CN117496786B - Motion control training method and system based on digital twin - Google Patents

Abstract

The invention is suitable for the technical field of electromechanical practical training, and provides a digital twin-based motion control practical training method and a digital twin-based motion control practical training system, wherein the digital twin-based motion control practical training method comprises the following steps of: receiving a virtual device selection instruction input by a user, and building a virtual simulation model in a display window according to the virtual device selection instruction; generating a virtual device to-be-programmed popup, wherein the virtual device to-be-programmed popup comprises the name of the virtual device in the virtual simulation model; receiving a virtual device name selection instruction, generating a device programming page, and receiving device programming information input by a user; receiving an equipment programming completion instruction input by a user, generating an electrical wiring page and a simulation model programming page, and receiving electrical wiring information and simulation model programming information; and generating an action control panel according to the electrical wiring information and the simulation model programming information, receiving an action control command input by a user, and executing corresponding actions by the simulation model. The actual electric wiring and programming control capability of students are exercised through the virtual equipment, and the teaching cost is greatly reduced.

Description

Motion control training method and system based on digital twin

Technical field

The invention relates to the technical field of electromechanical training, and specifically to a motion control training method and system based on digital twins.

Background technique

It should be noted that when conducting automation training and teaching, the largest expenditure is the body of mechanical and electrical equipment. The minimum investment for a set of comprehensive industrial robot training equipment is about 250,000, and it can only be used by 1 or 2 people at the same time, resulting in per capita teaching. The cost is high, and because students are not proficient in using the training equipment, the training equipment is damaged during use, and the maintenance cost is high. Therefore, it is necessary to provide a motion control training method and system based on digital twins to solve the above problems.

Contents of the invention

In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a motion control training method and system based on digital twins to solve the problems existing in the above background technology.

The present invention is implemented as follows: a motion control training method based on digital twins. The method includes the following steps:

Receive the virtual device selection instruction input by the user, and build a virtual simulation model in the display window according to the virtual device selection instruction, where the virtual simulation model is composed of the virtual device selected by the user;

Generate a pop-up window for a virtual device to be programmed, where the pop-up window for a virtual device to be programmed contains the names of all virtual devices in the virtual simulation model;

Receive virtual device name selection instructions, generate a device programming page, receive device programming information input by the user, and display actions on the corresponding virtual device;

Receive the device programming completion instructions input by the user, generate the electrical wiring page and simulation model programming page, and receive the electrical wiring information and simulation model programming information input by the user;

An action control panel is generated based on the electrical wiring information and simulation model programming information, receives action control commands input by the user, and the simulation model performs corresponding actions.

As a further solution of the present invention: the step of receiving a virtual device selection instruction input by the user and building a virtual simulation model in the display window according to the virtual device selection instruction specifically includes:

Receive a virtual device selection instruction input by the user, the virtual device selection instruction includes several virtual device names, and each virtual device name corresponds to a location coordinate;

According to the position coordinates, the corresponding virtual device is displayed in the display window and a virtual simulation model is built.

As a further solution of the present invention: the step of receiving the device programming information input by the user and displaying the actions of the corresponding virtual device specifically includes:

Receive device programming information input by the user, and determine device actions, action parameters, and action sequences based on the device programming information;

According to the device action, action parameters and action sequence, the corresponding virtual device performs action preview display;

Receive device programming information saving instructions and bind the saved device programming information to the virtual device.

As a further solution of the present invention: the step of generating an action control panel based on electrical wiring information and simulation model programming information specifically includes:

Analyze the electrical wiring information and simulation model programming information to determine the action relationships between all virtual devices in the virtual simulation model and the existing action control commands;

An action control panel is generated based on the action control command. The action control panel contains several action control commands. The user can control the virtual simulation model through the action control panel;

Receive wiring programming information saving instructions, save electrical wiring information and simulation model programming information, and bind them to the virtual simulation model.

As a further solution of the present invention: the method further includes:

Receive control panel distributed control information and send action control panels to multiple user accounts;

Receive action control commands sent by multiple user accounts, and make each virtual device in the virtual simulation model operate cooperatively based on the multiple action control commands.

Another object of the present invention is to provide a motion control training system based on digital twins, which system includes:

A virtual device selection module, configured to receive virtual device selection instructions input by the user, and build a virtual simulation model in the display window according to the virtual device selection instructions, where the virtual simulation model is composed of virtual devices selected by the user;

A pop-up window module to be programmed is used to generate a pop-up window for a virtual device to be programmed. The pop-up window for a virtual device to be programmed contains the names of all virtual devices in the virtual simulation model;

The virtual device programming module is used to receive virtual device name selection instructions, generate a device programming page, receive device programming information input by the user, and display actions on the corresponding virtual device;

The electrical wiring determination module is used to receive the equipment programming completion instructions input by the user, generate the electrical wiring page and simulation model programming page, and receive the electrical wiring information and simulation model programming information input by the user;

The control panel generation module is used to generate an action control panel based on electrical wiring information and simulation model programming information, receive action control commands input by the user, and the simulation model executes corresponding actions.

As a further solution of the present invention: the virtual device selection module includes:

A selection instruction receiving unit configured to receive a virtual device selection instruction input by the user, where the virtual device selection instruction includes several virtual device names, and each virtual device name corresponds to a location coordinate;

The simulation model building unit is used to display the corresponding virtual device in the display window according to the position coordinates and build a virtual simulation model.

As a further solution of the present invention: the virtual device programming module includes:

A device programming receiving unit is used to receive device programming information input by the user, and determine device actions, action parameters and action sequences based on the device programming information;

The device action display unit is used to enable the corresponding virtual device to preview and display actions based on device actions, action parameters and action sequences;

The first binding unit is configured to receive a device programming information saving instruction and bind the saved device programming information to the virtual device.

As a further solution of the present invention: the control panel generation module includes:

The information analysis unit is used to analyze the electrical wiring information and simulation model programming information, and determine the action relationships between all virtual devices in the virtual simulation model and the existing action control commands;

A control panel generation unit is used to generate an action control panel according to the action control command. The action control panel contains several action control commands, and the user can control the virtual simulation model through the action control panel;

The second binding unit is used to receive wiring programming information saving instructions, save electrical wiring information and simulation model programming information, and bind them to the virtual simulation model.

As a further solution of the present invention: the system also includes a model distributed control module, and the model distributed control module specifically includes:

The distributed control information unit is used to receive the distributed control information of the control panel and send the action control panel to multiple user accounts;

The model collaborative operation unit is used to receive action control commands sent by multiple user accounts, and make each virtual device in the virtual simulation model perform collaborative operations based on the multiple action control commands.

Compared with the prior art, the beneficial effects of the present invention are:

This invention replaces physical training equipment with virtual simulation models through digital twins, and can generate an action control panel based on the electrical wiring information and simulation model programming information input by students. Students input action control commands, and the simulation model performs corresponding actions. Although The equipment is virtual, but it can train students' actual electrical wiring and programming control abilities, achieve the purpose of automation training, and significantly reduce the teaching cost per student, so it is worthy of promotion.

Description of drawings

Figure 1 is a flow chart of a motion control training method based on digital twins.

Figure 2 is a flow chart of building a virtual simulation model in the display window according to the virtual device selection instructions in a motion control training method based on digital twins.

Figure 3 is a flow chart of receiving device programming information input by the user and displaying actions on the corresponding virtual device in a digital twin-based motion control training method.

Figure 4 is a flow chart for generating an action control panel based on electrical wiring information and simulation model programming information in a motion control training method based on digital twins.

Figure 5 is a flow chart of sending meeting note information to the cloud platform through the conference room terminal in a motion control training method based on digital twins.

Figure 6 is a schematic structural diagram of a motion control training system based on digital twins.

Figure 7 is a schematic structural diagram of the virtual equipment selection module in a digital twin-based motion control training system.

Figure 8 is a schematic structural diagram of the virtual device programming module in a digital twin-based motion control training system.

Figure 9 is a schematic structural diagram of the control panel generation module in a digital twin-based motion control training system.

Figure 10 is a schematic structural diagram of the model distributed control module in a motion control training system based on digital twins.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

As shown in Figure 1, an embodiment of the present invention provides a motion control training method based on digital twins. The method includes the following steps:

S100. Receive the virtual device selection instruction input by the user, and build a virtual simulation model in the display window according to the virtual device selection instruction. The virtual simulation model is composed of the virtual device selected by the user;

S200, generate a pop-up window for a virtual device to be programmed, where the pop-up window for a virtual device to be programmed contains the names of all virtual devices in the virtual simulation model;

S300: Receive the virtual device name selection instruction, generate a device programming page, receive the device programming information input by the user, and display the actions of the corresponding virtual device;

S400, receives the device programming completion instruction input by the user, generates the electrical wiring page and simulation model programming page, and receives the electrical wiring information and simulation model programming information input by the user;

S500 generates an action control panel based on electrical wiring information and simulation model programming information, receives action control commands input by the user, and the simulation model executes corresponding actions.

In the embodiment of the present invention, the physical training equipment is replaced with a virtual simulation model through a digital twin. The digital twin uses computer simulation to complete mapping in the virtual space, thereby reflecting the characteristics of the corresponding physical equipment. When students conduct practical training, they first need to enter virtual device selection instructions to select some equipment for practical training. According to the virtual device selection instructions, a virtual simulation model is built in the display window. The virtual simulation model is a three-dimensional model. In this way, students can intuitively After seeing the electromechanical equipment, the embodiment of the present invention will generate a virtual device to be programmed pop-up window. The virtual device to be programmed pop-up window contains all the virtual device names in the virtual simulation model. The student clicks on a virtual device name, which is equivalent to inputting the virtual device name. The device name selection command will generate a device programming page, so that the selected virtual device can be programmed so that the virtual device can complete the expected actions. This is the same as the actual programming steps. The user inputs device programming information and the corresponding virtual device The device will display its actions. In this way, it is convenient for students to judge whether the programming information is correct. When all virtual devices are programmed, the user inputs the device programming completion instructions. The embodiment of the present invention directly generates the electrical wiring page and the simulation model programming page. , so that users can associate each virtual device by inputting electrical wiring information and simulation model programming information, such as forming a production line, which is the same as real electrical wiring and PLC programming. Finally, according to the electrical wiring information and The simulation model programming information generates an action control panel. Users can input action control commands through the action control panel, and the simulation model performs corresponding actions. Although the equipment is virtual, it can train students' actual electrical wiring and programming control abilities, achieve the purpose of automation training, and significantly reduce the per capita teaching cost, which is worthy of promotion.

As shown in Figure 2, as a preferred embodiment of the present invention, the step of receiving a virtual device selection instruction input by the user and building a virtual simulation model in the display window according to the virtual device selection instruction specifically includes:

S101. Receive a virtual device selection instruction input by the user. The virtual device selection instruction includes several virtual device names, and each virtual device name corresponds to a location coordinate;

S102, display the corresponding virtual device in the display window according to the position coordinates, and build a virtual simulation model.

In the embodiment of the present invention, when selecting a virtual device, it is also necessary to determine the location information of the virtual device, just like each device in a factory has a placement location. Furthermore, the virtual device can be directly dragged from the virtual device library to achieve the goal. Position, which is equivalent to inputting the position coordinates, and then causing the corresponding virtual device to be displayed in the display window according to the position coordinates. After all virtual devices are displayed, a virtual simulation model is built.

In the present invention, in order to evaluate the rationality of the built virtual simulation model, it is implemented through the following method, which specifically includes the following steps:

S111, obtain the device type, device size and device weight of each virtual device in the virtual device library;

S112: Calculate the corresponding handling difficulty value based on the device type, device size and device weight of each virtual device;

In this step, the calculation formula of the handling difficulty value is expressed as:

;

in, Indicates the difficulty value of moving the virtual device,/> A reference value indicating the difficulty value of transporting the virtual device, Indicates the conversion coefficient of the handling difficulty value of the equipment type item,/> Indicates the first/> The handling difficulty score corresponding to each equipment type, ,/> Indicates the maximum number of device types,/> Indicates the conversion coefficient of the handling difficulty value of the equipment size item,/> Indicates the device size of the virtual device,/> Represents the base value of the device size of the virtual device, /> Indicates the conversion coefficient of the handling difficulty value of the equipment weight item,/> Represents the device weight of the virtual device,/> A baseline value representing the device weight of a virtual device,/> Represents the weighting factor of the device type item,/> Represents the weighting factor of the device size item,/> Represents the weight factor of the equipment weight item.

S113, partition the display window to obtain multiple placement unit areas, each placement unit area corresponding to the location coordinates of the unit area;

S114. Based on the handling difficulty value of each virtual device and the unit area location coordinates of each placement unit area, a virtual device placement location rationality mapping table is constructed. The virtual device placement location rationality mapping table is used to determine the location of the virtual device. The location rationality coefficient corresponding to each placement unit area;

As a supplementary explanation, the calculated handling difficulty value of the virtual device can give reasonable suggestions on the placement location of the virtual device to a certain extent. For example, as a relatively large central controller, since it is electrically connected to many devices, it is a reasonable setting to place the central controller in the middle. In this case, the location rationality coefficient will be higher. On the contrary, if the central controller is placed in a corner, the location rationality coefficient will be very low.

S115. After completing the construction of the virtual simulation model, obtain the location rationality coefficient corresponding to each virtual device based on the virtual device placement location rationality mapping table, and calculate the rationality of the virtual simulation model based on multiple location rationality coefficients.

In this step, the calculation formula for the reasonableness of the virtual simulation model is expressed as:

;

in, Indicates the reasonableness of the virtual simulation model,/> The benchmark value indicating the reasonableness of the virtual simulation model, Indicates the first/> Calibration factor of the position rationality coefficient of a virtual device,/> Indicates the first/> The location rationality coefficient of a virtual device,/> ,/> Represents the maximum number of virtual devices in the virtual simulation model.

It is understandable that according to the reasonableness of the virtual simulation model, the quality of the virtual simulation model built by the user can be judged very intuitively, and real-time pop-up windows can be displayed, which also improves the user experience to a certain extent and plays a role. A certain role of modeling learning. As shown in Figure 3, as a preferred embodiment of the present invention, the step of receiving device programming information input by the user and displaying actions on the corresponding virtual device specifically includes:

S301: Receive device programming information input by the user, and determine device actions, action parameters and action sequences based on the device programming information;

S302: Make the corresponding virtual device perform action preview display according to the device action, action parameters and action sequence;

In this step, in order to have a more intuitive understanding of the difficulty of displaying actions on virtual devices, the following methods are used to achieve this, specifically including the following steps:

S302a, obtain all device actions included in the action preview display of the virtual device, the action parameters of each device action, and the action sequence composed of multiple device actions;

S302b: Calculate the single action difficulty value of each device action based on the action type of each device action and the action parameters of each device action;

In this step, the calculation formula of the single action difficulty value of each equipment action is expressed as;

;

in, Indicates the difficulty value of a single action for each equipment action,/> Represents the conversion coefficient of the difficulty value of a single action of the action type item,/> Indicates the first/> Action difficulty score for the action type,/> Indicates the average action difficulty score of each action type,/> Represents the conversion coefficient of the difficulty value of a single action in the action parameter item,/> Indicates the score corresponding to the difficulty level of the action parameter of the device action.

It is understandable that even if it is the same type of action, if the action parameters are set differently, the corresponding difficulty will be different. For example, the difficulty value of the action parameter of rotating the arm upward by 30° is definitely different from that of rotating the arm upward by 60°.

S302c, according to the action sequence composed of multiple device actions, search the preset action sequence difficulty mapping table to obtain the difficulty value of the action sequence item;

S302d: Calculate the total difficulty value of the virtual device action preview display based on the individual action difficulty value and the action sequence difficulty value of each device action.

In this step, the calculation formula for the total difficulty value of the virtual device action preview display is expressed as:

;

in, Indicates the total difficulty value of virtual device action preview display,/> Indicates the difficulty value of the action sequence item,/> Indicates the first/> The difficulty value of a single action of each equipment action,/> Indicates the first/> Calibration factor of the difficulty value of a single action of a device action,/> ,/> Indicates the maximum number of device actions.

S303: Receive the device programming information saving instruction, and bind the saved device programming information to the virtual device.

In the embodiment of the present invention, after the device programming information is determined, the device actions, action parameters, and action sequences can be determined based on the device programming information. This is the same as the actual situation, except that in reality, the device actions, action parameters, and action sequences will be different. Demonstration is performed on a physical device, whereas here, the action is performed on a virtual device.

As shown in Figure 4, as a preferred embodiment of the present invention, the step of generating an action control panel based on electrical wiring information and simulation model programming information specifically includes:

S501: Analyze the electrical wiring information and simulation model programming information to determine the action relationships between all virtual devices in the virtual simulation model and the existing action control commands;

S502: Generate an action control panel according to the action control command. The action control panel contains several action control commands. The user can control the virtual simulation model through the action control panel;

S503: Receive the wiring programming information saving instruction, save the electrical wiring information and simulation model programming information, and bind them to the virtual simulation model.

In the embodiment of the present invention, the analysis of electrical wiring information and simulation model programming information is the same as the PLC programming control in reality, except that the action relationship here is reflected between virtual devices. In addition, although the virtual simulation model will Run according to programming, but also need to input information. Different input information will produce different responses. These input information are action control commands. An action control panel is generated based on the action control commands. The action control panel contains several action control commands. The user The virtual simulation model can be controlled through the action control panel, which is the same as the control of physical equipment in actual situations. In addition, the user can also enter wiring programming information saving instructions to save the electrical wiring information and simulation model programming information. And it is bound to the virtual simulation model, so that it can be directly retrieved and used in the future, which is more convenient.

As shown in Figure 5, as a preferred embodiment of the present invention, the method further includes:

S601, receive control panel distributed control information and send action control panels to multiple user accounts;

S602: Receive action control commands sent by multiple user accounts, and cause each virtual device in the virtual simulation model to operate cooperatively according to the multiple action control commands.

In the embodiment of the present invention, if the simulation model is more complex and requires a lot of input information, it is difficult for an individual to complete it alone. For example, the equipment of a production line requires multiple people to cooperate. At this time, the user can input the distributed control information on the control panel to control the actions. The panel is sent to multiple user accounts and receives the action control commands sent by each user account. Based on the multiple action control commands, each virtual device in the virtual simulation model operates collaboratively, just like the collaborative operation in reality, which can exercise students' collaboration. operational capabilities.

As shown in Figure 6, an embodiment of the present invention also provides a motion control training system based on digital twins. The system includes:

The virtual device selection module 100 is configured to receive a virtual device selection instruction input by the user, and build a virtual simulation model in the display window according to the virtual device selection instruction, where the virtual simulation model is composed of the virtual device selected by the user;

The pop-up window to be programmed module 200 is used to generate a pop-up window for a virtual device to be programmed. The pop-up window for the virtual device to be programmed contains the names of all virtual devices in the virtual simulation model;

The virtual device programming module 300 is used to receive virtual device name selection instructions, generate a device programming page, receive device programming information input by the user, and display actions on the corresponding virtual device;

The electrical wiring determination module 400 is used to receive device programming completion instructions input by the user, generate an electrical wiring page and a simulation model programming page, and receive electrical wiring information and simulation model programming information input by the user;

The control panel generation module 500 is used to generate an action control panel based on electrical wiring information and simulation model programming information, receive action control commands input by the user, and the simulation model executes corresponding actions.

When students conduct practical training, they first need to enter virtual device selection instructions to select some equipment for practical training. According to the virtual device selection instructions, a virtual simulation model is built in the display window. The virtual simulation model is a three-dimensional model. In this way, students can intuitively After seeing the electromechanical equipment, the embodiment of the present invention will generate a virtual device to be programmed pop-up window. The virtual device to be programmed pop-up window contains all the virtual device names in the virtual simulation model. The student clicks on a virtual device name, which is equivalent to inputting the virtual device name. The device name selection command will generate a device programming page, so that the selected virtual device can be programmed so that the virtual device can complete the expected actions. This is the same as the actual programming steps. The user inputs device programming information and the corresponding virtual device The device will display its actions. In this way, it is convenient for students to judge whether the programming information is correct. When all virtual devices are programmed, the user inputs the device programming completion instructions. The embodiment of the present invention directly generates the electrical wiring page and the simulation model programming page. , so that users can associate each virtual device by inputting electrical wiring information and simulation model programming information, such as forming a production line, which is the same as real electrical wiring and PLC programming. Finally, according to the electrical wiring information and The simulation model programming information generates an action control panel. Users can input action control commands through the action control panel, and the simulation model performs corresponding actions. Although the equipment is virtual, it can train students' actual electrical wiring and programming control abilities, achieve the purpose of automation training, and significantly reduce the per capita teaching cost.

As shown in Figure 7, as a preferred embodiment of the present invention, the virtual device selection module 100 includes:

The selection instruction receiving unit 101 is configured to receive a virtual device selection instruction input by the user. The virtual device selection instruction includes several virtual device names, and each virtual device name corresponds to a location coordinate;

The simulation model building unit 102 is used to display the corresponding virtual device in the display window according to the position coordinates and build a virtual simulation model.

As shown in Figure 8, as a preferred embodiment of the present invention, the virtual device programming module 300 includes:

The device programming receiving unit 301 is used to receive device programming information input by the user, and determine device actions, action parameters, and action sequences based on the device programming information;

The device action display unit 302 is used to cause the corresponding virtual device to perform action preview display according to the device action, action parameters and action sequence;

The first binding unit 303 is configured to receive a device programming information saving instruction and bind the saved device programming information to a virtual device.

As shown in Figure 9, as a preferred embodiment of the present invention, the control panel generation module 500 includes:

The information analysis unit 501 is used to analyze the electrical wiring information and simulation model programming information, and determine the action relationships between all virtual devices in the virtual simulation model and the existing action control commands;

The control panel generation unit 502 is used to generate an action control panel according to the action control command. The action control panel contains several action control commands, and the user can control the virtual simulation model through the action control panel;

The second binding unit 503 is used to receive wiring programming information saving instructions, save the electrical wiring information and simulation model programming information, and bind them to the virtual simulation model.

As shown in Figure 10, as a preferred embodiment of the present invention, the system also includes a model distributed control module 600. The model distributed control module 600 specifically includes:

The distributed control information unit 601 is used to receive the control panel distributed control information and send the action control panel to multiple user accounts;

The model collaborative operation unit 602 is configured to receive action control commands sent by multiple user accounts, and cause each virtual device in the virtual simulation model to perform collaborative operations according to the multiple action control commands.

The above only describes the preferred embodiments of the present invention in detail, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

It should be understood that although the steps in the flowcharts of various embodiments of the present invention are shown in sequence as indicated by arrows, these steps are not necessarily executed in the order indicated by arrows. Unless explicitly stated in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in each embodiment may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. The order of execution is not necessarily sequential, but may be performed in turn or alternately with other steps or sub-steps of other steps or at least part of the stages.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through computer programs. The programs can be stored in a non-volatile computer-readable storage medium. , when the program is executed, it may include the processes of the above-mentioned method embodiments. Any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

Other embodiments of the present disclosure will readily occur to those skilled in the art, upon consideration of the specification and the disclosure of the Examples. This application is intended to cover any variations, uses, or adaptations of the disclosure that follow the general principles of the disclosure and include common knowledge or customary technical means in the technical field that are not disclosed in the disclosure. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (4)

1. The motion control practical training method based on digital twinning is characterized by comprising the following steps of:

receiving a virtual device selection instruction input by a user, and building a virtual simulation model in a display window according to the virtual device selection instruction, wherein the virtual simulation model is composed of virtual devices selected by the user;

generating a virtual device to-be-programmed popup window, wherein the virtual device to-be-programmed popup window comprises all virtual device names in a virtual simulation model;

receiving a virtual device name selection instruction, generating a device programming page, receiving device programming information input by a user, and performing action display on corresponding virtual devices;

receiving equipment programming completion instructions input by a user, generating an electrical wiring page and a simulation model programming page, and receiving electrical wiring information and simulation model programming information input by the user;

generating an action control panel according to the electrical wiring information and the simulation model programming information, receiving an action control command input by a user, and executing corresponding actions by the simulation model;

the step of receiving a virtual device selection instruction input by a user and building a virtual simulation model in a display window according to the virtual device selection instruction specifically comprises the following steps:

receiving a virtual device selection instruction input by a user, wherein the virtual device selection instruction comprises a plurality of virtual device names, and each virtual device name corresponds to a position coordinate;

according to the position coordinates, displaying the corresponding virtual equipment in a display window, and building a virtual simulation model;

the method further comprises the steps of:

the method for evaluating the rationality of the constructed virtual simulation model specifically comprises the following steps:

acquiring the equipment type, the equipment size and the equipment weight of each virtual equipment in the virtual equipment library;

calculating to obtain a corresponding carrying difficulty value according to the equipment type, the equipment size and the equipment weight of each virtual equipment;

partitioning the display window to obtain a plurality of placement unit areas, wherein each placement unit area corresponds to a unit area position coordinate;

constructing and obtaining a virtual equipment placement position rationality mapping table based on the carrying difficulty value of each virtual equipment and the unit area position coordinates of each placement unit area, wherein the virtual equipment placement position rationality mapping table is used for determining the position rationality coefficient corresponding to each placement unit area of the virtual equipment;

after the virtual simulation model is built, based on the position rationality mapping table of the virtual equipment, position rationality coefficients corresponding to each virtual equipment are obtained, and the rationality of the virtual simulation model is obtained by calculation based on a plurality of position rationality coefficients;

the calculation formula of the carrying difficulty value is expressed as follows:

；

wherein,representing the handling difficulty value of the virtual device, +.>Reference value representing the handling difficulty value of the virtual device, < ->Conversion coefficient of carrying difficulty value representing equipment type item, < ->Indicate->Carrying difficulty score corresponding to the type of the seed equipment, +.>，/>Representing the maximum number of device types->A transportation difficulty value conversion coefficient representing a size item of the apparatus, +.>Representing the device size of the virtual device, +.>Reference value representing the device size of the virtual device, +.>Conversion coefficient of carrying difficulty value representing equipment weight item, +.>Representing the device weight of the virtual device, < >>Reference value representing the device weight of the virtual device, +.>Weight factor representing device type item, +.>Weight factor representing device size term, +.>A weight factor representing a weight term of the device;

the calculation formula of the rationality of the virtual simulation model is expressed as:

；

wherein,representing the rationality of the virtual simulation model, +.>A reference value representing the degree of rationality of the virtual simulation model,/>indicate->Calibration factor for the position rationality coefficient of the individual virtual devices,/->Indicate->Position rationality coefficient of the individual virtual devices, +.>，/>Representing a maximum number of virtual devices in the virtual simulation model;

the step of receiving the equipment programming information input by the user and performing action display on the corresponding virtual equipment specifically comprises the following steps:

receiving equipment programming information input by a user, and determining equipment actions, action parameters and action sequences according to the equipment programming information;

according to the device actions, action parameters and action sequences, the corresponding virtual devices are subjected to action preview display;

receiving a device programming information storage instruction, and binding the stored device programming information with the virtual device;

in the method for enabling the corresponding virtual device to conduct action preview display according to the device actions, the action parameters and the action sequence, the steps further comprise:

acquiring all equipment actions contained in action preview display of the virtual equipment, action parameters of each equipment action and an action sequence formed by a plurality of equipment actions;

calculating to obtain a single action difficulty value of each equipment action based on the action type of each equipment action and the action parameters of each equipment action;

according to the action sequence formed by the actions of a plurality of devices, searching in a preset action sequence difficulty mapping table to obtain a action sequence item difficulty value;

calculating according to the single action difficulty value and the action sequence item difficulty value of each equipment action to obtain a virtual equipment action preview display total difficulty value;

the calculation formula of the single action difficulty value of each equipment action is expressed as follows;

；

wherein,a single action difficulty value representing each device action, < ->Conversion coefficient of single action difficulty value representing action type item, +.>Indicate->Action difficulty score of item action type, +.>Mean value of action difficulty scores representing various action types, < ->Conversion coefficient of single action difficulty value representing action parameter item, +.>A score corresponding to a difficulty level of an action parameter representing an action of the device;

the calculation formula for displaying the total difficulty value through the action preview of the virtual equipment is expressed as follows:

；

wherein,representing a virtual device action preview showing total difficulty value, < ->Representing the difficulty value of the action sequence item, +.>Represent the firstA single action difficulty value for the individual device actions, +.>Indicate->Calibration factor for the individual action difficulty value of the individual device action,/->，/>Representing the maximum number of device actions.

2. The digital twinning-based motion control practical training method according to claim 1, wherein the step of generating the motion control panel according to the electrical wiring information and the simulation model programming information specifically comprises:

analyzing the electrical wiring information and the simulation model programming information, and determining action relations and existing action control commands among all virtual devices in the virtual simulation model;

generating an action control panel according to the action control commands, wherein the action control panel comprises a plurality of action control commands, and a user can control the virtual simulation model through the action control panel;

and receiving a wiring programming information storage instruction, storing the electrical wiring information and simulation model programming information, and binding the electrical wiring information and the simulation model programming information with the virtual simulation model.

3. The digital twinning-based motion control practical training method according to claim 2, characterized in that the method further comprises:

receiving control panel decentralized control information, and sending an action control panel to a plurality of user accounts;

and receiving action control commands sent by a plurality of user accounts, and enabling each virtual device in the virtual simulation model to operate cooperatively according to the action control commands.

4. A digital twin based motion control training system, wherein a digital twin based motion control training method according to any of claims 1 to 3 is applied, the system comprising:

the virtual equipment selection module is used for receiving a virtual equipment selection instruction input by a user, and building a virtual simulation model in the display window according to the virtual equipment selection instruction, wherein the virtual simulation model is composed of virtual equipment selected by the user;

the virtual equipment to be programmed popup module is used for generating virtual equipment to be programmed popup, and the virtual equipment to be programmed popup comprises all virtual equipment names in a virtual simulation model;

the virtual equipment programming module is used for receiving a virtual equipment name selection instruction, generating an equipment programming page, receiving equipment programming information input by a user, and displaying actions of corresponding virtual equipment;

the electrical wiring determining module is used for receiving equipment programming completion instructions input by a user, generating an electrical wiring page and a simulation model programming page, and receiving electrical wiring information and simulation model programming information input by the user;

the control panel generation module is used for generating an action control panel according to the electrical wiring information and the simulation model programming information, receiving an action control command input by a user, and executing corresponding actions by the simulation model;

the virtual device selection module includes:

the selection instruction receiving unit is used for receiving a virtual device selection instruction input by a user, wherein the virtual device selection instruction comprises a plurality of virtual device names, and each virtual device name corresponds to a position coordinate;

the simulation model building unit is used for enabling the corresponding virtual equipment to be displayed in the display window according to the position coordinates, and building a virtual simulation model;

the virtual device programming module includes:

the device programming receiving unit is used for receiving device programming information input by a user and determining device actions, action parameters and action sequences according to the device programming information;

the device action display unit is used for enabling the corresponding virtual device to conduct action preview display according to the device actions, the action parameters and the action sequence;

the first binding unit is used for receiving a device programming information storage instruction and binding the stored device programming information with the virtual device;

the control panel generation module includes:

the information analysis unit is used for analyzing the electrical wiring information and the simulation model programming information and determining action relations and existing action control commands among all virtual devices in the virtual simulation model;

the control panel generation unit is used for generating an action control panel according to the action control commands, wherein the action control panel comprises a plurality of action control commands, and a user can control the virtual simulation model through the action control panel;

the second binding unit is used for receiving a wiring programming information storage instruction, storing the electrical wiring information and simulation model programming information and binding the electrical wiring information and the simulation model programming information with the virtual simulation model;

the system also comprises a model decentralized control module, wherein the model decentralized control module specifically comprises:

the distributed control information unit is used for receiving the distributed control information of the control panel and sending the action control panel to a plurality of user accounts;

and the model cooperative operation unit is used for receiving action control commands sent by a plurality of user accounts and enabling each virtual device in the virtual simulation model to perform cooperative operation according to the action control commands.