WO2020062232A1

WO2020062232A1 - Data processing method, device, and system, storage medium, and processor

Info

Publication number: WO2020062232A1
Application number: PCT/CN2018/109071
Authority: WO
Inventors: 沈轶轩
Original assignee: 西门子股份公司; 沈轶轩
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2020-04-02
Also published as: CN112513860A

Abstract

A data processing method, device, and system, a storage medium, and a processor. The method comprises: obtaining, according to the relationship between an object to be modeled and a source object, the geometric data and statistical data of the source object from the kinematic model of the source object; and converting, according to the relationship between the object to be modeled and the source object, the obtained geometric data and statistical data of the source object into geometric data and statistical data for performing mathematical modeling on the object to be modeled. By using information from a kinematic model, a mathematical model can be easily and quickly established.

Description

Data processing method, device, system, storage medium, processor

Technical field

This application relates to the field of industrial production simulation. Specifically, the present application relates to a data processing method, device, system, storage medium, processor, and computer program product for rapid modeling of mathematical models in plant simulation.

Background technique

Generally, kinematics and mathematical simulations can be performed on equipment and / or workpieces in a plant to obtain kinematics models and mathematical models that are independent of each other. The derivation of the kinematics model is based on the kinematics constraints. The kinematics constraints are added to the production line model to detect the movement speed of the workpiece, the cooperation and interference between the workstations, and the time series or event triggering as the derivation mechanism. The parameters are inputs. The mathematical model uses mathematical formulas as the basis for derivation, output, energy consumption, etc. as outputs. The mathematical model also uses time series or event triggers as the derivation mechanism, and the parameters of the production line as inputs.

Summary of the Invention

According to an aspect of the embodiment of the present application, a data processing method is provided, including: obtaining geometric data and statistical data of a source object from a kinematics model of the source object according to a relationship between the object to be modeled and the source object; The relationship between the modeling object and the source object is to convert the obtained geometric data and statistical data of the source object into geometric data and statistical data for mathematical modeling of the object to be modeled.

In this way, users can more quickly and easily build mathematical models (which are in factory simulation) using kinematic models (which are in machining simulation).

According to an exemplary embodiment of the present application, the method further includes: inputting a relationship between the object to be modeled and the source object.

In this way, the user can flexibly manage the relationship between the object to be modeled and the source object according to the actual needs.

The data processing method further includes at least one of the following steps: using the transformed geometric data to perform three-dimensional mathematical modeling of the object to be modeled to obtain a three-dimensional mathematical model of the object to be modeled, and using the converted statistical data The two-dimensional mathematical modeling of the object to be modeled is performed to obtain the two-dimensional mathematical model of the object to be modeled.

In this way, based on determining the relationship between the object to be modeled and the source object, more accurate geometric data and statistical data can be obtained from the kinematic model, so that the geometric data can be used in mathematical modeling And statistics for rapid modeling.

According to an exemplary embodiment of the present application, in the data processing method, the source object includes at least one of one or more devices in a factory and one or more workpieces processed by the one or more devices in the factory. The relationship between the object to be modeled and the source object includes: the object to be modeled and the source object are the same object; the object to be modeled is a combination of source objects; the object to be modeled and the source object are related to each other in the production process; The location of the modeled object in the plant is correlated with the location of the source object in the plant.

In this way, the relationship between the various workpieces or equipment in the factory can be used to obtain the data required in the data model modeling from the kinematic model, thereby improving the speed and efficiency of modeling.

According to an exemplary embodiment of the present application, in the data processing method, in a case where the source object includes one or more devices in a factory, the geometric data of the source object includes at least one of the following: Geometric model; orientation information of the source object in the factory; location information of the source object in the factory, and the statistics of the source object include at least one of the following: the name of the source object; the type of the source object; Translation speed; rotation speed of the source object; length of the source object; processing duration of the workpiece currently being processed by the source object; waiting duration of the source object waiting for processing of the workpiece.

In this way, it is possible to convert geometric data and statistical data from the kinematics model of one or more devices in the factory in a mathematical model, thereby quickly performing 3D and 2D modeling, respectively.

According to an exemplary embodiment of the present application, in the data processing method, in a case where the source object includes one or more workpieces processed by one or more devices in a factory, the geometric data of the source object includes the following items At least one of: the geometric model of the source object; the orientation information of the source object in the factory; the location information of the source object in the factory, and the statistics of the source object include at least one of the following: the name of the source object The type of the source object; the translation speed of the source object; the duration of the movement of the source object; the speed of rotation of the source object; the length of the source object; the duration of the source object currently being processed; the source object's waiting to be processed Wait for processing duration.

In this way, based on the relationship between the source object and the object to be modeled, the data of the kinematics model of the source object can be automatically converted, thereby achieving rapid modeling of the mathematical model.

According to the exemplary embodiment of the present application, in the data processing method, the step of converting the acquired geometric data and statistical data of the source object into the geometric data and statistical data of the object to be modeled includes: The step of converting data and statistical data into geometric data and statistical data for mathematical modeling of the object to be modeled includes: when the object to be modeled and the source object are the same object, the acquired geometric data and statistical data of the source object As geometric data and statistical data for mathematical modeling of the object to be modeled; when the object to be modeled is a combination of source objects, the obtained geometric data and statistical data of all the source objects are used as the object to be modeled The geometric data and statistical data for mathematical modeling; when the object to be modeled and the source object are related to each other in the production process, according to the production process-based conversion relationship between the geometric data of the object to be modeled and the geometric data of the source object, The obtained geometric data of the source object is converted into geometric data for mathematical modeling of the object to be modeled, and The conversion relationship between the statistical data of the model object and the statistical data of the source object is based on the production process. The obtained statistical data of the source object is converted into statistical data for mathematical modeling of the object to be modeled. When the position in the factory is related to the position of the source object in the factory, the obtained geometric data of the source object is converted into the geometric data of the object to be modeled and the geometric data of the source object based on the position in the factory. Geometric data used for mathematical modeling of the object to be modeled, and according to the conversion relationship between the statistical data of the object to be modeled and the statistical data of the source object based on the location in the factory, the obtained statistical data of the source object is converted into Statistics for mathematical modeling of the object being modeled.

According to another aspect of the embodiments of the present application, a data processing device is provided, including: an obtaining unit, configured to obtain geometric data of a source object from a kinematics model of the source object according to a relationship between the object to be modeled and the source object; And statistical data; a conversion unit for converting the geometric data and statistical data of the source object obtained by the obtaining unit into a geometry for mathematical modeling of the object to be modeled according to the relationship between the object to be modeled and the source object Data and statistics.

The data processing device further includes: an input unit for inputting a relationship between the object to be modeled and the source object.

The modeling device further includes at least one of the following units: a three-dimensional modeling unit, configured to obtain the three-dimensional mathematics of the object to be modeled by using the acquired geometric data to obtain the three-dimensional mathematical model of the object to be modeled Model; a two-dimensional modeling unit, configured to obtain the two-dimensional mathematical model of the object to be modeled by using the converted statistical data to obtain and perform two-dimensional mathematical modeling of the object to be modeled.

In the modeling device, the source object includes at least one of one or more devices in the factory and one or more workpieces processed by the one or more devices in the factory. The relationship between the object to be modeled and the source object is the same object; the object to be modeled is a combination of source objects; the object to be modeled and the source object are related to each other in the production process; the location of the object to be modeled in the factory Associated with the location of the source object in the plant.

In the data processing apparatus, in a case where the source object includes one or more devices in a factory, the geometric data of the source object includes at least one of the following: a geometric model of the source object; a source object in the factory Orientation information; location information of the source object in the factory, and the statistics of the source object include at least one of the following: the name of the source object; the type of the source object; the translation speed of the source object; the rotation speed of the source object; The length of the source object; the processing duration of the workpiece currently being processed by the source object; the waiting duration of the source object waiting to process the workpiece.

In the data processing apparatus, in a case where the source object includes one or more workpieces processed by one or more equipment in a factory, the geometric data of the source object includes at least one of the following: Geometric model; orientation information of the source object in the factory; location information of the source object in the factory, and the statistics of the source object include at least one of the following: the name of the source object; the type of the source object; Translation speed; movement duration of the source object; rotation speed of the source object; length of the source object; processing duration of the source object currently being processed; duration of the source object waiting to be processed and waiting to be processed.

In the data processing apparatus, the conversion unit is configured to: when the object to be modeled and the source object are the same object, use the acquired geometric data and statistical data of the source object as the geometry for mathematically modeling the object to be modeled Data and statistical data; when the object to be modeled is a combination of source objects, all the acquired geometric data and statistical data of the source object are used as geometric data and statistical data for mathematical modeling of the object to be modeled; When the modeling object and the source object are related to each other in the production process, the obtained geometric data of the source object is converted to be used for construction according to the production process-based conversion relationship between the geometric data of the object to be modeled and the geometric data of the source object. The geometric data of the mathematical object for mathematical modeling, and according to the conversion relationship between the statistical data and the statistical data of the source object based on the production process, the obtained statistical data of the source object is converted into statistics for mathematical modeling of the object to be modeled Data; when the location of the object to be modeled in the factory and the location of the source object in the factory are related, The conversion relationship between the geometric data of the model object and the geometric data of the source object based on the position in the factory, converting the acquired geometric data of the source object into geometric data for mathematical modeling of the object to be modeled, and according to the model to be modeled The conversion relationship between the statistical data of the object and the statistical data of the source object is based on the position in the factory, and the acquired statistical data of the source object is converted into statistical data for mathematical modeling of the object to be modeled.

According to another aspect of the embodiments of the present application, a data processing system is provided, including: a kinematics model simulator for obtaining a kinematics model of a source object; and an obtaining unit for obtaining the data between the object to be modeled and the source object. Relationship, to obtain the geometric data and statistical data of the source object from the kinematics model of the source object of the kinematic model simulator; the conversion unit is used to obtain the data obtained by the acquisition unit according to the relationship between the object to be modeled and the source object The geometric data and statistical data of the source object are converted into geometric data and statistical data used for mathematical modeling of the object to be modeled; a mathematical model simulator is used to use the geometric data transformed by the transformation unit to perform three-dimensional mathematics of the object to be modeled Modeling to obtain a three-dimensional mathematical model of the object to be modeled, and using statistical data transformed by the conversion unit to perform two-dimensional mathematical modeling of the object to be modeled to obtain a two-dimensional mathematical model of the object to be modeled.

According to another embodiment of the present application, a storage medium is provided. The storage medium stores a program, and the method according to any one of the foregoing is executed when the program is run.

According to another embodiment of the present application, a processor is provided, which is coupled to the memory, and is characterized in that the memory stores a program, and the processor executes the method according to any one of the above when the program runs the program.

According to another embodiment of the present application, a computer program product is also provided. The computer program product is stored on a computer-readable medium and includes computer-executable instructions. When the computer-executable instructions are executed, the at least one processor executes the instructions according to the foregoing. Either method.

The method according to the embodiment of the present application may be implemented by a program in a storage medium and a processor, thereby determining an accurate required production equipment path.

In the embodiment of the present application, a mathematical model can be easily constructed using information obtained from a kinematic model. This greatly reduces the time required to model in a mathematical model. Therefore, it is very easy and meaningful to build a "bridge" between a kinematics simulator (machining simulation) and a mathematical simulator (factory simulation). This means that, if the operator already has a machining simulation model, he can easily build a plant simulation model.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described here are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

1 is a schematic diagram showing a relationship between a kinematics model of an object and data related to its mathematical model according to an embodiment of the present application;

2 is a schematic diagram showing a relationship between a kinematics model and a mathematical model of a robot according to an embodiment of the present application;

3 is a flowchart of a data processing method according to an embodiment of the present application;

4 is a flowchart of a conversion step in a data processing method according to an embodiment of the present application;

5 is a block diagram of a data processing apparatus according to an embodiment of the present application;

6 is a schematic diagram of a file structure of an information acquisition module of a data processing device according to an embodiment of the present application;

7 is a block diagram of a data processing system according to an embodiment of the present application;

8 is a block diagram of a three-dimensional mathematical model and a two-dimensional mathematical model of a kinematic model, a mathematical model, and a mathematical model according to an embodiment of the present application;

FIG. 9 is a block diagram of a plant-level simulation according to an embodiment of the present application.

Reference sign description

The same type of data involved in the 104 kinematics model and the mathematical model

Data related to 102 kinematics models but not mathematical models

Data related to 106 mathematical models but not to kinematics models

Kinematics model of 202 robot

Geometric model, processing time, waiting time in the kinematics model of 202-2 robot

Collision and movement trajectory in 202-4 robot kinematics model

Mathematical Model of 204 Robot

Geometric model, processing time, waiting time in the mathematical model of the 204-2 robot

Energy consumption and throughput in the mathematical model of a 204-4 robot

S302 Input the relationship between the object to be modeled and the source object

S304. Acquire the geometric data and statistical data of the source object from the kinematics model of the source object according to the input relationship.

S306 According to the input relationship, the acquired geometric data and statistical data of the source object are converted into geometric data and statistical data of the object to be modeled.

S308 uses the transformed geometric data to perform 3D mathematical modeling of the object to be modeled to obtain a 3D mathematical model of the object to be modeled.

S310 uses the converted statistical data to perform two-dimensional mathematical modeling of the object to be modeled to obtain a two-dimensional mathematical model of the object to be modeled.

S402 determines the relationship between the object to be modeled and the source object input in step S302 of FIG. 3

S404 Use the obtained geometric data and statistical data of the source object as the geometric data and statistical data of the object to be modeled

S406. Use the obtained geometric data and statistical data of all the source objects as the geometric data and statistical data of the object to be modeled.

S408 convert the acquired geometric data and statistical data of the source object into geometric data and statistical data of the object to be modeled

S410: Convert the obtained geometric data of the source object into the geometric data of the object to be modeled according to the conversion relationship based on the position in the factory of the geometric data of the object to be modeled and the geometric data of the source object, and according to the object to be modeled, and The conversion relationship between the statistical data of the source object and the statistical data of the source object based on the location in the factory, and the obtained statistical data of the source object is converted into the statistical data of the object to be modeled

S412: According to the production process-based conversion relationship between the geometric data of the object to be modeled and the geometric data of the source object, convert the obtained geometric data of the source object into the geometric data of the object to be modeled, and according to the statistical data of the object to be modeled Production process-based conversion relationship with the statistical data of the source object, converting the acquired statistical data of the source object into the statistical data of the object to be modeled

502 input unit

504 acquisition unit

504-2 Geometric Data Acquisition Unit

504-4 statistical data acquisition unit

506 conversion unit

506-2 Geometric Data Conversion Unit

506-4 statistical data conversion unit

508 modeling unit

A conveyor belt

B speed

C width

D length

E's location in the factory

F's orientation in the factory

G geometry information storage path

702 Kinematics Model Simulator

704 input unit

706 acquisition unit

708 conversion unit

710 Mathematical Model Simulator

Kinematic model of 802 source object

804 3D model of mathematical model of object to be modeled

806 2D model of mathematical model of object to be modeled

902 physical level simulation

904 Product Line Level Simulation

906 plant-level simulation.

detailed description

In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only Examples are part of this application, but not all examples. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts should fall within the protection scope of this application.

It should be noted that the terms “first” and “second” in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data so used may be interchanged where appropriate so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. Furthermore, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or modules or units need not be limited to clearly listed Those steps or modules or units may include other steps or modules or units not explicitly listed or inherent to these processes, methods, products, or equipment.

FIG. 1 is a schematic diagram showing a relationship between a kinematics model of an object and data related to its mathematical model according to an embodiment of the present application. The object may be equipment in a factory (for example, a robotic arm, a conveyor belt) or a workpiece in a factory (for example, a workpiece being processed on a conveyor belt). In FIG. 1, a region 104 represents the same type of data related to the kinematics model and mathematical model of the object, for example, a geometric model representing a robotic arm (for example, a model of a robotic arm in a three-dimensional space represented in CAD format), a representation Equipment parameters of the conveyor belt (for example, the length and speed of the conveyor belt), the processing duration of the workpiece currently being processed, and the like. Region 102 represents data that is involved in the kinematics model but not in the mathematical model, such as the movement trajectory of the object. Specifically, it can be a kinematic constraint, a motion pair, a motion speed, and a degree of freedom of the robotic arm. Region 106 represents data related to the mathematical model but not to the kinematics model, for example, the number of workpieces processed by the robot arm in a unit time, the energy consumption of the robot arm, and the like. As shown in Figure 1, the information from the kinematic model (which is in a process simulation) is usually redundant for the mathematical model (which is in a plant simulation). The following content uses a robot arm as an example to explain machining simulation and factory simulation. The kinematics model of the manipulator in machining simulation is generated by kinematics modeling of the manipulator that produces displacement. The kinematics model of a mechanical arm in machining simulation refers to the same geometric structure and physics as the real robot arm created in a virtual space that simulates the real robot arm based on data related to the geometry and physical motion characteristics of the real robot arm. Virtual model of a kinematic arm with kinematics. The virtual model can run in the virtual space with the same physical and operational laws as the real robotic arm in the real space, and can simulate the structure, operating conditions and physical state of the real robotic arm in the real space in the virtual space. The simulation may include generating a kinematic model of a plurality of robotic arms involved in the processing process to create a virtual environment in a virtual space consistent with a device spatial relationship in a real space. During the operation of the kinematics models of multiple robotic arms in a virtual environment, collisions between the various kinematics models may occur (for example, the kinematics model of the first robotic arm is in the process of The kinematics model of the second robotic arm at the position collides), coordination (for example, the kinematics model of the first robotic arm at the first processing step and the kinematics model of the second robotic arm at the second processing step will be coordinated Work) and other events. The modeling involved in this kinematics model in machining simulation is mainly used to examine the detailed design of the production line of interest. On the other hand, the mathematical model of the robotic arm is a model obtained by mathematically modeling the robotic arm, and is a mathematical representation of the information related to the robotic arm through mathematical expressions. For example, the mathematical model may include a three-dimensional mathematical model in which a three-dimensional mathematical expression is expressed by a mathematical expression and a two-dimensional mathematical model in which a two-dimensional mathematical expression is expressed by a mathematical expression. In the mathematical model of a mechanical arm in a factory simulation, the mechanical arm is defined as a working unit, and the mathematical model also includes data such as input, derivation mechanism, and output. The input is a mathematically expressed parameter of the robotic arm (for example, the device initialization time of the robotic arm), the derivation mechanism is a time series or trigger event expressed by a mathematical formula, and the output is the unit working time and energy consumption of the robotic arm Wait. The mathematical model of the robot arm is not used for the specific motion analysis of the robot arm. For example, the mathematical model of a robotic arm does not provide information such as the trajectory of the robotic arm. Therefore, it can also be understood that the mathematical model of the robotic arm (involving factory simulation) is located at the upper level of the kinematics model (involving machining simulation), and the kinematics model at the lower level reflects more detailed information than the mathematical model at the upper level. For example, a kinematic model involves geometric information (i.e., the geometric model of the object in three dimensions), kinematic information (e.g., kinematic constraints, kinematic pairs, motion speed, kinematic freedom), device parameters (e.g., length, speed ) And processing time (for example, unit working time). The mathematical model can involve geometric information, kinematic information, equipment parameters, processing time, throughput, energy consumption information, and so on. Both of these involve geometric information, kinematic information, equipment parameters, processing time, etc. (as shown in section 104 of Figure 1). Table 1 lists the information and data involved in some kinematic models and data models:

Table 1

In addition, taking a robot commonly used in a factory as an example, FIG. 2 is a schematic diagram showing a relationship between a kinematic model and a mathematical model of a robot according to an embodiment of the present application. The data involved in the robot's kinematics model and data model are shown in Table 2:

Table 2

机器人的运动学模型Kinematics model of a robot	机器人的数学模型Mathematical model of a robot
几何模型Geometric model	几何模型Geometric model

加工时间1Processing time 1	加工时间1 Processing time 1
加工时间2 Processing time 2	加工时间2 Processing time 2
等待时间1 Waiting time 1	等待时间1 Waiting time 1
碰撞collision	能耗Energy consumption
移动轨迹Moving track	吞吐量Throughput

In FIG. 2, 202-2 in the kinematics model 202 of the robot represents the geometric model, processing time, and waiting time in the kinematics model of the robot. 204-2 in the mathematical model of the robot 204 represents the geometric model, processing time, and waiting time in the mathematical model of the robot. 202-4 in the robot's kinematics model 202 represents collisions, movement trajectories (e.g., the robot's degree of freedom of movement) in the robot's kinematics model. The 204-4 part in the mathematical model of the robot 204 represents the energy consumption and throughput in the mathematical model of the robot. According to an exemplary embodiment, data of 202-2 in the kinematics model of the robot may be converted into data of 204-2 in the mathematical model of the robot, as shown by arrow 1. In addition, the data of 204-4 in the mathematical model of the robot may be obtained from outside (for example, input) as shown by arrow 2.

Generally speaking, kinematics models are used in kinematics simulations and have more comprehensive geometric information. Similarly, the kinematic model also has more comprehensive data such as equipment parameters and processing efficiency. Therefore, although data from kinematics such as kinematics may not be needed to build a mathematical model, some manufacturing parameters (e.g., equipment parameters such as length and width, processing time such as unit working time) from the kinematic model may be helpful For building mathematical models.

Therefore, according to an exemplary embodiment, data may be acquired from a kinematic model and mapped to a mathematical model (factory simulation). Using information from kinematic models, mathematical models can be easily and quickly established.

FIG. 3 is a flowchart of a data processing method according to an embodiment of the present application. As shown in Figure 3, the method includes:

Step S302, for example, the user inputs the relationship between the object to be modeled and the source object via a user interface. Specifically, the user can input the relationship through an I / O interface. One or more of the I / O devices can communicate between a person and a computer system. By way of example, and not by way of limitation, I / O devices may include keyboards, keys, microphones, displays, mice, printers, scanners, speakers, still cameras, styluses, tablets, touch screens, trackballs, cameras, and the like. The data processing method may be used for plant modeling, and the source objects include at least one of one or more equipment in the plant and one or more workpieces processed by the plant equipment. For example, the object to be modeled and the source object may be a workpiece to be processed, a robot arm, a conveyor belt. The relationship between the object to be modeled and the source object may include at least one of the following: the object to be modeled and the source object are the same object; the object to be modeled is a combination of source objects (for example, the source object is in a factory For each robot arm of a production line, the object to be modeled is a combination of all robot arms on a production line in the factory); the object to be modeled and the source object are related to each other in the production process (for example, the source object is on the production line) The first robotic arm in the first processing step, the object to be modeled is the second robotic arm in the second processing step on the production line); the position of the object to be modeled in the factory and the position of the source object in the factory are mutually Association (for example, the object to be modeled is a conveyor belt, and the source object is an artifact being conveyed on a conveyor belt).

Step S304: Obtain geometric data and statistical data of the source object from the kinematics model of the source object according to the relationship between the object to be modeled and the source object input in step S302. In the case where the source object includes one or more devices in the factory, the geometric data of the source object includes at least one of the following: the orientation information of the source object in the factory; the location information of the source object in the factory, and The statistics of the source object include at least one of the following: the name of the source object; the type of the source object; the translation speed of the source object; the rotation speed of the source object; the length of the source object; the currently processed workpiece of the source object The processing duration of the source object; the waiting duration of the source object waiting to process the workpiece. In the case where the source object includes at least one of one or more workpieces processed by factory equipment, the geometric data of the source object includes at least one of the following: the geometric model of the source object; the source object is in the factory The orientation information of the source object; the location information of the source object in the factory, and the statistics of the source object include at least one of the following: the name of the source object; the type of the source object; the translation speed of the source object; the rotation speed of the source object ; The length of the source object; the processing duration of the source object currently being processed; the waiting duration of the source object waiting to be processed. Among them, geometric data is used for 3D modeling in mathematical models. The purpose of obtaining geometric data is to input the obtained model and its relative position for 3D display. The obtained statistics are used for 2D modeling in mathematical models. The purpose of obtaining statistical data is to input statistical data information into a 2D model for simulation.

In step S306, the acquired geometric data and statistical data of the source object are converted into geometric data and statistical data of the object to be modeled according to the relationship between the object to be modeled and the source object input in step S302. The specific method for converting the geometric data and statistical data of the source object into the geometric data and statistical data of the object to be modeled will be described in detail in FIG. 4.

Step S308: Use the transformed geometric data to perform three-dimensional mathematical modeling of the object to be modeled to obtain a three-dimensional mathematical model of the object to be modeled. A three-dimensional mathematical model of the object to be modeled is shown in, for example, part 804 in FIG. 8.

Step S310: Use the converted statistical data to perform two-dimensional mathematical modeling of the object to be modeled to obtain a two-dimensional mathematical model of the object to be modeled. A two-dimensional mathematical model of the object to be modeled is shown as 806 in FIG. 8.

In addition, although this disclosure describes and illustrates example methods for data processing, including specific steps of the method of FIG. 3, this disclosure contemplates any suitable method for data processing, including any suitable steps, in appropriate In some cases, all or some of the steps of the method of FIG. 3 may be included or not included. For example, in a case where the relationship between the object to be modeled and the source object has been stored in advance, step S302 may be omitted. Moreover, in the case where it is only necessary to convert the acquired geometric data and statistical data of the source object into geometric data and statistical data of the object to be modeled, the process may be ended at step S306 without performing step S308 and step S310. In addition, although this disclosure describes and illustrates specific components, devices, or systems that perform specific steps of the method of FIG. 3, this disclosure contemplates any suitable component, device, or system that performs any suitable steps of the method of FIG. Any suitable combination.

In addition, according to design requirements and hardware conditions, step S302 may be omitted. For example, in a case where the relationship between the source object and the object to be modeled is stored in advance, user input may not be required. In addition, the execution order of steps S308 and S310 is adjusted. For example, steps S308 and S310 may be performed in parallel, or may be performed in any serial order.

Through the above embodiments, modeling of a mathematical model using a kinematic model is realized. That is, the conversion from machining simulation to factory simulation is realized.

Next, refer to FIG. 4. FIG. 4 is a flowchart of the conversion steps in the data processing method according to the embodiment of the present application, and the specific details of the conversion steps in the data processing method according to the embodiment of the present application are further described with reference to FIG. 4. This conversion step includes:

Step S402. In this step, it is determined whether the relationship between the object to be modeled and the source object input in step S302 in FIG. 3 is one of the following cases: the object to be modeled and the source object are the same object; The object to be modeled is a combination of source objects; the position of the object to be modeled and the source object in the production process or in the factory are related to each other.

In step S404, when it is determined in step S402 that the object to be modeled and the source object are the same object, the acquired geometric data and statistical data of the source object are used as the geometric data and statistical data of the object to be modeled. For example, when the object to be modeled and the source object are both the first robotic arm, the obtained geometric data and statistical data of the kinematics model of the first robotic arm are used as the geometrical data and statistics of the mathematical model of the first robotic arm, respectively data.

In step S406, when it is determined in step S402 that the object to be modeled is a combination of source objects, the acquired geometric data and statistical data of the source objects are used as the geometric data and statistical data of the object to be modeled. For example, if the object to be modeled is a single robotic arm, and the source object is a combination of robotic arms, the first robotic arm, the second robotic arm, and the third robotic arm on each pipeline will be obtained. Nth The geometric data and statistical data of the kinematic model of each robot arm (N is an integer greater than 3) are used as the geometric data and statistical data of the mathematical model of the combination of all the robot arms on each pipeline.

Step S408: When it is determined in step S402 that the position of the object to be modeled and the position of the source object in the production process or in the factory are related to each other, the acquired geometric data and statistical data of the source object are converted into the geometric data of the object to be modeled and Statistical data. When it is determined that the positions of the object to be modeled and the source object are related to each other in the factory, step S410 is performed. In this step, according to the transformation relationship between the geometric data of the object to be modeled and the geometric data of the source object based on the position in the factory , Converting the acquired geometric data of the source object into the geometric data of the object to be modeled, and converting the acquired source object's The statistical data is converted into statistical data of the object to be modeled. For example, the data obtained from the kinematic model is about the moving time of the workpiece, while the corresponding object in the mathematical model is the conveyor belt. Therefore, in order to realize modeling in a mathematical model using data of a kinematic model, it is necessary to convert the moving time of a workpiece into the speed of a conveyor belt. In this embodiment, the relationship between the object of the kinematic model and the object of the mathematical model has been stored in advance. Therefore, according to the predetermined relationship, the data obtained from the kinematic model can be processed to calculate the mathematical model. Desired value. In addition, when the object to be modeled and the source object are related to each other in the production process, step S412 is performed. In this step, according to the production process-based conversion relationship between the geometric data of the object to be modeled and the geometric data of the source object, The obtained geometric data of the source object is converted into the geometric data of the object to be modeled, and the obtained statistical data of the source object is converted into based on the production process conversion relationship between the statistical data of the object to be modeled and the statistical data of the source object. Statistics of the object to be modeled. For example, the data obtained from the kinematics model is about the processing duration of the first workpiece that is currently being processed, while the corresponding object in the mathematical model is the first in the next processing stage after being processed as the first workpiece. Two artifacts. Therefore, in order to realize modeling in a mathematical model using data of a kinematic model, it is necessary to convert the processing duration of the first workpiece to the processing duration of the second workpiece waiting to be processed. In this embodiment, the relationship between the object of the kinematic model and the object of the mathematical model has been stored in advance. Therefore, according to the predetermined relationship, the data obtained from the kinematic model can be processed to calculate the mathematical model. Desired value.

As mentioned before, according to the actual situation and design requirements, a user interface UI can be provided, allowing the user to manually define the relationship between the object to be modeled and the source object, and giving the geometric data and statistical data of the object to be modeled and the source object Conversion relationship between geometric data and statistical data. For example, the kinematic model of the slider as the workpiece to be processed and the kinematic model of the conveyor belt as equipment in the factory can be known or obtained, and the interrelationship between the slider and the conveyor belt in the production process can be determined or entered. The blocks are placed on the conveyor and the slider moves in translation as the conveyor moves. Therefore, the movement time of the slider can be obtained from the kinematics model of the slider, and the length of the conveyor can be obtained from the kinematics model of the conveyor. At the same time, you can determine or enter the following conversion relationships:

S = L / T (1)

In Expression (1), S represents the speed of the conveyor belt in the mathematical model of the conveyor belt as the object to be modeled, L represents the length of the conveyor belt obtained from the kinematic model of the conveyor belt as the source object, and T represents the length from The movement time of the slider obtained from the kinematics model of the slider of the object.

According to the conversion relationship described above, the speed of the conveyor belt for mathematically modeling the conveyor belt as an object to be modeled can be obtained.

The following describes another example where the object to be modeled is a conveyor belt and the source object is an artifact. First, the user inputs a conveyor belt and a workpiece on a graphical interface via an input device such as a keyboard or a touch screen. For example, a workpiece is a workpiece being transported on a conveyor. Therefore, the position of the conveyor belt and the workpiece in the factory are interrelated. From the kinematic model of the workpiece, geometric data (for example, the orientation information of the workpiece in the factory, position information in the factory) and statistical data (for example, the duration of the movement of the workpiece) are obtained. Next, according to the conversion relationship between the statistical data of the predetermined conveyor belt and the statistical data of the workpiece according to the position in the factory, the obtained geometric data and statistical data of the workpiece are converted into geometric data and statistical data of the object to be modeled ( For example, the speed of a conveyor belt). Alternatively, the user can also manually define the conversion relationship between the statistical data of the conveyor belt and the statistical data of the workpiece according to the position in the factory through the graphical user interface, and then convert the obtained statistical data of the workpiece (for example, the moving time of the workpiece) into the Statistics (for example, the speed of a conveyor belt). For example, in the case where the workpiece is a workpiece being conveyed on a conveyor belt, the length of the conveyor belt is divided by the movement duration of the workpiece to obtain the speed of the conveyor belt. Finally, the transformed geometric data and statistical data are used to perform 3D mathematical modeling and 2D mathematical modeling, so as to obtain a 3D mathematical model and a 2D mathematical model of the conveyor belt. Among them, a three-dimensional mathematical model and a two-dimensional mathematical model of the conveyor belt can be performed using a mathematical modeling method (NX MOTION, NX MCD) known in the art.

According to an embodiment of the present application, a data processing apparatus is provided. FIG. 5 is a block diagram of a data processing apparatus according to an embodiment of the present application. As shown in FIG. 5, the data processing apparatus includes: an input unit 502 for inputting a relationship between an object to be modeled and a source object by a user; and an acquisition unit 504 for receiving the relationship output by the input unit, The geometric data and statistical data of the source object are obtained from the kinematics model of the source object; the conversion unit 506 is configured to convert the geometric data and statistical data of the source object obtained by the acquisition unit into Geometric data and statistical data of the modeled object; a modeling unit 508, configured to use the geometric data obtained by the acquisition unit to perform three-dimensional mathematical modeling of the object to be modeled to obtain a three-dimensional mathematical model of the object to be modeled, and construct The model unit is configured to perform two-dimensional mathematical modeling of the object to be modeled by using the statistical data obtained by the obtaining unit to obtain a two-dimensional mathematical model of the object to be modeled. The obtaining unit 504 includes: a geometric data obtaining unit 504-2, configured to obtain geometric data of the source object from a kinematic model of the source object according to the relationship determined by the determining unit; a statistical data obtaining unit 504-4, It is used to obtain the statistical data of the source object from the kinematics model of the source object according to the relationship determined by the determination unit. Correspondingly, the conversion unit 506 includes a geometric data conversion unit 506-2, configured to convert the geometric data of the source object obtained by the geometric data acquisition unit 504-2 into the object to be modeled according to the relationship determined by the determination unit. Statistical data conversion unit 506-4, configured to convert the statistical data of the source object obtained by the statistical data acquisition unit 504-4 into the statistical data of the object to be modeled according to the relationship determined by the determination unit. Among them, as its name implies, the geometric data acquisition unit acquires geometric information and relative position and orientation information. The statistical data acquisition section acquires statistical data information (for example, object name, object type, speed, length, processing time, waiting time). Specifically, the geometric data acquisition section acquires geometric data of all objects from the kinematic model. The geometric data acquisition unit can acquire geometric information of all objects in the kinematics simulator. The acquired geometric information can be saved as a file in a format supported by the mathematical simulator. In addition, geometric information can be saved in the path of the saved file. For example, geometric information is saved as a file in CAD format under the path. The statistical data acquisition unit acquires statistical data of a part of the objects from the kinematics model. The statistical data acquisition section can acquire all required statistical data information. As defined in the relative category, only a part of the object's parameters are needed for modeling the mathematical model. The obtaining unit uses an object-oriented method. Establish categories to store information for all objects. This category has several attributes. It includes object name, object type, object geometry model. And, for different object types, its inherent different properties. In addition, in the obtaining unit 504, the obtained data can be stored in an object-oriented manner. In the kinematics model, categories are established and all source objects are stored by category. For each source object, the corresponding information is stored. For example, you can store object names, object types, object geometry models, and other properties for each source object. Obviously, each source object can have many different properties. For example, FIG. 6 is a schematic diagram of a file structure of an information acquisition module of a data processing apparatus according to an embodiment of the present application. Taking the category "conveyor belt" (denoted as A in Fig. 6) as an example, it can have speed (denoted as B in Fig. 6), width (denoted as C in Fig. 6), length (denoted as in Fig. 6 as D), the location in the factory (indicated as E in FIG. 6), the orientation in the factory (indicated as F in FIG. 6), and other attributes and the storage path of geometric information (indicated as G in FIG. 6). That is, in the acquisition unit 504, the attributes for the category "conveyor belt" are stored in an object-oriented manner as shown in Table 3 below.

table 3

And, the acquired data is stored in a folder in a format supported by the mathematical model for subsequent use. Since the obtained information is object-oriented, automatic mapping in the conversion unit 506 can be realized. For example, according to the needs for modeling in a mathematical model, or according to the relationship between the object to be modeled and the source object, only a part of the statistical data in the kinematics model of the source object or a part of the statistical data of the object may be obtained. In addition, in some cases, some statistical data can be generated based on geometric data. For example, statistical data such as the length of the object can be generated based on the geometric data of the source object. For example, although geometric data is a geometric model of an object in three-dimensional space, the data does not have such information as length, width, and height, but statistical methods can be obtained in specific ways. For example, if the geometric model is a straight belt, then we can obtain the maximum and minimum coordinate points of x or y in 3D space, and the difference between them can be the length and width of the belt.

The above data processing apparatus and its internal unit perform the data processing method shown in FIG. 3, which will not be repeated here. In this manner, a device for modeling in a mathematical model is provided.

According to an embodiment of the present application, a modeling system is provided. FIG. 7 is a block diagram of a data processing system according to an embodiment of the present application. As shown in FIG. 7, the system includes: a kinematics model simulator 702 for obtaining a kinematics model of a source object; an input unit 704 for inputting a relationship between the object to be modeled and the source object; an obtaining unit 706 for Obtaining the geometric data and statistical data of the source object from the kinematics model of the source object according to the relationship output by the input unit; a conversion unit 708, configured to according to the relationship output by the input unit To convert the geometric data and statistical data of the source object obtained by the obtaining unit into geometric data and statistical data of the object to be modeled; a mathematical model simulator 710 is configured to utilize the converted unit The converted geometric data is used to perform three-dimensional mathematical modeling of the object to be modeled to obtain the three-dimensional mathematical model of the object to be modeled, and the statistical data transformed by the conversion unit is used to perform two -Dimensional mathematical modeling to obtain a two-dimensional mathematical model of the object to be modeled. As shown in FIG. 8, it is a block diagram of a kinematics model, a three-dimensional mathematical model of a mathematical model, and a two-dimensional mathematical model according to an embodiment of the present application. Among them, reference numeral 802 in FIG. 8 represents a kinematic model of the source object, reference numeral 804 represents a 3D model of a mathematical model of the object to be modeled, and reference numeral 806 represents a 2D model of the mathematical model of the object to be modeled.

In a particular embodiment, the system may be an electronic device that includes hardware, software, or embedded logic elements or a combination of two or more such elements and is capable of performing suitable functions implemented or supported by the system. By way of example, and not by way of limitation, the system may include a computer system, such as a desktop computer, notebook or laptop computer, notebook, tablet, e-reader, GPS device, camera, personal digital assistant (PDA), handheld Electronic devices, cellular phones, smartphones, augmented / virtual reality devices, other suitable electronic devices, or any suitable combination thereof. This disclosure contemplates any suitable system. The system enables network users on the client system to access the network. The system enables its users to communicate with other users on other client systems.

According to another embodiment of the present application, a storage medium is provided, and the storage medium includes a stored program, wherein, when the program runs, the device where the storage medium is located is controlled to execute the foregoing data processing method.

According to another embodiment of the present application, a processor is provided, and the processor is configured to run a program, and the program executes the foregoing data processing method when the program is run.

According to another embodiment of the present application, there is also provided a computer program product that is tangibly stored on a computer-readable medium and includes computer-executable instructions that, when executed, cause at least A processor executes the data processing method described above.

The method according to the embodiment of the present application can be implemented by a program in a storage medium, a processor, and a terminal, thereby implementing fast and convenient modeling in a mathematical model. In the above embodiments of the present application, the description of each embodiment has its own emphasis. For a part that is not described in detail in an embodiment, reference may be made to the related description of other embodiments.

In general, the lower the model level throughout the simulation line, the more information the model has. FIG. 9 is a block diagram of a plant-level simulation according to an embodiment of the present application. As shown in FIG. 9, reference numeral 902 represents a simulation of a plurality of individual robotic arms as equipment in a factory, which is usually a physical-level simulation (NX MOTION, NX MCD, which has not only kinematic information, but also physical information (for example, Mass, force). Numeral 904 in FIG. 9 represents the use of kinematic models for simulation of multiple product line levels including multiple robotic arms, respectively. Numeral 906 in FIG. 9 represents the use of simulation for the plant level including all product lines. Mathematical model. Therefore, in this application, the information obtained from the kinematic model can be used to quickly and easily build a mathematical model. It saves a lot of time required for modeling. Kinematic simulator (processing simulation) and mathematical simulator (Factory simulation) is on the same production line, so it is very easy and meaningful to build this "bridge". If the user has a processing simulation model, it can very easily build a factory simulation model. This rapid modeling method has Helps change product line models from kinematics models to mathematical models.

According to the scheme of the present application, a mathematical model can be easily constructed using information obtained from a kinematic model. This greatly reduces the time required to model in a mathematical model. Therefore, it is very easy and meaningful to build a "bridge" between a kinematics simulator (machining simulation) and a mathematical simulator (factory simulation). This means that, if the operator already has a machining simulation model, he can easily build a plant simulation model.

Users can use kinematic models (which are in process simulation) to more quickly and easily build mathematical models (which are in factory simulation). Specifically, by first defining the information required by the mathematical model and the kinematics can provide, by providing the API of the kinematics simulator, this information is obtained, and using the obtained information, the model can be automatically created in the mathematical simulator, and can be connected The entire product line for factory simulation. The product relationship will be closer.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the unit or module is only a logical function division. In actual implementation, there may be another division manner, such as multiple units or modules or components. It can be combined or integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, modules or units, and may be electrical or other forms.

The units or modules described as separate components may or may not be physically separated, and the components displayed as units or modules may or may not be physical units or modules, which may be located in one place, or may be distributed to On multiple network elements or modules. Some or all of the units or modules may be selected according to actual needs to achieve the objective of the solution of this embodiment.

In addition, each functional unit or module in each embodiment of the present application may be integrated into one processing unit or module, or each unit or module may exist separately physically, or two or more units or modules may be integrated into one Unit or module. The above-mentioned integrated unit or module can be implemented in the form of hardware or in the form of software functional unit or module.

When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially a part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium. , Including a number of instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. The foregoing storage medium includes: U disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), mobile hard disk, magnetic disk, or optical disk and other media that can store program codes.

The above is only the preferred implementation of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principles of the present application, several improvements and retouches can be made. These improvements and retouches also It should be regarded as the protection scope of this application.

Claims

A data processing method, wherein the data processing method includes:

Obtaining geometric data and statistical data of the source object from a kinematics model of the source object according to a relationship between the object to be modeled and the source object;

Converting the acquired geometric data and statistical data of the source object into a mathematical model for the object to be modeled according to the relationship between the object to be modeled and the source object Geometric data and statistics.
The data processing method according to claim 1, wherein the data processing method further comprises:

Enter the relationship between the object to be modeled and the source object.
The data processing method according to claim 1, wherein the data processing method further comprises at least one of the following steps:

Performing three-dimensional mathematical modeling of the object to be modeled using the transformed geometric data to obtain a three-dimensional mathematical model of the object to be modeled, and

The converted statistical data is used to perform two-dimensional mathematical modeling of the object to be modeled to obtain a two-dimensional mathematical model of the object to be modeled.
The data processing method according to claim 1, wherein the source object comprises at least one of one or more devices in a factory and one or more workpieces processed by the one or more devices in the factory. Species,

The relationship between the object to be modeled and the source object includes:

The object to be modeled and the source object are the same object;

The object to be modeled is a combination of the source objects;

The object to be modeled and the source object are related to each other in a production process;

The position of the object to be modeled in the factory and the position of the source object in the factory are related to each other.
The data processing method according to claim 1, wherein, in a case where the source object includes one or more devices in a factory,

The geometric data of the source object includes at least one of the following:

A geometric model of the source object;

Orientation information of the source object in the factory;

Location information of the source object in the factory, and

The statistical data of the source object includes at least one of the following:

The name of the source object;

The type of the source object;

The translation speed of the source object;

The rotation speed of the source object;

The length of the source object;

A processing duration of a workpiece currently being processed by the source object;

The waiting duration of the source object waiting to process the workpiece.
The data processing method according to claim 3, wherein, in a case where the source object includes one or more workpieces processed by one or more devices in a factory,

The geometric data of the source object includes at least one of the following:

A geometric model of the source object;

Orientation information of the source object in the factory;

Location information of the source object in the factory, and

The statistical data of the source object includes at least one of the following:

The name of the source object;

The type of the source object;

The translation speed of the source object;

The duration of movement of the source object;

The rotation speed of the source object;

The length of the source object;

The processing duration of the source object currently being processed;

The source object is waiting to be processed for the duration of processing.
The data processing method according to claim 4, wherein the acquired geometric data and statistical data of the source object are converted into geometric data and statistical data for mathematically modeling the object to be modeled The data steps include:

When the object to be modeled and the source object are the same object, the obtained geometric data and statistical data of the source object are used as the geometric data and Statistical data;

When the object to be modeled is a combination of the source objects, the obtained geometric data and statistical data of all the source objects are used as the geometric data and statistical data for mathematically modeling the object to be modeled;

When the object to be modeled and the source object are related to each other in a production process, according to a conversion relationship based on the production process of the geometric data of the object to be modeled and the geometric data of the source object, Converting the acquired geometric data of the source object into geometric data for mathematically modeling the object to be modeled, and according to the statistical data of the object to be modeled and the source object's Conversion relationship of the statistical data based on the production process, converting the acquired statistical data of the source object into statistical data for mathematically modeling the object to be modeled;

When the position of the object to be modeled in the factory and the position of the source object in the factory are related to each other, according to the geometric data of the object to be modeled and the geometric data of the source object, Converting the acquired geometric data of the source object into geometric data for mathematically modeling the object to be modeled based on the transformation relationship of the position in the factory, and according to the location of the object to be modeled A conversion relationship between the statistical data and the statistical data of the source object based on a location in a factory, and converting the acquired statistical data of the source object into a mathematical model for the object to be modeled Statistics.
A data processing device, wherein the data processing device includes:

An obtaining unit, configured to obtain geometric data and statistical data of the source object from a kinematics model of the source object according to a relationship between the object to be modeled and the source object;

A conversion unit, configured to convert the geometric data and the statistical data of the source object obtained by the obtaining unit to the geometric data and the statistical data of the source object according to the relationship between the object to be modeled and the source object; The geometric data and statistical data of mathematical modeling of the object to be modeled are described.
The data processing device according to claim 8, wherein the data processing device further comprises:

An input unit is configured to input the relationship between the object to be modeled and the source object.
The data processing device according to claim 8, wherein the modeling device further comprises at least one of the following units:

A three-dimensional modeling unit, configured to obtain the three-dimensional mathematical model of the object to be modeled by using the acquired geometric data to obtain three-dimensional mathematical modeling of the object to be modeled;

A two-dimensional modeling unit is configured to obtain the two-dimensional mathematical model of the object to be modeled by using the converted statistical data acquisition to perform two-dimensional mathematical modeling of the object to be modeled.
The data processing device according to claim 8, wherein the source object comprises at least one of one or more devices in a factory and one or more workpieces processed by the one or more devices in the factory. Species,

The relationship between the object to be modeled and the source object includes:

The object to be modeled and the source object are the same object;

The object to be modeled is a combination of the source objects;

The object to be modeled and the source object are related to each other in a production process;

The position of the object to be modeled in the factory and the position of the source object in the factory are related to each other.
The data processing apparatus according to claim 8, wherein, in a case where the source object includes one or more devices in a factory,

The geometric data of the source object includes at least one of the following:

A geometric model of the source object;

Orientation information of the source object in the factory;

Location information of the source object in the factory, and

The statistical data of the source object includes at least one of the following:

The name of the source object;

The type of the source object;

The translation speed of the source object;

The rotation speed of the source object;

The length of the source object;

A processing duration of a workpiece currently being processed by the source object;

The waiting duration of the source object waiting to process the workpiece.
The data processing device according to claim 10, wherein, in a case where the source object includes one or more workpieces processed by one or more devices in a factory,

The geometric data of the source object includes at least one of the following:

A geometric model of the source object;

Orientation information of the source object in the factory;

Location information of the source object in the factory, and

The statistical data of the source object includes at least one of the following:

The name of the source object;

The type of the source object;

The translation speed of the source object;

The duration of movement of the source object;

The rotation speed of the source object;

The length of the source object;

The processing duration of the source object currently being processed;

The source object is waiting to be processed for the duration of processing.
The data processing device according to claim 11, wherein the conversion unit is configured to:

When the object to be modeled and the source object are the same object, the obtained geometric data and statistical data of the source object are used as the geometric data and Statistical data;

When the object to be modeled is a combination of the source objects, the acquired geometric data and statistical data of all the source objects are used as geometric data and statistical data for mathematically modeling the object to be modeled;

When the object to be modeled and the source object are related to each other in a production process, according to a conversion relationship based on the production process of the geometric data of the object to be modeled and the geometric data of the source object, Converting the acquired geometric data of the source object into geometric data for mathematically modeling the object to be modeled, and based on the statistical data and the production-based production of the statistical data of the source object Process conversion relationship, converting the obtained statistical data of the source object into statistical data for mathematically modeling the object to be modeled;

When the position of the object to be modeled in the factory and the position of the source object in the factory are related to each other, according to the geometric data of the object to be modeled and the geometric data of the source object, Converting the acquired geometric data of the source object into geometric data for mathematically modeling the object to be modeled based on the transformation relationship of the position in the factory, and according to the location of the object to be modeled A conversion relationship between the statistical data and the statistical data of the source object based on a location in a factory, and converting the acquired statistical data of the source object into a mathematical model for the object to be modeled Statistics.
The data processing system is characterized in that the data processing system includes:

Kinematic model simulator, used to obtain the kinematic model of the source object;

An obtaining unit, configured to obtain geometric data and statistics of the source object from the kinematics model of the source object of the kinematics model simulator according to a relationship between the object to be modeled and the source object; data;

A conversion unit, configured to convert the geometric data and the statistical data of the source object obtained by the obtaining unit to the geometric data and the statistical data of the source object according to the relationship between the object to be modeled and the source object; Describe the geometric data and statistical data for mathematical modeling of the object to be modeled;

A mathematical model simulator for performing three-dimensional mathematical modeling of the object to be modeled using geometric data transformed by the conversion unit to obtain a three-dimensional mathematical model of the object to be modeled, and using the conversion unit The converted statistical data is used to perform two-dimensional mathematical modeling of the object to be modeled to obtain a two-dimensional mathematical model of the object to be modeled.
The computer-readable storage medium is characterized in that the storage medium stores a program, and the method according to any one of claims 1 to 7 is executed when the program is run.
A processor is coupled to the memory, wherein the memory stores a program, and the processor executes the method according to any one of claims 1 to 7 when the processor runs the program.
Computer program product, characterized in that the computer program product is stored on a computer-readable medium and includes computer-executable instructions which, when executed, cause at least one processor to execute according to claims 1 to 7 The method of any one of.