 1, 2 and 3 according to the spatial relationship of the target entity model corresponding to the workshop A, and correspondingly execute the operations.

Based on the same inventive concept, the embodiment of the application also provides a device for history states of twin entities.

Referring to fig. 9, an apparatus for twin entity historical state is provided for the embodiment of the present application, the apparatus may be the server or a chip or an integrated circuit in the device, and the apparatus includes modules/units/technical means for executing the method executed by the server in the method embodiment.

Illustratively, the apparatus 900 includes:

creating a model 901, for respectively building a target entity model and at least one sub-entity model attached to the target entity; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a time attribute;

a processing module 902, configured to set a value of the time attribute in the target entity model and the at least one entity model as a historical time, where the historical time is used to indicate a time corresponding to data in the target entity model and the at least one entity model; establishing a first association relationship between the target solid object model and the at least one solid object model, wherein the first association relationship is used for associating the at least one solid object model to the target solid object model.

As an embodiment, the apparatus discussed in fig. 9 may be configured to execute the method described in the embodiment shown in fig. 1, and therefore, for functions and the like that can be realized by each functional module of the apparatus, reference may be made to the description of the embodiment shown in fig. 1, and details are not repeated here.

Based on the same inventive concept, the embodiment of the application also provides a device for subscribing the history state of the entity.

Referring to fig. 10, an apparatus for subscribing to a history state of an entity is provided for the embodiment of the present application, where the apparatus may be a server or a chip or an integrated circuit in the device, and the apparatus includes a module/unit/technical means for performing the method performed by the server in the embodiment of the method described above.

Illustratively, the apparatus 1000 includes:

a creating module 1001 configured to establish a target entity model and at least one entity model for a target entity and at least one entity attached to the target entity, respectively; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a time attribute;

a processing module 1002, configured to set a value of the time attribute in the target entity model and the at least one entity model as a historical time, where the historical time is used to indicate a time corresponding to data in the target entity model and the at least one entity model; establishing an incidence relation between the target entity model and the at least one entity model, wherein the incidence relation is used for associating the at least one entity model to the target entity model;

a receiving module 1003, configured to receive a first request from a terminal device, where the first request is used to request to subscribe to a history state of the target entity;

a response module 1004 for performing a subscription operation on the target solid object model in response to the first request; and executing the subscription operation on the at least one entity model according to the incidence relation between the at least one entity model and the target entity model.

As an embodiment, the apparatus discussed in fig. 10 may be configured to execute the method described in the embodiment shown in fig. 6, and therefore, for functions and the like that can be realized by each functional module of the apparatus, reference may be made to the description of the embodiment shown in fig. 6, and details are not repeated here.

It should be noted that although in the above detailed description several modules or sub-modules of the apparatus are mentioned, such division is merely exemplary and not mandatory. Indeed, the features and functions of two or more of the units described above may be embodied in one module according to embodiments of the invention. Conversely, the features and functions of one module described above may be further divided into embodiments by a plurality of modules.

Referring to fig. 11, as a possible product form of the apparatus, an embodiment of the present application further provides an electronic device 1100, including:

at least one processor 1101; and a communication interface 1103 communicatively coupled to the at least one processor 1101; the at least one processor 1101, by executing instructions stored by the memory 1102, causes the electronic device 1100 to perform the method steps performed by any one of the above-described method embodiments via the communication interface 1103.

Optionally, the memory 1102 is located external to the electronic device 1100.

Optionally, the electronic device 1100 includes the memory 1102, the memory 1102 is connected to the at least one processor 1101, and the memory 1102 stores instructions executable by the at least one processor 1101. Fig. 11 shows in dashed lines that the memory 1102 is optional for the electronic device 1100.

The processor 1101 and the memory 1102 may be coupled by an interface circuit, or may be integrated together, which is not limited herein.

In the embodiment of the present application, a specific connection medium between the processor 1101, the memory 1102, and the communication interface 1103 is not limited. In the embodiment of the present application, the processor 1101, the memory 1102, and the communication interface 1103 are connected by a bus 1104 in fig. 11, the bus is represented by a thick line in fig. 11, and the connection manner between other components is merely illustrative and not limited thereto. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 11, but this is not intended to represent only one bus or type of bus. It should be understood that the processors mentioned in the embodiments of the present application may be implemented by hardware or may be implemented by software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, or the like. When implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in a memory.

The Processor may be, for example, a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It will be appreciated that the memory referred to in the embodiments of the application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data rate Synchronous Dynamic random access memory (DDR SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

It should be noted that when the processor is a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, the memory (memory module) may be integrated into the processor.

It should be noted that the memory described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

As another possible product form, the present application further provides a computer-readable storage medium for storing instructions that, when executed, cause a computer to perform the method steps performed by any one of the above-mentioned method examples.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A method of history of twin entities, comprising:

respectively establishing a target entity model and at least one sub-entity model aiming at a target entity and at least one sub-entity attached to the target entity; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a temporal attribute;

setting values of the time attributes in the target entity model and the at least one entity model as historical time, wherein the historical time is used for indicating time corresponding to data in the target entity model and the at least one entity model;

establishing a first association relationship between the target solid object model and the at least one solid object model, wherein the first association relationship is used for associating the at least one solid object model to the target solid object model.

2. The method of claim 1, wherein the historical time is at least one time prior to a current time or at least one time duration prior to the current time.

3. The method of claim 1, wherein the first associative relationship is used to indicate that the target solid object model and the at least one child solid object model are in a parent-child relationship.

4. The method of any one of claims 1-3, wherein said establishing a first association of said target physical model with said at least one sub-physical model comprises:

identifying a target solid model as a parent solid model, identifying the at least one child solid model as a child solid model belonging to the parent solid model.

5. The method of claim 1, wherein said target physical model and said at least one sub-physical model further comprise spatial attributes describing one or more of the following information of said target physical model and said at least one sub-physical model:

coordinate system information, geometric shape information, spatial position information, spatial rotation angle information, spatial range information.

6. The method of claim 5, wherein the spatial attributes include spatial range information describing a spatial range in which the target physical model and the at least one sub-physical model reside;

wherein a spatial extent in the at least one solid entity model does not exceed a spatial extent of the target solid entity model.

7. The method of claim 5, wherein the method further comprises:

establishing a first coordinate system in the target physical model, establishing a second coordinate system in a first physical model, wherein the first physical model is one of the at least one physical model, and the origin of the second coordinate system is determined according to the origin of the first coordinate system;

determining spatial position information of the target solid object model and the at least one solid object model according to a first coordinate system; or determining the spatial position information of the target physical model according to a first coordinate system, and determining the spatial position information of the at least one sub-physical model according to a second coordinate system;

determining geometric shape information of the target solid object model and the at least one solid object model according to a first coordinate system; or determining the geometric shape information of the target physical object model according to a first coordinate system, and determining the geometric shape information of the first physical object model according to a second coordinate system.

8. The method of claim 5, wherein said spatial attributes include said spatial location information, said target physical model and said at least one sub-physical model further include location attributes, said method further comprising:

when the spatial position information of the target entity is changed, the change of the spatial position information is stored to a position attribute in the target entity model;

the location attribute is used for describing the location change of the target entity at least one time before the current time, or the location change of the target entity at least one continuous time period before the current time.

9. The method of claim 5, wherein the method further comprises:

when the spatial position of the second sub-entity does not belong to the spatial range of the target entity, updating a first association relation between a second entity model corresponding to the second sub-entity and the target entity model, and updating the spatial attribute and the time attribute of the second entity model;

wherein the second sub-entity is one of the at least one sub-entity.

10. The method of any one of claims 6-9, further comprising:

generating, by the target entity model and the at least one entity model, a parent object record corresponding to the target entity model and a child object record corresponding to the at least one entity model at least one time before the current time or at least one duration time before the current time;

wherein the parent object record is used for describing the attribute state of the target entity at least one time before the current time or at least one duration before the current time; the sub-object record is used for describing the attribute state of the at least one sub-entity object at least one time before the current time or at least one duration before the current time.

11. The method of claim 10, wherein the method further comprises:

establishing a second association relationship between the parent object record and the at least one child object record, wherein the second association relationship is used for associating the at least one child object record to the parent object record;

wherein each child object record has a unique parent object record, the parent object record and the at least one child object record each include a time range, and the time range of the child object record is within the parent object record time range.

12. The method of claim 10, wherein when the spatial attributes include the spatial range information, the parent object record and child object record are used to describe change information of the spatial range of the target entity and the at least one child entity at least one time before the current time or at least one duration before the current time;

the spatial range of the child object record corresponding to the at least one child entity is included in the spatial range of the parent object record at least one time before the current time or at least one duration before the current time.

13. The method of claim 10, wherein when the spatial attributes include the spatial location information, the parent object record and child object record are change information describing a movement of spatial location of the target entity and the at least one child entity at least one time before the current time or at least one duration before the current time;

the spatial location of the at least one child entity is contained within the spatial extent of the parent object record at least one time prior to the current time or at least one time duration prior to the current time.

14. The method of claim 10, wherein when the spatial attributes include the geometry information, the parent object record and child object record are used to describe change information of the geometry of the target entity and the at least one child entity at least one time before the current time or at least one duration before the current time;

the geometry of the at least one child entity is contained within the geometry of the parent object record at least one time prior to the current time or at least one duration prior to the current time.

15. The method of claim 1, wherein said target physical model and said at least one sub-physical model further comprise member attributes, said member attributes describing user-customized data.

16. A method of subscribing to a historical status of an entity, comprising:

respectively establishing a target entity model and at least one sub-entity model aiming at a target entity and at least one sub-entity attached to the target entity; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a time attribute;

establishing a first association relationship between the target physical model and the at least one entity model, the first association relationship being used for associating the at least one entity model to the target physical model;

receiving a first request from a terminal device, wherein the first request is used for requesting to subscribe the historical state of the target entity;

in response to the first request, performing a subscription operation on the target solid object model; and executing the subscription operation on the at least one entity model according to the first incidence relation between the at least one entity model and the target entity model.

17. The method of claim 16, wherein the first request carries a subscription item, the method further comprising:

generating subscription information matched with the subscription item when the target entity model and/or the at least one entity model changes;

and sending the subscription information to the terminal equipment.

18. The method of claim 17, wherein the subscription items include one or more of: spatial attributes, location attributes, member attributes.

19. The method of claim 17, wherein the varying comprises: a change in a fruit body model indicating a change in the number of the at least one fruit body model corresponding to the target fruit body model.

20. An apparatus for twin entity historical status, the apparatus comprising:

creating a model for respectively establishing a target entity model and at least one sub-entity model for a target entity and at least one sub-entity attached to the target entity; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a time attribute;

a processing module, configured to set a value of the time attribute in the target solid object model and the at least one solid object model as a historical time, where the historical time is used to indicate a time corresponding to data in the target solid object model and the at least one solid object model; establishing a first incidence relation between the target physical model and the at least one entity model, wherein the first incidence relation is used for correlating the at least one entity model to the target physical model.

21. The apparatus of claim 20, wherein the historical time is at least one time prior to a current time or at least one time duration prior to the current time.

22. The apparatus of claim 20, wherein the first associative relationship is to indicate that the target solid object model and the at least one child solid object model are in a parent-child relationship.

23. The apparatus according to any one of claims 20 to 22, wherein the processing module, when establishing the first association relationship between the target physical model and the at least one sub-physical model, is specifically configured to:

24. The apparatus of claim 20, wherein said target physical model and said at least one sub-physical model further comprise spatial attributes describing one or more of the following information of said target physical model and said at least one sub-physical model:

25. The apparatus of claim 24, wherein said spatial attributes include spatial range information describing a spatial range within which said target physical model and said at least one sub-physical model reside;

26. The apparatus of claim 24, wherein the processing module is further to:

27. The apparatus of claim 24, wherein the spatial attributes comprise the spatial location information, the target physical model and the at least one sub-physical model further comprise location attributes, the processing module further to:

when the spatial position information of the target entity changes, the change of the spatial position information is stored to a position attribute in the target entity model;

the location attribute is used for describing the location change of the target entity at least one time before the current time, or the location change at least one continuous time period before the current time.

28. The apparatus of claim 24, wherein the processing module is further to:

wherein the second sub-entity is one of the at least one sub-entity.

29. The apparatus of any one of claims 25-28, wherein the processing module is further to:

generating, by the target entity model and the at least one entity model, a parent object record corresponding to the target entity model and at least one child object record corresponding to the at least one entity model at least one time before the current time or at least one duration time before the current time;

wherein the parent object record is used for describing the attribute state of the target entity object at least one time before the current time or at least one duration before the current time; the at least one sub-object record is used for describing the attribute state of the at least one sub-entity object at least one time before the current time or at least one duration before the current time.

30. The apparatus of claim 29, wherein the processing module is further configured to:

establishing a second association relationship between the parent object record and the at least one child object record, wherein the second association relationship is used for associating the at least one child object record to the parent object record; wherein each child object record of the at least one child object record has a unique parent object record, the parent object record and the at least one child object record each include a time range, and the time range of the child object record is within the time range of the parent object record.

31. The apparatus of claim 29, wherein when the spatial attributes include the spatial extent information, the parent object record and child object record are used to describe change information of the spatial extent of the target entity and the at least one child entity at least one time before the current time or at least one duration before the current time;

32. The apparatus of claim 29, wherein when the spatial attributes include the spatial location information, the parent object record and child object record change information describing a movement of spatial location of the target entity and the at least one child entity at least one time prior to the current time or at least one duration of time prior to the current time;

33. The apparatus of claim 29, wherein when the spatial attributes include the geometry information, the parent object record and child object record are used to describe change information of the geometry of the target entity and the at least one child entity at least one time before the current time or at least one duration before the current time;

34. The apparatus of claim 20, wherein said target physical model and said at least one sub-physical model further comprise member attributes, said member attributes describing user-customized data.

35. An apparatus for subscribing to a historical status of an entity, the apparatus comprising:

the system comprises a creation module, a display module and a display module, wherein the creation module is used for respectively establishing a target entity model and at least one sub-entity model aiming at a target entity and at least one sub-entity attached to the target entity; wherein the target entity model is used for describing the target entity, the at least one entity sub-model is used for describing the at least one entity sub-model, and the target entity model and the at least one entity sub-model both comprise a time attribute;

a processing module, configured to set a value of the time attribute in the target solid object model and the at least one solid object model as a historical time, where the historical time is used to indicate a time corresponding to data in the target solid object model and the at least one solid object model; establishing an incidence relation between the target entity model and the at least one entity model, wherein the incidence relation is used for correlating the at least one entity model to the target entity model;

a receiving module, configured to receive a first request from a terminal device, where the first request is used to request subscription to a history state of the target entity;

a response module, configured to perform a subscription operation on the target solid object model in response to the first request; and executing the subscription operation on the at least one entity model according to the incidence relation between the at least one entity model and the target entity model.

36. The apparatus of claim 35, wherein the first request carries a subscription item, and wherein the response module is further configured to:

and sending the subscription information to the terminal equipment.

37. The apparatus of claim 36, wherein the subscription items include one or more of: spatial attributes, location attributes, member attributes.

38. The apparatus of claim 36, wherein the varying comprises: a change in a fruit body model indicating a change in the number of the at least one fruit body model corresponding to the target fruit body model.

39. An electronic device, comprising:

at least one processor; and a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor, the at least one processor causing the at least one processor to perform the method of any one of claims 1-15 and 16-19 by executing the instructions stored by the memory.

40. A computer-readable storage medium for storing instructions that, when executed, cause the method of any one of claims 1-15 and 16-19 to be performed.