CN116958426A

CN116958426A - Virtual debugging configuration method, device, computer equipment and storage medium

Info

Publication number: CN116958426A
Application number: CN202310864900.XA
Authority: CN
Inventors: 刘震; 刘毅; 叶文东; 王定雪; 廖志文
Original assignee: Hymson Laser Technology Group Co Ltd
Current assignee: Hymson Laser Technology Group Co Ltd
Priority date: 2023-07-13
Filing date: 2023-07-13
Publication date: 2023-10-27

Abstract

The application relates to a virtual debugging configuration method, a virtual debugging configuration device, computer equipment and a storage medium. According to the method, under a manual creation mode, based on setting of the types of the electromechanical objects, differentiated setting of parameter configuration items and signal configuration items under various electromechanical objects is supported, determination of configuration content can be quickly achieved, association relation between the configuration content and a three-dimensional model component in a three-dimensional model system can be quickly established through a component selection control, based on the configuration content and the association relation, rigid bodies, kinematic pairs, actuators, running behavior codes and signals of the electromechanical objects corresponding to the three-dimensional model system in the virtual debugging platform can be generated based on the virtual debugging platform such as an MCD (micro-controller device), and the configuration efficiency and the accuracy are high. In the automatic creation mode, the simultaneous configuration of a plurality of electromechanical object types of a plurality of three-dimensional model components is supported, the configuration efficiency of a virtual debugging environment can be improved, and the efficiency is obviously increased in a debugging scene with a plurality of types and a plurality of execution elements such as large equipment.

Description

Virtual debugging configuration method, device, computer equipment and storage medium

Technical Field

The present application relates to the field of virtual debugging configuration, and in particular, to a virtual debugging configuration method, apparatus, computer device, storage medium, and computer program product.

Background

With the development of technology, a virtual debugging technology has emerged, which is to transfer a debugging process in a real environment into a digital world, for example, a three-dimensional model may be constructed in the digital world, and motion attributes and signals may be given to the three-dimensional model, and then communication is performed with a PLC (Programmable Logic Controller ) of an entity through a communication protocol, so as to verify automation of a device (an entity device corresponding to the three-dimensional model) and whether a PLC program meets design purposes.

Based on the appearance of virtual debugging technology, the on-site debugging time can be shortened, the problems of new design scheme, three-dimensional model motion interference and the like are verified, and the testing at each stage of production and manufacture can be supported, so that the research and development period of products can be greatly shortened.

However, the applicant finds that with the enlargement and intellectualization of the device, more and more components are required, and a lot of time is spent on configuring electromechanical objects and signals of the components, so that the configuration work is tedious, error is prone to occur, and the pull-down work efficiency is low.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a virtual debugging configuration method, apparatus, computer device, storage medium, and computer program product that enable efficient and rapid virtual debugging environment configuration.

In a first aspect, the present application provides a virtual debug configuration method applied to a computer device, where the computer device is used to connect to an external programmable logic controller, the method including:

manually creating a configuration window based on the computer device presentation;

responding to the selection operation of the electromechanical object type on the manual creation configuration window, and displaying the component selection control, the parameter configuration item and the signal configuration item matched with the selected electromechanical object type; wherein the electromechanical object type comprises at least one of servo equipment, cylinder equipment, a motor, a vacuum chuck, a sensor and a robot;

determining parameter configuration content and signal configuration content in response to configuration operations on the parameter configuration items and the signal configuration items;

responding to triggering operation aiming at a component selection control, displaying a constructed three-dimensional model system in a virtual debugging platform, and responding to selection operation of a three-dimensional model component in the three-dimensional model system, and establishing an association relation between the selected three-dimensional model component and content on a manual creation configuration window; wherein the three-dimensional model system comprises at least one three-dimensional model component, and the three-dimensional model component comprises at least one base member; manually creating content on the configuration window including the selected electromechanical object type, parameter configuration content and signal configuration content;

And generating rigid bodies, kinematic pairs, executors and run-time behavior codes of all electromechanical objects corresponding to the three-dimensional model system and signals in the virtual debugging platform according to the association relation between the selected three-dimensional model component and the content on the manual creation configuration window, wherein the signals are used for communicating with the programmable logic controller.

In one embodiment, generating rigid bodies, kinematic pairs, executors, runtime behavior codes and signals of electromechanical objects corresponding to the three-dimensional model system in the virtual debugging platform according to the association relation between the selected three-dimensional model component and the content on the manual creation configuration window comprises:

and responding to the determined creation operation performed on the manual creation configuration window, and generating rigid bodies, kinematic pairs, executors, runtime behavior codes and signals of all electromechanical objects corresponding to the three-dimensional model system in the virtual debugging platform according to the association relation between the selected three-dimensional model component and the content on the manual creation configuration window.

In one embodiment, when the selected electromechanical object type is any one of a servo device, a cylinder device and a vacuum chuck, a basic element selection control is displayed on the manual creation configuration window, and the method further comprises:

Responding to the triggering operation of the basic element selection control, and displaying the selected three-dimensional model component;

in response to a selection operation for a base member in the selected three-dimensional model component, associating the selected base member as a base member in the virtual debugging platform, manually creating content on the configuration window further includes a base member association result.

In one embodiment, manually creating a configuration window based on a computer device presentation includes:

displaying an electromechanical object creation interface based on the computer device;

in response to a selection operation of a manual creation mode on the electromechanical object creation interface, a manual creation configuration window is exposed.

In one embodiment, the parameter configuration items include a module name and a component name, and the parameter configuration items of the servo device include a servo pattern, a servo signal name, and a servo vector; and/or the parameter configuration items of the cylinder comprise a cylinder type, a cylinder control type, a cylinder stroke, a cylinder speed and a cylinder vector; and/or the parameter configuration items of the motor comprise a motor mode, a motor forward and reverse rotation attribute, a motor vector, a motor motion mode, a motor speed and a motor position; and/or parameter configuration items of the vacuum chuck include duration, coordinate system, and axis offset; and/or the parameter configuration items of the sensor comprise sensor types, sensor shapes, shape attributes and categories; and/or the parameter configuration items of the robot comprise robot axis numbers, robot axis vectors, axis selection, axis point configuration, robot point position configuration and point position newly-added configuration items.

In a second aspect, a virtual debug configuration method is provided, applied to a computer device, where the computer device is used to connect to an external programmable logic controller, the method includes:

automatically creating a configuration window based on the computer device presentation;

importing and identifying input-output signals in an input-output configuration table and names of at least one three-dimensional model component in response to an import operation for automatically creating the input-output configuration table on the configuration window;

establishing an association relationship between an input and output signal and at least one target three-dimensional model component in a virtual debugging platform based on the name of the three-dimensional model component; the target three-dimensional model component is a three-dimensional model component matched with the name of the three-dimensional model component in the input/output configuration table template in the three-dimensional model system on the virtual debugging platform;

and creating rigid bodies, kinematic pairs, executors and motion time behavior codes and signals of all electromechanical objects of the target three-dimensional model assembly in the virtual debugging platform according to the incidence relation of at least one target three-dimensional model assembly in the input and output signals and the virtual debugging platform, wherein the signals are used for communicating with a programmable logic controller.

In one embodiment, where the three-dimensional modeling system includes a driving member and a driven member, the method further includes:

And identifying the assembly relation of the three-dimensional model system, and associating the active part in the three-dimensional model system as a basic part of the electromechanical object based on the identification result of the assembly relation.

In one embodiment, automatically creating a configuration window based on a computer device presentation includes:

in response to a selection operation of an auto-create mode on the electromechanical object creation interface, an auto-create configuration window is exposed.

In a third aspect, there is provided a virtual debug configuration apparatus for use with a computer device, the computer device being for connection to an external programmable logic controller, the apparatus comprising:

a manual creation window display module for displaying a manual creation configuration window based on the computer device;

the electromechanical object configuration display module is used for responding to the selection operation of the electromechanical object types on the manual creation configuration window and displaying component selection controls, parameter configuration items and signal configuration items matched with the selected electromechanical object types; wherein the electromechanical object type comprises at least one of servo equipment, cylinder equipment, a motor, a vacuum chuck, a sensor and a robot;

the configuration content determining module is used for determining parameter configuration content and signal configuration content in response to configuration operation on the parameter configuration items and the signal configuration items;

The component selection association module is used for responding to the triggering operation aiming at the component selection control, displaying the constructed three-dimensional model system in the virtual debugging platform, responding to the selection operation of the three-dimensional model components in the three-dimensional model system, and establishing the association relation between the selected three-dimensional model components and the content on the manual creation configuration window; wherein the three-dimensional model system comprises at least one three-dimensional model component, and the three-dimensional model component comprises at least one base member; manually creating content on the configuration window including the selected electromechanical object type, parameter configuration content and signal configuration content;

the virtual environment configuration execution module is used for generating rigid bodies, kinematic pairs, executors and run-time behavior codes and signals of all electromechanical objects corresponding to the three-dimensional model system in the virtual debugging platform according to the association relation between the selected three-dimensional model component and the content on the manual creation configuration window, wherein the signals are signals used for communicating with the programmable logic controller.

In a fourth aspect, there is provided a virtual debug configuration apparatus for use with a computer device, the computer device being for connection to an external programmable logic controller, the apparatus comprising:

An automatic creation window display module for automatically creating a configuration window based on the computer device display;

a key information identification module for importing and identifying the input and output signals in the input and output configuration table and the names of at least one three-dimensional model component in response to an importing operation for automatically creating the input and output configuration table on the configuration window;

the association module is used for establishing an association relation between the input and output signals and at least one target three-dimensional model component in the virtual debugging platform based on the name of the three-dimensional model component; the target three-dimensional model component is a three-dimensional model component matched with the name of the three-dimensional model component in the input/output configuration table template in the three-dimensional model system on the virtual debugging platform;

the virtual environment automatic creation execution module is used for creating rigid bodies, kinematic pairs, executors and motion time behavior codes and signals of all electromechanical objects of the target three-dimensional model assembly in the virtual debugging platform according to the incidence relation between input and output signals and at least one target three-dimensional model assembly in the virtual debugging platform, wherein the signals are signals used for communicating with the programmable logic controller.

In a fifth aspect, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the virtual debug configuration method described above when the processor executes the computer program.

In a sixth aspect, a computer readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the virtual debug configuration method described above.

The virtual debugging configuration method, the virtual debugging configuration device, the computer equipment, the storage medium and the computer program product have at least the following beneficial effects:

by predefining the types of the electromechanical objects, the component selection control, the parameter configuration items and the signal configuration items matched with the corresponding components are displayed on the manual creation configuration window by selecting one type of electromechanical objects, and the parameter configuration items and the signal configuration items are displayed in a differentiated mode. And further determining the parameter configuration content and the signal configuration content in response to configuration operations on the parameter configuration items and the signal configuration items. And responding to the triggering operation aiming at the component selection control, displaying a constructed three-dimensional model system in the virtual debugging platform, responding to the selection operation of the three-dimensional model components in the three-dimensional model system, establishing the association relation between the selected three-dimensional model components and the content on the manually created configuration window, and determining the rigid body, the kinematic pair, the executor and the running behavior code and the signal of each electromechanical object corresponding to the three-dimensional model system in the virtual debugging platform based on the configuration content and the association relation, thereby completing the rapid configuration of the virtual debugging environment.

In an automatic creation mode, an input/output configuration table generated based on a template is imported, the input/output signals and names of at least one three-dimensional model component are identified for the I/O configuration table, an association relation between at least one target three-dimensional model component in a virtual debugging platform and the input/output signals is established based on name matching, rigid bodies, kinematic pairs, executors and motion behavior codes and signals of all electromechanical objects of the target three-dimensional model component are created, association between a PLC and a three-dimensional model system in the virtual debugging platform is established, and a virtual environment is provided for simulation debugging. In the mode, the simultaneous configuration of a plurality of electromechanical object types of a plurality of three-dimensional model components can be supported, the configuration efficiency of the virtual debugging environment can be further improved, and the method is particularly suitable for debugging scenes with a plurality of types and a plurality of execution elements such as large-scale equipment.

Drawings

FIG. 1a is a schematic diagram of a virtual debug configuration interface in a conventional example;

FIG. 1b is a schematic diagram of an interface for signal configuration in a virtual debug configuration in a conventional example;

FIG. 2 is an application environment diagram of a virtual debug configuration method in one embodiment;

FIG. 3 is a flow diagram of a method for virtual debug configuration in a manual creation mode in one embodiment;

FIG. 4a is one of the schematics of manually creating a configuration window in one embodiment;

FIG. 4b is a second schematic diagram of manually creating a configuration window in one embodiment;

FIG. 4c is a third schematic diagram of manually creating a configuration window in one embodiment;

FIG. 4d is a fourth schematic diagram of manually creating a configuration window in one embodiment;

FIG. 4e is a fifth schematic diagram of manually creating a configuration window in one embodiment;

FIG. 4f is a sixth schematic diagram of manually creating a configuration window in one embodiment;

FIG. 5 is a flow diagram of a virtual debug configuration method in an automatic creation mode in one embodiment;

FIG. 6 is a schematic diagram of automatically creating a configuration window in one embodiment;

FIG. 7 is a block diagram of a virtual debug configuration apparatus in a manual creation mode in one embodiment;

FIG. 8 is a block diagram of a virtual debug configuration apparatus in an automatic creation mode in one embodiment;

fig. 9 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

The present application 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 application 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 application.

In the conventional art, as shown in fig. 1a, to perform the configuration of several simple three-dimensional models in the drawing, the following needs to be performed for each three-dimensional model member: the rigid body, collision body, object receiver, object source, kinematic pair and constraint, sensor and actuator (the sensor attribute and transmission path of which can be configured), motion time behavior, signal connection and the like of the basic electromechanical object are obvious that the configuration workload is great for a simple three-dimensional model system like that in fig. 1a, when the system is in communication with an external PLC, as shown in fig. 1b, signal configuration is often needed by means of an additional tool for one component in the three-dimensional model system, and the configuration content of mapping the three-dimensional model and the external PLC signals in a virtual debugging platform like MCD is great, and the system is easy to make mistakes.

When configuring a virtual debugging environment of a large-scale device, as a result of many execution elements such as servo and cylinder, as shown in fig. 1a and 1b, it takes a lot of time to configure electromechanical objects and signals, and the configuration is cumbersome, repeated work is more, and errors are easy to occur, resulting in a decrease in work efficiency.

In view of this, embodiments of the present application provide a virtual debugging configuration method, apparatus, computer device, storage medium, and computer program product, so as to improve configuration efficiency, and improve configuration convenience by simplifying a configuration interface, and avoid errors. In addition, a rapid creation configuration of multiple three-dimensional model components, multiple electromechanical objects is supported.

The virtual debugging configuration method provided by the embodiment of the application can be applied to an application environment shown in fig. 2. Wherein a Programmable Logic Controller (PLC) 102 communicates with a computer device 104 based on an OPC protocol. The computer device 104 may support manual and automatic creation of configurations for a virtual debug environment by performing the steps of the virtual debug configuration method described in the embodiments below. Taking manual creation configuration as an example, the computer device 104 displays a manual creation configuration window based on a display screen thereof, and displays component selection controls, parameter configuration items and signal configuration items matched with the selected electromechanical object type by responding to selection operation on the electromechanical object type on the manual creation configuration window, wherein the electromechanical object type comprises at least one of servo devices, cylinder devices, motors, vacuum chucks, sensors and robots, and the electromechanical objects are electromechanical objects with large usage in an intelligent manufacturing scene and complex configuration in a traditional configuration mode. In the application, by selecting a type of electromechanical object, a component selection control, a parameter configuration item and a signal configuration item which are matched with the corresponding component selection control, parameter configuration item and signal configuration item are displayed on the manual creation configuration window, which is different from a general interface in a traditional configuration mode. On the basis, the parameter configuration content and the signal configuration content are further determined in response to configuration operations on the parameter configuration items and the signal configuration items. In addition, a three-dimensional model system constructed in the virtual debugging platform is displayed in response to triggering operation for a component selection control, an association relation between the selected three-dimensional model component and content on a manually created configuration window is established in response to selection operation for the three-dimensional model component in the three-dimensional model system, and based on the configuration content and the association relation, rigid bodies, kinematic pairs, executors and runtime behavior codes and signals of all electromechanical objects corresponding to the three-dimensional model system in the virtual debugging platform can be determined, wherein the signals are signals for communication with a programmable logic controller, so that quick configuration of the virtual debugging environment is completed. The terminal 102 may be, but is not limited to, various personal computers, notebook computers, tablet computers, etc.

In one embodiment, as shown in fig. 3, a first aspect of the present application provides a virtual debug configuration method applied to a computer device 104, where the computer device 104 is configured to connect to an external programmable logic controller 102, the method comprising:

s302, manually creating a configuration window based on a computer device presentation. The presentation of the manually created configuration window may be based on a display of the computer device, and may be displayed in a contracted area on the screen, for example, the manually created configuration window may be displayed in a floating window on a display interface of the virtual debugging platform, or may be displayed in a designated area of the display interface of the virtual debugging platform (e.g., a contracted area at the edge of the screen). The method is beneficial to viewing the three-dimensional model system on the display interface of the virtual debugging platform when the configuration window is manually created to perform configuration operation. It should be understood that a three-dimensional model system refers to a system having at least two basic components.

S304, responding to the selection operation of the electromechanical object type on the manual creation configuration window, and displaying the component selection control, the parameter configuration item and the signal configuration item matched with the selected electromechanical object type; wherein the electromechanical object type includes at least one of a servo device, a cylinder device, a motor, a vacuum chuck, a sensor, and a robot. For intelligent manufacturing, a large number of servo equipment, cylinder equipment, motors, vacuum chucks, sensors, robots and other elements are usually used, and based on the characteristics, selectable items of electromechanical objects are provided, so that quick configuration of any electromechanical object in the six types is supported. The "selection operation" in the embodiment of the present application includes, but is not limited to, clicking a control, selecting a drop-down menu, inputting content, hooking, dragging to a designated area, and the like. Optionally, the selection operation of the electromechanical object type may be implemented by a pull-down menu, where the selectable contents of the pull-down menu include "servo" (corresponding to a servo device), air cylinder (corresponding to an air cylinder device), "normal motor" (corresponding to a motor), "vacuum chuck," "sensor," and "robot" as shown in fig. 4a-4f, and by presetting the pull-down menu selectable items in advance, the user can quickly select the electromechanical object type, thereby improving the configuration efficiency.

The component selection control may be, as shown in fig. 4a-4f, providing a link entry, and triggering the selection interface presentation of the three-dimensional model component by triggering the component selection control, which is "selecting an object" (it should be noted that the control name may be determined based on user habits). The parameter configuration item may be understood as parameters of the three-dimensional model that are required to be configured in addition to the signal configuration item. The configuration interfaces of each type of electromechanical object can be displayed in a differentiated mode, as shown in fig. 4a-4f, so that a user focuses on the key content of each type of electromechanical object, the configuration interfaces of each type of electromechanical object are simplified, and the configuration efficiency is improved.

S306, determining parameter configuration content and signal configuration content in response to configuration operation on the parameter configuration items and the signal configuration items. Configuration operations on parameter configuration items may include, but are not limited to, drop down menu mode, input content, association operations, and the like. The configuration operation modes of the signal configuration items include, but are not limited to, modes of inputting content, importing a signal configuration table and the like. For example, signal configuration may be achieved by inputting a signal type and a signal name as shown in fig. 4a-4 f. Of course, the configuration may be implemented by introducing a PLC signal configuration table, and the PLC signal configuration table may preset its template to match the configuration dimension of the signal configuration item. For example, the template should include at least two dimensions of data for the signal type and signal name. The process of determining the parameter configuration content and the signal configuration content may be performed by capturing the parameter configuration content and the signal configuration content in the background and storing them for creation of the virtual debug environment in response to the front-end operation.

S308, responding to the triggering operation of the component selection control, displaying the constructed three-dimensional model system in the virtual debugging platform, and responding to the selection operation of the three-dimensional model components in the three-dimensional model system, and establishing the association relation between the selected three-dimensional model components and the content on the manual creation configuration window.

Wherein the three-dimensional model system comprises at least one three-dimensional model component, and the three-dimensional model component comprises at least one base member; the content on the manual creation configuration window includes the selected electromechanical object type, parameter configuration content, and signal configuration content.

By a triggering operation of the component selection control (the triggering operation includes but is not limited to clicking on the "select object" control, etc.), the three-dimensional model system that the virtual debugging platform has currently opened can be displayed, for example, when a manually created configuration window is displayed on a display interface of the three-dimensional model system in a floating window manner, the three-dimensional model system can be displayed for selection by a user by minimizing the manually created configuration window. Of course, the three-dimensional model system may also be presented by other means, such as interface jumps. In the event that the user selects one of the three-dimensional model components, the computer device 104 establishes an association of the three-dimensional model component with the content on the manually created configuration window in response to the operation.

It should be understood that the association relationship may be established before or after the configuration operation on the parameter configuration item and the signal configuration item. And after the association relation is established, if the configuration operation of each parameter configuration item and each signal configuration item in the manual creation configuration window exists, updating the content on the manual creation configuration window and the association relation between the three-dimensional model component and the content on the manual creation configuration window.

And S310, generating rigid bodies, kinematic pairs, executors and run-time behavior codes and signals of all electromechanical objects corresponding to the three-dimensional model system in the virtual debugging platform according to the association relation between the selected three-dimensional model component and the content on the manual creation configuration window, wherein the signals are used for communicating with the programmable logic controller.

The rigid body is the basic components in the three-dimensional model system, is endowed with physical properties such as quality and the like, does not deform under a stress state, and has unchanged relative positions of each point inside, and the creation of the rigid body provides a foundation for the simulation of the three-dimensional model system. The kinematic pair is two movable links which are in direct contact and can generate relative motion, the virtual debugging platform is taken as an MCD platform as an example, the kinematic pair is a basis of motion in the MCD, the creation of the kinematic pair provides a basis for the motion of each basic component in the three-dimensional model system, the basis of the kinematic pair is a rigid body, the creation process of the kinematic pair is limited by constraint conditions, for example, the two kinematic pairs which are in mutual linkage cannot be provided with collision bodies, and the limitation of the constraint conditions such as motion cannot be realized due to the occurrence of interference vibration is avoided.

The creation actuator can realize vector motion control by using speed control, position control and a motion pair of a transmission surface corresponding to a sensor so as to realize different control on basic components. The method comprises the steps of creating signals to realize the adaptation among the kinematic pair, the executor and the PLC signals, so as to establish the association relation between the PLC and the three-dimensional model system in the virtual debugging platform, and building a virtual debugging environment.

Specifically, according to the virtual debugging configuration method provided by the embodiment of the application, through predefining the types of the electromechanical objects, through selecting one type of electromechanical objects, component selection controls, parameter configuration items and signal configuration items which are matched with the corresponding components are displayed on the manual creation configuration window, and the parameter configuration items and the signal configuration items are displayed in a differentiated mode. And further determining the parameter configuration content and the signal configuration content in response to configuration operations on the parameter configuration items and the signal configuration items. And responding to the triggering operation aiming at the component selection control, displaying a constructed three-dimensional model system in the virtual debugging platform, responding to the selection operation of the three-dimensional model components in the three-dimensional model system, establishing the association relation between the selected three-dimensional model components and the content on the manually created configuration window, and determining the rigid body, the kinematic pair, the executor and the running behavior code and the signal of each electromechanical object corresponding to the three-dimensional model system in the virtual debugging platform based on the configuration content and the association relation, thereby completing the rapid configuration of the virtual debugging environment.

In order to improve the configuration flexibility, when a user performs a determining and creating operation on a manual creating and configuring window, a rigid body, a kinematic pair, an executor, a runtime behavior code and a signal of each electromechanical object corresponding to the three-dimensional model system are generated in the virtual debugging platform. Before determining, the user can flexibly input and modify the parameter configuration content and the signal configuration content on the manual creation configuration window, and can avoid the waste of calculation resources caused by each modification.

In one embodiment, the method further comprises:

And storing the rigid body, the kinematic pair, the executor, the running behavior code and the signals of each electromechanical object corresponding to the three-dimensional model system generated last time.

And responding to the selection operation of the electromechanical object type on the manual creation configuration window, and displaying the component selection control, the parameter configuration item and the signal configuration item matched with the selected electromechanical object type, wherein the association relation between the selected three-dimensional model component and the content on the manual creation configuration window, the parameter configuration content and the signal configuration content default to the last configured content. The user is supported to modify on the basis so as to reduce the configuration quantity of secondary configuration of the virtual environment.

When the virtual debugging result does not meet the design expectation, the user modifies the virtual debugging environment based on the original virtual environment configuration, for example, if the signal does not meet the requirement, the reconfiguration of the virtual debugging environment can be realized by changing the signal, and the configuration time is reduced.

Wherein, when the selected electromechanical object type is any one of servo equipment, cylinder equipment and vacuum chuck, the kinematic pair is divided into two components: the two components are a basic component and a connecting component respectively, the basic component is a driving component, and the connecting component is a driven component.

In one embodiment, the manual creation configuration window has a base selection control exposed thereon, the method further comprising:

and responding to the triggering operation of the basic element selection control, and displaying the selected three-dimensional model component. The mode of displaying the three-dimensional model component can be realized by displaying the whole diagram of the three-dimensional model system or by displaying the local position of the three-dimensional model component.

The master-slave relation between the three-dimensional models of the associated multiple execution pieces is determined by selecting the master component and the slave component of the kinematic pair in the basic component, so that a foundation is provided for simulation realization. Optionally, a base member not associated as a base member may act as a follower in a virtual debug environment.

an electromechanical object creation interface is presented based on a computer device. And displaying the electromechanical object creation interface by defining an entry control on a main interface of a virtual debugging platform such as an MCD and the like and triggering the entry control.

In response to a selection operation of a manual creation mode on the electromechanical object creation interface, a manual creation configuration window is exposed. The electromechanical object creation interface can include a manual creation control, an automatic creation control, and the like. The selection operation of the manual creation mode may be performed by clicking the "manual generation" control, or may be performed by other manners such as a hook or a drop-down menu selection.

And by performing operations such as control clicking and the like on the electromechanical object creation interface, the selection of a manual creation mode is realized, and the display of the manual creation configuration window is triggered. The operation can be performed based on the MCD virtual debugging main interface, the switching among a plurality of software is not needed, the operation is convenient, and the configuration efficiency of the virtual debugging environment is improved.

In one embodiment, as shown in FIGS. 4a-4f, the parameter configuration items include a module name and a component name, and the parameter configuration items of the servo device include a servo pattern, a servo signal name, and a servo vector; and/or the parameter configuration items of the cylinder comprise a cylinder type, a cylinder control type, a cylinder stroke, a cylinder speed and a cylinder vector; and/or the parameter configuration items of the motor comprise a motor mode, a motor forward and reverse rotation attribute, a motor vector, a motor motion mode, a motor speed and a motor position; and/or parameter configuration items of the vacuum chuck include duration, coordinate system, and axis offset; and/or the parameter configuration items of the sensor comprise sensor types, sensor shapes, shape attributes and categories; and/or the parameter configuration items of the robot comprise robot axis numbers, robot axis vectors, axis selection, axis point configuration, robot point position configuration and point position newly-added configuration items.

It should be noted that, by providing the parameter configuration item settings shown in fig. 4a-4f, the application differentiates the content of the configuration item under each electromechanical object type, and greatly simplifies the configuration interface of each electromechanical object and improves the configuration efficiency of each electromechanical object on the premise of meeting the configuration requirement of the virtual debugging environment. In addition, by selecting a plurality of parameter configuration items in fig. 4a-4f in a pull-down menu mode, the configuration can be completed without inputting content by a user, for example, by rapidly selecting the pull-down items, for example, by configuring the servo mode in fig. 4a to include linearity and nonlinearity, and by providing the two pull-down items, the configuration of the parameter can be completed only by selecting one of the pull-down items, which is fast and convenient. The advantageous effects of the parameter configuration items shown in other figures in the pull-down menu selection manner are not described in detail herein.

In addition, for the configuration of the vector, the method can be used for defining the size and the direction of the vector in a coordinate system in a three-dimensional model system by providing a selection link, and is related to the three-dimensional model, so that the background creation of an actuator is facilitated.

For the parameter configuration of module name, component name, content, such as E00 and DD in fig. 4a, may be automatically generated and displayed based on naming rules, and the content supports modification. Or may be content directly input by the user.

In addition, regarding the configuration of the cylinder stroke, the cylinder speed, the motor speed, the offset, the sensor type, etc. in fig. 4b, 4c, 4d, and 4e, the configuration of parameters can be performed by inputting contents for such parameter configuration items, considering that the difference of requirements under different virtual debugging environments is large. For the motor movement mode, parameter configuration can be realized by providing selectable items of straight line and circle and by a hooking mode.

As shown in fig. 4f, for robots, the configuration and vector configuration of the axis points of each axis are provided based on the number of axes, and the new addition of the robot point positions is supported, so that the rapid configuration of robots of different models is supported, the configuration efficiency is improved, and the universality is improved.

In one embodiment, a virtual debug configuration method is provided, applied to a computer device, and the computer device is used for connecting an external programmable logic controller, as shown in fig. 5, and the method includes:

s502, automatically creating a configuration window based on the computer equipment presentation. For the implementation of automatically creating the configuration window, reference may be made to the implementation of manually creating the configuration window for presentation, which is not described herein.

S504, importing and identifying the input and output signals in the input and output configuration table and the names of at least one three-dimensional model component in response to the importing operation for automatically creating the input and output configuration table on the configuration window. The input-output configuration table is a table generated by inputting contents based on the I/O configuration table template. The data dimension in the I/O configuration table template can be determined by referring to the dimension of manually creating the electromechanical object type, the component selection control, the parameter configuration item and the signal configuration item on the configuration window, so that the association relationship between the PLC signal and the three-dimensional model system can be established, and a simulation basis is provided. For implementation of the import operation, the import operation of the input/output configuration table may be triggered by selection of the "IO table automatic import" control shown in fig. 6.

S506, establishing an association relationship between an input and output signal and at least one target three-dimensional model component in the virtual debugging platform based on the name of the three-dimensional model component; the target three-dimensional model component is a three-dimensional model component matched with the name of the three-dimensional model component in the input/output configuration table template in the three-dimensional model system on the virtual debugging platform. Based on name matching, determining three-dimensional model components with consistent names as targets, and when the names of a plurality of three-dimensional model components are in the input/output configuration table, determining the association relationship between the input/output signals and the plurality of target three-dimensional model components in the virtual debugging platform, namely supporting simultaneous creation of multi-model component association relationship.

S508, creating rigid bodies, kinematic pairs, executors and motion time behavior codes and signals of all electromechanical objects of the target three-dimensional model component in the virtual debugging platform according to the incidence relation of at least one target three-dimensional model component in the input and output signals and the virtual debugging platform, wherein the signals are signals used for communicating with a programmable logic controller.

Based on the association relation, the rigid body, the kinematic pair, the executor and the motion behavior code and signal of each electromechanical object of the target three-dimensional model component are created in the virtual debugging platform by analyzing the target three-dimensional model component, so that virtual debugging configuration can be realized quickly, simultaneous configuration of a plurality of three-dimensional model components and multiple electromechanical objects is supported, and configuration efficiency is greatly improved.

and identifying the assembly relation of the three-dimensional model system, and associating the active part in the three-dimensional model system as a basic part of the electromechanical object based on the identification result of the assembly relation. The identification of the assembly relationship can be achieved by identification of the type of basic component, for example, in the case of a conveyor system, the motor is the driving element and the conveyor belt is the driven element and is driven to rotate by the motor. It is also possible that for two connected base elements, the base element closer to the motor is at the rear end of the drive chain with respect to the base element farther from the motor, depending on the distance relationship of the base element to the drive source of the motor or the like, and serves as a follower.

By identifying the assembly relation, the driving part in the three-dimensional model system can be identified and correlated to be a basic part of the kinematic pair, so that a foundation is provided for simulation.

In one embodiment, according to the association relation between the input and output signals and at least one target three-dimensional model component in the virtual debugging platform, the directions of the movement of all electromechanical objects of the target three-dimensional model component in the virtual debugging environment are associated. By correlating the direction of motion, a vector basis can be provided for the creation of the actuator.

Similar to the manual creation of the presentation of the configuration window, the automatic creation of the presentation of the configuration window may be implemented by floating the window display or displaying the designated area on the electromechanical object creation interface, and will not be described herein. For the selection operation manner of the automatic creation mode, the description may also be made with reference to the selection operation manner of the manual creation configuration window.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a virtual debugging configuration device for realizing the above-mentioned virtual debugging configuration method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the virtual debugging configuration device or devices provided below may be referred to the limitation of the virtual debugging configuration method hereinabove, and will not be repeated here.

In one embodiment, as shown in fig. 7, there is provided a virtual debug configuration apparatus applied to a computer device, and the computer device is used to connect to an external programmable logic controller, the apparatus comprising: a manual creation window presentation module 702, an electromechanical object configuration display module 704, a configuration content determination module 706, a component selection association module 708, and a virtual environment configuration execution module 710.

Wherein the manual creation window presentation module 702 presents the manual creation configuration window based on the computer device.

The electromechanical object configuration display module 704 is used for responding to the selection operation of the electromechanical object types on the manual creation configuration window and displaying component selection controls, parameter configuration items and signal configuration items matched with the selected electromechanical object types; wherein the electromechanical object type includes at least one of a servo device, a cylinder device, a motor, a vacuum chuck, a sensor, and a robot. The configuration content determination module 706 determines and sends the parameter configuration content and the signal configuration content to the component selection association module in response to a configuration operation on the parameter configuration item and the signal configuration item. The component selection association module 708 displays a three-dimensional model system constructed in the virtual debugging platform in response to a triggering operation for a component selection control, and establishes an association relationship between the selected three-dimensional model component and content on a manual creation configuration window in response to a selection operation for a three-dimensional model component in the three-dimensional model system; wherein the three-dimensional model system comprises at least one three-dimensional model component, and the three-dimensional model component comprises at least one base member; the content on the manual creation configuration window includes the selected electromechanical object type, parameter configuration content, and signal configuration content.

Finally, the virtual environment configuration execution module 710 generates rigid bodies, kinematic pairs, executors, runtime behavior codes and signals of the electromechanical objects corresponding to the three-dimensional model system in the virtual debugging platform according to the association relation between the selected three-dimensional model component and the content on the manual creation configuration window, wherein the signals are signals used for communicating with the programmable logic controller.

The explanation of each noun in the virtual debug configuration apparatus can be referred to the description of the related method embodiments in the manual creation mode, and will not be repeated here. Through the virtual debugging device, based on a visual configuration interface, the configuration interfaces of six general electromechanical objects such as servo equipment, cylinder equipment, motors, vacuum suction cups, sensors and robots which are commonly used in an intelligent manufacturing scene are designed, parameter configuration items including but not limited to modes, signal names, vectors and the like are defined by combining key parameters and signal conditions of all electromechanical objects, and an association relation which is basically constructed in a three-dimensional model system is built in a mode of directly selecting the interfaces, so that a rigid body, a kinematic pair, an actuator and a runtime behavior code and signals of all electromechanical objects corresponding to the three-dimensional model system are built, a virtual debugging environment is built, the association relation between the three-dimensional model system and an external Programmable Logic Controller (PLC) in the virtual debugging platform is built, and when signals are loaded through the PLC, the three-dimensional model system can be driven to simulate the running process of entity equipment (entity equipment/system corresponding to the three-dimensional model system) based on the built virtual debugging environment in the virtual debugging platform (such as an NX MCD).

In one implementation, the virtual environment configuration execution module 710 includes:

and the safety creation execution unit is used for responding to the determination creation operation performed on the manual creation configuration window and generating rigid bodies, kinematic pairs, executors, running behavior codes and signals of all electromechanical objects corresponding to the three-dimensional model system in the virtual debugging platform according to the association relation between the selected three-dimensional model component and the content on the manual creation configuration window.

In one embodiment, when the selected electromechanical object type is any one of a servo device, a cylinder device and a vacuum chuck, a basic element selection control is displayed on the manual creation configuration window, and the device further comprises:

the basic element selection triggering module is used for responding to the triggering operation of the basic element selection control and displaying the selected three-dimensional model component;

and the basic component attribute configuration module is used for responding to the selection operation of the basic components in the selected three-dimensional model assembly, associating the selected basic components as basic components in the virtual debugging platform, and manually creating the content on the configuration window and further comprising basic component association results.

In one embodiment, the manual creation window presentation module 702 includes:

A main creation interface display unit for displaying an electromechanical object creation interface based on the computer device;

and the manual creation window selection display unit is used for displaying the manual creation configuration window in response to the selection operation of the manual creation mode on the electromechanical object creation interface.

In one embodiment, a virtual debug configuration apparatus is provided, applied to a computer device, and the computer device is used for connecting an external programmable logic controller, as shown in fig. 8, the apparatus includes: an automatically created window presentation module 802, a key information identification module 804, an association module 806, and a virtual environment automatic creation execution module 808.

Wherein the auto-create window presentation module 802 automatically creates a configuration window based on the computer device presentation; the critical information identification module 804 imports and identifies the input output signals and names of at least one three-dimensional model component in the input output configuration table in response to importation operations for automatically creating the input output configuration table on the configuration window. The association module 806 establishes an association relationship between the input and output signals and at least one target three-dimensional model component in the virtual debugging platform based on the names of the three-dimensional model components. The target three-dimensional model component is a three-dimensional model component matched with the name of the three-dimensional model component in the input/output configuration table template in the three-dimensional model system on the virtual debugging platform. The virtual environment automatic creation execution module 808 creates rigid bodies, kinematic pairs, actuators, motion time behavior codes and signals of each electromechanical object of the target three-dimensional model component in the virtual debugging platform according to the association relation of the input and output signals and at least one target three-dimensional model component in the virtual debugging platform, wherein the signals are signals for communicating with the programmable logic controller.

In one embodiment, where the three-dimensional modeling system includes a driving member and a driven member, the apparatus further includes:

the basic element association module is used for identifying the assembly relation of the three-dimensional model system and associating the active element in the three-dimensional model system as the basic element of the electromechanical object based on the identification result of the assembly relation.

In one embodiment, the virtual debug configuration apparatus further includes:

and the motion direction association module is used for associating the motion direction of each electromechanical object of the target three-dimensional model assembly in the virtual debugging environment according to the association relation between the input and output signals and at least one target three-dimensional model assembly in the virtual debugging platform.

In one embodiment, the automatic creation of window presentation module 802 includes:

an automatic creation window selection display unit for displaying an automatic creation configuration window in response to a selection operation of an automatic creation mode on the electromechanical object creation interface.

The respective modules in the above-described virtual debug configuration apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules. Moreover, it should be noted that the virtual debugging device provided in the embodiment of the present application may further include other units or modules to execute other steps in the above method embodiment and implement corresponding functions, which are not described herein.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 9. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program, when executed by a processor, implements a virtual debug configuration method. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by persons skilled in the art that the architecture shown in fig. 9 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements are applicable, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, where the memory stores a computer program, and the processor implements some or all of the steps in the above embodiments of the virtual debug configuration method when executing the computer program, so as to implement corresponding functions and beneficial effects, which are not described herein.

In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, where the computer program, when executed by a processor, implements some or all of the steps in the above embodiments of the virtual debug configuration method, so as to implement corresponding functions and beneficial effects, which are not described herein.

In one embodiment, a computer program product is provided, which includes a computer program, where the computer program when executed by a processor implements some or all of the steps in the above embodiments of the virtual debug configuration method, so as to implement corresponding functions and beneficial effects, which are not described herein in detail.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A virtual debug configuration method applied to a computer device, the computer device being configured to connect to an external programmable logic controller, the method comprising:

responding to the selection operation of the electromechanical object type on the manual creation configuration window, and displaying component selection controls, parameter configuration items and signal configuration items matched with the selected electromechanical object type; wherein the electromechanical object type comprises at least one of a servo device, a cylinder device, a motor, a vacuum chuck, a sensor and a robot;

responding to the triggering operation of the component selection control, displaying a constructed three-dimensional model system in a virtual debugging platform, and responding to the selection operation of a three-dimensional model component in the three-dimensional model system, and establishing the association relation between the selected three-dimensional model component and the content on the manual creation configuration window; wherein the three-dimensional model system comprises at least one three-dimensional model component, and the three-dimensional model component comprises at least one base member; the content on the manual creation configuration window comprises the selected electromechanical object type, parameter configuration content and signal configuration content;

2. The method according to claim 1, wherein generating, in the virtual debugging platform, rigid bodies, kinematic pairs, actuators, runtime behavior codes and signals of the electromechanical objects corresponding to the three-dimensional model system according to the association relation between the selected three-dimensional model component and the content on the manually created configuration window comprises:

And responding to the determined creation operation performed on the manual creation configuration window, and generating rigid bodies, kinematic pairs, executors, running behavior codes and signals of all electromechanical objects corresponding to the three-dimensional model system in the virtual debugging platform according to the association relation between the selected three-dimensional model component and the content on the manual creation configuration window.

3. The method of claim 1, wherein the manual creation configuration window has a base selection control exposed thereon when the selected electromechanical object type is any one of a servo device, a cylinder device, and a vacuum chuck, the method further comprising:

and in response to the selection operation on the basic components in the selected three-dimensional model assembly, associating the selected basic components as basic components in a virtual debugging platform, wherein the content on the manually created configuration window further comprises basic component association results.

4. The method of claim 1, wherein the manually creating a configuration window based on the computer device presentation comprises:

Presenting an electromechanical object creation interface based on the computer device;

in response to a selection operation of a manual creation mode on the electromechanical object creation interface, a manual creation configuration window is presented.

5. The method of claim 1, wherein the parameter configuration items include a module name and a component name, and the parameter configuration items of the servo device include a servo pattern, a servo signal name, and a servo vector; and/or the parameter configuration items of the cylinder comprise a cylinder type, a cylinder control type, a cylinder stroke, a cylinder speed and a cylinder vector; and/or the parameter configuration items of the motor comprise a motor mode, a motor forward and reverse rotation attribute, a motor vector, a motor motion mode, a motor speed and a motor position; and/or parameter configuration items of the vacuum chuck include duration, coordinate system and axis offset; and/or the parameter configuration items of the sensor comprise sensor types, sensor shapes, shape attributes and categories; and/or the parameter configuration items of the robot comprise robot axis numbers, vectors of robot axes, axis selection, axis point configuration, robot point position configuration and point position newly-added configuration items.

6. A virtual debug configuration method applied to a computer device, the computer device being configured to connect to an external programmable logic controller, the method comprising:

importing and identifying input-output signals and names of at least one three-dimensional model component in an input-output configuration table in response to an import operation for the input-output configuration table on the automatically created configuration window;

establishing an association relationship between the input and output signals and at least one target three-dimensional model component in a virtual debugging platform based on the name of the three-dimensional model component; the target three-dimensional model component is a three-dimensional model component matched with the name of the three-dimensional model component in the input/output configuration table template in the three-dimensional model system on the virtual debugging platform;

and creating rigid bodies, kinematic pairs, executors and motion time behavior codes and signals of all electromechanical objects of the target three-dimensional model assembly in the virtual debugging platform according to the incidence relation of the input and output signals and at least one target three-dimensional model assembly in the virtual debugging platform, wherein the signals are used for communicating with the programmable logic controller.

7. The method of claim 6, wherein in the case where the three-dimensional model system includes a driving member and a driven member, the method further comprises:

8. The method of claim 6, wherein automatically creating a configuration window based on the computer device presentation comprises:

in response to a selection operation of an automatic creation mode on the electromechanical object creation interface, an automatic creation configuration window is exposed.

9. A virtual debug configuration apparatus for use with a computer device, the computer device being configured to connect to an external programmable logic controller, the apparatus comprising:

a manual creation window presentation module for presenting a manual creation configuration window based on the computer device;

the electromechanical object configuration display module is used for responding to the selection operation of the electromechanical object types on the manual creation configuration window and displaying component selection controls, parameter configuration items and signal configuration items matched with the selected electromechanical object types; wherein the electromechanical object type comprises at least one of a servo device, a cylinder device, a motor, a vacuum chuck, a sensor and a robot;

the component selection association module is used for responding to the triggering operation of the component selection control, displaying a three-dimensional model system constructed in the virtual debugging platform, responding to the selection operation of the three-dimensional model components in the three-dimensional model system, and establishing the association relation between the selected three-dimensional model components and the content on the manual creation configuration window; wherein the three-dimensional model system comprises at least one three-dimensional model component, and the three-dimensional model component comprises at least one base member; the content on the manual creation configuration window comprises the selected electromechanical object type, parameter configuration content and signal configuration content;

and the virtual environment configuration execution module is used for generating rigid bodies, kinematic pairs, executors and run-time behavior codes of all electromechanical objects corresponding to the three-dimensional model system and signals in the virtual debugging platform according to the association relation between the selected three-dimensional model component and the content on the manual creation configuration window, wherein the signals are used for communicating with the programmable logic controller.

10. A virtual debug configuration apparatus for use with a computer device, the computer device being configured to connect to an external programmable logic controller, the apparatus comprising:

a key information identification module, configured to, in response to an import operation for an input/output configuration table on the auto-create configuration window, import and identify an input/output signal and a name of at least one three-dimensional model component in the input/output configuration table;

the virtual environment automatic creation execution module is used for creating rigid bodies, kinematic pairs, executors and motion time behavior codes and signals of all electromechanical objects of the target three-dimensional model assembly in the virtual debugging platform according to the incidence relation of the input and output signals and at least one target three-dimensional model assembly in the virtual debugging platform, wherein the signals are signals used for communicating with the programmable logic controller.

11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.

12. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 8.