WO2022099997A1 - 基于数字孪生映射的主从联动控制方法和系统 - Google Patents

基于数字孪生映射的主从联动控制方法和系统 Download PDF

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Publication number
WO2022099997A1
WO2022099997A1 PCT/CN2021/087148 CN2021087148W WO2022099997A1 WO 2022099997 A1 WO2022099997 A1 WO 2022099997A1 CN 2021087148 W CN2021087148 W CN 2021087148W WO 2022099997 A1 WO2022099997 A1 WO 2022099997A1
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WIPO (PCT)
Prior art keywords
digital twin
slave
motion
verification
master
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PCT/CN2021/087148
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English (en)
French (fr)
Inventor
来建良
张�浩
万阳
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杭州景业智能科技股份有限公司
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Publication of WO2022099997A1 publication Critical patent/WO2022099997A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators

Definitions

  • the present application relates to the technical field of digital twin mapping, and in particular, to a master-slave linkage control method and system based on digital twin mapping.
  • Digital twin is a multi-disciplinary, multi-physical, multi-scale, and multi-probability simulation process that makes full use of physical models, sensor updates, operation history and other data to complete the mapping in virtual space, thereby reflecting the full life of the corresponding physical equipment. cycle process.
  • This technology is subversive is that it can completely bypass the real object and directly simulate, simulate and predict by manipulating the digital twin.
  • a specific working environment needs to be physically isolated, that is, a shielded room is set up, and a series of operations in the shielded room are usually operated by a manipulator located inside the shielded room;
  • the external master device master manipulator
  • the master device controls the slave device (that is, the slave manipulator) inside the shielded room to complete a series of operations in the shielded room; but by controlling the master device to indirectly control the slave inside the shielded room.
  • the embodiments of the present application provide a master-slave linkage control method and system based on digital twin mapping, so as to at least solve the problem in the related art that it is difficult to observe the remote operation of slave devices in shielded rooms.
  • the embodiment of the present application provides a master-slave linkage control method based on digital twin mapping, and the method includes:
  • the preset digital twin system includes: a digital twin and a verification model, the digital twin is a dynamic replica of the slave device in the digital space, and the verification model is in the digital space Numerical models used for crash verification in ;
  • Collision verification is performed on the motion result through the verification model
  • the movement of the slave device is controlled according to the movement parameter; otherwise, an alarm is issued.
  • performing collision verification on the motion result by using the verification model includes:
  • the motion parameters include the angles of each joint; acquiring the motion parameters when the master device is in motion includes:
  • the angles of the joints when the main equipment moves are determined.
  • controlling the movement of the slave device according to the movement parameter includes:
  • the movement of the slave device is controlled according to the angle of each slave motor.
  • converting the joint angles into the slave motor angles corresponding to the slave device includes:
  • the angle of each slave motor is determined according to the product of each reduction ratio and each joint angle.
  • the method further includes:
  • the digital twin includes a first digital twin and a second digital twin, and both the first digital twin and the second digital twin are in the digital space of the slave device
  • the dynamic replica obtain the motion parameters when the main device is in motion, input the motion parameters into the digital twin, and obtain the motion results obtained by the digital twin executing the motion parameters, including:
  • the method further includes:
  • the motion of the second digital twin is controlled according to the motion parameters
  • the service life of the slave device is predicted according to the motion information.
  • an embodiment of the present application provides a master-slave linkage control system based on digital twin mapping, the system includes a master device, a master controller, an industrial computer, a slave controller, and a slave device;
  • the main controller is connected with the main device to obtain motion parameters of the main device when the main device is in motion;
  • the industrial computer is used to load a preset digital twin system, and the preset digital twin system includes: a digital twin and a verification model, where the digital twin is a dynamic replica of a slave device in a digital space, and the verification
  • the model is a digital model used for collision verification in the digital space;
  • the industrial computer is connected to the main controller for inputting the motion parameters into the digital twin to obtain the digital twin
  • the body executes the motion results obtained by the motion parameters, and performs collision verification on the motion results through the verification model. If the collision verification passes, the motion parameters are sent to the slave controller, otherwise an alarm is issued;
  • One end of the slave controller is connected with the industrial computer to obtain the motion parameter, and the other end is connected with the slave device for controlling the movement of the slave device according to the motion parameter.
  • an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the computer program
  • the master-slave linkage control method based on digital twin mapping as described in the first aspect above is realized.
  • an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, realizes the master-slave linkage control based on digital twin mapping as described in the first aspect above method.
  • the master-slave linkage control method and system based on digital twin mapping provided by the embodiments of the present application, by loading a preset digital twin system, the preset digital twin system includes: a digital twin body and a verification model, so The digital twin is a dynamic replica of the slave device in the digital space, and the verification model is a digital model used for collision verification in the digital space; the motion parameters when the master device is in motion are obtained, and the motion parameters are Input into the digital twin, and obtain the motion results obtained by the digital twin executing the motion parameters; perform collision verification on the motion results through the verification model; if the collision verification passes, then according to the motion parameters Controlling the movement of the slave equipment, otherwise, an alarm is issued, which solves the problem that the remote operation of the slave equipment in the shielded room is difficult to observe in the related art, and it is convenient for the operator to observe the slave equipment in the shielded room and grasp the operation status of the slave equipment in the shielded room. .
  • FIG. 1 is a flow chart 1 of a master-slave linkage control method based on digital twin mapping according to an embodiment of the present application
  • FIG. 2 is a flowchart of a method for performing collision verification on a motion result by a verification model according to an embodiment of the present application
  • FIG. 3 is a flowchart of a method for acquiring motion parameters of a master device during motion according to an embodiment of the present application
  • FIG. 4 is a flowchart 1 of a method for controlling the movement of a slave device according to a motion parameter according to an embodiment of the present application
  • FIG. 5 is a flowchart 2 of a method for controlling the movement of a slave device according to a movement parameter according to an embodiment of the present application
  • FIG. 6 is a flowchart 2 of a master-slave linkage control method based on digital twin mapping according to an embodiment of the present application
  • FIG. 7 is a flow chart 3 of a master-slave linkage control method based on digital twin mapping according to an embodiment of the present application
  • FIG. 8 is a structural block diagram of a master-slave linkage control system based on digital twin mapping according to an embodiment of the present application
  • FIG. 9 is a schematic diagram of an internal structure of a computer device according to an embodiment of the present application.
  • Words like "connected,” “connected,” “coupled,” and the like referred to in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
  • the “plurality” referred to in this application means greater than or equal to two.
  • “And/or” describes the association relationship between associated objects, indicating that there can be three kinds of relationships. For example, “A and/or B” can mean that A exists alone, A and B exist at the same time, and B exists alone.
  • the terms “first”, “second”, “third”, etc. involved in this application are only to distinguish similar objects, and do not represent a specific order for the objects.
  • FIG. 1 is a flowchart of a master-slave linkage control method based on digital twin mapping according to an embodiment of the present application. As shown in FIG. 1 , the method It includes the following steps:
  • Step S101 Loading a preset digital twin system, the preset digital twin system includes: a digital twin and a verification model, the digital twin is a dynamic replica of the slave device in the digital space, and the verification model is used for collision in the digital space Validated digital models;
  • the digital twin technology is to make full use of the physical model, sensor update, operation history and other data, integrate multi-disciplinary, multi-physical, multi-scale, multi-probability simulation process, complete the mapping in the virtual space, so as to reflect the corresponding The whole life cycle process of physical equipment; it can completely bypass the real object, that is, the slave equipment, and directly simulate, simulate and predict by manipulating the digital twin.
  • Step S102 obtaining the motion parameters of the main device during motion, inputting the motion parameters into the digital twin, and obtaining the motion results obtained by the digital twin executing the motion parameters;
  • the slave device is the slave manipulator located in the shielded room
  • the master device is the master manipulator located outside the shielded room
  • the master manipulator can be the operator directly and artificially exert force to make it move, and obtain the master manipulator when the master manipulator moves.
  • the motion parameters of the manipulator; inputting the motion parameters of the main device into the digital twin can make the digital twin map the current spatial state of each joint of the slave manipulator in real time, and can also perform zoom, perspective and 360-angle observation on the digital twin. It is convenient for the refined operation of the slave device.
  • Step S103 Collision verification is performed on the motion result through the verification model
  • the verification model may be preset with verification data, which can match the motion results obtained by executing the motion parameters of the digital twin with the verification data, and then judge whether the collision verification is passed.
  • Step S104 if the collision verification is passed, the movement of the slave device is controlled according to the movement parameters, otherwise, an alarm is issued.
  • the mapping of the slave device is completed in the virtual space, that is, the digital twin is a dynamic replica of the slave device in the digital space.
  • the motion parameters of the master device are input into the In the digital twin, the digital twin can map the current spatial state of each joint of the slave manipulator in real time, which facilitates the refined operation of the slave device.
  • the motion parameters of the master device are first input into the digital twin, and the motion results obtained by executing the motion parameters of the digital twin can be subjected to collision verification.
  • FIG. 2 is a flowchart of a method for performing collision verification on a motion result by using a verification model according to an embodiment of the present application. As shown in FIG. 2 , the method includes the following steps:
  • Step S201 controlling the verification model to move according to the motion result, and judging whether a preset collision zone is touched during the movement of the verification model;
  • Step S202 if the collision area is not touched, the collision verification is passed; otherwise, the collision verification is not passed;
  • the verification model can be a replica of a digital twin with a collision zone, or it can be understood that the verification model is a simulation model of the slave device, and then the verification model can be composed of various virtual joints, and the collision zone can be The outer contour of each joint may also be a pre-set peripheral area of the verification model, wherein the peripheral area may be set according to the environmental information at the location of the slave device in the shielded room.
  • the verification model moves according to the motion results, if there is a collision area that is not touched, the collision verification is passed, and once a collision area is touched, an alarm is issued, that is, the collision verification fails.
  • FIG. 3 is a flowchart of a method for acquiring motion parameters of a master device during motion according to an embodiment of the present application. As shown in FIG. 3 , the method includes the following steps:
  • Step S301 acquiring the angles of each main motor when the main device is moving
  • Step S302 Determine each joint angle when the main device moves according to the main motor angles.
  • the main equipment is also the main manipulator, and the operator can artificially apply force to drive the joints of the main equipment to move.
  • the joints of the main equipment depend on the artificial force
  • the angle of the joints of the main equipment is different from that of the main equipment.
  • the magnitude of the artificially applied force is related; when each joint of the main equipment moves, each main motor in the main equipment rotates, and then the angle of each joint during the movement of the main equipment can be indirectly determined by obtaining the rotation angle of the main motor;
  • the motor angle motor reduction ratio * joint angle
  • the joint angle can be determined when the motor reduction ratio and motor angle are known; considering the different positions of the robot parts controlled by the motor in the main equipment, there is a motor reduction ratio. Therefore, the joint angle at the position of the manipulator part can be determined according to the motor reduction ratio and the motor angle corresponding to the position of the manipulator part.
  • FIG. 4 is a flow chart 1 of a method for controlling the movement of a slave device according to motion parameters according to an embodiment of the present application. As shown in FIG. 4 , the method includes the following steps:
  • Step S401 if the collision verification is passed, convert the angles of the joints into the angles of the slave motors corresponding to the slave devices;
  • Step S402 control the movement of the slave device according to the angle of each slave motor
  • the movement of the slave device is realized by the coupling of the slave motors located outside the shielding room and corresponding to the slave device through the control gear to realize the movement of each joint of the slave device, and then when the angle of each joint is known , to determine the angle of each slave motor corresponding to the slave device, so that each slave motor in the slave device can accurately control the movement of the slave device according to the corresponding slave motor angle, so as to complete the operation task in the shielded room in a specific environment.
  • FIG. 5 is a second flow chart of a method for controlling the movement of a slave device according to motion parameters according to an embodiment of the present application. As shown in FIG. 5 , if the collision verification is passed, the angle of each joint is converted into a The corresponding slave motor angles include the following steps:
  • Step S501 obtaining the reduction ratio of each slave motor in the slave device
  • Step S502 Determine the angle of each slave motor according to the product of each reduction ratio and each joint angle.
  • the position of the manipulator parts controlled by each slave motor in the slave device is different, and there is a difference in the reduction ratio of the slave motor.
  • the motor angle motor reduction ratio * joint angle, the reduction ratio of the slave motor corresponding to the position of the slave manipulator can be obtained. and the joint angle to determine the joint angle at the position of the slave manipulator part.
  • FIG. 6 is a second flowchart of a master-slave linkage control method based on digital twin mapping according to an embodiment of the present application. As shown in FIG. 6 , the method further includes the following steps:
  • Step S601 Acquire the torque increments of each joint when the slave device moves
  • the torque increment of each joint during the movement of the slave equipment refers to the joint torque increment caused by the end load of the slave equipment, and the torque increment of each joint can be obtained by subtracting the actual joint torque and the initial joint torque of each joint of the slave equipment;
  • Step S602 According to the torque increment of each joint and the preset increment, determine whether the load of the slave device exceeds the preset load;
  • the deviation For example, compare the torque increment of each joint with the corresponding preset increment to get the deviation. If the deviation is small, it means that it is a system error of the master-slave linkage, which can trigger the master device to perform motion compensation on the slave device; If it is large, it means that it is not only the error caused by the system, but the load of the slave device (the actual load of the slave device) far exceeds the preset load, and the load parameters need to be adjusted; after adjusting the load parameters, a new preset increment can be obtained. , until the deviation between the torque increment of each joint and the new preset increment is within a reasonable range, then the adjusted load parameters are reasonable.
  • steps S601 to S602 it is determined whether the load of the slave equipment exceeds the preset load according to the torque increment of each joint when the slave equipment moves and the preset increment, so as to facilitate the adjustment of the load parameters of the slave equipment and reduce the overload of the slave equipment. Preset the working time of the load to improve the service life of the slave equipment.
  • the digital twin includes a first digital twin and a second digital twin, and both the first digital twin and the second digital twin are dynamic replicas of the slave device in the digital space; obtaining the master device The motion parameters during motion, input the motion parameters into the digital twin, and obtain the motion results obtained by the execution of the motion parameters of the digital twin, including: acquiring the motion parameters of the main device during motion, and inputting the motion parameters into the first digital twin, Obtain the motion result obtained by executing the motion parameters of the first digital twin.
  • Fig. 7 is a flow chart 3 of the master-slave linkage control method based on digital twin mapping according to an embodiment of the present application. As shown in Fig. 7, after the collision verification is performed on the motion result by the verification model, the method further includes:
  • Step S701 if the collision verification is passed, control the motion of the second digital twin according to the motion parameters;
  • the slave device is controlled to move according to the motion parameters, and the replica of the slave device, the second digital twin, is also controlled to move according to the motion parameters.
  • the digital twin is mapped in real time with the slave device located in the shielded room, that is, the movement of the second digital twin is always consistent with the movement of the slave device in the shielded room;
  • Step S702 acquiring the motion information of the second digital twin in unit time
  • the movement information of the second digital twin over several months may be recorded in units of days, for example, the angle of each slave motor in the second digital twin, the time each slave motor moves every day, etc.;
  • Step S703 Predict the service life of the slave device according to the motion information
  • the life range of each important component in the slave equipment in the shielded room can be indirectly predicted based on the accumulation of a large amount of information based on the recorded motion information of the second digital twin, and when it is close to the maximum life span When the range is reached, the corresponding component or slave device replacement reminder can be carried out.
  • FIG. 8 is a structural block diagram of a master-slave linkage control system based on digital twin mapping according to an embodiment of the present application.
  • the master-slave linkage control system based on digital twin mapping includes a master device 81, Master controller 82, industrial computer 83, slave controller 84 and slave device 85;
  • the main controller 82 is connected with the main device 81 to obtain the motion parameters of the main device 81 when it is in motion;
  • the industrial computer 83 is used to load the preset digital twin system.
  • the preset digital twin system includes: a digital twin and a verification model.
  • the digital twin is a dynamic replica of the slave device in the digital space, and the verification model is used in the digital space.
  • the industrial computer 83 is connected with the main controller 82 for inputting the motion parameters into the digital twin, obtaining the motion results obtained by the digital twin executing the motion parameters, and performing the motion results through the verification model. Collision verification, if the collision verification is passed, the motion parameters are sent to the slave controller 84, otherwise an alarm is issued;
  • the industrial computer 83 can also display the digital twin, and the digital twin displayed on the industrial computer 83 can accept the control commands output by the operator for zooming, perspective and 360-angle observation, which is convenient for the operator to indirectly realize the slave device 85. Refinement operation.
  • one end is connected with the industrial computer 83 to obtain motion parameters, and the other end is connected with the slave device 85 for controlling the movement of the slave device 85 according to the motion parameters.
  • the above-mentioned master-slave linkage control system based on digital twin mapping completes the mapping of slave devices in virtual space, that is, the digital twin is a dynamic replica of slave devices in digital space.
  • the motion parameters of the device are input into the digital twin, which enables the digital twin to map the current spatial state of each joint of the slave manipulator in real time, which facilitates the refined operation of the slave device.
  • the motion parameters of the master device are input to the shield.
  • the slave device entity in the room first input the motion parameters of the master device into the digital twin, which can perform collision verification on the motion results obtained by executing the motion parameters of the digital twin. After the collision verification is passed, the slave device can be controlled according to the motion parameters.
  • the master controller 82 , the industrial computer 83 , and the slave controller 84 are also used to implement the steps in the digital twin mapping-based master-slave linkage control method provided in the above embodiments, which will not be repeated here.
  • a computer device which may be a terminal.
  • the computer equipment includes a processor, memory, a network interface, a display screen, and an input device connected by a system bus.
  • the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium, an internal memory.
  • the nonvolatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a master-slave linkage control method based on digital twin mapping is realized.
  • the display screen of the computer equipment may be a liquid crystal display screen or an electronic ink display screen
  • the input device of the computer equipment may be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the computer equipment , or an external keyboard, trackpad, or mouse.
  • FIG. 9 is a schematic diagram of the internal structure of a computer device according to an embodiment of the present application.
  • a computer device is provided.
  • the computer device may be a server, and its internal structure diagram may be as shown in FIG. 9 . shown.
  • the computer device includes a processor, memory, a network interface, and a database connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium, an internal memory.
  • the nonvolatile storage medium stores an operating system, a computer program, and a database.
  • the internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium.
  • the database of the computer device is used to store data.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a master-slave linkage control method based on digital twin mapping is realized.
  • FIG. 9 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.
  • a computer device including a memory, a processor, and a computer program stored in the memory and running on the processor.
  • the processor executes the computer program, the digital twin-based digital twin provided by the foregoing embodiments is implemented. Steps in the mapped master-slave linkage control method.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps in the digital twin mapping-based master-slave linkage control method provided by the above embodiments .
  • Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

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Abstract

基于数字孪生映射的主从联动控制方法和系统，该方法包括：加载预设数字孪生系统，预设数字孪生系统包括：数字孪生体和验证模型，数字孪生体为从设备在数字空间中的动态复制体，验证模型是在数字空间中用于进行碰撞验证的数字模型；获取主设备运动时的运动参数，将运动参数输入到数字孪生体中，获取数字孪生体执行运动参数得到的运动结果；通过验证模型对运动结果进行碰撞验证；若通过则根据运动参数控制从设备运动，否则进行告警。其解决了相关技术中对屏蔽室内从设备远程操作时存在不易观察的问题，方便操作人员对屏蔽室内的从设备进行观察，掌握屏蔽室内从设备的运行状况。

Description

基于数字孪生映射的主从联动控制方法和系统
相关申请
本申请要求2020年11月16日申请的，申请号为202011277936.0，发明名称为“基于数字孪生映射的主从联动控制方法和系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及数字孪生映射技术领域，特别是涉及基于数字孪生映射的主从联动控制方法和系统。
背景技术
数字孪生，是充分利用物理模型、传感器更新、运行历史等数据，集成多学科、多物理量、多尺度、多概率的仿真过程，在虚拟空间中完成映射，从而反映相对应的实体装备的全生命周期过程。这种技术之所以具有颠覆性，就在于它可以完全绕过现实实物，直接通过操控数字孪生体进行模拟、仿真和预测。
在相关技术中，特定工作环境需要对其进行物理隔离也就是设置屏蔽室，且屏蔽室的一系列作业通常由设于屏蔽室内部的机械手进行操作；一般情况下，操作人员控制设置于屏蔽室外部的主设备(主机械手)，然后由主设备控制位于屏蔽室内部的从设备(也就是从机械手)来完成屏蔽室内的一系列作业；但通过控制主设备来间接控制位于屏蔽室内部的从设备工作时，由于特定工作环境下从设备位于屏蔽室内部，操作人员对屏蔽室内部设备状况掌握不充分，进而当主、从设备结构上存在差异时，对屏蔽室内从设备远程操作时存在不易观察的问题。
目前针对相关技术中，对屏蔽室内从设备远程操作时存在不易观察的问题，尚未提出有效的解决方案。
发明内容
本申请实施例提供了基于数字孪生映射的主从联动控制方法和系统，以至少解决相关技术中对屏蔽室内从设备远程操作时存在不易观察的问题。
第一方面，本申请实施例提供了基于数字孪生映射的主从联动控制方法，所述方法包 括：
加载预设数字孪生系统，所述预设数字孪生系统包括：数字孪生体和验证模型，所述数字孪生体为从设备在数字空间中的动态复制体，所述验证模型是在所述数字空间中用于进行碰撞验证的数字模型；
获取主设备运动时的运动参数，将所述运动参数输入到所述数字孪生体中，获取所述数字孪生体执行所述运动参数得到的运动结果；
通过所述验证模型对所述运动结果进行碰撞验证；
若碰撞验证通过，则根据所述运动参数控制所述从设备运动，否则进行告警。
在其中一些实施例中，通过所述验证模型对所述运动结果进行碰撞验证包括：
控制所述验证模型根据所述运动结果进行运动，并判断所述验证模型运动过程中预设的碰撞区是否被接触；
若所述碰撞区均未被接触，则碰撞验证通过，否则碰撞验证不通过。
在其中一些实施例中，所述运动参数包括各关节角度；获取主设备运动时的运动参数包括：
获取所述主设备运动时的各主电机角度；
根据所述各主电机角度，确定所述主设备运动时的各关节角度。
在其中一些实施例中，若碰撞验证通过，则根据所述运动参数控制所述从设备运动包括：
若碰撞验证通过，则将所述各关节角度转换成与所述从设备相对应的各从电机角度；
根据所述各从电机角度控制所述从设备运动。
在其中一些实施例中，若碰撞验证通过，则将所述各关节角度转换成与所述从设备相对应的各从电机角度包括：
获取所述从设备中各从电机的减速比；
根据所述各减速比与所述各关节角度的乘积，确定所述各从电机角度。
在其中一些实施例中，根据所述各从电机角度控制所述从设备运动之后，所述方法还包括：
获取所述从设备运动时的各关节扭矩增量；
根据所述各关节扭矩增量和预设的增量，判断所述从设备的负载是否超过预设负载。
在其中一些实施例中，所述数字孪生体包括第一数字孪生体和第二数字孪生体，所述第一数字孪生体和所述第二数字孪生体均为所述从设备在数字空间中的动态复制体；获取主设备运动时的运动参数，将所述运动参数输入到所述数字孪生体中，获取所述数字孪生 体执行所述运动参数得到的运动结果包括：
获取主设备运动时的运动参数，将所述运动参数输入到所述第一数字孪生体中，获取所述第一数字孪生体执行所述运动参数得到的运动结果；
通过所述验证模型对所述运动结果进行碰撞验证之后，所述方法还包括：
若碰撞验证通过，则根据所述运动参数控制所述第二数字孪生体运动；
获取所述第二数字孪生体在单位时间内的运动信息；
根据所述运动信息预测所述从设备的使用寿命。
第二方面，本申请实施例提供了一种基于数字孪生映射的主从联动控制系统，所述系统包括主设备、主控制器、工控机、从控制器和从设备；
所述主控制器，与所述主设备连接获取所述主设备运动时的运动参数；
所述工控机，用于加载预设数字孪生系统，所述预设数字孪生系统包括：数字孪生体和验证模型，所述数字孪生体为从设备在数字空间中的动态复制体，所述验证模型是在所述数字空间中用于进行碰撞验证的数字模型；所述工控机与所述主控制器连接，用于将所述运动参数输入到所述数字孪生体中，获取所述数字孪生体执行所述运动参数得到的运动结果，并通过所述验证模型对所述运动结果进行碰撞验证，若碰撞验证通过则向所述从控制器发送所述运动参数，否则告警；
所述从控制器，一端与所述工控机连接获取所述运动参数，另一端与所述从设备连接用于根据所述运动参数控制所述从设备运动。
第三方面，本申请实施例提供了一种计算机设备，包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述第一方面所述的基于数字孪生映射的主从联动控制方法。
第四方面，本申请实施例提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上述第一方面所述的基于数字孪生映射的主从联动控制方法。
相比于相关技术，本申请实施例提供的基于数字孪生映射的主从联动控制方法和系统，通过加载预设数字孪生系统，所述预设数字孪生系统包括：数字孪生体和验证模型，所述数字孪生体为从设备在数字空间中的动态复制体，所述验证模型是在所述数字空间中用于进行碰撞验证的数字模型；获取主设备运动时的运动参数，将所述运动参数输入到所述数字孪生体中，获取所述数字孪生体执行所述运动参数得到的运动结果；通过所述验证模型对所述运动结果进行碰撞验证；若碰撞验证通过，则根据所述运动参数控制所述从设备运动，否则进行告警，解决了相关技术中对屏蔽室内从设备远程操作时存在不易观察的问题， 方便操作人员对屏蔽室内的从设备进行观察，掌握屏蔽室内从设备的运行状况。
本申请的一个或多个实施例的细节在以下附图和描述中提出，以使本申请的其他特征、目的和优点更加简明易懂。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1是根据本申请实施例的基于数字孪生映射的主从联动控制方法的流程图一；
图2是根据本申请实施例的通过验证模型对运动结果进行碰撞验证的方法流程图；
图3是根据本申请实施例的获取主设备运动时的运动参数的方法流程图；
图4是根据本申请实施例的根据运动参数控制从设备运动的方法流程图一；
图5是根据本申请实施例的根据运动参数控制从设备运动的方法流程图二；
图6是根据本申请实施例的基于数字孪生映射的主从联动控制方法的流程图二；
图7是根据本申请实施例的基于数字孪生映射的主从联动控制方法的流程图三；
图8是根据本申请实施例的基于数字孪生映射的主从联动控制系统的结构框图；
图9是根据本申请实施例的计算机设备的内部结构示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行描述和说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。基于本申请提供的实施例，本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。此外，还可以理解的是，虽然这种开发过程中所作出的努力可能是复杂并且冗长的，然而对于与本申请公开的内容相关的本领域的普通技术人员而言，在本申请揭露的技术内容的基础上进行的一些设计，制造或者生产等变更只是常规的技术手段，不应当理解为本申请公开的内容不充分。
在本申请中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域普通技术人员显式地和隐式地理解的是，本申请所描述的实施例在不冲突的情况下，可以与其它实施例相结合。
除非另作定义，本申请所涉及的技术术语或者科学术语应当为本申请所属技术领域内 具有一般技能的人士所理解的通常意义。本申请所涉及的“一”、“一个”、“一种”、“该”等类似词语并不表示数量限制，可表示单数或复数。本申请所涉及的术语“包括”、“包含”、“具有”以及它们任何变形，意图在于覆盖不排他的包含；例如包含了一系列步骤或模块(单元)的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可以还包括没有列出的步骤或单元，或可以还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。本申请所涉及的“连接”、“相连”、“耦接”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电气的连接，不管是直接的还是间接的。本申请所涉及的“多个”是指大于或者等于两个。“和/或”描述关联对象的关联关系，表示可以存在三种关系，例如，“A和/或B”可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。本申请所涉及的术语“第一”、“第二”、“第三”等仅仅是区别类似的对象，不代表针对对象的特定排序。
本实施例提供了一种基于数字孪生映射的主从联动控制方法，图1是根据本申请实施例的基于数字孪生映射的主从联动控制方法的流程图一，如图1所示，该方法包括如下步骤：
步骤S101：加载预设数字孪生系统，预设数字孪生系统包括：数字孪生体和验证模型，数字孪生体为从设备在数字空间中的动态复制体，验证模型是在数字空间中用于进行碰撞验证的数字模型；
需要说明的是，数字孪生技术是充分利用物理模型、传感器更新、运行历史等数据，集成多学科、多物理量、多尺度、多概率的仿真过程，在虚拟空间中完成映射，从而反映相对应的实体装备的全生命周期过程；它可以完全绕过现实实物也就是从设备，直接通过操控数字孪生体进行模拟、仿真和预测。
步骤S102：获取主设备运动时的运动参数，将运动参数输入到数字孪生体中，获取数字孪生体执行运动参数得到的运动结果；
需要说明的是，从设备为位于屏蔽室中的从机械手，主设备为位于屏蔽室外的主机械手，主机械手可以是操作人员直接人为施加作用力，来使其运动，在主机械手运动时获取主机械手的运动参数；将主设备的运动参数输入到数字孪生体中，能够使得数字孪生体实时映射当前从机械手各个关节的空间状态，且还能够对数字孪生体进行缩放、透视以及360转角观察，方便对从设备的精细化操作。
步骤S103：通过验证模型对运动结果进行碰撞验证；
其中，验证模型中可以是预先设置有验证数据，能够将数字孪生体执行运动参数得到的运动结果与验证数据进行匹配，进而来判断碰撞验证是否通过。
步骤S104：若碰撞验证通过，则根据运动参数控制从设备运动，否则进行告警。
通过步骤S101至步骤S104，基于数字孪生技术，在虚拟空间中完成从设备的映射，也就是数字孪生体为从设备在数字空间中的动态复制体，一方面，将主设备的运动参数输入到数字孪生体中，能够使得数字孪生体实时映射当前从机械手各个关节的空间状态，方便对从设备的精细化操作，另一方面，将主设备的运动参数在输入至屏蔽室中从设备之前，先将主设备的运动参数输入到数字孪生体中，能够对数字孪生体执行运动参数得到的运动结果进行碰撞验证，在碰撞验证通过后则根据运动参数控制从设备运动，进而即使主设备与从设备结构上存在差异时，由于有防碰撞验证环节的存在，提高了从设备运行的安全性，解决了相关技术中对屏蔽室内从设备远程操作时存在不易观察的问题，方便操作人员对屏蔽室内的从设备进行观察，掌握屏蔽室内从设备的运行状况，并提高了从设备运行的安全性。
在其中一些实施例中，图2是根据本申请实施例的通过验证模型对运动结果进行碰撞验证的方法流程图，如图2所示，该方法包括如下步骤：
步骤S201：控制验证模型根据运动结果进行运动，并判断验证模型运动过程中预设的碰撞区是否被接触；
步骤S202：若碰撞区均未被接触，则碰撞验证通过，否则碰撞验证不通过；
需要说明的是，验证模型可以是设有碰撞区的数字孪生体的复制体，也可以理解为验证模型是从设备的仿真模型，进而验证模型可以是由各个虚拟关节组成的，碰撞区可以是各个关节的外轮廓，也可以是预先设置的验证模型的周边区域，其中，周边区域可以是根据屏蔽室内从设备所在位置处的环境信息进行设置的。当验证模型根据运动结果进行运动时，若存在碰撞区均未被接触到，则碰撞验证通过，一旦存在碰撞区被接触到，则进行告警，也即是则碰撞验证不通过。
在其中一些实施例中，运动参数包括各关节角度，图3是根据本申请实施例的获取主设备运动时的运动参数的方法流程图，如图3所示，该方法包括如下步骤：
步骤S301：获取主设备运动时的各主电机角度；
步骤S302：根据各主电机角度，确定主设备运动时的各关节角度。
其中，主设备也就是主机械手，可以是操作人员人为施加作用力来驱使主设备各关节运动，考虑到主设备的各关节运动是依靠人为施加的作用力，进而主设备各关节运动的角度与人为施加作用力的大小有关；主设备各关节运动，则主设备中的各主电机进行转动，进而可通过获取主电机转动的角度，来间接确定主设备运动时的各关节角度；
其中，电机角度＝电机减速比*关节角度，进而可在已知电机减速比和电机角度的情况 下，确定关节角度；考虑到主设备中电机所控制的机械手部件位置不同，存在电机减速比的不同，进而可根据对应机械手部件位置的电机减速比和电机角度，确定该机械手部件位置处的关节角度。
通过上述步骤S301至步骤S302，根据主设备运动时的各主电机角度，来反推主设备运动时的各关节角度，使得所确定的主设备各关节角度，更加精确。
在其中一些实施例中，图4是根据本申请实施例的根据运动参数控制从设备运动的方法流程图一，如图4所示，该方法包括如下步骤：
步骤S401：若碰撞验证通过，则将各关节角度转换成与从设备相对应的各从电机角度；
步骤S402：根据各从电机角度控制从设备运动；
需要说明的是，从设备的运动是由设于屏蔽室外部的与从设备相对应的各从电机通过控制齿轮耦合，来实现从设备各关节的运动，进而在已知各关节角度的情况下，来确定与从设备相对应的各从电机角度，便于从设备中的各个从电机根据对应的从电机角度精确控制从设备的运动，以完成特定环境下屏蔽室内的操作任务。
在其中一些实施例中，图5是根据本申请实施例的根据运动参数控制从设备运动的方法流程图二，如图5所示，若碰撞验证通过，则将各关节角度转换成与从设备相对应的各从电机角度包括如下步骤：
步骤S501：获取从设备中各从电机的减速比；
步骤S502：根据各减速比与各关节角度的乘积，确定各从电机角度。
需要说明的是，从设备中各从电机所控制的机械手部件位置不同，存在从电机减速比的不同，利用电机角度＝电机减速比*关节角度，可根据对应从机械手部件位置的从电机减速比和关节角度，确定该从机械手部件位置处的关节角度。
在其中一些实施例中，图6是根据本申请实施例的基于数字孪生映射的主从联动控制方法的流程图二，如图6所示，该方法还包括如下步骤：
步骤S601：获取从设备运动时的各关节扭矩增量；
其中，从设备运动时的各关节扭矩增量，是指从设备末端负载所引起的关节扭矩增量，各关节扭矩增量可通过从设备各关节的实际关节扭矩和初始关节扭矩相减得到；
步骤S602：根据各关节扭矩增量和预设的增量，判断从设备的负载是否超过预设负载；
例如，将各关节扭矩增量与对应的预设增量进行比较，得到偏差，如果偏差较小，则说明是主从联动的系统误差，可触发主设备对从设备做运动补偿；如果偏差较大，则说明不仅仅是系统引起的误差，存在从设备的负载(从设备的实际负载)远超预设负载，则需要调整负载参数；在调整负载参数后，可得到新的预设增量，直到各关节扭矩增量和新的 预设增量的偏差在合理范围内，则说明调整的负载参数是合理的。
通过步骤S601至步骤S602，根据从设备运动时的各关节扭矩增量与预设的增量，来判断从设备的负载是否超过预设负载，进而便于调控从设备的负载参数，降低从设备超预设负载工作的时间，提高从设备的使用寿命。
在其中一些实施例中，数字孪生体包括第一数字孪生体和第二数字孪生体，第一数字孪生体和第二数字孪生体均为从设备在数字空间中的动态复制体；获取主设备运动时的运动参数，将运动参数输入到数字孪生体中，获取数字孪生体执行运动参数得到的运动结果包括：获取主设备运动时的运动参数，将运动参数输入到第一数字孪生体中，获取第一数字孪生体执行运动参数得到的运动结果。
图7是根据本申请实施例的基于数字孪生映射的主从联动控制方法的流程图三，如图7所示，通过验证模型对运动结果进行碰撞验证之后，该方法还包括：
步骤S701：若碰撞验证通过，则根据运动参数控制第二数字孪生体运动；
其中，若碰撞验证通过则控制从设备根据运动参数进行运动的同时，也控制从设备的复制体——第二数字孪生体根据运动参数进行运动，这样的情形下，位于屏蔽室内外的第二数字孪生体与位于屏蔽室内的从设备实时映射，也就是第二数字孪生体的运动情况始终与屏蔽室内从设备的运动情况保持一致；
步骤S702：获取第二数字孪生体在单位时间内的运动信息；
例如，可以是以天为单位记录第二数字孪生体在几个月的运动信息，如，第二数字孪生体中各从电机角度、各从电机运动每天运动的时间等；
步骤S703：根据运动信息预测从设备的使用寿命；
例如，可根据所记录的大量的第二数字孪生体的运动信息，基于大量信息的积累，并结合实际经验，来间接预测屏蔽室内从设备中各重要元器件的寿命范围，当其接近最大寿命范围时，可进行相应元器件或者从设备的更换提醒。
通过上述步骤S701至步骤S703，基于位于屏蔽室内外的第二数字孪生体与位于屏蔽室内的从设备实时映射，进而通过位于屏蔽室内外的第二数字孪生体的运动信息来间接预测屏蔽室内从设备的使用寿命，便于操作人员进行及时检修和更换。
需要说明的是，在上述流程中或者附图的流程图中示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
在一些实施例中，图8是根据本申请实施例的基于数字孪生映射的主从联动控制系统的结构框图，如图8所示，基于数字孪生映射的主从联动控制系统包括主设备81、主控制 器82、工控机83、从控制器84和从设备85；
主控制器82，与主设备81连接获取主设备81运动时的运动参数；
工控机83，用于加载预设数字孪生系统，预设数字孪生系统包括：数字孪生体和验证模型，数字孪生体为从设备在数字空间中的动态复制体，验证模型是在数字空间中用于进行碰撞验证的数字模型；工控机83与主控制器82连接，用于将运动参数输入到数字孪生体中，获取数字孪生体执行运动参数得到的运动结果，并通过验证模型对运动结果进行碰撞验证，若碰撞验证通过则向从控制器84发送运动参数，否则告警；
其中，工控机83还可对数字孪生体进行展示，工控机83上展示的数字孪生体可接受操作人员输出的控制指令进行缩放、透视以及360转角观察，方便操作人员间接实现对从设备85的精细化操作。
从控制器84，一端与工控机83连接获取运动参数，另一端与从设备85连接用于根据运动参数控制从设备85运动。
上述的基于数字孪生映射的主从联动控制系统，基于数字孪生技术，在虚拟空间中完成从设备的映射，也就是数字孪生体为从设备在数字空间中的动态复制体，一方面，将主设备的运动参数输入到数字孪生体中，能够使得数字孪生体实时映射当前从机械手各个关节的空间状态，方便对从设备的精细化操作，另一方面，将主设备的运动参数在输入至屏蔽室中从设备实体之前，先将主设备的运动参数输入到数字孪生体中，能够对数字孪生体执行运动参数得到的运动结果进行碰撞验证，在碰撞验证通过后则根据运动参数控制从设备运动，进而即使主设备与从设备结构上存在差异时，由于有防碰撞验证环节的存在，提高了从设备运行的安全性，解决了相关技术中对屏蔽室内从设备远程操作时存在不易观察的问题，方便操作人员对屏蔽室内的从设备进行观察，掌握屏蔽室内从设备的运行状况，并提高了从设备运行的安全性。
在其中一些实施例中，主控制器82、工控机83、从控制器84还用于实现上述各实施例提供的基于数字孪生映射的主从联动控制方法中的步骤，在这里不再赘述。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是终端。该计算机设备包括通过系统总线连接的处理器、存储器、网络接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种基于数字孪生映射的主从联动控制方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计 算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
在一个实施例中，图9是根据本申请实施例的计算机设备的内部结构示意图，如图9所示，提供了一种计算机设备，该计算机设备可以是服务器，其内部结构图可以如图9所示。该计算机设备包括通过系统总线连接的处理器、存储器、网络接口和数据库。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统、计算机程序和数据库。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的数据库用于存储数据。该计算机设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种基于数字孪生映射的主从联动控制方法。
本领域技术人员可以理解，图9中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，处理器执行计算机程序时实现上述各实施例提供的基于数字孪生映射的主从联动控制方法中的步骤。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现上述各个实施例提供的基于数字孪生映射的主从联动控制方法中的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，该计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例 中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种基于数字孪生映射的主从联动控制方法，其特征在于，所述方法包括：
    加载预设数字孪生系统，所述预设数字孪生系统包括：数字孪生体和验证模型，所述数字孪生体为从设备在数字空间中的动态复制体，所述验证模型是在所述数字空间中用于进行碰撞验证的数字模型；
    获取主设备运动时的运动参数，将所述运动参数输入到所述数字孪生体中，获取所述数字孪生体执行所述运动参数得到的运动结果；
    通过所述验证模型对所述运动结果进行碰撞验证；
    若碰撞验证通过，则根据所述运动参数控制所述从设备运动，否则进行告警。
  2. 根据权利要求1所述的基于数字孪生映射的主从联动控制方法，其中，通过所述验证模型对所述运动结果进行碰撞验证包括：
    控制所述验证模型根据所述运动结果进行运动，并判断所述验证模型运动过程中预设的碰撞区是否被接触；
    若所述碰撞区均未被接触，则碰撞验证通过，否则碰撞验证不通过。
  3. 根据权利要求1所述的基于数字孪生映射的主从联动控制方法，其中，所述运动参数包括各关节角度；获取主设备运动时的运动参数包括：
    获取所述主设备运动时的各主电机角度；
    根据所述各主电机角度，确定所述主设备运动时的各关节角度。
  4. 根据权利要求3所述的基于数字孪生映射的主从联动控制方法，其中，若碰撞验证通过，则根据所述运动参数控制所述从设备运动包括：
    若碰撞验证通过，则将所述各关节角度转换成与所述从设备相对应的各从电机角度；
    根据所述各从电机角度控制所述从设备运动。
  5. 根据权利要求4所述的基于数字孪生映射的主从联动控制方法，其中，若碰撞验证通过，则将所述各关节角度转换成与所述从设备相对应的各从电机角度包括：
    获取所述从设备中各从电机的减速比；
    根据所述各减速比与所述各关节角度的乘积，确定所述各从电机角度。
  6. 根据权利要求4所述的基于数字孪生映射的主从联动控制方法，其中，根据所述各从电机角度控制所述从设备运动之后，所述方法还包括：
    获取所述从设备运动时的各关节扭矩增量；
    根据所述各关节扭矩增量和预设的增量，判断所述从设备的负载是否超过预设负载。
  7. 根据权利要求1所述的基于数字孪生映射的主从联动控制方法，其中，所述数字孪 生体包括第一数字孪生体和第二数字孪生体，所述第一数字孪生体和所述第二数字孪生体均为所述从设备在数字空间中的动态复制体；获取主设备运动时的运动参数，将所述运动参数输入到所述数字孪生体中，获取所述数字孪生体执行所述运动参数得到的运动结果包括：
    获取主设备运动时的运动参数，将所述运动参数输入到所述第一数字孪生体中，获取所述第一数字孪生体执行所述运动参数得到的运动结果；
    通过所述验证模型对所述运动结果进行碰撞验证之后，所述方法还包括：
    若碰撞验证通过，则根据所述运动参数控制所述第二数字孪生体运动；
    获取所述第二数字孪生体在单位时间内的运动信息；
    根据所述运动信息预测所述从设备的使用寿命。
  8. 一种基于数字孪生映射的主从联动控制系统，其特征在于，所述系统包括主设备、主控制器、工控机、从控制器和从设备；
    所述主控制器，与所述主设备连接获取所述主设备运动时的运动参数；
    所述工控机，用于加载预设数字孪生系统，所述预设数字孪生系统包括：数字孪生体和验证模型，所述数字孪生体为从设备在数字空间中的动态复制体，所述验证模型是在所述数字空间中用于进行碰撞验证的数字模型；所述工控机与所述主控制器连接，用于将所述运动参数输入到所述数字孪生体中，获取所述数字孪生体执行所述运动参数得到的运动结果，并通过所述验证模型对所述运动结果进行碰撞验证，若碰撞验证通过则向所述从控制器发送所述运动参数，否则告警；
    所述从控制器，一端与所述工控机连接获取所述运动参数，另一端与所述从设备连接用于根据所述运动参数控制所述从设备运动。
  9. 一种计算机设备，包括存储器和处理器，其特征在于，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行权利要求1至7中任一项所述的基于数字孪生映射的主从联动控制方法。
  10. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有计算机程序，其中，所述计算机程序被设置为运行时执行权利要求1至7中任一项所述的基于数字孪生映射的主从联动控制方法。
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