CN115544775A - Digital twin workshop multi-dimensional multi-level model construction and dynamic configuration method - Google Patents
Digital twin workshop multi-dimensional multi-level model construction and dynamic configuration method Download PDFInfo
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Abstract
The invention discloses a digital twin workshop multi-dimensional multi-level model construction and dynamic configuration method, which specifically comprises the following steps: defining a digital twin workshop multidimensional virtual model into three dimensions of an information model, a visual model and a mechanism model, wherein the visual model is visual display of the digital twin workshop multidimensional multi-level model, the mechanism model expresses production operation logic and mechanism of a production workshop, and the information model integrates production workshop operation data; after the relevant submodels of the multi-dimensional multi-level model of the digital twin workshop are constructed, the multi-dimensional multi-level model is fused in three stages of simulation verification before execution, real-time monitoring during execution and optimization iteration after execution. The method realizes the construction of the digital twin workshop multidimensional multi-level model which can be applied to workshop operation management and control, optimization and the like, defines basic modeling steps, improves the modeling efficiency and improves the model accuracy.
Description
Technical Field
The invention belongs to the technical field of modeling and simulation of discrete manufacturing systems, and particularly relates to a method for constructing and dynamically configuring a multidimensional multi-level model of a digital twin workshop.
Background
The discrete manufacturing system is the most widely used manufacturing form, such as high-speed trains, aviation equipment, electronic products, and daily sundries, and is widely used for production. However, on one hand, the high coupling between the production objects of the discrete manufacturing system and the system, no matter the product or the system may have uncertain changes, and on the other hand, the continuous change of the market demand brings new production requirements, so that the current discrete manufacturing system presents stronger and stronger dynamics and uncertainties, and brings huge challenges to the efficient operation and management of the discrete manufacturing system, and brings the requirement of combining the workshop and the NewIT technology to build an intelligent workshop.
With the proposal of the digital twin technology, the characteristics of various data machine tools, full life cycle dynamic evolution, model-based optimization iteration and the like are very suitable for the intelligent workshop construction under the New IT enabling, and a production workshop based on the digital twin is called as a digital twin workshop. And when a digital twin workshop is to be built, a virtual model of the workshop is required to be built to map the physical workshop and bear a series of workshop applications, the virtual model is characterized by multiple dimensions, dynamics and high fidelity, and the requirements of real-time data-based process evaluation, simulation operation and optimization iteration of the digital twin workshop can be met. For this reason, a method of constructing a digital twin plant multidimensional virtual model and enabling it to respond to changes quickly is required.
In the related technology, how to acquire real-time data to drive the update of the visual model is generally considered in the construction of the multidimensional virtual model of the workshop, or a bidirectional data transmission channel between the virtual and the real is established to realize the linkage control of the production process, so that the process of updating the model based on the change of dynamic data in the real-time operation process of equipment is explored. A discrete workshop production plan evaluation method based on combined empowerment is disclosed in the prior art with patent number CN 202010602613.8. The method specifically comprises the steps of constructing a workshop production plan evaluation index system, obtaining simulation basic data after simulation is completed, calculating the production plan evaluation index system to obtain simulation evaluation indexes, combining and weighting the index systems to obtain the weight of each index value, and carrying out fuzzy comprehensive evaluation to obtain the evaluation result of the current scheme. However, when a workshop is newly built or production disturbance occurs, especially after equipment is iterated, updated and rearranged, the process of building or reconfiguring the digital twin workshop model involves multi-dimensional model changes such as a visualization model, a data model and a mechanism model, and the process is complex. Therefore, how to perform rapid reconfiguration and multidimensional model fusion on the components of the digital twin plant according to a uniform specification when the production plant changes is a considerable research problem.
Disclosure of Invention
In order to solve the technical problems mentioned in the background technology, the invention provides a digital twin workshop multi-dimensional multi-level model construction and dynamic configuration method, which comprises the following two steps:
s1: constructing a digital twin workshop multi-dimensional multi-level model;
s2: and fusing the digital twin workshop multi-dimensional multi-level models.
Preferably, in the step S1, the digital twin plant multidimensional multi-level model construction includes the following steps: the method comprises the following steps of manufacturing system relation definition, digital twin workshop multi-dimensional multi-level model definition, element level visualization model definition, production unit visualization model definition, formal definition of a production workshop visualization model, element level mechanism model definition, production unit mechanism model definition, production workshop mechanism model formal definition, digital twin workshop information model definition on an element level information model, digital twin workshop information model definition on a unit level information model and digital twin workshop information model definition on an inter-vehicle level information model.
Preferably, the manufacturing system relationship is defined as follows:
System Structure＝<SC,LPN>
in the formula: system Structure represents a manufacturing System relationship; SC represents service unit; LPN stands for logistics path network;
the digital twin workshop multidimensional and multi-level model is defined as follows:
TwinModel＝{VisualModel,PrinModel,InfoModel}；
wherein: the TwinModel represents a digital twin workshop multi-dimensional multi-level model, the VisualModel represents a visualization model, and the visualization model is a visualization display of the digital twin workshop multi-dimensional multi-level model; prINModel represents a mechanism model, and the mechanism model expresses the production operation logic and mechanism of a production workshop; the InfoModel represents an information model, and the information model integrates production workshop operation data.
Preferably, the multi-dimension in the multi-dimensional and multi-level model of the digital twin workshop is embodied by three layers in the equipment layer, and the data model, the visual model and the mechanism model of the equipment form basic model elements with three dimensions in the equipment layer; in the unit layer, through the relation description of each device in the production unit, the multidimensional models of a plurality of devices are combined through the logical relation in the unit to form the multidimensional model of the unit; in the inter-vehicle space, a production logic is formed through a product process route and a workshop logistics relation, the units and logistics equipment among the units are organically associated, and the multi-dimensional models of the units are connected to form a multi-dimensional model of the workshop;
the element level visualization model is defined as:
CompVisualModel＝{MotionModel,3DModel}
wherein: the CompVisualModel represents a visual model of elements, and the MotionModel represents an element motion model, and defines the hierarchy and motion relation of an equipment component model; 3D model representing each part of the equipment by 3D model;
the combination of the visual models of the individual elements forms a visual model of the production unit, which is defined as:
SCVisualModel＝{CompVisualModel 1 ,...,CompVisualModel i }
in the formula: SCVisualModel stands for Unit-level visualization model, compVisualModel 1 A visual model representing an element in the production unit, the visual model of the production unit consisting of visual models of a number of elements;
the production units are associated with each other through the logistics path to form a visual model of the production workshop, so that the production workshop consists of the production units and logistics equipment among the production units, and the visual model of the production workshop is formally defined as follows:
ShopVisualModel＝{SCVisualModel i ,CompVisualModel j |1≤i≤n,1≤j≤m}
in the formula: shopvisualModel represents the visual model of the production plant, SCVisualModel i CompVisualModel, which represents a collection of visual models for all production units in a plant j Representing a set of visualization models of all plant production resources in a plant; n is the unit quantity defined by the production workshop, and m is the element quantity of the production workshop for executing the logistics tasks among the units;
the digital twin workshop mechanism model is characterized uniformly at an element level through a seven-element model, each element is an independent object which serves as a specific role in a workshop and encapsulates internal operation logic and an interface interacting with an external environment; the element-level mechanism model is defined as:
CompPrinModel＝{CompStateModel,CompLogicModel}
in the formula: compPrinModel represents a mechanism model of the production equipment, compStatemModel represents a state model of the production equipment, and CompLogicModel represents an operation logic model of the production equipment;
the mechanism model of the digital twin workshop is a unit control logic for carrying out loading and unloading operations after materials reach the unit in the unit layer, and the mechanism model of the production unit is defined as follows:
SCPrinModel＝{SCStateModel,SCLogicModel}
in the formula: SCPrinModel represents a mechanism model of a production unit, SCStatemModel represents the operation state of the unit, and SCOGICModel represents the operation logic of the production unit;
the production unit operating state is an organic combination of element states, and the production unit operating state and corresponding parameters are defined as follows:
the input permission/prohibition of the production unit depends on whether the unit can accept new materials to enter a buffer or directly process, and the output permission/prohibition depends on whether the unit can accept existing materials to leave the unit;
the formal definition of the mechanism model of the production workshop is as follows:
ShopPrinModel＝{ShopStateModel,ShopLogicModel}
in the formula: the ShopPrINModel represents a production workshop mechanism model, and the ShopStateModel is a workshop state model and represents different states of workshop operation, including idle state, production in process and fault shutdown; the ShopLogicModel is a logic model of a workshop, and the logic model comprises a production logic model and a logistics network model;
the digital twin workshop information model is used for real-time operation data and simulation execution data of production equipment at an element level; the unit layer comprises a unit task sequence, material real-time data and processing process data; the workshop production layout, the scheduling scheme and the operation data are arranged on the inter-vehicle layer;
the digital twin plant information model is defined at the element level as:
CompInfoModel＝{CompSimInfo,CompRealInfo,CompHistoryInfo}
in the formula: compInfoModel represents an information model of an element, compSimInfo is simulation data of the element, and comprises input data and output data; compRalInfo is real-time data of elements, and is obtained by collecting related data through an SCADA system and then classifying and storing the data; compsHistoryInfo is historical data;
the digital twin plant information model is defined as follows at the unit level information model:
SCInfoModel＝{SCSimInfo,SCRealInfo,SCHistoryInfo}
in the formula: SCInfoModel represents a unit information model, and SCSimInfo is simulation data of a unit and comprises input data and output data; SCRAlnfo is the real-time data for a cell; the SCHistoryInfo is historical data, and the historical data is formed by storing simulation data and real-time data;
the digital twin workshop information model is defined as follows in the workshop-level information model:
ShopInfoModel＝{ShopSimInfo,ShopRealInfo,ShopHistoryInfo}
in the formula: the ShopInfoModel represents a workshop information model, shopSimInfo is simulation data of a workshop and comprises input data and output data, and ShopRealInfo is real-time data of the workshop; the historical data shopthistoryinfo is formed by storing simulation data and real-time data.
Preferably, the multi-dimensional multi-hierarchy fusion model comprises the following steps S21 to S23:
s21: model fusion oriented to simulation verification before execution;
s22: model fusion facing real-time monitoring in execution;
s23: and performing optimization iteration-oriented model fusion after execution.
Preferably, step S21 includes the following steps S211 to S215:
building a production element object in step S211;
constructing a device visualization model in step S212, including device motion model construction and import of a component 3D model;
in step S213, according to the characteristics of the production elements, mechanism models are defined for the processor, the actuator, and the buffer, including simulation logic such as a gate opening and closing action, a trigger mechanism, and an action sequence; defining simulation data according to the equipment type;
in step S214, a production unit is formed by performing unit layout based on existing production elements, the unit integrates a visual model of internal production elements, and a unit mechanism model is formed by configuring unit parameters;
in step S215, a plant visualization and mechanism model is formed by configuring inter-unit logistics paths and logistics devices, and plant simulation inputs including production scheduling, start downtime, and plant simulation information model are defined.
Preferably, step S22 includes the following steps S221 to S223:
in step S221, configuring a virtual monitoring point for a production element, and defining a monitoring point name, an element name, a component name, a physical quantity, a data type, a data unit, a state attribute, a key attribute, and a sampling frequency; real-time data are acquired from a physical workshop and are written into corresponding monitoring points based on an object connection and embedding technology for process control and a numerical control equipment interconnection communication protocol, so that real-time information of production elements is formed, and a production element information model is perfected;
in step S222, in the production unit layer, extracting the element real-time information to form required key information, where the key information at least includes processor status monitoring points and buffer cache numbers, and performing many-to-one mapping on the key information to form unit status information, where the key information and the status information together form the real-time information of the production unit;
in step S223, in the inter-vehicle layer, the workshop production task information is obtained through the manufacturing execution system, and the production task execution progress is matched based on the production unit state, so as to form the production workshop real-time information.
Preferably, step S23 includes the following steps S231 to S233:
in step S231, the existing production scenario is evaluated based on the existing model basis of S21 and S22; performing layout optimization and scheduling optimization based on the evaluation result, re-laying or re-scheduling the workshop to form a new workshop multidimensional model, performing simulation evaluation on the optimization scheme, issuing an optimization iteration of a production workshop to guide the physical workshop when the optimization scheme is feasible, and updating the workshop model;
in step S232, reconfiguring and dynamically updating the multidimensional multi-level model of the digital twin plant; after a digital twin workshop project is created again or a workshop is changed, a corresponding digital twin workshop multi-dimensional multi-level model needs to be created newly or updated in time;
the model construction process comprises steps S2321-S2322;
in step S2321, when a device is newly added or changed in the workshop, the system resource library is retrieved to determine whether the device exists, and if so, the dragging layout is performed based on the device; if the equipment does not exist, the equipment is packaged and put in a warehouse through an equipment modeling system, geometric modeling of workshop resources is completed, a workshop reconfiguration model based on a service unit and a logistics path network model is formed together with the changed model relation, and a DTS visual model is generated;
step S2322 includes steps S23221-S23224;
in S23221, the model relationship is changed, and mapped to the visualization model to realize the logistics modeling;
in S23222, model simulation attributes including device movement speed and capacity are changed;
in S23223, the process route of the workpiece is changed to form input information of the workshop operation, and the input information, the simulation model and the logistics reconfiguration model together form a characterization model for system simulation, thereby completing regeneration of the simulation model;
in step S2324, data modeling is adjusted, whether the digital twin plant implements the communication protocol of the type is retrieved, and if no communication protocol of the type is implemented, the data communication protocol interface is developed based on the abstract communication base class and is extended to the data adaptation class; if the protocol exists, the protocol is adapted to the virtual sensor, real-time data mapping is completed based on the virtual sensor, and a data model of the equipment is regenerated.
The beneficial technical effects of the invention are as follows:
1. the invention adopts a workshop modeling method based on a production unit, decomposes a complex production workshop into three levels, embodies the multi-dimensional characteristics of a digital twin workshop model by carrying out multi-dimensional modeling on equipment, embodies the multi-level characteristics of the digital twin workshop model by respectively carrying out construction on the workshop according to three layers of elements, units and the workshop to embody the multi-level characteristics of the digital twin workshop model, establishes a clear and definite digital twin workshop multi-dimensional multi-level model construction method, can carry out hierarchical division aiming at the problems of complex workshop structure, massive multi-source data and heterogeneous operation mechanism when carrying out digital twin modeling on the workshop, carries out targeted model definition aiming at the common characteristics of the levels at each level, and realizes integration of different models and data by association configuration among different levels.
2. According to the method, on the basis of the construction method of the digital twin workshop model, the digital twin workshop model is defined into three dimensions of 'mechanism-visualization-information'. In the three layers, the mechanism model describes the operation mechanism and part movement logic of equipment or other elements in an element layer, describes the production organization logic among a plurality of elements in a unit layer, such as loading and unloading buffer sequence, and forms a workshop production operation mechanism in a vehicle interlayer, such as the incidence relation and logistics structure among all units; the visual model realizes the mapping of the association and the motion relation of the components through topology at an element layer, and realizes the motion visual modeling of the equipment by associating the three-dimensional model of the components with the topology nodes, and the visual model realizes the visual modeling of the unit and the workshop by associating the equipment model at a unit layer and an inter-vehicle layer by depending on the unit and workshop operation structures in the mechanism model; the information model constructs virtual-real connection between the model and the physical entity at an element layer and describes operation real-time data of workshop elements, operation statistical information and unit state information of equipment in a unit are described at a unit layer, and production tasks and execution information in the workshop operation process are further described at a vehicle interlayer. The model meets the application requirements of virtual workshop construction, workshop simulation operation, virtual-real connection and virtual-real synchronization in the implementation process of the digital twin workshop from three aspects.
3. The invention adopts a configuration/reconfiguration method to realize the construction process of a digital twin workshop multidimensional and multi-level model, decomposes the data-visualization-mechanism into all configuration steps and describes the incidence relation among all the steps, so that in the implementation process of the provided digital twin model construction framework and all the dimension models, aiming at two requirements of firstly constructing a workshop model and updating the model when the workshop changes, the parameters and the characteristics of the model are continuously changed in a configuration mode to realize the sub-real-time updating of the workshop model, thereby forming the digital twin model which continuously dynamically evolves according to the workshop change, and providing a clear solution and a configuration modeling route for the condition that the digital twin workshop model faces the workshop change.
Description of the drawings:
FIG. 1 is a schematic diagram of a digital twin plant multi-dimensional multi-level model building framework;
FIG. 2 is a schematic diagram of a digital twin plant multi-dimensional multi-level model construction and dynamic configuration process.
Detailed Description
In order to make the implementation purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.
Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other without conflict.
The invention discloses a digital twin workshop multi-dimensional multi-level model construction and dynamic configuration method, which comprises the following two steps:
s1: constructing a digital twin workshop multi-dimensional multi-level model;
s2: and fusing the digital twin workshop multi-dimensional multi-level models.
Preferably, in the step S1, the digital twin plant multidimensional multi-level model construction includes the following steps: the method comprises the following steps of manufacturing system relation definition, digital twin workshop multi-dimensional multi-level model definition, element level visualization model definition, production unit visualization model definition, formal definition of a production workshop visualization model, element level mechanism model definition, production unit mechanism model definition, production workshop mechanism model formal definition, digital twin workshop information model definition on an element level information model, digital twin workshop information model definition on a unit level information model and digital twin workshop information model definition on an inter-vehicle level information model. Preferably, the digital twin plant multidimensional multi-level model comprises three dimensions of an information model, a visualization model and a mechanism model, and is expanded into three levels of an inter-train level, a unit level and an element level on a model building level, as shown in fig. 1. In order to uniformly express heterogeneous discrete manufacturing systems, a series of graphical formal model expression methods and concepts are proposed in the prior art. The seven-element model is proposed to represent basic constituent elements of the system, the service unit model and the logistics path network model are proposed to represent production and logistics organization relations respectively, and the workshop is a collection of elements such as equipment, personnel, workpieces, environment and the like in the same physical space. In the following, "< >" denotes the composition and characteristics of a mechanism model.
The seven-element model is defined as:
Seven Elements＝<C,P,E,B,F,L,VSN>
in the formula: seven Elements are Seven Elements, which are the unified expression of man, machine, material, method and ring in a workshop. And C represents a controller, is a mapping of various control systems/equipment or decision-making personnel, and provides decision-making service for the system. And P represents a processor, is a mapping of various processing equipment and provides operation-related services for workpieces under the drive of production tasks. And E represents an actuator, is the mapping of various logistics devices, and provides material transfer service for the workpieces based on logistics scheduling rules under the driving of logistics tasks. And B represents a buffer which is a mapping of various buffers and storage equipment and provides temporary or long-term storage service for workpieces. F represents the flow entity, i.e. the mapping of workpieces, including blanks, semi-finished products and products, etc., to be served by processors, actuators and buffers. And L represents a logistics path and is a mapping of logistics relations. The VSNs represent virtual service nodes, which are a high-level abstraction and abstraction of production organizational relationships, logistics relationships, and production logic.
Further, the invention defines the following relation of the manufacturing system on the basis of the seven-element model:
System Structure＝<SC,LPN>
in the formula: the System Structure represents a manufacturing System relationship, and is a composition form of each element inside the System. The SC represents a service unit, and is a seven-element set having a specific service function or a subset thereof. The LPN represents a logistics path network, which is a map of the actual logistics layout and relationships.
Preferably, the digital twin plant multidimensional and multi-level model is defined as:
TwinModel＝{VisualModel,PrinModel,InfoModel}。
wherein: the TwinModel represents a digital twin workshop multi-dimensional multi-level model, the VisualModel represents a visualization model, and the visualization model is a visualization display of the digital twin workshop multi-dimensional multi-level model; the PrINModel represents a mechanism model, the mechanism model expresses the production operation logic and mechanism of a production workshop and is the basis of virtual workshop operation; the InfoModel represents an information model, and the information model integrates production shop operation data.
Preferably, the multi-dimension in the multi-dimensional and multi-level model of the digital twin workshop is embodied by three layers in the equipment layer, and the data model, the visual model and the mechanism model of the equipment form basic model elements with three dimensions in the equipment layer; in the unit layer, through the relation description of each device in the production unit, the multidimensional models of a plurality of devices are combined through the logical relation in the unit to form the multidimensional model of the unit; and forming a production logic through the relationship between the product process route and the workshop logistics in the vehicle interlayer, organically associating the units with the logistics equipment among the units, and connecting the multidimensional models to form a multidimensional model of the workshop.
The digital twin workshop multidimensional multi-level model provided by the invention comprises three dimensions of an information model, a visual model and a mechanism model, and is expanded into three levels of a workshop level, a unit level and a device level (element level) on a model construction level, and compared with the multidimensional virtual model comprising a data model, a geometric model and a logic model in the prior art, the digital twin workshop multidimensional multi-level model has the following advantages:
in the aspect of model definition, a data model and a logic model are expanded, an information model is used for containing the data model, the data model is not only extended conceptually, when the virtual-real connection of a digital twin workshop is realized, the problem of adaptation of a heterogeneous protocol is solved by packaging the heterogeneous data communication protocol, and the problem of confusion between actual operation data of physical equipment is solved by integrating simulation data through a simulation model. Similarly, in the aspect of the mechanism model, the construction of the operation logic model of the workshop, the unit and the element is used as the main content of the construction of the mechanism model, and is a necessary condition for realizing the virtual reality of the workshop, the unit and the element in the digital twin workshop through simulation; in addition, the device running time-varying characteristic and the device running probability event can also be used as one of mechanism models to be packaged uniformly. After the information model and the mechanism model are constructed, compared with the original visualization model, on one hand, the detailed hierarchical visualization model of the new visualization model provides a clearer idea for constructing the visualization model of the digital twin workshop, and on the other hand, the visualization display and the aid decision application of more data and models in the operation process of the digital twin workshop, such as alarming, forecasting and the like, can be realized, and the contents need to be combined with an artificial intelligence algorithm and real-time data-driven simulation, and do not belong to the range of the invention.
Preferably, in the digital twin plant multidimensional multi-level model, three visualization models, namely an element level visualization model, a unit level visualization model and a workshop level visualization model, are appearance expressions of physical plant objects, and mainly pay attention to external information such as geometric attributes and motion attributes of the physical objects.
Preferably, the element-level visualization model is defined as:
CompVisualModel＝{MotionModel,3DModel}
wherein: the CompVisualModel represents a visual model of elements, and the MotionModel represents an element motion model, and defines the hierarchy and motion relation of an equipment component model; the 3D model of each part of the equipment is represented by the 3D model, and the model comprises geometric information such as model vertexes and patches, and appearance information such as model maps and materials.
The elements include production equipment and materials. The material does not contain motion attributes, the motion model MotionModel of the material is empty, and only the 3D model 3Dmodel of the material exists.
Preferably, the combination of the visualization models of the individual elements forms a visualization model of the production unit, the production unit visualization model being defined as:
SCVisualModel＝{CompVisualModel 1 ,...,CompVisualModel i }
in the formula: SCVisualModel stands for Unit-level visualization model, compVisualModel 1 A visualization model representing an element in the production unit, the visualization model of the production unit consisting of a visualization model of several elements.
Preferably, the production units and the production units are associated through the logistics path to form a visual model of the production plant, so that the production plant is composed of the production units and logistics equipment among the production units, and the visual model of the production plant is formally defined as follows:
ShopVisualModel＝{SCVisualModel i ,CompVisualModel j |1≤i≤n,1≤j≤m}
in the formula: shopVisualModel represents a visual model of a production plant, SCVisualModel i CompVisualModel, which represents a collection of visual models for all production units in a plant j Then the set of visualization models of all plant production resources in the plant is represented. n is the unit number defined by the production workshop, and m is the element number of the production workshop for executing the logistics task among the units. It should be noted that, since elements such as AGVs, crown blocks, etc. performing logistics tasks between production units do not belong to any unit, the elements are identified as logistics elements between units of the workshop. And other elements are contained in the production unit and are uniformly packaged by the production unit.
Compared with the prior art, the digital twin workshop multi-dimensional multi-level visualization model provided by the invention has the following advantages: the visual models of the workshop level, the unit level and the element level are defined in a layering manner, so that the definition of the original visual model is expanded from equipment to units and workshops, the unit level visual model is constructed through construction and aggregation of the equipment model, and visual display and operation can be performed through driving of a mechanism model.
Preferably, the digital twin plant mechanics model is an expression of plant operation mechanics.
Preferably, the digital twin workshop mechanism model is a machine tool door opening and closing logic, a six-degree-of-freedom manipulator motion resolving algorithm and other motion processes on an element layer.
Preferably, the digital twin plant mechanics model is characterized uniformly at the element level by a seven element model, each element being an independent object that serves a specific role in the plant, encapsulating internal operating logic and interfaces for interaction with the external environment. The element-level mechanism model is defined as:
CompPrinModel＝{CompStateModel,CompLogicModel}
in the formula: comprinModel represents a mechanism model of the production equipment, comstateModel represents a state model of the production equipment, complogicModel represents an operation logic model of the production equipment, and the operation logic model is logic of state change after the equipment receives external input, and the logic is the basis of the operation of a control element of a controller.
Preferably, the digital twin workshop mechanism model is a unit control logic for carrying out loading and unloading operations after the material reaches the unit in the unit layer, and the production unit mechanism model is defined as follows:
SCPrinModel＝{SCStateModel,SCLogicModel}
in the formula: SCPrinModel represents a production unit mechanism model, SCStatemModel represents a unit operation state, and SCOGICModel represents operation logic of a production unit.
Preferably, the processor P is the basic component in a production cell that provides the cell with the services of processing the workpiece, such as machining, inspection, disassembly, assembly, etc. The mobile entity F enters the unit through the virtual service node and then passes through the input buffer B in turn in Processor P and output buffer B out Receiving the service and finally leaving the cell through the virtual service node. The controller C controls the internal actuator E int To achieve the flow of the flowing entity F in the above elements. The above logic is defined as a template and encapsulated into a unit controller.
Preferably, the production unit operating state is an organic combination of elemental states, and the production unit operating state and its corresponding parameters are defined as follows:
the enabling/disabling of the input to the production unit depends on whether the unit is able to accept new material into the buffer or for direct processing, and the enabling/disabling of the output depends on whether the unit is able to accept existing material out of the unit.
Preferably, the digital twin workshop mechanism model is represented as a workshop production process operation mechanism in the inter-vehicle space, and the workshop production process operation mechanism comprises a production operation logic formed based on a material process, a production logistics scheduling method and the like. The formal definition of the mechanism model of the production workshop is as follows:
ShopPrinModel＝{ShopStateModel,ShopLogicModel}
in the formula: shopPrinModel represents a production plant mechanism model, and ShopStateModel is a plant state model representing different states of plant operation, including idle, in-production, failed shutdown, and the like. And the ShopLogicModel is a logical model of a workshop, the logical model comprises a production logical model and a logistics network model, the logistics network structure in the workshop determines the basic framework of the logical model, and the process route of a workpiece determines the physical flow direction of the logical model.
Compared with the prior art, the digital twin workshop mechanism model provided by the invention has the following advantages:
firstly, according to the multi-level thought in the digital twin workshop multi-dimensional multi-level modeling method, the operation mechanism and the main operation logic of each level of physical objects are respectively described from three levels of elements, units and workshops. At the equipment level, the element mechanism model is packaged, so that the element mechanism model can be subjected to simulation operation according to real physical elements such as the door opening and closing actions of a machine tool during virtual operation of the element, and the element-level mechanism mapping is realized. At the unit level, the operation mechanism of the unit is constructed through the logical relationship among elements in the unit, including the material loading and unloading process in the production process, the equipment service sequence and the like, so that the virtual operation process of the unit is formed by calling the operation mechanism of the equipment through the equipment service sequence in the process of simulating the operation of the physical unit by the virtual unit, and the mechanism mapping of the unit layer is realized. And at the workshop level, further associating the logistics structures and the logistics relations between the units, forming a workshop production logic through the workpiece process route, and realizing the mechanism mapping of the production workshop by calling a unit mechanism model and an operation model of logistics equipment between the units during simulation operation. The mechanism model and the visual model are combined to realize visual simulation and virtual-real mapping of the virtual workshop.
Preferably, the actual operation data and the virtual simulation data of the digital twin plant information model storage element/system are bridges connecting the digital twin plant and the physical plant.
Preferably, the digital twin plant information model runs data, simulation execution data (running time, waiting time, jam time, etc.) for the production equipment in real time at the element level; the unit layer comprises a unit task sequence, material real-time data and processing process data; and the workshop production layout, the scheduling scheme and the operation data are arranged on the inter-vehicle layer.
Preferably, the digital twin plant information model is defined as:
CompInfoModel＝{CompSimInfo,CompRealInfo,CompHistoryInfo}
in the formula: compInfoModel represents an information model of an element, and CompSimInfo is simulation data of the element, including input data (such as the time for the device to execute a task plan) and output data (such as the actual time for the device to execute); compRaid info is real-time data of elements, and is obtained by collecting related data through systems such as SCADA (supervisory control and data acquisition), and then classifying and storing the data, such as real-time motion data of each axis of a machine tool, door opening and closing state quantity and the like; compsHistoryInfo is historical data, which is composed of real-time data and simulation data after execution and is the basis for backtracking analysis.
Preferably, the digital twin plant information model is defined as:
SCInfoModel＝{SCSimInfo,SCRealInfo,SCHistoryInfo}
in the formula: SCInfoModel represents a unit information model, and SCSimInfo is simulation data of a unit, including input data (such as production tasks) and output data (such as production instructions); the SCRAlnfo is real-time data of a unit, such as machine tool state quantity, key part operation parameters and the like, and is used for collecting and simplifying real-time data of elements. The SCHistoryInfo is historical data, and the historical data is formed by storing simulation data and real-time data.
Preferably, the digital twin plant information model is defined as:
ShopInfoModel＝{ShopSimInfo,ShopRealInfo,ShopHistoryInfo}
in the formula: shoppenformodel represents a workshop information model, shoppesiminfo is simulation data of a workshop and comprises input data (such as a scheduling plan) and output data (such as a production simulation evaluation index), shopperealinfo is real-time data of the workshop and is used for further integrating unit and element data and comprises production instructions and execution feedback messages. Similarly, the historical shopthistoryinfo is formed by storing simulation data and real-time data.
After the relevant submodels of the digital twin workshop multi-dimensional multi-level model are constructed, the submodels need to be fused to form the digital twin workshop multi-dimensional multi-level fusion model. The fusion of the sub-models has different emphasis points according to different application scenes of the models. The application scene of the digital twin workshop can be divided into simulation verification before execution, real-time monitoring during execution and optimization iteration after execution according to the workshop operation stage.
Compared with the prior art, the digital twin workshop information model provided by the invention has the following advantages:
at an element level, data of different sources of elements are integrated, simulation data, real-time operation data and historical data of the equipment are respectively constructed in the virtual-real mapping process of the equipment in a digital twin workshop, the data can be provided according to different digital twin application requirements, and different data analysis services are developed according to different applications. At the unit level, element state data and real-time operation data of the production unit are formed through high abstraction of all data of internal elements. Through the mapping of element state data and real-time operation data in the unit, the specific execution condition of production execution tasks (such as loading and unloading, caching and the like) related to interaction of a plurality of elements can be effectively sensed, and data support is provided for an accurate management and control production field. At the workshop level, the requirements of workshop macroscopic production data are mainly concerned, including workshop production tasks, completion conditions and the like, and the data are further provided by units and elements, so that integration and perception of workshop operation process data are realized. Besides, workshop structure information and historical version information are also uniformly packaged, and a data basis of model evolution in the digital twin workshop multi-dimensional multi-level model construction method is formed.
Preferably, the multidimensional multi-level fusion model comprises the following steps S21-S23:
s21: model fusion oriented to simulation verification before execution;
s22: model fusion facing real-time monitoring during execution;
s23: and performing optimization iteration-oriented model fusion after execution.
Preferably, the model fusion of step S21 oriented to the simulation verification before execution is used to quickly construct a virtual workshop and verify the quality of the production schedule and the workshop layout scheme. The method specifically comprises the following steps S211-S215:
preferably, a production element object is constructed in step S211.
Preferably, a device visualization model is constructed in step S212, including device motion model construction and import of the part 3D model.
Preferably, in step S213, a mechanism model is defined for the processor, the actuator and the buffer according to the characteristics of the production elements, including simulation logic such as a gate opening and closing action, a trigger mechanism, an action sequence and the like. And defining simulation data of the machining equipment according to the equipment type, such as defining simulation production instructions, simulation execution parameters and the like of the machining equipment.
Preferably, in step S214, a production unit is formed by performing unit layout based on existing production elements, the unit integrates a visual model of internal production elements, and a unit mechanism model is formed by configuring unit parameters, wherein the unit parameters include buffer logic, loading and unloading positions, and the like.
Preferably, in step S215, a plant visualization and mechanism model is formed by configuring the inter-unit logistics paths and logistics devices, and plant simulation inputs including production schedule and start downtime are defined to form a plant simulation information model.
Preferably, the model fusion of the step S22 oriented to real-time monitoring during execution is used for real-time monitoring of the physical workshop and timely discovering production anomalies. The method specifically comprises the following steps S221-S223:
preferably, in step S221, for the production element, a virtual monitoring point thereof is configured, and information such as a monitoring point name, an element name, a component name, a physical quantity, a data type, a data unit, a status attribute, a key attribute, and a sampling frequency is defined. And real-time data is acquired from a physical workshop and written into a corresponding monitoring point based on communication protocols such as object connection and embedding technology for process control, interconnection of numerical control equipment and the like, so that real-time information of production elements is formed, and a production element information model is perfected.
Preferably, in step S222, at the production unit layer, the element real-time information is extracted to form the required key information, where the key information at least includes the processor status monitoring point and the buffer cache amount, and the key information is mapped many-to-one to form unit status information, and these key information and status information together form the real-time information of the production unit.
Preferably, in step S223, the workshop production task information is obtained by the manufacturing execution system in the inter-vehicle layer, and the production workshop real-time information is formed based on the status of the production unit and the execution progress of the production task.
Preferably, the model fusion of the optimization iteration after execution in step S23 is used to optimize the plant after execution and verify the feasibility of the optimization scheme through simulation. The method specifically comprises the following steps S231-S233:
preferably, in step S231, the existing production protocol is evaluated based on the existing model base of S21 and S22. And then, performing layout optimization and scheduling optimization based on the evaluation result, re-laying or re-scheduling the workshop to form a new workshop multidimensional model, performing simulation evaluation on the optimization scheme, issuing to a production workshop to guide the optimization iteration of the physical workshop when the optimization scheme is feasible, and updating the workshop model. Wherein, the evaluation of the existing production scheme can be carried out by adopting the evaluation method in the prior art.
Preferably, in step S232, the digital twin plant multidimensional multi-level model is reconfigured and dynamically updated. After the digital twin workshop project is re-created or the workshop is changed (such as new equipment is purchased for workshop reconstruction), a new construction or a timely update of the corresponding digital twin workshop multi-dimensional multi-level model is needed. The invention decomposes the model construction process into S2321-S2322 steps.
Preferably, in step S2321, when a device is added or changed in the workshop, the system resource library is retrieved to determine whether the device is present, and if the device is present, the dragging layout is performed based on the device. If the equipment does not exist, the equipment is packaged and put in a warehouse through an equipment modeling system, geometric modeling of workshop resources is completed, a workshop reconfiguration model based on the service unit and the logistics path network model is formed together with the changed model relation, and a DTS visual model is generated.
Preferably, in step S2322, the mechanism model is adjusted, and the mechanism of the system needs to be updated after the system is changed, mainly including various simulation parameters. Step S2322 includes S23221-S23224.
Preferably, in S23221, the model relationship is changed and mapped to the visualization model to realize the logistics modeling.
Preferably, in S23222, the model simulation attributes including the device moving speed, the capacity, and the like are changed.
Preferably, in S23223, the process route of the workpiece is changed to form input information of the workshop operation, and the input information, the simulation model and the logistics reconfiguration model together form a characterization model for the system simulation, so as to complete regeneration of the simulation model.
Preferably, in step S23224, the data modeling is adjusted, whether the digital twin plant implements the type of communication protocol is retrieved, and if no communication protocol of the type is implemented, the data communication protocol interface is developed based on the abstract communication base class and is extended to the data adaptation class. If the protocol exists, the protocol is matched with the virtual sensor, real-time data mapping is completed based on the virtual sensor, and a data model of the equipment is regenerated.
Preferably, the fusion and connection of the mechanism model, the visualization model and the information model together form a virtual workshop multidimensional fusion model facing the digital twin workshop.
By adopting the digital twin workshop multi-dimensional multi-level model configuration and dynamic updating method provided by the invention, the following advantages are achieved:
the method comprises the steps of decomposing the process of constructing the multi-dimensional and multi-level model of the digital twin workshop into detailed configuration steps with different dimensions and different levels, and when the workshop is changed, updating the multi-dimensional and multi-level model of the digital twin workshop can be completed from the corresponding configuration steps only according to the changed items. Therefore, the method is beneficial to updating the digital twin model more quickly and conveniently without reconstructing other corresponding models, simplifies the model updating steps and improves the efficiency of constructing the multi-dimensional and multi-level model of the digital twin workshop.
The above embodiments are only used for illustrating the invention and not for limiting the technical solutions described in the invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement of the present invention is made; but all technical solutions and modifications thereof without departing from the spirit and scope of the present invention are encompassed in the claims of the present invention.
Claims (8)
1. A digital twin workshop multi-dimensional multi-level model construction and dynamic configuration method is characterized by comprising the following steps: the method comprises the following two steps:
s1: constructing a digital twin workshop multi-dimensional multi-level model;
s2: and fusing the digital twin workshop multi-dimensional multi-level models.
2. The digital twin plant multidimensional multi-level model building and dynamic configuration method as claimed in claim 1, wherein: in the step S1, the construction of the digital twin workshop multi-dimensional multi-level model comprises the following steps: the method comprises the following steps of manufacturing system relation definition, digital twin workshop multi-dimensional multi-level model definition, element level visualization model definition, production unit visualization model definition, formal definition of a production workshop visualization model, element level mechanism model definition, production unit mechanism model definition, production workshop mechanism model formal definition, digital twin workshop information model definition on an element level information model, digital twin workshop information model definition on a unit level information model and digital twin workshop information model definition on an inter-vehicle level information model.
3. The digital twin plant multidimensional and multi-level model construction and dynamic configuration method as claimed in claim 2, characterized in that:
the manufacturing system relationship is defined as follows:
System Structure＝<SC,LPN>
in the formula: system Structure represents a manufacturing System relationship; SC represents service unit; LPN stands for logistics path network;
the digital twin workshop multidimensional and multi-level model is defined as follows:
TwinModel＝{VisualModel,PrinModel,InfoModel}；
wherein: the TwinModel represents a digital twin workshop multi-dimensional multi-level model, the VisualModel represents a visualization model, and the visualization model is a visualization display of the digital twin workshop multi-dimensional multi-level model; the PrINModel represents a mechanism model, and the mechanism model expresses the production operation logic and mechanism of a production workshop; the InfoModel represents an information model, and the information model integrates production shop operation data.
4. The digital twin plant multidimensional multi-level model building and dynamic configuration method as claimed in claim 3, wherein:
in the equipment layer, the multi-dimension in the multi-dimensional multi-level model of the digital twin workshop is embodied by three layers, and in the equipment layer, a data model, a visual model and a mechanism model of the equipment form basic model elements with three dimensions; in the unit layer, through the relation description of each device in the production unit, the multidimensional models of a plurality of devices are combined through the logical relation in the unit to form the multidimensional model of the unit; in the inter-vehicle space, a production logic is formed through a product process route and a workshop logistics relationship, the units and logistics equipment among the units are organically associated, and the multidimensional models of the units are connected to form a multidimensional model of the workshop;
the element-level visualization model is defined as:
CompVisualModel＝{MotionModel,3DModel}
wherein: the CompresualModel represents a visual model of an element, the MotionModel represents an element motion model, and the hierarchy and the motion relation of an equipment part model are defined; 3D model representing each part of the equipment by 3D model;
the combination of the visual models of the individual elements forms a visual model of the production unit, which is defined as:
SCVisualModel＝{CompVisualModel 1 ,...,CompVisualModel i }
in the formula: SCVisualModel stands for Unit-level visualization model, compVisualModel 1 A visual model representing an element in the production unit, the visual model of the production unit consisting of visual models of a number of elements;
the production units are associated with each other through the logistics paths to form a visual model of the production workshop, so the production workshop consists of the production units and logistics equipment among the production units, and the formal definition of the visual model of the production workshop is as follows:
ShopVisualModel＝{SCVisualModel i ,CompVisualModel j |1≤i≤n,1≤j≤m}
in the formula: shopvisualModel represents the visual model of the production plant, SCVisualModel i CompVisualModel, which represents a collection of visual models for all production units in a plant j Representing a set of visualization models of all plant production resources in a plant; n is the unit quantity defined by the production workshop, and m is the element quantity of the production workshop for executing the logistics tasks among the units;
the digital twin workshop mechanism model is characterized uniformly at an element level through a seven-element model, each element is an independent object which serves as a specific role in a workshop and encapsulates internal operation logic and an interface interacting with an external environment; the element-level mechanism model is defined as:
CompPrinModel＝{CompStateModel,CompLogicModel}
in the formula: comPrinModel represents a mechanism model of the production equipment, comStatemModel represents a state model of the production equipment, and ComLogicModel represents an operation logic model of the production equipment;
the mechanism model of the digital twin workshop is a unit control logic for carrying out loading and unloading operations after materials reach the unit in the unit layer, and the mechanism model of the production unit is defined as follows:
SCPrinModel＝{SCStateModel,SCLogicModel}
in the formula: SCPrinModel represents a mechanism model of a production unit, SCStatemModel represents the operation state of the unit, and SCOGICModel represents the operation logic of the production unit;
the production unit operating state is an organic combination of elemental states, and the production unit operating state and its corresponding parameters are defined as follows:
the input permission/prohibition of the production unit depends on whether the unit can accept new materials to enter a buffer or directly process, and the output permission/prohibition depends on whether the unit can accept existing materials to leave the unit;
the formal definition of the mechanism model of the production workshop is as follows:
ShopPrinModel＝{ShopStateModel,ShopLogicModel}
in the formula: the ShopPrINModel represents a production workshop mechanism model, and the ShopStateModel is a workshop state model and represents different states of workshop operation, including idle state, production in process and fault shutdown; the ShopLogicModel is a logic model of a workshop, and the logic model comprises a production logic model and a logistics network model;
the digital twin workshop information model is used for real-time operation data and simulation execution data of production equipment at an element level; the unit layer comprises a unit task sequence, material real-time data and processing process data; the workshop production layout, the scheduling scheme and the operation data are arranged on the inter-vehicle layer;
the digital twin plant information model is defined as follows at the element level information model:
CompInfoModel＝{CompSimInfo,CompRealInfo,CompHistoryInfo}
in the formula: compInfoModel represents an information model of an element, and CompSimInfo is simulation data of the element, including input data and output data; compRalInfo is real-time data of elements, and is obtained by collecting related data through an SCADA system and then classifying and storing the data; compHistoryInfo is historical data;
the digital twin plant information model is defined as follows at the unit level information model:
SCInfoModel＝{SCSimInfo,SCRealInfo,SCHistoryInfo}
in the formula: SCInfoModel represents a unit information model, and SCSimInfo is simulation data of a unit, including input data and output data; SCRAlnfo is the real-time data for a cell; SCHistoryInfo is historical data, and the historical data is formed by storing simulation data and real-time data;
the digital twin workshop information model is defined as follows in an inter-vehicle information model:
ShopInfoModel＝{ShopSimInfo,ShopRealInfo,ShopHistoryInfo}
in the formula: the ShopInfoModel represents a workshop information model, shopSimInfo is simulation data of a workshop and comprises input data and output data, and ShopRealInfo is real-time data of the workshop; the historical data shopthistoryinfo is formed by storing simulation data and real-time data.
5. The digital twin plant multidimensional multi-level model building and dynamic configuration method as claimed in claim 4, wherein: the multi-dimensional multi-level fusion model comprises the following steps S21-S23:
s21: model fusion facing to simulation verification before execution;
s22: model fusion facing real-time monitoring in execution;
s23: and performing optimization iteration-oriented model fusion after execution.
6. The digital twin plant multidimensional multi-level model building and dynamic configuration method as claimed in claim 5, wherein: step S21 includes the following steps S211-S215:
building a production element object in step S211;
constructing a device visualization model in step S212, wherein the construction of the device motion model and the import of the 3D model of the part are included;
in step S213, according to the characteristics of the production elements, a mechanism model is defined for the processor, the actuator and the buffer, including simulation logic such as a gate opening and closing action, a trigger mechanism and an action sequence; defining simulation data according to the type of the equipment;
in step S214, performing unit layout based on existing production elements to form production units, which integrate visual models of internal production elements and form a unit mechanism model by configuring unit parameters;
in step S215, a plant visualization and mechanism model is formed by configuring inter-unit logistics paths and logistics devices, and plant simulation inputs including production scheduling, start downtime, and plant simulation information model are defined.
7. The digital twin plant multidimensional multi-level model building and dynamic configuration method as claimed in claim 6, wherein: step S22 includes the following steps S221 to S223:
in step S221, configuring a virtual monitoring point for a production element, and defining a monitoring point name, an element name, a component name, a physical quantity, a data type, a data unit, a state attribute, a key attribute, and a sampling frequency; real-time data are acquired from a physical workshop and are written into corresponding monitoring points based on an object connection and embedding technology for process control and a numerical control equipment interconnection communication protocol, so that real-time information of production elements is formed, and a production element information model is perfected;
in step S222, in the production unit layer, extracting the element real-time information to form required key information, where the key information at least includes processor status monitoring points and buffer cache numbers, and performing many-to-one mapping on the key information to form unit status information, where the key information and the status information together form the real-time information of the production unit;
in step S223, in the inter-vehicle layer, the workshop production task information is obtained through the manufacturing execution system, and the production task execution progress is matched based on the state of the production unit, so as to form real-time production workshop information.
8. The digital twin plant multidimensional and multi-level model construction and dynamic configuration method as claimed in claim 7, characterized in that: step S23 includes the following steps S231 to S233:
in step S231, the existing production scenario is evaluated based on the existing model basis of S21 and S22; performing layout optimization and scheduling optimization based on the evaluation result, re-laying or re-scheduling the workshop to form a new workshop multidimensional model, performing simulation evaluation on the optimization scheme, issuing an optimization iteration of a production workshop to guide the physical workshop when the optimization scheme is feasible, and updating the workshop model;
in step S232, reconfiguring and dynamically updating the multidimensional multi-level model of the digital twin plant; after a digital twin workshop project is created again or a workshop is changed, a corresponding digital twin workshop multi-dimensional multi-level model needs to be created newly or updated in time;
the model construction process comprises steps S2321-S2322;
in step S2321, when a device is newly added or changed in the workshop, the system resource library is retrieved to determine whether the device exists, and if so, the dragging layout is performed based on the device; if the equipment does not exist, the equipment is packaged and put in storage through the equipment modeling system, geometric modeling of workshop resources is completed, a workshop reconfiguration model based on the service unit and the logistics path network model is formed together with the changed model relation, and a DTS visual model is generated;
step S2322 includes steps S23221-S23224;
in S23221, the model relationship is changed, and mapped to the visual model to implement logistics modeling;
in S23222, model simulation attributes including device movement speed and capacity are changed;
in S23223, the process route of the workpiece is changed to form input information of the workshop operation, and the input information, the simulation model and the logistics reconfiguration model together form a characterization model for system simulation, thereby completing regeneration of the simulation model;
in step S23224, data modeling is adjusted, whether the digital twin plant implements the communication protocol of the type is retrieved, and if no communication protocol of the type is implemented, the data communication protocol interface is developed based on the abstract communication base class and is extended to the data adaptation class; if the protocol exists, the protocol is adapted to the virtual sensor, real-time data mapping is completed based on the virtual sensor, and a data model of the equipment is regenerated.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116032971A (en) * | 2023-01-10 | 2023-04-28 | 吉林大学 | Full-element intelligent sensing implementation method for digital twin machine workshop |
| CN116502474A (en) * | 2023-06-27 | 2023-07-28 | 中国电子工程设计院有限公司 | Dynamic simulation-based layout optimization method and device for medical equipment assembly line |
| CN116822159A (en) * | 2023-06-06 | 2023-09-29 | 郑州轻工业大学 | Digital twin workshop rapid modeling method for dynamic and static fusion of man-machine environment |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116032971A (en) * | 2023-01-10 | 2023-04-28 | 吉林大学 | Full-element intelligent sensing implementation method for digital twin machine workshop |
| CN116032971B (en) * | 2023-01-10 | 2024-03-22 | 吉林大学 | Full-element intelligent sensing implementation method for digital twin machine workshop |
| CN116822159A (en) * | 2023-06-06 | 2023-09-29 | 郑州轻工业大学 | Digital twin workshop rapid modeling method for dynamic and static fusion of man-machine environment |
| CN116822159B (en) * | 2023-06-06 | 2024-05-03 | 郑州轻工业大学 | Digital twin workshop rapid modeling method for dynamic and static fusion of man-machine environment |
| CN116502474A (en) * | 2023-06-27 | 2023-07-28 | 中国电子工程设计院有限公司 | Dynamic simulation-based layout optimization method and device for medical equipment assembly line |
| CN116502474B (en) * | 2023-06-27 | 2023-11-21 | 中国电子工程设计院有限公司 | Dynamic simulation-based layout optimization method and device for medical equipment assembly line |
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