CN115348365A - Motion process display method and device based on digital twinning technology - Google Patents
Motion process display method and device based on digital twinning technology Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/2224—Studio circuitry; Studio devices; Studio equipment related to virtual studio applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
- H04N5/144—Movement detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/272—Means for inserting a foreground image in a background image, i.e. inlay, outlay
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a motion process display method and a motion process display device based on a digital twinborn technology, which are applied to a display platform, wherein the display platform is in communication connection with a plurality of devices, the devices send motion state data of each section at the beginning of a preset interval distance to the display platform according to the preset interval distance during motion, and the motion state data are used for simulating a motion process of the display platform; the method comprises the following steps: sending a motion instruction to target equipment to be displayed with a motion process; and when the target equipment starts to move, performing simulation display of the motion process according to the acquired motion state data of the target equipment. The hardware video acquisition equipment resources are reduced, and the simulation display of the equipment motion process is not influenced; by utilizing the idea of infinitesimal division, the motion distance of the equipment is divided into segments, so that the motion of each small segment is controllable, the data transmission quantity is small, and the motion process of the display equipment can be simulated in real time.
Description
Technical Field
The invention relates to the technical field of numerical control, in particular to a motion process display method and device based on a digital twinning technology.
Background
With the rapid development of informatization and digitization, the digital twin technology is widely applied in various industries. The digital twin technology maps the entity and the entity change condition to a digital space for displaying, and the real change of the entity can be reflected in time by checking the change of the virtual information body.
The most widespread practice at present is to collect the video stream by a video camera or a still camera, and then present the video stream in the digital twin display platform through a network. Therefore, related hardware equipment for video acquisition is required to be added, the consumption of network bandwidth resources for transmitting streaming media is high, and when multiple devices work simultaneously, the pressure of the network bandwidth is high, and the situations of blockage, black screen and the like can occur.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for displaying a motion process based on a digital twin technology, so as to solve technical problems in the prior art that when multiple devices work simultaneously, network bandwidth pressure is large, and situations such as stuck and black screen occur.
The technical scheme provided by the invention is as follows:
the first aspect of the embodiment of the invention provides a motion process display method based on a digital twinning technology, which is applied to a display platform, wherein the display platform is in communication connection with a plurality of devices, the devices send motion state data of each preset interval distance at the beginning to the display platform according to the preset interval distance during motion, and the motion state data are used for displaying a simulation motion process of the platform; the motion process display method based on the digital twinning technology comprises the following steps: sending a motion instruction to target equipment to be displayed with a motion process; and when the target equipment starts to move, performing simulation display of the motion process according to the acquired motion state data of the target equipment.
Optionally, when the target device starts to move, performing a simulated display of a motion process according to the acquired motion state data of the target device, including: when the target equipment moves at a constant speed, acquiring the current network delay and first movement time of the target equipment within a first preset interval distance; determining the simulation lag time of the display platform according to the network delay and the first motion time; determining a waiting display time delay according to a preset condition, and determining starting time for displaying the motion process of the target equipment by the display platform according to the simulation lag time and the waiting display time delay, wherein the waiting display time delay reflects a time difference between time for the display platform to receive the motion state data of the target equipment and time for the display platform to start displaying the motion process of the target equipment; and performing simulation display of the motion process according to the starting time and the acquired motion state data of the target equipment.
Optionally, when the target device starts to move, performing simulated display of a motion process according to the obtained motion state data of the target device, further comprising: when the target equipment moves in a variable speed manner, determining the total time delay of the target equipment in the moving process and the corresponding second movement time of the target equipment in each preset interval distance; determining the starting time of the display platform for displaying the motion process of the target equipment according to the total time delay and the second motion time; and performing simulation display of the motion process according to the starting time and the acquired motion state data of the target equipment.
Optionally, when the target device starts to move, before performing the simulated display of the motion process according to the acquired motion state data of the target device, the method further includes: and acquiring physical parameters of the display platform and carrying out appearance modeling on the target equipment by utilizing a preset engine.
Optionally, performing simulation display of a motion process according to the start time and the acquired motion state data of the target device includes: calling a corresponding interface according to the physical parameters and the motion instruction; and mapping the motion state data of the target equipment into the preset engine and responding to the simulation display operation of the motion process of the target equipment through the interface.
Optionally, the method further comprises: when the motion state data of the target device is acquired, sending a preset confirmation frame to the target device, so that the target device responds to the deletion operation of the motion state data in a sending queue according to the preset confirmation frame, wherein the sending queue stores the motion state data of each preset interval distance sent to the display platform by the target device at the beginning.
A second aspect of the embodiments of the present invention provides a motion process display device based on a digital twinning technology, which is applied to a display platform, wherein the display platform is in communication connection with a plurality of devices, the devices send motion state data of each preset interval distance at the beginning to the display platform according to the preset interval distance during motion, and the motion state data is used for displaying a simulated motion process of the platform; the motion process display device based on the digital twinning technology comprises: the sending module is used for sending the motion instruction to target equipment to be displayed in the motion process; and the display module is used for performing simulated display of the motion process according to the acquired motion state data of the target equipment when the target equipment starts to move.
Optionally, the display module comprises: the first obtaining sub-module is used for obtaining the current network delay and the first movement time of the target equipment within a first section of preset interval distance when the target equipment moves at a constant speed; the first determining submodule is used for determining the simulation lag time of the display platform according to the network time delay and the first movement time; the second determining submodule is used for determining a waiting display time delay according to a preset condition and determining the starting time of the display platform for displaying the motion process of the target equipment according to the simulation lag time and the waiting display time delay, wherein the waiting display time delay reflects the time difference between the time when the display platform receives the motion state data of the target equipment and the time when the display platform starts to display the motion process of the target equipment; and the first display sub-module is used for performing simulation display of a motion process according to the starting time and the acquired motion state data of the target device.
A third aspect of the embodiments of the present invention provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are configured to cause the computer to execute the method for demonstrating a motion process based on a digital twinning technique according to any one of the first aspect and the first aspect of the embodiments of the present invention.
A fourth aspect of embodiments of the present invention provides an electronic device, including: the device comprises a memory and a processor, wherein the memory and the processor are connected with each other in a communication mode, the memory stores computer instructions, and the processor executes the computer instructions so as to execute the motion process demonstration method based on the digital twinning technology according to the first aspect of the embodiment of the invention and any one of the first aspect.
The technical scheme provided by the invention has the following effects:
according to the motion process display method based on the digital twinning technology, the operation condition of transmission equipment is monitored without the aid of hardware equipment for collecting video streams and consuming a large amount of network bandwidth, the simulation display of the motion process of the equipment is realized directly through the communication connection between a display platform and the equipment and based on the digital twinning technology, the hardware equipment resources are reduced, and meanwhile the simulation display of the motion process of the equipment is not influenced; by utilizing the thought of infinitesimal division, the motion distance of the equipment is divided into segments, so that the motion of each small segment is controllable, the data transmission quantity is small, and the motion process of the display equipment can be simulated in real time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a motion process demonstration method based on a digital twinning technique according to an embodiment of the invention;
FIG. 2 is a block diagram of a motion process showing device based on digital twinning technique according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a computer-readable storage medium provided according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The embodiment of the invention provides a motion process display method based on a digital twinning technology, which is applied to a display platform, wherein the display platform is in communication connection with a plurality of devices, the devices send motion state data of each preset interval distance at the beginning to the display platform according to the preset interval distance during motion, and the motion state data are used for displaying a simulation motion process of the platform.
Specifically, for each piece of equipment, before the equipment starts to move, the motion process of the equipment is divided into a plurality of small segments by using a infinitesimal division thought, namely, each segment is preset with an interval distance.
The motion state data may include a starting position coordinate of the device when the device moves at each preset interval distance, a device moving time, and a plurality of motion speed values, such as a fastest motion speed, a lowest motion speed, and the like. Specifically, the more motion state data that is acquired, the more realistic the simulation of the motion process of the device is exhibited. In the embodiment of the invention, the acquired motion state data is selected according to actual requirements without specific requirements.
The device may send the corresponding motion state data to the corresponding presentation platform via a TCP protocol.
In the embodiment of the invention, an intelligent optical fiber display system is used as a display platform; the moving process of a plurality of mechanical arms of the intelligent light distribution equipment is used as the moving process in the equipment.
As shown in fig. 1, the method comprises the steps of:
step S101: and sending the motion instruction to target equipment to be displayed with the motion process. Specifically, the intelligent fiber display system sends a relevant movement command to the mechanical arm.
Step S102: and when the target equipment starts to move, performing simulation display of the motion process according to the acquired motion state data of the target equipment.
Specifically, when the mechanical arm starts to move, motion state data such as a corresponding movement physical position starting coordinate, physical equipment movement time and the like are uploaded to the intelligent optical fiber display system through a TCP (transmission control protocol); the intelligent optical fiber display system performs simulation display on the motion process of the mechanical arm according to the received motion state data.
According to the motion process display method based on the digital twinning technology, the operation condition of transmission equipment is monitored without the aid of hardware equipment for collecting video streams and consuming a large amount of network bandwidth, the simulation display of the motion process of the equipment is realized directly through the communication connection between a display platform and the equipment and based on the digital twinning technology, the hardware equipment resources are reduced, and meanwhile the simulation display of the motion process of the equipment is not influenced; by utilizing the thought of infinitesimal division, the motion distance of the equipment is divided into segments, so that the motion of each small segment is controllable, the data transmission quantity is small, and the motion process of the display equipment can be simulated in real time.
As an optional implementation manner of the embodiment of the present invention, step S102 includes: when the target equipment moves at a constant speed, acquiring the current network delay and first movement time of the target equipment within a first preset interval distance; determining the simulation lag time of the display platform according to the network delay and the first motion time; determining a waiting display time delay according to a preset condition, and determining starting time for displaying the motion process of the target equipment by the display platform according to the simulation lag time and the waiting display time delay, wherein the waiting display time delay reflects a time difference between time for the display platform to receive the motion state data of the target equipment and time for the display platform to start displaying the motion process of the target equipment; and performing simulation display of the motion process according to the starting time and the acquired motion state data of the target equipment.
Specifically, the robot arm is to be moved from an origination port A to a destination port Z by a distance S total (ii) a Before the mechanical arm starts to move, the movement distance S of the mechanical arm is divided into N sections, and the distance of each section can be obtained:
S＝S total /N
the larger N is, the larger the number of moving stages is, the more realistic the movement of the reduced object is under the variable speed movement, but the larger the transfer amount is. The smaller N is, the fewer N are divided into moving sections, and the more blurred the reduced object moves under the variable speed movement, but the conveying amount is also relatively small. The value of N is not specifically limited in the embodiment of the invention, and is determined according to actual requirements.
After dividing the movement distance S of the mechanical arm into N sections, the mechanical arm starts to move at a uniform speed and passes through a first section of preset interval distance (from an initial port A to a next sectional initial port B), and at the moment, the current network delay delta is obtained t1 And the first from start port A to the next segment start port BThe exercise time is as follows:
t m1 ＝S AB /V AB
in the formula: s. the AB Representing a first preset separation distance; v AB Indicating that the robot arm is at S AB The average motion speed in the motion state data can be obtained by calculation according to a plurality of speed values such as the maximum acceleration, the minimum acceleration and the like in the motion state data; network delay delta t1 Can be obtained according to the current heartbeat packet test;
when the arm moves to the next segment start port B, the network delay delta is passed t1 The motion state data in the first section of preset interval distance is transmitted to the corresponding intelligent optical fiber display system, namely, the corresponding simulation lag time when the intelligent optical fiber display system carries out simulation display on the motion process of the mechanical arm is as follows:
t d ＝t m1 +δ t1
after the intelligent optical fiber display system receives the motion state data, the motion state data is analyzed and passes through delta t2 After the time delay (waiting for the display time delay), the simulation display of the motion process in the first section of the preset interval distance of the mechanical arm is started, so that the intelligent optical fiber display system can receive the motion state data in the next section of the preset interval distance and start the simulation display of the motion process in the next section of the preset interval distance after finishing the display of the motion process in the first section of the preset interval distance of the mechanical arm, and the simulation display of the motion process of the mechanical arm can be truly and continuously performed. By the method, the unstable transmission delay of the subsequent network can be offset, namely, the situations of blocking and the like caused by the unstable network delay and the like can be reduced.
That is to say, the starting time of the intelligent optical fiber display system for displaying the motion process of the mechanical arm is as follows:
t d ＝t m1 +δ t1 +δ t2
wherein the network delay delta t1 The prediction can be carried out according to the neural network, and the current better models comprise an Elman neural network model and an AR model. Waiting for presentation delay delta t2 Can be based on the current networkEnvironment delta t1 For example, the network environment is relatively stable for a period of time, that is, no matter the network environment is good or bad, the network delay is in a relatively stable stage, and the waiting display delay δ is at this time t2 May be set to a relatively small value; if the network environment changes from a poor environment, such as congestion, to a better environment over a period of time, the wait exhibits a delay delta t2 Relatively small values may also be set; if the network delay jitter is high and changes from a better environment to a more congested environment over a period of time, the latency presentation delay delta needs to be increased appropriately t2 。
When the starting time is met, the intelligent optical fiber display system can simulate and display the motion process of the mechanical arm according to the acquired motion state data of the mechanical arm.
As an optional implementation manner of the embodiment of the present invention, step S102 further includes: when the target equipment moves in a variable speed mode, determining the total time delay of the target equipment in the moving process and the corresponding second moving time of the target equipment in each preset interval distance; determining the starting time of the display platform for displaying the motion process of the target equipment according to the total time delay and the second motion time; and performing simulation display of the motion process according to the starting time and the acquired motion state data of the target equipment.
Specifically, after dividing the movement distance S of the robot arm into N segments, the robot arm performs variable speed movement during the movement.
When N =2, when the robot arm moves to the next segment start port B and moves from the port B to the next segment start port C, the moving time of the robot arm is:
t m2 ＝S BC /V BC
in the formula, t m2 Represents the moving time of the mechanical arm from the port B to the next segment starting port C; s. the BC Represents the distance of movement of the robot arm from port B to the next segment start port C; v BC Indicating that the robot arm is moving from port B to port BThe average motion speed of the next segment starting port C can be calculated according to a plurality of speed values such as the maximum acceleration, the minimum acceleration and the like in the motion state data;
when the arm moves from port B to the next segment start port C, a time delay delta is passed t3 (total time delay) corresponding motion state data are transmitted to a corresponding intelligent optical fiber display system, namely, corresponding starting time when the intelligent optical fiber display system carries out simulation display on the motion process of the mechanical arm is as follows:
t x ＝t m1 +t m2 +δ t3
when the starting time is met, the intelligent optical fiber display system can simulate and display the motion process of the mechanical arm according to the acquired motion state data of the mechanical arm.
Wherein, when intelligence optic fibre display system was showing nth segmentation information, this arm had sent this intelligence optic fibre display system with (N + 1) th segmentation information, promptly:
S AB /V AB +δ t1 +δ t2 >S BC /V BC +δ t3
wherein S is AB ＝S BC ＝S total /N
In the process of moving the mechanical arm of the intelligent optical distribution equipment, the mechanical arm can be regarded as uniform in movement. Then there are:
δ t1 +δ t2 >δ t3
wherein the total network delay delta t3 Prediction can be performed according to the neural network model. Such as using an Elman neural network model or an AR model. According to delta t3 Estimating value, adjusting delay delta of waiting display t2 。
For variable speed motion, the solution can be substituted according to the highest and lowest instantaneous speeds in the whole motion process as the average speed. In general, δ t2 can be reduced appropriately in the case of relative acceleration motion. For the case of the relative deceleration motion, δ t2 may be increased as appropriate. In general, the platform latency δ is increased appropriately t2 Can make the platform show motion smoother and not easy to cause the blockageBut more lagging with respect to the motion of the real device. Setting delta t2 When the value is obtained, the processing can be compromised according to the requirement.
As an optional implementation manner of the embodiment of the present invention, before step S102, the method further includes: and acquiring physical parameters of the display platform and carrying out appearance modeling on the target equipment by utilizing a preset engine.
Specifically, in the intelligent optical fiber display system, the physical parameters may include the device model, the number of fiber core ports, and the mechanical arm movement mode, the battery power, the operation state, and the like corresponding to the fiber core ports. The mechanical arm has different motion modes if the fiber core ports are different in number;
the preset engine may be a Web 3D digital drawing engine. The intelligent optical fiber display system can complete appearance modeling of the mechanical arm through the Web 3D digital drawing engine, so that the motion process of the mechanical arm can be subjected to appearance simulation in a digital space.
As an optional implementation manner of the embodiment of the present invention, performing simulation display on a motion process according to start time and acquired motion state data of the target device includes: calling a corresponding interface according to the physical parameters and the motion instruction; and mapping the motion state data of the target equipment into the preset engine and responding to the simulation display operation of the motion process of the target equipment through the interface.
Specifically, after the intelligent optical fiber display system collects the physical parameters, the relevant web 3D API can be called according to the motion instruction; after the motion state data of the mechanical arm is mapped into the corresponding Web 3D digital drawing engine, the intelligent optical fiber display system can complete dynamic display of the motion cluster of the mechanical arm by calling the Web 3D API.
As an optional implementation manner of the embodiment of the present invention, the method further includes: when the motion state data of the target device is acquired, sending a preset confirmation frame to the target device, so that the target device responds to the deletion operation of the motion state data in a sending queue according to the preset confirmation frame, wherein the sending queue stores the motion state data of each preset interval distance sent to the display platform by the target device at the beginning.
Specifically, an ACK acknowledgement mechanism is adopted for transmitting the motion state data of each preset separation distance between the target device and the display platform.
After receiving the motion state data uploaded by the target equipment, the display platform sends an ACK (acknowledgement) frame to the target equipment; and after receiving the ACK frame, the target device deletes the corresponding motion state data in the sending queue, so that the motion state data in each preset interval distance can not be missed.
If the display platform receives the subsequent (N + 1) th motion state data in the process of executing the nth motion state data, the display platform judges that all motion state data before the (N + 1) th motion state data are received, and the motion state data are received under normal conditions, and under extreme abnormal conditions, there may be motion state data which are not received before. At this time, the platform needs to respond the (N + 1) th ACK acknowledgement message after the previous N motion state data are received. And when the device receives the (N + 1) th ACK frame, deleting all the previous motion state data from the sending queue. This can reduce the amount of acknowledgment information transmitted; if the motion state data which is not received is within the safety network delay threshold value, waiting; and if the receiving time corresponding to the motion state data which is not received exceeds the safety network delay threshold, the display platform initiates a request frame for retransmitting the lost motion state data within a timeout period.
In an extreme case, the display platform may be stuck, for example, the network suddenly becomes very bad from a normal state, the network delay increases in geometric multiple, the network is disconnected in an extreme case, and at this time, the display platform may determine whether to receive the motion state data or sense whether the network is disconnected according to the heartbeat packet according to a time threshold.
The embodiment of the invention also provides a motion process display device based on the digital twinning technology, which is applied to a display platform, wherein the display platform is in communication connection with a plurality of devices, the devices send motion state data of each preset interval distance at the beginning to the display platform according to the preset interval distance during motion, and the motion state data are used for displaying the simulation motion process of the platform; as shown in fig. 2, the apparatus includes:
a sending module 201, configured to send a motion instruction to a target device to be shown in a motion process; for details, refer to the related description of step S101 in the above method embodiment.
The display module 202 is configured to perform simulation display of a motion process according to the acquired motion state data of the target device when the target device starts to move; for details, refer to the related description of step S102 in the above method embodiment.
The motion process display device based on the digital twinning technology provided by the embodiment of the invention does not need to monitor the operation condition of transmission equipment by acquiring video stream hardware equipment and consuming a large amount of network bandwidth, realizes the simulation display of the motion process of the equipment directly through the communication connection between the display platform and the equipment and based on the digital twinning technology, reduces hardware equipment resources and simultaneously does not influence the simulation display of the motion process of the equipment; by utilizing the idea of infinitesimal division, the motion distance of the equipment is divided into segments, so that the motion of each small segment is controllable, the data transmission quantity is small, and the motion process of the display equipment can be simulated in real time.
As an optional implementation manner of the embodiment of the present invention, the display module includes: the first obtaining sub-module is used for obtaining the current network delay and the first movement time of the target equipment within a first preset interval distance when the target equipment moves at a constant speed; the first determining submodule is used for determining the simulation lag time of the display platform according to the network delay and the first movement time; the second determining submodule is used for determining a waiting display time delay according to a preset condition and determining the starting time of the display platform for displaying the motion process of the target equipment according to the simulation lag time and the waiting display time delay, wherein the waiting display time delay reflects the time difference between the time when the display platform receives the motion state data of the target equipment and the time when the display platform starts to display the motion process of the target equipment; and the first display sub-module is used for performing simulation display of a motion process according to the starting time and the acquired motion state data of the target device.
As an optional implementation manner of the embodiment of the present invention, the display module further includes: the third determining submodule is used for determining the total time delay of the target equipment in the moving process and the corresponding second moving time of the target equipment in each preset interval distance when the target equipment moves in a variable speed mode; the fourth determining submodule is used for determining the starting time of the display platform for displaying the motion process of the target equipment according to the total time delay and the second motion time; and the second display sub-module is used for performing simulation display of the motion process according to the starting time and the acquired motion state data of the target device.
As an optional implementation manner of the embodiment of the present invention, the apparatus further includes: the first acquisition module is used for acquiring the physical parameters of the display platform and carrying out appearance modeling on the target equipment by utilizing a preset engine.
As an optional implementation manner of the embodiment of the present invention, the second display sub-module includes: the first calling sub-module is used for calling a corresponding interface according to the physical parameters and the motion instruction; and the first response submodule is used for mapping the motion state data of the target equipment into the preset engine and responding to the simulation display operation of the motion process of the target equipment through the interface.
As an optional implementation manner of the embodiment of the present invention, the apparatus further includes: the sending module is configured to send a preset acknowledgement frame to the target device when the motion state data of the target device is obtained, so that the target device responds to a deletion operation of the motion state data in a sending queue according to the preset acknowledgement frame, where the sending queue stores the motion state data of each segment of preset interval distance sent by the target device to the display platform at the beginning.
The functional description of the motion process display device based on the digital twinning technology provided by the embodiment of the invention refers to the description of the motion process display method based on the digital twinning technology in the above embodiment in detail.
An embodiment of the present invention further provides a storage medium, as shown in fig. 3, on which a computer program 301 is stored, and when the instructions are executed by a processor, the steps of the motion process demonstration method based on the digital twinning technique in the foregoing embodiment are implemented. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can include the processes of the embodiments of the methods described above when executed. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk Drive (Hard Disk Drive, abbreviated as HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
An embodiment of the present invention further provides an electronic device, as shown in fig. 4, the electronic device may include a processor 41 and a memory 42, where the processor 41 and the memory 42 may be connected by a bus or in another manner, and fig. 4 takes the connection by the bus as an example.
The memory 42, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as the corresponding program instructions/modules in embodiments of the present invention. The processor 41 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 42, namely, implements the motion process demonstration method based on the digital twinning technique in the above method embodiment.
The memory 42 may include a storage program area and a storage data area, wherein the storage program area may store an application program required for operating the device, at least one function; the storage data area may store data created by the processor 41, and the like. Further, the memory 42 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 42 may optionally include memory located remotely from processor 41, which may be connected to processor 41 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 42 and when executed by the processor 41 perform a motion process demonstration method based on the digital twinning technique as in the embodiment shown in fig. 1.
The details of the electronic device may be understood with reference to the corresponding related description and effects in the embodiment shown in fig. 1, and are not described herein again.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A motion process display method based on a digital twinning technology is characterized by being applied to a display platform, wherein the display platform is in communication connection with a plurality of devices, the devices send motion state data of each preset interval distance at the beginning to the display platform according to the preset interval distance during motion, and the motion state data are used for simulating a motion process of the display platform; the method comprises the following steps:
sending a motion instruction to target equipment to be displayed with a motion process;
and when the target equipment starts to move, performing simulated display of the motion process according to the acquired motion state data of the target equipment.
2. The method according to claim 1, wherein when the target device starts moving, performing simulated display of a motion process according to the acquired motion state data of the target device includes:
when the target equipment moves at a constant speed, acquiring the current network delay and first movement time of the target equipment within a first preset interval distance;
determining the simulation lag time of the display platform according to the network delay and the first motion time;
determining a waiting display time delay according to a preset condition, and determining starting time for displaying the motion process of the target equipment by the display platform according to the simulation lag time and the waiting display time delay, wherein the waiting display time delay reflects a time difference between time for the display platform to receive the motion state data of the target equipment and time for the display platform to start displaying the motion process of the target equipment;
and performing simulation display of the motion process according to the starting time and the acquired motion state data of the target equipment.
3. The method according to claim 1, wherein when the target device starts moving, performing simulated display of a motion process according to the acquired motion state data of the target device, further comprises:
when the target equipment moves in a variable speed mode, determining the total time delay of the target equipment in the moving process and the corresponding second moving time of the target equipment in each preset interval distance;
determining the starting time of the display platform for displaying the motion process of the target equipment according to the total time delay and the second motion time;
and performing simulation display of the motion process according to the starting time and the acquired motion state data of the target equipment.
4. The method according to claim 2 or 3, wherein when the target device starts moving, before performing the simulated display of the motion process according to the acquired motion state data of the target device, the method further comprises:
and acquiring physical parameters of the display platform and carrying out appearance modeling on the target equipment by utilizing a preset engine.
5. The method according to claim 4, wherein performing the simulation display of the motion process according to the start time and the acquired motion state data of the target device comprises:
calling a corresponding interface according to the physical parameters and the motion instruction;
and mapping the motion state data of the target equipment into the preset engine and responding to the simulation display operation of the motion process of the target equipment through the interface.
6. The method of claim 1, further comprising:
when the motion state data of the target device is acquired, sending a preset confirmation frame to the target device, so that the target device responds to the deletion operation of the motion state data in a sending queue according to the preset confirmation frame, wherein the sending queue stores the motion state data of each preset interval distance sent to the display platform by the target device at the beginning.
7. A motion process display device based on a digital twinning technology is characterized by being applied to a display platform, wherein the display platform is in communication connection with a plurality of devices, the devices send motion state data of each preset interval distance at the beginning to the display platform according to the preset interval distance during motion, and the motion state data are used for simulating a motion process of the display platform; the method comprises the following steps:
the sending module is used for sending the motion instruction to target equipment to be displayed in the motion process;
and the display module is used for performing simulated display of the motion process according to the acquired motion state data of the target equipment when the target equipment starts to move.
8. The apparatus of claim 7, wherein the display module comprises:
the first obtaining sub-module is used for obtaining the current network delay and the first movement time of the target equipment within a first section of preset interval distance when the target equipment moves at a constant speed;
the first determining submodule is used for determining the simulation lag time of the display platform according to the network delay and the first movement time;
the second determining submodule is used for determining a waiting display time delay according to a preset condition and determining the starting time of the display platform for displaying the motion process of the target equipment according to the simulation lag time and the waiting display time delay, wherein the waiting display time delay reflects the time difference between the time when the display platform receives the motion state data of the target equipment and the time when the display platform starts to display the motion process of the target equipment;
and the first display sub-module is used for performing simulation display of a motion process according to the starting time and the acquired motion state data of the target equipment.
9. A computer-readable storage medium storing computer instructions for causing a computer to execute the method for demonstrating a moving process based on a digital twinning technique according to any one of claims 1 to 6.
10. An electronic device, comprising: a memory and a processor, the memory and the processor are connected with each other in communication, the memory stores computer instructions, the processor executes the computer instructions, thereby executing the motion process demonstration method based on the digital twinning technique according to any one of claims 1-6.
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| CN112784328A (en) * | 2019-11-11 | 2021-05-11 | 罗克韦尔自动化技术公司 | System and method for developing automation system models |
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