CN115877736B - Digital twinning-based multi-robot collaborative operation simulation monitoring method - Google Patents
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Abstract
The invention relates to the technical field of industrial robots, in particular to a digital twinning-based multi-robot collaborative operation simulation monitoring method, which comprises the following steps: s1, constructing a digital twin body model of a multi-robot collaborative operation environment based on a digital twin technology, wherein the multi-robot collaborative operation environment comprises robots and control equipment; s2, constructing a multi-robot collaborative operation simulation monitoring system, and packaging the digital twin body model into the multi-robot collaborative operation simulation monitoring system; s3, acquiring a multi-robot program file, and running in a multi-robot collaborative operation simulation monitoring system to obtain an offline simulation result; and S4, connecting the multi-robot collaborative operation environment with the multi-robot collaborative operation simulation monitoring system through a communication protocol, and monitoring in the multi-robot collaborative operation simulation monitoring system. According to the invention, interference collision is analyzed in advance through movement, so that the real-time and accuracy of robot operation monitoring are improved.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a digital twinning-based multi-robot collaborative operation simulation monitoring method.
Background
With the continuous development of intelligent manufacturing, robots replace manual production to become the development trend of future manufacturing industry, and the development trend is also the guarantee of realizing industrial automation, digitization and intellectualization in the future. Industrial robot is widely used in multi-joint mechanical arm or multi-degree-of-freedom machine device in industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability.
In a highly automated production line, a process may be cooperatively performed by a plurality of industrial robots, or a plurality of industrial robots may be disposed on the same machine. Due to various restrictions of the production environment, the working spaces of multiple industrial robots may overlap. Under the condition, the interference collision among a plurality of industrial robots and the great economic loss caused by the interference collision between a single industrial robot and the working environment are avoided, and the method becomes a great difficulty in the collaborative operation programming of a plurality of robots.
On the one hand, the industrial robot in the prior art mainly adopts an external torque feedback type or an electronic skin type to perform collision detection. The external torque feedback type is usually used for estimating the external torque according to the feedback of the electric power loop and the dynamic equation of the robot system, and the external torque can be also estimated by adding a torque sensor at the joint, but the accuracy of detecting the collision torque is limited because the friction force of the robot joint is difficult to accurately model and identify when the electric power loop feedback type is adopted; the use of torque sensors or the addition of electronic skin awareness to the robot, while highly sensitive, has greatly increased costs. In recent years, there have been cases where robot collision detection is performed by combining a virtual robot with a bounding box, but since most bounding boxes used are AABB bounding boxes or OBB bounding boxes, collision detection accuracy is not high, and a phenomenon of false stop due to an excessively large bounding box is likely to occur.
On the other hand, the offline programming software of the robot in the prior art only supports the simulation verification of the offline programmed robot workstation, and does not support the state monitoring and collision early warning in the actual operation process of the robot.
In summary, the prior art lacks a low-cost, high-precision, fast and efficient integrated offline robot verification and online monitoring method.
Disclosure of Invention
The invention provides a digital twin-based multi-robot collaborative operation simulation monitoring method, which aims to solve the technical problem that the offline verification and online monitoring of robots and control equipment cannot be efficiently realized in the prior art.
Specifically, the embodiment of the invention provides a digital twin-based multi-robot collaborative operation simulation monitoring method, which comprises the following steps:
s1, constructing a digital twin body model of a multi-robot collaborative operation environment based on a digital twin technology, wherein the multi-robot collaborative operation environment comprises robots and control equipment;
s2, constructing a multi-robot collaborative operation simulation monitoring system, and packaging the digital twin body model into the multi-robot collaborative operation simulation monitoring system;
s3, acquiring a multi-robot program file, and running on the multi-robot collaborative operation simulation monitoring system to obtain an offline simulation result;
and S4, connecting the multi-robot collaborative operation environment with the multi-robot collaborative operation simulation monitoring system through a communication protocol, and monitoring in the multi-robot collaborative operation simulation monitoring system.
Still further, step S1 comprises the sub-steps of:
s11, modeling the robot and the control equipment to obtain a robot model and a control equipment model;
s12, respectively constructing a robot model and a control equipment model into a robot mechanism model and a control equipment mechanism model based on the motion mechanisms of the robot and the control equipment;
s13, constructing a data interaction interface for different motion states in the robot model and the control equipment model;
s14, constructing an enclosure comprising the robot mechanism model and the control equipment mechanism model, and constructing a collision group of collision detection on any combination of the robot mechanism model and the control equipment mechanism model based on the enclosure, thereby completing the construction of the digital twin body model, wherein the enclosure comprises a rough enclosure and a corresponding fine enclosure.
Still further, the multi-robot collaborative work simulation monitoring system includes:
the display layer comprises a display interface facing to a user and is used for interaction between the user and the multi-robot collaborative operation simulation monitoring system;
a simulation layer for encapsulating the digital twin body model;
the business layer is used for linking the data interaction interface and judging whether collision occurs between the robot mechanism model and the control equipment mechanism model based on the collision group;
and the data layer is used for realizing data communication with the multi-robot collaborative operation environment.
Still further, step S3 comprises the sub-steps of:
s31, acquiring the multi-robot program file and analyzing the multi-robot program file into a simulation execution file, wherein the multi-robot program file is used for simulating the motion states of the robot mechanism model and the control equipment mechanism model;
s32, executing the simulation execution file, and starting off-line simulation;
s33, judging whether collision occurs between the rough surrounding bodies in the collision group, and if not, executing a step S35; if yes, go to step S34;
s34, judging whether collision occurs between fine bounding volumes corresponding to the rough bounding volumes, and if not, executing a step S35; if yes, recording collision information, and executing step S35;
s35, judging whether a control instruction is received to end simulation, if not, returning to the step S33; if yes, outputting all the collision information as the offline simulation result.
Still further, step S4 comprises the sub-steps of:
s41, connecting the multi-robot collaborative operation environment with the multi-robot collaborative operation simulation monitoring system through a communication protocol;
s42, acquiring real-time states of the robots and the control equipment in the multi-robot collaborative work environment;
s43, writing data into the robot mechanism model and the control equipment mechanism model according to the real-time state, and simulating in the multi-robot collaborative operation simulation monitoring system by taking the real-time state as the simulation execution file;
s44, judging whether the simulation result of the real-time state contains the collision information, and if so, stopping the operation of the robot and the control equipment; if not, the normal operation is maintained.
Further, before step S43, the method further includes the steps of:
and the surrounding body is amplified in equal proportion according to a preset proportion to be used as a collision detection redundant band.
Further, if the simulation result contains the collision information, position adjustment is performed on the robot and the control device based on the simulation result.
The invention has the beneficial effects that a digital twin-based multi-robot collaborative operation simulation monitoring method is provided, the method is based on a digital twin technology, a digital twin body of a multi-robot collaborative operation environment is constructed, and the consistency of a simulation environment and a real environment is ensured; secondly, by constructing a monitoring platform and performing offline simulation verification on a plurality of industrial robots, whether interference occurs between the robots and the operation environment or not can be analyzed before operation, and interference collision during the debugging operation of the entity robots is avoided; finally, the digital twin technology is combined to perform online operation monitoring on the robot, interference collision is analyzed in advance through movement, and the real-time and accuracy of the operation monitoring of the robot are improved.
Drawings
FIG. 1 is a schematic flow chart of steps of a digital twin-based multi-robot collaborative operation simulation monitoring method provided by an embodiment of the invention;
FIG. 2 is a schematic illustration of a rough bounding volume provided by an embodiment of the present invention;
FIG. 3 is a schematic view of a fine enclosure provided by an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a multi-robot collaborative operation simulation monitoring system provided by an embodiment of the invention;
fig. 5 is a schematic sub-flowchart of step S3 in the digital twin-based multi-robot collaborative operation simulation monitoring method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of steps of a digital twin-based multi-robot collaborative operation simulation monitoring method according to an embodiment of the present invention, where the method includes the following steps:
s1, constructing a digital twin body model of a multi-robot collaborative operation environment based on a digital twin technology, wherein the multi-robot collaborative operation environment comprises robots and control equipment.
The digital twin technology is a simulation process integrating multiple disciplines, multiple physical quantities, multiple scales and multiple probabilities by utilizing data such as a physical model, sensor update, operation history and the like, and can finish mapping in a virtual space so as to reflect the full life cycle process of corresponding entity equipment.
Still further, step S1 comprises the sub-steps of:
and S11, modeling the robot and the control equipment to obtain a robot model and a control equipment model.
In the embodiment of the invention, three-dimensional modeling software such as SolidWorks, unigraphics NX, 3D Studio Max and the like is used for establishing a high-precision model of a working environment according to a multi-robot collaborative operation physical scene, wherein the model is required to keep a kinematic relationship corresponding to a physical object, and for modeling a robot, each motion joint is required to be independently modeled, and finally, the model is combined in an assembly form and the degree of freedom is ensured according to the correct kinematic constraint; for modeling of control equipment in a work environment, if the equipment needs to be moved in an offline verification simulation, the equipment also needs to be modeled separately for moving parts and combined in an assembly form. The rest of the working environment objects which do not need to move can be directly expressed as an integral model.
And S12, respectively constructing the robot model and the control equipment model into a robot mechanism model and a control equipment mechanism model based on the motion mechanisms of the robot and the control equipment.
Specifically, for packaging a robot mechanism model, firstly, a robot model motion chain is constructed, namely, according to the mechanical structure and kinematic constraint of a physical robot, the child-parent class relation among joints of the robot is obtained. After the motion chain is constructed, correcting the motion chain according to the standard size parameters or DH parameters of the robot, so that the relative positions of all joints completely meet the requirements, and the size error between the virtual robot and the real robot is reduced; secondly, a robot kinematics algorithm is constructed, namely, a forward kinematics algorithm and an inverse kinematics algorithm of the robot are constructed according to DH parameters of the robot, wherein the forward kinematics algorithm is used for solving the pose of the tail end of the robot, and the inverse kinematics algorithm is used for solving the pose of the joints of the robot. The inverse kinematics algorithm of the robot includes but is not limited to algebraic method, analytic method of geometric method and numerical method, but the analytic method should be preferentially adopted to obtain faster solving speed. Finally, the common robot motion methods such as linear motion, circular arc motion, point-to-point motion and the like are packaged so as to facilitate the direct control of the virtual robot by using the instructions.
For the encapsulation of a mechanism model of control equipment in an operation environment, firstly, a motion chain of the equipment model is constructed, namely, a child-parent class relation among all mechanisms of the equipment is obtained according to the mechanical structure, the power form and the kinematic constraint of physical equipment, so that the motion chain of the equipment model is constructed; and secondly, packaging a movement method according to a control mode of the physical equipment.
S13, constructing a data interaction interface for different motion states in the robot model and the control equipment model.
The data interaction interface in the embodiment of the invention is used for updating the joint angle of the virtual robot or sending corresponding simulation events after receiving new joint angle data and signal data for the robot; for the control equipment and the rest of the operation equipment in the operation environment, the simulation system is used for triggering corresponding simulation events.
S14, constructing an enclosure comprising the robot mechanism model and the control equipment mechanism model, and constructing a collision group of collision detection on any combination of the robot mechanism model and the control equipment mechanism model based on the enclosure, thereby completing the construction of the digital twin body model, wherein the enclosure comprises a rough enclosure and a corresponding fine enclosure.
For example, referring to fig. 2 and 3, fig. 2 is a schematic diagram of a rough bounding volume provided by an embodiment of the present invention, and fig. 3 is a schematic diagram of a fine bounding volume provided by an embodiment of the present invention, in step S14, first, a rough bounding box of each element is constructed, that is, an OBB bounding box is generated for each model, which is used for rough collision detection, so as to reduce the calculation amount of collision detection; secondly, constructing a fine bounding volume of each element, namely generating a triangular patch bounding volume for each model for fine collision detection; and finally, classifying all models into collision groups, wherein in the working environment, all surrounding bodies in a single robot model are classified into one collision group, all surrounding bodies of all models of other equipment in the working environment are classified into another collision group, and when collision detection is carried out, only collision detection among the collision groups is carried out, and collision detection of models in the collision groups is not carried out, so that the calculation amount of collision detection is reduced, and the calculation efficiency is improved.
S2, constructing a multi-robot collaborative operation simulation monitoring system, and packaging the digital twin body model into the multi-robot collaborative operation simulation monitoring system.
Still further, the multi-robot collaborative work simulation monitoring system includes:
the display layer comprises a display interface facing to a user and is used for interaction between the user and the multi-robot collaborative operation simulation monitoring system;
a simulation layer for encapsulating the digital twin body model;
the business layer is used for linking the data interaction interface and judging whether collision occurs between the robot mechanism model and the control equipment mechanism model based on the collision group;
and the data layer is used for realizing data communication with the multi-robot collaborative operation environment.
For example, referring to fig. 4, fig. 4 is a schematic structural diagram of a multi-robot collaborative operation simulation monitoring system according to an embodiment of the present invention, in actual implementation:
the display layer mainly directly views the picture interacted with the operation and comprises a front-end UI interface and a three-dimensional rendering engine. The front-end UI interface is responsible for configuration and display of test items and test data, and can be written in Java, html5, javaScript and other languages. The three-dimensional rendering Engine is responsible for rendering three-dimensional scene pictures of a working environment and interaction with scenes, and mature three-dimensional rendering engines such as Unreal Engine, JMonkey Engine, unity 3D, threes and the like can be used, so that platform development work is reduced.
The simulation layer is a virtual mechanism model of each element in the working environment digital twin body, and the simulation layer comprises, but is not limited to, robots, equipment and the like in the concrete implementation.
The service layer is mainly a core service module of the test platform and comprises a model basic motion module, a physical engine module, a communication module, a front end UI server module, a front end event processing module, a test report module, a program semantic analysis module, a collision detection module and the like. The model motion module is responsible for interpolation of basic motions such as straight line, curve, rotation and the like of the model in the three-dimensional scene and is used for accurately controlling the model motion; the physical engine module is responsible for calculating the model physical attribute in the three-dimensional scene; the communication module is responsible for establishing communication with the physical operation environment, and comprises a communication protocol definition, a communication server, a data receiving and transmitting interface definition and the like, so that the test platform can receive real-time data of the physical operation environment; the front-end UI server module is responsible for starting a lightweight server and is used for loading a front-end UI; the front-end event processing module is responsible for responding to a front-end button triggering event and pushing and displaying on-line monitoring data; the test report module is responsible for recording and exporting the offline simulation verification result and related data into a pdf format document; the program semantic analysis module is responsible for analyzing the robot code file and executing off-line simulation on the virtual robot according to the code file; the collision detection module is responsible for detecting whether interference occurs between collision groups in a scene.
The data layer is mainly responsible for data interaction among the modules and comprises a data receiving and transmitting module, a data processing module and a variable reading and writing module. The data receiving and transmitting module is responsible for receiving or transmitting related data to the physical operation environment through the communication module; the data processing module is responsible for analyzing the received data or encoding the related data and sending the encoded data to the control system; the variable read-write module is responsible for writing data into model-related variables or reading model-related variables.
S3, acquiring a multi-robot program file, and running on the multi-robot collaborative operation simulation monitoring system to obtain an offline simulation result.
Further, referring to fig. 5, fig. 5 is a schematic flow chart of step S3 in the digital twin-based multi-robot collaborative operation simulation monitoring method according to an embodiment of the present invention, and step S3 includes the following sub-steps:
s31, acquiring the multi-robot program file and analyzing the multi-robot program file into a simulation execution file, wherein the multi-robot program file is used for simulating the motion states of the robot mechanism model and the control equipment mechanism model;
s32, executing the simulation execution file, and starting off-line simulation;
s33, judging whether collision occurs between the rough surrounding bodies in the collision group, and if not, executing a step S35; if yes, go to step S34;
s34, judging whether collision occurs between the fine bounding volumes corresponding to the rough bounding volumes, and if not, executing a step S35; if yes, recording collision information, and executing step S35;
s35, judging whether a control instruction is received to end simulation, if not, returning to the step S33; if yes, outputting all the collision information as the offline simulation result.
And S4, connecting the multi-robot collaborative operation environment with the multi-robot collaborative operation simulation monitoring system through a communication protocol, and monitoring in the multi-robot collaborative operation simulation monitoring system.
The final purpose of the step S4 is to monitor the robot in an online operation mode through a digital twin technology when the physical robot is debugged and operated, analyze whether interference collision can occur in advance through the movement of the robot model, and stop the operation of the physical robot in time.
Still further, step S4 comprises the sub-steps of:
s41, connecting the multi-robot collaborative operation environment with the multi-robot collaborative operation simulation monitoring system through a communication protocol;
s42, acquiring real-time states of the robots and the control equipment in the multi-robot collaborative work environment;
s43, writing data into the robot mechanism model and the control equipment mechanism model according to the real-time state, and simulating in the multi-robot collaborative operation simulation monitoring system by taking the real-time state as the simulation execution file;
s44, judging whether the simulation result of the real-time state contains the collision information, and if so, stopping the operation of the robot and the control equipment; if not, the normal operation is maintained.
Specifically, collision detection is performed among different collision groups by using rough bounding volumes of the model; if interference occurs in the rough collision detection, fine collision detection is performed on a model corresponding to the rough surrounding body with the interference, namely, the fine surrounding body of the model performs collision detection, if interference still occurs, the collision between the two models is indicated, namely, collision risk exists between the two models, namely, the physical equipment needs to send a shutdown instruction to the physical operation environment, waiting for manual processing, and ending the collision detection until on-line monitoring is ended.
Further, before step S43, the method further includes the steps of:
and the surrounding body is amplified in equal proportion according to a preset proportion to be used as a collision detection redundant band. Specifically, during simulation, firstly, the rough bounding volume and the fine bounding volume of the model are adjusted, equal-proportion amplification is carried out by taking the centroid as the center, and the space formed by the bounding volume and the surface of the model is the collision detection redundant band, so that in an actual environment, the amplification factor needs to be comprehensively determined according to the highest running speed of the robot, the data acquisition communication delay, the safety factor and the like, and the higher the running speed is, the longer the data acquisition communication delay is, the larger the safety factor is, and the larger the amplification factor is. The invention has the beneficial effects that a digital twin-based multi-robot collaborative operation simulation monitoring method is provided, the method is based on a digital twin technology, a digital twin body of a multi-robot collaborative operation environment is constructed, and the consistency of a simulation environment and a real environment is ensured; secondly, by constructing a monitoring platform and performing offline simulation verification on a plurality of industrial robots, whether interference occurs between the robots and the operation environment or not can be analyzed before operation, and interference collision during the debugging operation of the entity robots is avoided; finally, the digital twin technology is combined to perform online operation monitoring on the robot, interference collision is analyzed in advance through movement, and the real-time and accuracy of the operation monitoring of the robot are improved.
Further, if the simulation result contains the collision information, position adjustment is performed on the robot and the control device based on the simulation result.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM) or the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
While the embodiments of the present invention have been illustrated and described in connection with the drawings, what is presently considered to be the most practical and preferred embodiments of the invention, it is to be understood that the invention is not limited to the disclosed embodiments, but on the contrary, is intended to cover various equivalent modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (2)
1. The digital twin-based multi-robot collaborative operation simulation monitoring method is characterized by comprising the following steps of:
s1, constructing a digital twin body model of a multi-robot collaborative operation environment based on a digital twin technology, wherein the multi-robot collaborative operation environment comprises robots and control equipment, and the step S1 comprises the following substeps:
s11, modeling the robot and the control equipment to obtain a robot model and a control equipment model;
s12, respectively constructing a robot model and a control equipment model into a robot mechanism model and a control equipment mechanism model based on the motion mechanisms of the robot and the control equipment;
s13, constructing a data interaction interface for different motion states in the robot model and the control equipment model;
s14, constructing an enclosure comprising the robot mechanism model and the control equipment mechanism model, and constructing a collision group of collision detection about any combination of the robot mechanism model and the control equipment mechanism model based on the enclosure, thereby completing the construction of the digital twin body model, wherein the enclosure comprises a rough enclosure and a corresponding fine enclosure;
s2, constructing a multi-robot collaborative operation simulation monitoring system, and packaging the digital twin body model into the multi-robot collaborative operation simulation monitoring system, wherein the multi-robot collaborative operation simulation monitoring system comprises:
the display layer comprises a display interface facing to a user and is used for interaction between the user and the multi-robot collaborative operation simulation monitoring system;
a simulation layer for encapsulating the digital twin body model;
the business layer is used for linking the data interaction interface and judging whether collision occurs between the robot mechanism model and the control equipment mechanism model based on the collision group;
the data layer is used for realizing data communication with the multi-robot collaborative operation environment;
s3, acquiring a multi-robot program file, and running on the multi-robot collaborative operation simulation monitoring system to obtain an offline simulation result, wherein the step S3 comprises the following substeps:
s31, acquiring the multi-robot program file and analyzing the multi-robot program file into a simulation execution file, wherein the multi-robot program file is used for simulating the motion states of the robot mechanism model and the control equipment mechanism model;
s32, executing the simulation execution file, and starting off-line simulation;
s33, judging whether collision occurs between the rough surrounding bodies in the collision group, and if not, executing a step S35; if yes, go to step S34;
s34, judging whether collision occurs between the fine bounding volumes corresponding to the rough bounding volumes, and if not, executing a step S35; if yes, recording collision information, and executing step S35;
s35, judging whether a control instruction is received to end simulation, if not, returning to the step S33; if yes, outputting all the collision information as the offline simulation result;
s4, connecting the multi-robot collaborative operation environment with the multi-robot collaborative operation simulation monitoring system through a communication protocol, and monitoring in the multi-robot collaborative operation simulation monitoring system, wherein the step S4 comprises the following substeps:
s41, connecting the multi-robot collaborative operation environment with the multi-robot collaborative operation simulation monitoring system through a communication protocol;
s42, acquiring real-time states of the robots and the control equipment in the multi-robot collaborative work environment;
s43, writing data into the robot mechanism model and the control equipment mechanism model according to the real-time state, and simulating in the multi-robot collaborative operation simulation monitoring system by taking the real-time state as the simulation execution file;
s44, judging whether the simulation result of the real-time state contains the collision information, and if so, stopping the operation of the robot and the control equipment; if not, keeping normal operation;
before step S43, the method further includes the steps of:
and the surrounding body is amplified in equal proportion according to a preset proportion to be used as a collision detection redundant band.
2. The digital twinning-based multi-robot collaborative operation simulation monitoring method according to claim 1, further comprising the sub-steps after step S4 of:
and if the simulation result contains the collision information, carrying out position adjustment on the robot and the control equipment based on the simulation result.
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