CN115294283B - Digital twin plant construction method, device, equipment and storage medium - Google Patents
Digital twin plant construction method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a digital twin plant construction method, a device, equipment and a storage medium, wherein the method comprises the following steps: acquiring outline data and panoramic images of a factory and equipment data of interaction equipment in the factory; constructing a factory model according to the contour data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data; associating each device model corresponding to each interactive device; and placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant. According to the technical scheme, the factory model is generated according to the factory contour data and the panoramic image, the data processing amount for generating the factory model is reduced, the equipment model with the interaction function is generated according to the equipment data of the interaction equipment in the factory, and the equipment model is placed in the factory model to obtain the digital twin factory, so that the digital twin factory with the interaction function is quickly built.
Description
Technical Field
The embodiment of the invention relates to a digital plant technology, in particular to a digital twin plant construction method, a device, equipment and a storage medium.
Background
The digital transformation is a world economic hotspot, and is a necessary way for the future development of the economy in China. Digital factories and digital twinning technology are one of the key technology paths for digital transformation of the enterprise at the time.
In the prior art, a digital twin plant is constructed based on a traditional three-dimensional model modeling mode, but the mode needs to collect a large amount of plant data, so that the efficiency of constructing the digital twin plant is low and the construction period is long.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for constructing a digital twin plant, which are used for reducing the workload of constructing the digital twin plant and improving the efficiency of constructing the digital twin plant.
In a first aspect, an embodiment of the present invention provides a digital twin plant construction method, including:
acquiring outline data and panoramic images of a factory and equipment data of interactive equipment in the factory, wherein the equipment data at least comprises one or more of position parameters, geometric parameters, interactive parameters and association parameters among the interactive equipment;
constructing a factory model according to the contour data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data, wherein the equipment model is a geometric model with an interactive function;
Associating each device model corresponding to each interactive device;
and placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant.
The technical scheme of the embodiment of the invention provides a digital twin plant construction method, which comprises the following steps: acquiring outline data and panoramic images of a factory and equipment data of interactive equipment in the factory, wherein the equipment data at least comprises one or more of position parameters, geometric parameters, interactive parameters and association parameters among the interactive equipment; constructing a factory model according to the contour data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data, wherein the equipment model is a geometric model with an interactive function; associating each device model corresponding to each interactive device; and placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant. Compared with the prior art, the method has the advantages that the equipment model is built according to the detailed equipment data, the equipment model with the interaction function is built according to the geometric parameters and the interaction parameters in the equipment data, the equipment model with the interaction function is placed in the plant model, and the equipment model which is mutually related can form a digital twin plant, so that the digital twin plant with the interaction function is quickly built. In addition, the factory environment can be quickly replaced by updating the panoramic image in the iteration and maintenance of the digital twin factory, so that the development efficiency of the digital twin factory is improved, and the maintenance complexity of the digital twin factory is reduced.
Further, the panoramic image includes an inner panoramic image and an outer panoramic image, and accordingly, a panoramic image of a factory is acquired, including:
acquiring a plurality of internal images and a plurality of external images of a factory, stitching all the internal images to obtain the internal panoramic image, and stitching all the external images to obtain the external panoramic image.
Further, the contour data includes inner contour data and outer contour data, and accordingly, constructing a plant model from the contour data and the panoramic image includes:
constructing an initial model corresponding to the factory based on the inner contour data and the outer contour data;
and determining the inner contour of the initial model according to the internal panoramic image, and determining the outer contour of the initial model according to the external panoramic image to obtain the factory model.
Further, determining an inner contour of the initial model from the inner panoramic image, determining an outer contour of the initial model from the outer panoramic image, comprising:
performing back projection on the internal panoramic image to obtain the internal contour of the initial model;
and carrying out back projection on the external panoramic image to obtain the outer contour of the initial model.
Further, back-projecting the internal panoramic image to obtain an inner contour of the initial model, including:
dividing the value range of the image characteristic into a preset number of value areas, and constructing a histogram based on the value areas;
determining first image features corresponding to pixels in the internal panoramic image;
and placing the first image features into each value-taking area of the histogram, determining the first image features in the value-taking area containing the most first image features as first target image features, and determining the inner contour of the initial model based on the first target image features.
Further, back-projecting the external panoramic image to obtain an outer contour of the initial model, including:
dividing the value range of the image characteristic into a preset number of value areas, and constructing a histogram based on the value areas;
determining second image features corresponding to pixels in the external panoramic image;
and placing the second image features into each value-taking area of the histogram, determining the second image features in the value-taking area containing the most second image features as second target image features, and determining the outer contour of the initial model based on the second target image features.
Further, constructing a device model corresponding to the interaction device according to the device data, including:
and constructing a device model corresponding to the interactive device based on the geometric parameters and the interactive parameters.
Further, associating each of the device models corresponding to each of the interaction devices includes:
determining the association relation between the interactive devices according to the association parameters;
and associating the device models corresponding to the interactive devices based on the association relation between the interactive devices.
Further, placing the device model corresponding to the interaction device in the factory model includes:
determining location information of the device model in the plant model based on the location parameters of the interaction device;
the device model is placed in the plant model based on location information of the device model in the plant model.
Further, the method further comprises the following steps:
and carrying out path planning in the digital twin factory based on the position information of each equipment model in the factory model and the position information of a preset outlet in the factory model.
In a second aspect, an embodiment of the present invention further provides a digital twin plant building apparatus, including:
The device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring outline data and panoramic images of a factory and device data of interaction devices in the factory, wherein the device data at least comprises one or more of position parameters, geometric parameters, interaction parameters and association parameters among the interaction devices;
the construction module is used for constructing a factory model according to the outline data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data, wherein the equipment model is a geometric model with an interactive function;
the association module is used for associating the device models corresponding to the interaction devices;
and the execution module is used for placing the equipment model corresponding to the interactive equipment in the plant model to obtain a digital twin plant, and placing the equipment model in the plant model to obtain the digital twin plant.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the digital twin plant construction method according to any one of the first aspects when the program is executed.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer executable instructions for performing the digital twin plant building method according to any of the first aspects when executed by a computer processor.
In a fifth aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the digital twin plant construction method as provided in the first aspect.
It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer readable storage medium may be packaged together with the processor of the digital twin plant building apparatus or may be packaged separately from the processor of the digital twin plant building apparatus, which is not limited in this application.
The description of the second, third, fourth and fifth aspects of the present application may refer to the detailed description of the first aspect; also, the advantageous effects described in the second aspect, the third aspect, the fourth aspect, and the fifth aspect may refer to the advantageous effect analysis of the first aspect, and are not described herein.
In the present application, the names of the above-mentioned digital twin plant constructing apparatuses do not constitute limitations on the devices or functional modules themselves, and in actual implementations, these devices or functional modules may appear under other names. Insofar as the function of each device or function module is similar to the present application, it is within the scope of the claims of the present application and the equivalents thereof.
These and other aspects of the present application will be more readily apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a digital twin plant construction method provided by an embodiment of the present invention;
FIG. 2 is a flow chart of another digital twin plant construction method provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a digital twin plant construction apparatus according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.
The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or for distinguishing between different processes of the same object and not for describing a particular sequential order of objects.
Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict.
It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
In the description of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more.
The factory generally has the characteristics of large occupied area, special layout, specialized equipment and the like. When a digital factory is built based on a traditional three-dimensional modeling mode, a large number of factory environment images are required to be acquired, and the digital factory is built according to the environment images, so that the digital factory has the problems of large workload, long manufacturing period, difficulty in modification and updating and the like. When a digital factory is built based on a point cloud method, many broken surfaces can exist, the data volume is large, and the built digital factory cannot interact.
Accordingly, the present application provides a digital twin plant construction method for constructing a digital twin plant that can be user-interacted with a faster efficiency. The digital twin plant construction method proposed in the present application will be described in detail with reference to the drawings and embodiments.
Fig. 1 is a flowchart of a digital twin plant construction method according to an embodiment of the present invention, where the method may be performed by a digital twin plant construction apparatus, and specifically includes the following steps:
Step 110, acquiring outline data and panoramic images of a factory and device data of interaction devices in the factory.
The profile data may be structural data of a factory, for example, a size of a factory building, a size and a position of a door and a window included in the factory building, and the like. The panoramic image may be an inner panoramic image and an outer panoramic image of the factory.
Specifically, contour data of a factory input by a user may be acquired, and an internal panoramic image and an external panoramic image of the factory may be acquired based on the image acquisition device. In practical applications, the internal panoramic image and the external panoramic image of the factory may be acquired based on a plurality of view angles, for example, the internal panoramic image of the factory may be acquired based on a plurality of view angles by using an image acquisition device provided at a plurality of places in the factory, or an unmanned plane including the image acquisition device may be flown around the interior of the factory to acquire the internal panoramic image of the factory based on a plurality of view angles; the external panoramic image of the plant may be acquired based on a plurality of view angles by using image acquisition means provided at a plurality of places outside the plant, or may be acquired based on a plurality of view angles by flying around the outside of the plant by using an unmanned plane including the image acquisition means.
Wherein the device data includes at least one or more of a location parameter, a geometric parameter, an interaction parameter, and an association parameter between the interaction devices.
Specifically, the position parameters of each interactive device in the factory input by the user can be obtained, and the position parameters of each interactive device in the factory can be determined according to the internal panoramic image of the factory; the geometric parameter can be the size of the interaction equipment, namely the size of each interaction equipment in the factory input by a user can be obtained, and the size of each interaction equipment in the factory can be determined according to the internal panoramic image of the factory; carrying out abstract analysis on a core business process constructed by each interactive device in a factory, and determining association parameters among the interactive devices; and carrying out abstract analysis on operation logic when each interactive device in the factory executes core business, and determining interaction parameters of each interactive device.
In the embodiment of the invention, the acquired outline data and panoramic image of the factory provide a data basis for building a factory model, and the acquired equipment data of the interaction equipment in the factory provide a data basis for building an equipment model.
And 120, constructing a factory model according to the contour data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data.
The equipment model is a geometric model with an interaction function.
Specifically, an initial model corresponding to the factory can be constructed according to the contour data, and the initial model only contains less detail information; and secondly, the internal panoramic image contained in the panoramic image can be projected to the inside of the initial model to obtain an inner contour, the external panoramic image contained in the panoramic image can be projected to the outside of the initial model to obtain an outer contour, and after the inner contour and the outer contour of the initial model are determined, the factory model is constructed.
Of course, an equipment model corresponding to the interactive equipment can also be constructed according to the equipment data corresponding to the interactive equipment, specifically, an initial equipment model corresponding to the interactive equipment is constructed in a three-dimensional modeling mode based on geometric parameters in the equipment data corresponding to the interactive equipment, and an interactive function is given to the initial equipment model corresponding to the interactive equipment based on the interactive parameters in the equipment data corresponding to the interactive equipment, so that the equipment model corresponding to the interactive equipment is obtained.
Compared with the prior art, the method and the device for constructing the factory model according to the detailed factory data, disclosed by the embodiment of the invention, have the advantages that the data volume for constructing the factory model is reduced, and the efficiency for constructing the factory model is improved. Compared with the prior art, the device model is built according to the detailed device data, the device model is built according to the device data, the data volume is reduced, and meanwhile, the device model with the interaction function is built.
And step 130, associating each device model corresponding to each interactive device.
Specifically, the associated parameters in the device data may indicate operation logic between device models corresponding to the interaction devices when the interaction devices execute the core business process. Therefore, the device models corresponding to the interaction devices can be associated according to the association parameters, so that the device models can simulate and execute the core business process.
In the embodiment of the invention, the device models which are associated with each other are enabled to have the function of simulating and executing the core business process by associating the device models which are corresponding to the interaction devices.
And 140, placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant.
In particular, the device data may include a location parameter of the interaction device, where the location parameter indicates a location of the interaction device within the plant, and thus, location information of a device model corresponding to the interaction device in the plant model may be determined based on the location parameter, and further, the device model may be placed in the plant model based on the location information, resulting in a digital twin plant.
The execution sequence of steps 130 and 140 is not specifically limited, and may be determined according to actual requirements. For example, after step 120 is performed, step 130 and step 140 may be performed sequentially, or step 140 and step 130 may be performed sequentially.
In the embodiment of the invention, the device model corresponding to the interactive device is obtained by endowing the interactive function to the geometric model corresponding to the interactive device, so that the data volume for constructing the device model is reduced, the data volume for constructing the plant model is also reduced according to the contour data and the panoramic image, the digital twin plant can be obtained by placing the device model in the plant model, the data volume of the digital twin plant is also reduced, and the efficiency for constructing the digital twin plant is improved.
The digital twin plant construction method provided by the embodiment of the invention comprises the following steps: acquiring outline data and panoramic images of a factory and equipment data of interactive equipment in the factory, wherein the equipment data at least comprises one or more of position parameters, geometric parameters, interactive parameters and association parameters among the interactive equipment; constructing a factory model according to the contour data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data, wherein the equipment model is a geometric model with an interactive function; associating each device model corresponding to each interactive device; and placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant. Compared with the prior art, the method has the advantages that the equipment model is built according to the detailed equipment data, the equipment model with the interaction function is built according to the geometric parameters and the interaction parameters in the equipment data, the equipment model with the interaction function is placed in the plant model, and the equipment model which is mutually related can form a digital twin plant, so that the digital twin plant with the interaction function is quickly built. In addition, the factory environment can be quickly replaced by updating the panoramic image in the iteration and maintenance of the digital twin factory, so that the development efficiency of the digital twin factory is improved, and the maintenance complexity of the digital twin factory is reduced.
Fig. 2 is a flowchart of another digital twin plant construction method according to an embodiment of the present invention, which is embodied on the basis of the above embodiment. As shown in fig. 2, in this embodiment, the method may further include:
step 210, acquiring outline data and panoramic images of a factory and device data of interaction devices in the factory.
Wherein the device data includes at least one or more of a location parameter, a geometric parameter, an interaction parameter, and an association parameter between the interaction devices.
In one embodiment, the panoramic image comprises an inner panoramic image and an outer panoramic image, and accordingly, a panoramic image of the factory is obtained, comprising:
acquiring a plurality of internal images and a plurality of external images of a factory, stitching all the internal images to obtain the internal panoramic image, and stitching all the external images to obtain the external panoramic image.
Specifically, a plurality of internal images in a factory can be acquired based on a preset view angle, an overlapping area of each internal image and a real distance of physical equipment in the overlapping area are determined, and the internal images overlapped with each other are spliced based on the real distance of the physical equipment in the overlapping area, so that an internal panoramic image corresponding to the preset view angle is obtained. As described above, the internal panoramic image corresponding to a plurality of preset viewing angles can be obtained. Similarly, a plurality of external images outside the factory can be obtained based on a preset view angle, the overlapping area of each external image and the real distance of the building in the overlapping area are determined, and the mutually overlapped external images are spliced based on the real distance of the building in the overlapping area, so that an external panoramic image corresponding to the preset view angle is obtained. As described above, the external panoramic image corresponding to a plurality of preset viewing angles can be obtained.
In the embodiment of the invention, the internal panoramic images corresponding to the preset visual angles and the external panoramic images corresponding to the preset visual angles are obtained, and a data basis is provided for constructing a more reasonable factory model.
And 220, constructing a factory model according to the contour data and the panoramic image.
In one embodiment, the profile data includes inner profile data and outer profile data, and accordingly, step 220 may specifically include:
constructing an initial model corresponding to the factory based on the inner contour data and the outer contour data; and determining the inner contour of the initial model according to the internal panoramic image, and determining the outer contour of the initial model according to the external panoramic image to obtain the factory model.
In one embodiment, determining the inner contour of the initial model from the inner panoramic image and the outer contour of the initial model from the outer panoramic image comprises:
performing back projection on the internal panoramic image to obtain the internal contour of the initial model; and carrying out back projection on the external panoramic image to obtain the outer contour of the initial model.
Specifically, an initial model corresponding to the plant may be first constructed from the inner contour data and the outer contour data, and the initial model is a low-detail model and only has a plant structure. When a digital twin plant corresponding to a plant is constructed, it is necessary to embody a plant environment, and therefore, it is necessary to fill the plant environment. In the prior art, factory detail data needs to be acquired to construct a high-detail model, but the amount of data required to construct the high-detail model is large and takes a long time.
In the application, the inner contour and the outer contour of the initial model can be determined through the panoramic image, and the inner contour and the outer contour are filled into the initial model to obtain the digital twin plant. Specifically, the internal panoramic image may be back projected to obtain an inner contour of the initial model, and the external panoramic image may be back projected to obtain an outer contour of the initial model. For example, first, the range of values of the image feature may be divided into a preset number of value regions, and a histogram may be constructed based on the value regions. Further, first image features corresponding to pixels in the interior panoramic image may be determined; the first image features are placed in each value-taking region of the histogram, the first image features in the value-taking region containing the most first image features are determined to be first target image features, and the inner contour of the initial model is determined based on the first target image features. It is also possible to put the second image features into each of the valued areas of the histogram, determine the second image feature in the valued area containing the most second image features as the second target image feature, and determine the outer contour of the initial model based on the second target image feature.
Compared with the prior art, the method and the device for constructing the factory model according to the detailed factory data, disclosed by the embodiment of the invention, have the advantages that the data volume for constructing the factory model is reduced, and the efficiency for constructing the factory model is improved. In addition, the factory environment can be quickly replaced by updating the panoramic image in the iteration and maintenance of the digital twin factory, so that the development efficiency of the digital twin factory is improved, and the maintenance complexity of the digital twin factory is reduced.
And 230, constructing a device model corresponding to the interactive device according to the device data.
The equipment model is a geometric model with an interaction function.
In one embodiment, step 230 may specifically include:
and constructing a device model corresponding to the interactive device based on the geometric parameters and the interactive parameters.
Specifically, an initial device model corresponding to the interactive device can be built in a three-dimensional modeling mode based on geometric parameters in device data corresponding to the interactive device, and an interactive function is given to the initial device model corresponding to the interactive device based on the interactive parameters in the device data corresponding to the interactive device, so that a device model corresponding to the interactive device is obtained.
Step 240, associating each device model corresponding to each interactive device.
In one embodiment, step 240 may specifically include:
determining the association relation between the interactive devices according to the association parameters; and associating the device models corresponding to the interactive devices based on the association relation between the interactive devices.
Specifically, an association relationship when each interactive device executes the core business process can be determined according to the association parameter, and then each device model corresponding to each interactive device can be associated based on the association relationship, so that each device model associated with each other can simulate and execute the core business process.
And 250, placing the equipment model corresponding to the interactive equipment in the factory model to obtain a digital twin factory.
In one embodiment, step 250 may specifically include:
determining location information of the device model in the plant model based on the location parameters of the interaction device; and placing the equipment model in the plant model based on the position information of the equipment model in the plant model to obtain the digital twin plant.
Of course, the execution sequence of step 240 and step 250 is not specifically limited herein, and may be determined according to actual requirements. For example, after step 230 is performed, step 240 and step 250 may be performed sequentially, or step 250 and step 240 may be performed sequentially.
Step 260, performing path planning in the digital twin plant based on the position information of each equipment model in the plant model and the position information of the preset outlet in the plant model.
Specifically, when the position information of each device model in the plant model and the position information of the preset outlet in the plant model are known, path planning can be performed from each device model to the preset outlet in the digital twin plant. According to the path planning, the path from any interactive equipment in the factory to the preset outlet can be determined, and a path foundation is provided for escape of staff in critical situations.
In the embodiment of the invention, after the digital twin work is determined, the path planning from the equipment model to the preset outlet can be performed in the digital twin factory, so that a data basis is provided for determining the path from any interactive equipment in the factory to the preset outlet, and further, a path basis is provided for the escape of staff in the emergency.
The digital twin plant construction method provided by the embodiment of the invention comprises the following steps: acquiring outline data and panoramic images of a factory and equipment data of interaction equipment in the factory; constructing a factory model according to the contour data and the panoramic image; constructing a device model corresponding to the interactive device according to the device data; associating each device model corresponding to each interactive device; placing the equipment model corresponding to the interactive equipment in the plant model to obtain a digital twin plant; and carrying out path planning in the digital twin factory based on the position information of each equipment model in the factory model and the position information of a preset outlet in the factory model. Compared with the prior art, the method has the advantages that the equipment model is built according to the detailed equipment data, the equipment model with the interaction function is built according to the geometric parameters and the interaction parameters in the equipment data, the equipment model with the interaction function is placed in the plant model, and the equipment model which is mutually related can form a digital twin plant, so that the digital twin plant with the interaction function is quickly built. In addition, the factory environment can be quickly replaced by updating the panoramic image in the iteration and maintenance of the digital twin factory, so that the development efficiency of the digital twin factory is improved, and the maintenance complexity of the digital twin factory is reduced. Meanwhile, path planning can be performed in the digital twin factory, and path planning of escape simulation in fire disaster in the digital twin factory is realized.
Fig. 3 is a schematic structural diagram of a digital twin plant construction apparatus according to an embodiment of the present invention, where the apparatus may be suitable for a situation where efficiency of constructing a digital twin plant needs to be improved. The apparatus may be implemented in software and/or hardware and is typically integrated in a computer device.
As shown in fig. 3, the apparatus includes:
an obtaining module 310, configured to obtain contour data and panoramic image of a factory, and device data of interactive devices in the factory, where the device data at least includes one or more of a location parameter, a geometric parameter, an interaction parameter, and an association parameter between the interactive devices;
a construction module 320, configured to construct a factory model according to the contour data and the panoramic image, and construct an equipment model corresponding to the interaction equipment according to the equipment data, where the equipment model is a geometric model with an interaction function;
an association module 330, configured to associate each device model corresponding to each interactive device;
and the execution module 340 is configured to place the device model corresponding to the interaction device in the plant model to obtain a digital twin plant, and place the device model in the plant model to obtain the digital twin plant.
The digital twin factory building device provided by the embodiment obtains outline data and panoramic images of a factory and equipment data of interactive equipment in the factory, wherein the equipment data at least comprises one or more of position parameters, geometric parameters, interactive parameters and associated parameters among the interactive equipment; constructing a factory model according to the contour data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data, wherein the equipment model is a geometric model with an interactive function; associating each device model corresponding to each interactive device; and placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant. Compared with the prior art, the method has the advantages that the equipment model is built according to the detailed equipment data, the equipment model with the interaction function is built according to the geometric parameters and the interaction parameters in the equipment data, the equipment model with the interaction function is placed in the plant model, and the equipment model which is mutually related can form a digital twin plant, so that the digital twin plant with the interaction function is quickly built. In addition, the factory environment can be quickly replaced by updating the panoramic image in the iteration and maintenance of the digital twin factory, so that the development efficiency of the digital twin factory is improved, and the maintenance complexity of the digital twin factory is reduced.
Based on the above embodiment, the obtaining module 310 is specifically configured to:
acquiring outline data of a factory and equipment data of interaction equipment in the factory;
acquiring a plurality of internal images and a plurality of external images of a factory, stitching all the internal images to obtain the internal panoramic image, and stitching all the external images to obtain the external panoramic image.
On the basis of the above embodiment, the profile data includes inner profile data and outer profile data, and accordingly, the construction module 320 is specifically configured to:
constructing an initial model corresponding to the factory based on the inner contour data and the outer contour data;
determining the inner contour of the initial model according to the internal panoramic image, and determining the outer contour of the initial model according to the external panoramic image to obtain the factory model;
and constructing a device model corresponding to the interactive device based on the geometric parameters and the interactive parameters.
In one embodiment, determining the inner contour of the initial model from the inner panoramic image and the outer contour of the initial model from the outer panoramic image comprises:
performing back projection on the internal panoramic image to obtain the internal contour of the initial model; and carrying out back projection on the external panoramic image to obtain the outer contour of the initial model.
In one embodiment, back-projecting the internal panoramic image to obtain an internal contour of the initial model includes:
dividing the value range of the image characteristic into a preset number of value areas, and constructing a histogram based on the value areas; determining first image features corresponding to pixels in the internal panoramic image; and placing the first image features into each value-taking area of the histogram, determining the first image features in the value-taking area containing the most first image features as first target image features, and determining the inner contour of the initial model based on the first target image features.
In one embodiment, the back-projecting the external panoramic image to obtain an outer contour of the initial model includes:
dividing the value range of the image characteristic into a preset number of value areas, and constructing a histogram based on the value areas; determining second image features corresponding to pixels in the external panoramic image; and placing the second image features into each value-taking area of the histogram, determining the second image features in the value-taking area containing the most second image features as second target image features, and determining the outer contour of the initial model based on the second target image features.
Based on the above embodiment, the association module 330 is specifically configured to:
determining the association relation between the interactive devices according to the association parameters;
and associating the device models corresponding to the interactive devices based on the association relation between the interactive devices.
Based on the above embodiment, the execution module 340 is specifically configured to:
determining location information of the device model in the plant model based on the location parameters of the interaction device;
and placing the equipment model in the plant model based on the position information of the equipment model in the plant model to obtain the digital twin plant.
On the basis of the above embodiment, the device further includes:
and the planning module is used for planning a path in the digital twin plant based on the position information of each equipment model in the plant model and the position information of a preset outlet in the plant model.
The digital twin plant construction device provided by the embodiment of the invention can execute the digital twin plant construction method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the digital twin plant constructing apparatus described above, each unit and module included are only divided according to the functional logic, but not limited to the above-described division, as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present invention. Fig. 4 shows a block diagram of an exemplary computer device 4 suitable for use in implementing embodiments of the invention. The computer device 4 shown in fig. 4 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the invention.
As shown in fig. 4, the computer device 4 is in the form of a general purpose computer device. The components of computer device 4 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 4 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 4 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 4 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in fig. 4, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The computer device 4 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 4, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 4 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, the computer device 4 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 20. As shown in fig. 4, the network adapter 20 communicates with other modules of the computer device 4 via the bus 18. It should be appreciated that although not shown in fig. 4, other hardware and/or software modules may be used in connection with computer device 4, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, for example, implementing the digital twin plant construction method provided by the embodiment of the present invention, the method including:
acquiring outline data and panoramic images of a factory and equipment data of interactive equipment in the factory, wherein the equipment data at least comprises one or more of position parameters, geometric parameters, interactive parameters and association parameters among the interactive equipment;
constructing a factory model according to the contour data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data, wherein the equipment model is a geometric model with an interactive function;
associating each device model corresponding to each interactive device;
and placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant.
Of course, it will be understood by those skilled in the art that the processor may also implement the technical solution of the digital twin plant construction method provided in any embodiment of the present invention.
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a digital twin plant construction method such as provided by the embodiment of the present invention, the method comprising:
Acquiring outline data and panoramic images of a factory and equipment data of interactive equipment in the factory, wherein the equipment data at least comprises one or more of position parameters, geometric parameters, interactive parameters and association parameters among the interactive equipment;
constructing a factory model according to the contour data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data, wherein the equipment model is a geometric model with an interactive function;
associating each device model corresponding to each interactive device;
and placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
It will be appreciated by those of ordinary skill in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed over a network of computing devices, or they may alternatively be implemented in program code executable by a computer device, such that they are stored in a memory device and executed by the computing device, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
In addition, the technical scheme of the invention can acquire, store, use, process and the like the data, which accords with the relevant regulations of national laws and regulations.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (12)
1. A digital twin plant construction method, comprising:
acquiring outline data and panoramic images of a factory and equipment data of interaction equipment in the factory, wherein the equipment data comprises position parameters, geometric parameters, interaction parameters and association parameters among the interaction equipment, the interaction parameters are obtained by carrying out abstract analysis on operation logic when the interaction equipment in the factory executes core business, and the association parameters among the interaction equipment are obtained by carrying out abstract analysis on a core business process constructed by the interaction equipment in the factory;
constructing a factory model according to the contour data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data, wherein the equipment model is a geometric model with an interactive function;
determining the association relation between the interactive devices according to the association parameters;
associating the device models corresponding to the interaction devices based on the association relation among the interaction devices;
and placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant.
2. The digital twin plant construction method according to claim 1, wherein the panoramic image comprises an inner panoramic image and an outer panoramic image, and correspondingly obtaining a panoramic image of the plant comprises:
acquiring a plurality of internal images and a plurality of external images of a factory, stitching all the internal images to obtain the internal panoramic image, and stitching all the external images to obtain the external panoramic image.
3. The digital twin plant construction method according to claim 2, wherein the profile data includes inner profile data and outer profile data, and constructing a plant model from the profile data and the panoramic image, respectively, includes:
constructing an initial model corresponding to the factory based on the inner contour data and the outer contour data;
and determining the inner contour of the initial model according to the internal panoramic image, and determining the outer contour of the initial model according to the external panoramic image to obtain the factory model.
4. A digital twin plant building method according to claim 3, in which determining the inner contour of the initial model from the inner panoramic image and the outer contour of the initial model from the outer panoramic image comprises:
Performing back projection on the internal panoramic image to obtain the internal contour of the initial model;
and carrying out back projection on the external panoramic image to obtain the outer contour of the initial model.
5. The method of claim 4, wherein back projecting the internal panoramic image to obtain the internal contour of the initial model, comprising:
dividing the value range of the image characteristic into a preset number of value areas, and constructing a histogram based on the value areas;
determining first image features corresponding to pixels in the internal panoramic image;
and placing the first image features into each value-taking area of the histogram, determining the first image features in the value-taking area containing the most first image features as first target image features, and determining the inner contour of the initial model based on the first target image features.
6. The method of claim 4, wherein back projecting the external panoramic image to obtain an outer contour of the initial model, comprising:
dividing the value range of the image characteristic into a preset number of value areas, and constructing a histogram based on the value areas;
Determining second image features corresponding to pixels in the external panoramic image;
and placing the second image features into each value-taking area of the histogram, determining the second image features in the value-taking area containing the most second image features as second target image features, and determining the outer contour of the initial model based on the second target image features.
7. The digital twin plant construction method according to claim 1, wherein constructing the device model corresponding to the interaction device from the device data includes:
and constructing a device model corresponding to the interactive device based on the geometric parameters and the interactive parameters.
8. The digital twin plant building method according to claim 1, wherein placing the device model corresponding to the interaction device in the plant model comprises:
determining location information of the device model in the plant model based on the location parameters of the interaction device;
the device model is placed in the plant model based on location information of the device model in the plant model.
9. The digital twin plant building method of claim 8, further comprising:
And carrying out path planning in the digital twin factory based on the position information of each equipment model in the factory model and the position information of a preset outlet in the factory model.
10. A digital twin plant building apparatus, comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring outline data and panoramic images of a factory and equipment data of interaction equipment in the factory, wherein the equipment data comprises position parameters, geometric parameters, interaction parameters and association parameters among the interaction equipment, the interaction parameters are obtained by carrying out abstract analysis on operation logic when the interaction equipment in the factory executes core business, and the association parameters among the interaction equipment are obtained by carrying out abstract analysis on a core business process constructed by the interaction equipment in the factory;
the construction module is used for constructing a factory model according to the outline data and the panoramic image, and constructing an equipment model corresponding to the interactive equipment according to the equipment data, wherein the equipment model is a geometric model with an interactive function;
the association module is used for determining association relations among the interactive devices according to the association parameters; associating the device models corresponding to the interaction devices based on the association relation among the interaction devices;
And the execution module is used for placing the equipment model corresponding to the interactive equipment in the plant model to obtain the digital twin plant.
11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the digital twin plant construction method according to any of claims 1-9 when executing the program.
12. A storage medium containing computer executable instructions which when executed by a computer processor implement the digital twin plant construction method of any of claims 1-9.
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