CN117496786B - Motion control practical training method and system based on digital twin - Google Patents
Motion control practical training method and system based on digital twin Download PDFInfo
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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
Technical Field
The invention relates to the technical field of electromechanical training, in particular to a motion control training method and system based on digital twinning.
Background
It should be noted that, when carrying out automated training education, the biggest expenditure is electromechanical device body, and the minimum input of a set of industrial robot comprehensive practical training equipment needs about 25 ten thousand, and also can only satisfy 1 person or 2 people and use simultaneously, leads to the average personnel teaching cost high, and because the student can not be skillfully use practical training equipment, leads to practical training equipment to take place to damage when using, and the maintenance cost is higher. Therefore, there is a need to provide a digital twinning-based motion control training method and system, which aims to solve the above problems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a digital twinning-based motion control practical training method and a digital twinning-based motion control practical training system, so as to solve the problems in the background art.
The invention is realized in such a way that a motion control training method based on digital twinning comprises the following steps:
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;
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.
As a further scheme of the invention: 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;
and displaying the corresponding virtual equipment in the display window according to the position coordinates, and building a virtual simulation model.
As a further scheme of the invention: 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;
and receiving a device programming information storage instruction, and binding the stored device programming information with the virtual device.
As a further scheme of the invention: the step of generating the action control panel according to the electrical wiring information and the simulation model programming information specifically comprises the following steps:
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.
As a further scheme of the invention: the method further comprises the steps of:
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.
It is another object of the present invention to provide a digital twinning based motion control training system, 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.
As a further scheme of the invention: 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.
As a further scheme of the invention: 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 the device programming information storage instruction and binding the stored device programming information with the virtual device.
As a further scheme of the invention: 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.
As a further scheme of the invention: 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.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the virtual simulation model is used for replacing the practical training equipment of the entity through digital twinning, the action control panel can be generated according to the electric wiring information input by the students and the programming information of the simulation model, the students input the action control commands, the simulation model executes corresponding actions, and the equipment is virtual, but can exercise the actual electric wiring and programming control capability of the students, so that the aim of automatic training can be achieved, the per-capita teaching cost is greatly reduced, and the popularization is worth.
Drawings
FIG. 1 is a flow chart of a digital twinning-based motion control training method.
Fig. 2 is a flowchart of setting up a virtual simulation model in a display window according to a virtual device selection instruction in a motion control training method based on digital twinning.
Fig. 3 is a flowchart of a motion control training method based on digital twinning, in which device programming information input by a user is received, and corresponding virtual devices perform motion display.
FIG. 4 is a flow chart of generating an action control panel according to electrical wiring information and simulation model programming information in a digital twinning-based motion control training method.
Fig. 5 is a flowchart of a method for transmitting meeting note information to a cloud platform through a meeting room terminal in a digital twin-based motion control training method.
FIG. 6 is a schematic diagram of a digital twinning-based motion control training system.
FIG. 7 is a schematic diagram of a virtual device selection module in a digital twinning-based motion control training system.
FIG. 8 is a schematic diagram of a virtual device programming module in a digital twinning-based motion control training system.
FIG. 9 is a schematic diagram of a control panel generation module in a digital twinning-based motion control training system.
FIG. 10 is a schematic diagram of a model decentralized control module in a motion control training system based on digital twinning.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1, an embodiment of the present invention provides a digital twinning-based motion control training method, which includes the following steps:
s100, 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;
s200, generating a virtual device to-be-programmed popup, wherein the virtual device to-be-programmed popup comprises all virtual device names in a virtual simulation model;
s300, 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;
s400, receiving an equipment programming completion instruction input by a user, generating an electric wiring page and a simulation model programming page, and receiving electric wiring information and simulation model programming information input by the user;
s500, 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.
In the embodiment of the invention, the practical training equipment of the entity is replaced by using a virtual simulation model through digital twinning, and the digital twinning is to finish mapping in a virtual space by utilizing computer simulation, so that the characteristics of the corresponding entity equipment are reflected. When students perform practical training, firstly, virtual equipment selection instructions are required to be input to select some equipment for performing practical training, a virtual simulation model is built in a display window according to the virtual equipment selection instructions, the virtual simulation model is a three-dimensional model, so that students can intuitively see electromechanical equipment, next, the embodiment of the invention can generate a virtual equipment to-be-programmed popup window, the virtual equipment to-be-programmed popup window contains all virtual equipment names in the virtual simulation model, the students click on one virtual equipment name, which is equivalent to inputting the virtual equipment name selection instructions, an equipment programming page is generated, the selected virtual equipment can be programmed, the virtual equipment can complete expected actions, the same steps as the actual programming steps are performed, the corresponding virtual equipment can perform action display, and therefore, the students can conveniently judge whether the programming information is correct or not. Although the equipment is virtual, the actual electric wiring and programming control capability of students can be exercised, the aim of automatic training can be achieved, the per-capita teaching cost is greatly reduced, and the equipment is worth popularizing.
As shown in fig. 2, as a preferred embodiment of the present invention, 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 includes:
s101, 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;
s102, displaying the corresponding virtual equipment in a display window according to the position coordinates, and building a virtual simulation model.
In the embodiment of the invention, when the virtual equipment is selected, the position information of the virtual equipment needs to be determined at the same time, and the virtual equipment can be directly dragged from the virtual equipment library to reach the target position just like the placement position of each equipment in a factory, so that the position coordinates are input, the corresponding virtual equipment is displayed in the display window according to the position coordinates, and a virtual simulation model is built after all the virtual equipment are displayed.
In order to evaluate the rationality of the built virtual simulation model, the method is realized by the following steps:
s111, obtaining the equipment type, the equipment size and the equipment weight of each virtual equipment in the virtual equipment library;
s112, calculating to obtain a corresponding carrying difficulty value according to the equipment type, the equipment size and the equipment weight of each virtual equipment;
in this step, the calculation formula of the conveyance difficulty value is expressed as:
；
wherein,representing the handling difficulty value of the virtual device, +.>A reference value indicating a conveyance difficulty value of the virtual device,conversion coefficient of carrying difficulty value representing equipment type item, < ->Indicate->The handling difficulty score corresponding to the type of 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.
S113, partitioning the display window to obtain a plurality of placement unit areas, wherein each placement unit area corresponds to a unit area position coordinate;
s114, 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;
as a supplementary explanation, the calculated handling difficulty value of the virtual equipment can give reasonable suggestions to a certain extent for the placement position of the virtual equipment. For example, as a relatively large central controller, since there are many devices electrically connected to the central controller, it is reasonable to place the central controller in the middle, and the position rationality coefficient is higher. On the other hand, if the central controller is placed at a corner position, the position rationality coefficient is low at this time.
And S115, after the virtual simulation model is built, acquiring a position rationality coefficient corresponding to each virtual device based on the virtual device placement position rationality mapping table, and calculating based on a plurality of position rationality coefficients to obtain the rationality of the virtual simulation model.
In this step, 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 the maximum number of virtual devices in the virtual simulation model.
It can be understood that the quality of the virtual simulation model built by the user can be intuitively judged according to the rationality of the virtual simulation model, and the real-time popup window display is performed, so that the user experience is improved to a certain extent, and a certain modeling learning effect is achieved. As shown in fig. 3, as a preferred embodiment of the present invention, the step of receiving device programming information input by a user and performing action presentation by a corresponding virtual device specifically includes:
s301, receiving equipment programming information input by a user, and determining equipment actions, action parameters and action sequences according to the equipment programming information;
s302, enabling corresponding virtual equipment to conduct action preview display according to equipment actions, action parameters and action sequences;
in this step, in order to provide a more visual understanding of the difficulty of the exhibition action of the virtual device, the method comprises the following steps:
s302a, 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;
s302b, calculating a single action difficulty value of each equipment action based on the action type of each equipment action and the action parameter of each equipment action;
in the step, 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 the difficulty level of the action parameter representing the action of the device.
It will be appreciated that even with the same kind of action type, the corresponding difficulties are different if the set action parameters are different. For example, the difficulty value of the motion parameter for an upward rotation of the arm by 30 ° is certainly different from that for an upward rotation of the arm by 60 °.
S302c, according to an action sequence formed by actions of a plurality of devices, searching in a preset action sequence difficulty mapping table to obtain an action sequence item difficulty value;
s302d, calculating to obtain a total difficulty value of the preview display of the virtual equipment actions according to the single action difficulty value and the action sequence item difficulty value of each equipment action.
In this step, the calculation formula of the total difficulty value displayed by the action preview of the virtual device is expressed as follows:
；
wherein,representing a virtual device action preview showing total difficulty value, < ->Representing the difficulty value of the action sequence item, +.>Indicate->A 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.
S303, receiving a device programming information storage instruction, and binding the stored device programming information with the virtual device.
In the embodiment of the invention, after the equipment programming information is determined, the equipment actions, the action parameters and the action sequences can be determined according to the equipment programming information, which is the same as the actual situation, but in reality, the equipment actions, the action parameters and the action sequences are displayed in the entity equipment, and the actions are displayed on the virtual equipment.
As shown in fig. 4, as a preferred embodiment of the present invention, the step of generating the motion control panel according to the electrical wiring information and the simulation model programming information specifically includes:
s501, analyzing the electrical wiring information and simulation model programming information, and determining action relations and existing action control commands among all virtual devices in the virtual simulation model;
s502, 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;
s503, 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.
In the embodiment of the invention, the analysis of the electrical wiring information and the simulation model programming information is the same as the PLC programming control in reality, but the action relation is embodied among virtual devices, in addition, although the virtual simulation model can run according to programming, different input information is required to generate different responses, the input information is an action control command, an action control panel is generated according to the action control command, the action control panel comprises a plurality of action control commands, a user can control the virtual simulation model through the action control panel, the control is the same as the control of the entity device in actual situation, in addition, the user can input wiring programming information storage instructions to store the electrical wiring information and the simulation model programming information and bind the virtual simulation model, and the operation control panel can be directly called for use later, and is more convenient.
As shown in fig. 5, as a preferred embodiment of the present invention, the method further includes:
s601, receiving control panel decentralized control information, and sending an action control panel to a plurality of user accounts;
s602, receiving action control commands sent by a plurality of user accounts, and enabling all virtual devices in the virtual simulation model to cooperatively operate according to the action control commands.
In the embodiment of the invention, if the simulation model is more complex, more input information is needed, and individuals are difficult to finish independently, for example, equipment of one production line needs to be operated cooperatively by multiple individuals, at the moment, a user can input control panel decentralized control information, send an action control panel to multiple user accounts, receive an action control command sent by each user account, and enable each virtual equipment in the virtual simulation model to operate cooperatively according to the multiple action control commands, so that the collaborative operation ability of students can be exercised just like real collaborative operation.
As shown in fig. 6, the embodiment of the invention further provides a motion control training system based on digital twinning, which comprises:
the virtual device selection module 100 is configured to receive a virtual device selection instruction input by a user, and build a virtual simulation model in a display window according to the virtual device selection instruction, where the virtual simulation model is formed by virtual devices selected by the user;
the to-be-programmed popup module 200 is configured to generate a to-be-programmed popup of the virtual device, where the to-be-programmed popup of the virtual device includes all virtual device names in the virtual simulation model;
the virtual device programming module 300 is configured to receive a virtual device name selection instruction, generate a device programming page, receive device programming information input by a user, and perform action display on a corresponding virtual device;
the electrical wiring determining module 400 is configured to receive a device programming completion instruction input by a 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 configured to generate an action control panel according to the electrical connection information and the simulation model programming information, receive an action control command input by a user, and execute a corresponding action by the simulation model.
When students perform practical training, firstly, virtual equipment selection instructions are required to be input to select some equipment for performing practical training, a virtual simulation model is built in a display window according to the virtual equipment selection instructions, the virtual simulation model is a three-dimensional model, so that students can intuitively see electromechanical equipment, next, the embodiment of the invention can generate a virtual equipment to-be-programmed popup window, the virtual equipment to-be-programmed popup window contains all virtual equipment names in the virtual simulation model, the students click on one virtual equipment name, which is equivalent to inputting the virtual equipment name selection instructions, an equipment programming page is generated, the selected virtual equipment can be programmed, the virtual equipment can complete expected actions, the same steps as the actual programming steps are performed, the corresponding virtual equipment can perform action display, and therefore, the students can conveniently judge whether the programming information is correct or not. Although the equipment is virtual, the actual electric wiring and programming control capability of students can be exercised, the aim of automatic training can be achieved, and the per-person teaching cost is greatly reduced.
As shown in fig. 7, as a preferred embodiment of the present invention, the virtual device selection module 100 includes:
a selection instruction receiving unit 101, configured to receive a virtual device selection instruction input by a user, where the virtual device selection instruction includes a plurality of virtual device names, and each virtual device name corresponds to a location coordinate;
and the simulation model building unit 102 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.
As shown in fig. 8, as a preferred embodiment of the present invention, the virtual device programming module 300 includes:
a device programming receiving unit 301, configured to receive device programming information input by a user, and determine a device action, an action parameter, and an action sequence according to the device programming information;
the device action display unit 302 is configured to enable the corresponding virtual device to perform action preview display according to the device action, the action parameters and the action sequence;
the first binding unit 303 is configured to receive a device programming information saving instruction, and bind the saved device programming information with the virtual device.
As shown in fig. 9, as a preferred embodiment of the present invention, the control panel generation module 500 includes:
an information analysis unit 501, configured to analyze the electrical connection information and the simulation model programming information, and determine an action relationship and an existing action control command between all virtual devices in the virtual simulation model;
the control panel generating unit 502 is configured to generate an action control panel according to the action control commands, where the action control panel includes a plurality of action control commands, and a user can control the virtual simulation model through the action control panel;
the second binding unit 503 is configured to receive a wiring programming information storage instruction, store the electrical wiring information and the simulation model programming information, and bind the electrical wiring information and the simulation model programming information with the virtual simulation model.
As shown in fig. 10, as a preferred embodiment of the present invention, the system further includes a model decentralized control module 600, and the model decentralized control module 600 specifically includes:
a distributed control information unit 601, configured to receive control panel distributed control information, and send an action control panel to a plurality of user accounts;
the model cooperative operation unit 602 is configured to receive action control commands sent by a plurality of user accounts, and make each virtual device in the virtual simulation model perform cooperative operation according to the plurality of action control commands.
The foregoing description of the preferred embodiments of the present invention should not be taken as limiting the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as 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 various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. 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.
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