CN116330275A - Method and system for rapidly realizing digital twin of industrial robot - Google Patents
Method and system for rapidly realizing digital twin of industrial robot Download PDFInfo
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- CN116330275A CN116330275A CN202310169564.7A CN202310169564A CN116330275A CN 116330275 A CN116330275 A CN 116330275A CN 202310169564 A CN202310169564 A CN 202310169564A CN 116330275 A CN116330275 A CN 116330275A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a method for rapidly realizing digital twin of an industrial robot, which comprises the following steps: obtaining a model file of the industrial robot; configuring each joint information of the mechanical arm in the model file by using a data binding tool to obtain a configured model file; judging whether the configured model file is a cache model, if not, adding the configured model file into the cache model, and if so, directly loading the configured model file in a three-dimensional scene; configuring the joint angle of the robot according to the joint information so as to reset the angle of the joint of the robot; and carrying out digital twinning visual display on the robot according to the digital twinning animation. The invention can make the industrial robot realize digital twin simple and quick, and can reduce the development cost.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a method and a system for quickly realizing digital twin of an industrial robot.
Background
WebGL (WebGraphicsLibrary) is a 3D drawing protocol, which allows combining JavaScript with opengles2.0, and by adding a JavaScript binding of opengles2.0, webGL can provide hardware 3D accelerated rendering for HTML5Canvas, so that Web developers can more smoothly present 3D scenes and models in a browser by means of a system graphics card.
With the advancement of society and technology, information presentation and communication is gradually changed from text, pictures and video to three-dimensional or even multidimensional, so that a great number of new technologies, such as Virtual Reality (VR), mixed Reality (MR), augmented Reality (AR) and the like, are derived. The main function of digital twinning is to simulate and show the effect to be achieved through an animation mode. For example, in an industrial robot, how to introduce the results of the industrial robot to the customer is vividly, a three-dimensional animation needs to be produced, and the real working scene of the robot is restored in an animation mode, so that the customer can know the application of the technology.
However, in web front-end development, not all developers are familiar with the related technical knowledge of webGL and 3D, which makes it much time for a beginner 3D developer to learn the knowledge before it can start to implement digital twin animation.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a method and a system for quickly realizing digital twin of an industrial robot.
In order to achieve the above object, the present invention provides the following solutions:
a method for rapidly implementing digital twinning of an industrial robot, comprising:
obtaining a model file of the industrial robot;
configuring each joint information of the mechanical arm in the model file by using a data binding tool to obtain a configured model file;
judging whether the configured model file is a cache model, if not, adding the configured model file into the cache model, and if so, directly loading the configured model file in a three-dimensional scene;
configuring the joint angle of the robot according to the joint information so as to reset the angle of the joint of the robot;
and carrying out digital twinning visual display on the robot according to the digital twinning animation.
Preferably, the configuring each joint information of the mechanical arm in the model file by using a data binding tool to obtain a configured model file includes:
selecting any mechanical arm of a robot, and configuring the motion state of a joint of the mechanical arm by using the data binding tool; the motion state is a static state, a rotating state and a shifting state;
and configuring a motion mode of the mechanical arm in the three-dimensional scene according to the motion state.
Preferably, determining whether the configured model file is a cache model, if not, adding the configured model file to the cache model, including:
calling an accessModel () function in an index DB module to acquire model parameters of the configured model file, and acquiring return information according to the model parameters;
judging whether the configured model file is a cache model or not according to the return information, and if so, calling an insert model () function to store the configured model file into the cache model file.
Preferably, the configuration of the joint angle of the robot according to the joint information to realize the reset of the angle of the robot joint includes:
the setJointAngle () function in the TMachine module is called, and the joint information is passed in to reset the robot joint angle.
Preferably, the visual display of the digital twinning of the robot according to the digital twinning animation comprises:
and calling a twinning () function in the TMachine module, and transmitting the model information, the joint parameters, the last action data and the current action data of the robot to realize the model twinning animation effect of the robot.
A system for rapidly implementing digital twinning of an industrial robot, comprising:
the acquisition unit is used for acquiring a model file of the industrial robot;
the first configuration module is used for configuring the information of each joint of the mechanical arm in the model file by utilizing a data binding tool to obtain a configured model file;
the judging unit is used for judging whether the configured model file is a cache model, if not, adding the configured model file into the cache model, and if so, directly loading the configured model file in a three-dimensional scene;
the second configuration unit is used for configuring the joint angle of the robot according to the joint information so as to reset the angle of the joint of the robot;
and the display unit is used for carrying out digital twinning visual display on the robot according to the digital twinning animation.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a method for rapidly realizing digital twin of an industrial robot, which comprises the following steps: obtaining a model file of the industrial robot; configuring each joint information of the mechanical arm in the model file by using a data binding tool to obtain a configured model file; judging whether the configured model file is a cache model, if not, adding the configured model file into the cache model, and if so, directly loading the configured model file in a three-dimensional scene; configuring the joint angle of the robot according to the joint information so as to reset the angle of the joint of the robot; and carrying out digital twinning visual display on the robot according to the digital twinning animation. The invention can make the industrial robot realize digital twin simple and quick, and can reduce the development cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The terms "first," "second," "third," and "fourth" and the like in the description and in the claims of this application and in the drawings, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, inclusion of a list of steps, processes, methods, etc. is not limited to the listed steps but may alternatively include steps not listed or may alternatively include other steps inherent to such processes, methods, products, or apparatus.
The invention aims to provide a method for realizing digital twin of an industrial robot, which can enable the industrial robot to realize digital twin to be simple and quick and reduce development cost.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a flowchart of a method provided by an embodiment of the present invention, and as shown in fig. 1, the present invention provides a method for quickly implementing digital twin by an industrial robot, including:
obtaining a model file of the industrial robot;
configuring each joint information of the mechanical arm in the model file by using a data binding tool to obtain a configured model file;
judging whether the configured model file is a cache model, if not, adding the configured model file into the cache model, and if so, directly loading the configured model file in a three-dimensional scene;
configuring the joint angle of the robot according to the joint information so as to reset the angle of the joint of the robot;
and carrying out digital twinning visual display on the robot according to the digital twinning animation.
In this embodiment, a robot scene model file is first imported into a configuration tool, and the embodiment is an automobile production line model, wherein the production line model totally comprises four industrial robots, one of the industrial robot models is selected, a clooneobject () function is called to clone the model onto a data binding tool, and the joints of each mechanical arm joint of the selected robot are configured to be static, rotating or translating, and if the joints are static, direction information is not required to be configured; if the robot joint rotates or translates, the robot joint needs to be configured according to which direction of the three-dimensional scene rotates or translates, and finally, the relevant configuration information of the robot joint is generated.
Then creating a three-dimensional scene, and adding configuration information such as dom elements, cameras, light sources and the like.
Preferably, the configuring each joint information of the mechanical arm in the model file by using a data binding tool to obtain a configured model file includes:
selecting any mechanical arm of a robot, and configuring the motion state of a joint of the mechanical arm by using the data binding tool; the motion state is a static state, a rotating state and a shifting state;
and configuring a motion mode of the mechanical arm in the three-dimensional scene according to the motion state.
Preferably, determining whether the configured model file is a cache model, if not, adding the configured model file to the cache model, including:
calling an accessModel () function in an index DB module to acquire model parameters of the configured model file, and acquiring return information according to the model parameters;
judging whether the configured model file is a cache model or not according to the return information, and if so, calling an insert model () function to store the configured model file into the cache model file.
In this embodiment, relevant information of each model, such as id, model file type, model file address, etc., is defined, and four robot models and vehicle models are respectively loaded in this embodiment, so as to prevent page jamming from bringing bad experience to users; and calling an accessModel () function of the index DB module, inputting a cache model name and model information, judging whether the model is a cache model according to a return value, if the return value is true, directly loading and displaying, if the return value is false, calling the insertModel () function, inputting a corresponding cache name, and adding the model information into the cache model, wherein the next loading is faster.
Further, in this embodiment, the model file is loaded, the initFileModel () function is called, the model file type, the model file address and the model configuration parameters are input, so that model information can be obtained, and the model information is added into the created three-dimensional scene, so that the model can be displayed at the web browser end.
Preferably, the configuration of the joint angle of the robot according to the joint information to realize the reset of the angle of the robot joint includes:
the setJointAngle () function in the TMachine module is called, and the joint information is passed in to reset the robot joint angle.
Preferably, the visual display of the digital twinning of the robot according to the digital twinning animation comprises:
and calling a twinning () function in the TMachine module, and transmitting the model information, the joint parameters, the last action data and the current action data of the robot to realize the model twinning animation effect of the robot.
The last step of the embodiment adds a digital twin animation, calls a setJointAngle () function in a TMachine module, resets the angle of a robot joint when the function receives robot model information, robot joint parameters and robot joint motion data, and calls a twirnagle () function, and can realize the digital twin animation effect of the robot when the function receives the robot model information, the robot joint parameters, the last motion data and the current motion data.
Referring to fig. 2, the architecture of the software system in the present embodiment includes the following steps:
1. the introduction engine: a page introduction engine for creating a three-dimensional scene globally or in need of the creation;
2. building an empty scene, wherein the content of the scene is as follows:
creating a three-dimensional scene space;
creating a lamplight;
creating a camera;
3. importing a model file in a scene;
4. basic processing of the model: obtaining model details
5. Adding an animation effect to the model: the animation is rotated.
Corresponding to the above method, the embodiment further provides a system for implementing digital twin of the industrial robot, which includes:
the acquisition unit is used for acquiring a model file of the industrial robot;
the first configuration module is used for configuring the information of each joint of the mechanical arm in the model file by utilizing a data binding tool to obtain a configured model file;
the judging unit is used for judging whether the configured model file is a cache model, if not, adding the configured model file into the cache model, and if so, directly loading the configured model file in a three-dimensional scene;
the second configuration unit is used for configuring the joint angle of the robot according to the joint information so as to reset the angle of the joint of the robot;
and the display unit is used for carrying out digital twinning visual display on the robot according to the digital twinning animation.
The beneficial effects of the invention are as follows:
the invention can complete the digital twin animation effect by only a few simple steps and combining with a real-time or analog data pushing and animation method, thereby reducing the development difficulty, shortening the software development period and having high expansibility.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. A method for rapidly implementing digital twinning of an industrial robot, comprising:
obtaining a model file of the industrial robot;
configuring each joint information of the mechanical arm in the model file by using a data binding tool to obtain a configured model file;
judging whether the configured model file is a cache model, if not, adding the configured model file into the cache model, and if so, directly loading the configured model file in a three-dimensional scene;
configuring the joint angle of the robot according to the joint information so as to reset the angle of the joint of the robot;
and carrying out digital twinning visual display on the robot according to the digital twinning animation.
2. The method for quickly implementing digital twinning of an industrial robot according to claim 1, wherein the configuring each joint information of the mechanical arm in the model file by using a data binding tool to obtain a configured model file includes:
selecting any mechanical arm of a robot, and configuring the motion state of a joint of the mechanical arm by using the data binding tool; the motion state is a static state, a rotating state and a shifting state;
and configuring a motion mode of the mechanical arm in the three-dimensional scene according to the motion state.
3. The method for quickly implementing digital twin by an industrial robot according to claim 1, wherein determining whether the configured model file is a cache model, and if not, adding the configured model file to the cache model, comprises:
calling an accessModel () function in an index DB module to acquire model parameters of the configured model file, and acquiring return information according to the model parameters;
judging whether the configured model file is a cache model or not according to the return information, and if so, calling an insert model () function to store the configured model file into the cache model file.
4. The method for quickly implementing digital twinning of an industrial robot according to claim 1, wherein configuring the joint angle of the robot according to the joint information to implement the resetting of the angle of the robot joint comprises:
the setJointAngle () function in the TMachine module is called, and the joint information is passed in to reset the robot joint angle.
5. The method for quickly implementing digital twinning of an industrial robot according to claim 1, wherein the visual display of the digital twinning of the robot according to the digital twinning animation comprises:
and calling a twinning () function in the TMachine module, and transmitting the model information, the joint parameters, the last action data and the current action data of the robot to realize the model twinning animation effect of the robot.
6. A system for rapidly implementing digital twinning of an industrial robot, comprising:
the acquisition unit is used for acquiring a model file of the industrial robot;
the first configuration module is used for configuring the information of each joint of the mechanical arm in the model file by utilizing a data binding tool to obtain a configured model file;
the judging unit is used for judging whether the configured model file is a cache model, if not, adding the configured model file into the cache model, and if so, directly loading the configured model file in a three-dimensional scene;
the second configuration unit is used for configuring the joint angle of the robot according to the joint information so as to reset the angle of the joint of the robot;
and the display unit is used for carrying out digital twinning visual display on the robot according to the digital twinning animation.
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| CN202310169564.7A CN116330275A (en) | 2023-02-27 | 2023-02-27 | Method and system for rapidly realizing digital twin of industrial robot |
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| CN202310169564.7A CN116330275A (en) | 2023-02-27 | 2023-02-27 | Method and system for rapidly realizing digital twin of industrial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117182930A (en) * | 2023-11-07 | 2023-12-08 | 山东捷瑞数字科技股份有限公司 | Four-axis mechanical arm binding method, system, equipment and medium based on digital twin |
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2023
- 2023-02-27 CN CN202310169564.7A patent/CN116330275A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117182930A (en) * | 2023-11-07 | 2023-12-08 | 山东捷瑞数字科技股份有限公司 | Four-axis mechanical arm binding method, system, equipment and medium based on digital twin |
| CN117182930B (en) * | 2023-11-07 | 2024-02-13 | 山东捷瑞数字科技股份有限公司 | Four-axis mechanical arm binding method, system, equipment and medium based on digital twin |
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