CN117193160A - A digital twin-based remote processing method and system for CNC machine tools - Google Patents
A digital twin-based remote processing method and system for CNC machine tools Download PDFInfo
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Abstract
The embodiment of the invention discloses a digital twin-based remote processing method and a digital twin-based remote processing system for a numerical control machine tool, which relate to the field of digital twin and digital control machine tool remote processing, and can reduce the labor intensity of operators and improve the interaction algorithm of personnel operation while realizing the remote online processing of the numerical control machine tool, thereby further improving the operation precision. The invention comprises the following steps: according to the historical operation data and the real-time operation data of the numerical control machine tool, a digital twin model of the numerical control machine tool is constructed; the interaction between the mouse/touch point and the virtual workpiece is completed by utilizing the proposed optimized ray and direction bounding box intersection detection method, the false detection rate of the traditional detection method is reduced, a processing instruction is sent, and finally, the real machine tool is remotely controlled to execute the processing instruction; transmitting a processing command of the three-dimensional digital twin machine tool to a production end server; and analyzing the machining instruction into a corresponding operation instruction, and realizing remote machining of the numerical control machine tool.
Description
Technical Field
The invention relates to the field of digital twin and remote machining of numerical control machine tools, in particular to a remote machining method and system of a numerical control machine tool based on digital twin.
Background
With the continuous development of manufacturing industry, the application of the numerical control machine tool in the field of mechanical manufacturing is more and more widespread. However, the traditional numerical control machine tool processing system has the problems of low processing efficiency, low processing precision, large workload and labor intensity of operators and the like.
The digital twin technology is an integrated technology based on a physical model, a data model and an algorithm model, and can conduct real-time interaction and mapping on entities in the physical world and virtual entities in the digital world. The application of the digital twin technology in the field of mechanical manufacturing can help operators to better know the running state of equipment, predict equipment faults and optimize equipment performance, so that a more efficient and intelligent manufacturing process is realized.
However, in practical application, the distributed digital wired network has the problems of complex wiring, large electromagnetic interference, limited machine tool operation, increased equipment investment and the like, so that the application of the digital twin technology on the numerical control machine tool is limited. Therefore, how to simulate the actual condition and the operation process of the numerical control machine tool body by using the digital twin model, control the corresponding machine tool body to process the workpiece, and combine the wireless communication technology and the numerical control machine tool digital twin technology on the basis, thereby solving the problem of wired network layout and becoming the subject to be studied.
Disclosure of Invention
The embodiment of the invention provides a digital twin-based remote processing method and a digital twin-based remote processing system for a numerical control machine tool, which are used for reducing the labor intensity of operators and improving the interaction algorithm of the operators while realizing the remote online processing of the numerical control machine tool, thereby further improving the operation precision.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a method, including:
s101, acquiring operation data of a numerical control machine tool from a production end server, wherein the operation data comprise historical operation data and real-time operation data of the numerical control machine tool;
s102, constructing a digital twin model of the numerical control machine tool, and loading and displaying the digital twin model of the numerical control machine tool in an interactive panel, wherein the displayed digital twin model comprises a three-dimensional digital twin machine tool with a mapping relation with the numerical control machine tool and a virtual workpiece with a mapping relation with a workpiece to be processed in the numerical control machine tool;
s103, receiving an operation instruction input by a user through the interaction panel, and generating a machining instruction according to the operation instruction, wherein in the process of receiving the operation instruction input by the user through the interaction panel, the method comprises the following steps: processing the interactive operation of the user and the virtual workpiece through a mouse or a touch point by utilizing an optimized ray and direction bounding box intersection detection algorithm;
s104, transmitting the machining instruction to the production end server through a wireless network, and inputting the machining instruction into the numerical control machine by the production end server.
In a second aspect, a system provided by an embodiment of the present invention is composed of a client and a server, where the server interfaces with a numerically-controlled machine tool of a production end, and a module running on the client includes: the system comprises a digital twin model construction module, a digital twin machine tool interaction module and a wireless communication module; the module running on the service end comprises: a production end server module;
the digital twin model construction module is used for acquiring the operation data of the numerical control machine tool from the production end server module, including historical operation data and real-time operation data, and constructing a digital twin model of the numerical control machine tool;
the digital twin machine tool interaction module is used for loading and displaying a digital twin model of a numerical control machine tool in an interaction panel, wherein the displayed digital twin model comprises a three-dimensional digital twin machine tool in a mapping relation with the numerical control machine tool and a virtual workpiece in a mapping relation with a workpiece to be processed in the numerical control machine tool;
the digital twin machine tool interaction module is further configured to receive an operation instruction input by a user through the interaction panel, and generate a machining instruction according to the operation instruction, where in the process of receiving the operation instruction input by the user through the interaction panel, the digital twin machine tool interaction module includes: processing the interactive operation of the user and the virtual workpiece through a mouse or a touch point by utilizing an optimized ray and direction bounding box intersection detection algorithm;
the wireless communication module is used for remote data interaction between the digital twin machine tool running on the client and the production end server module, and the data interaction comprises: transmitting the processing instruction to the production end server through a wireless network;
the production end server module is used for collecting operation data of the numerical control machine tool and sending the operation data to the client; and the numerical control machine tool is also used for analyzing the processing instruction sent by the client into a corresponding operation instruction and inputting the operation instruction into the production end.
The digital twin-based numerical control machine tool remote processing method and system provided by the embodiment of the invention comprise a digital twin model construction module, wherein a digital twin model of the numerical control machine tool is constructed according to historical operation data and real-time operation data of the numerical control machine tool; the digital twin machine tool interaction module is used for completing interaction between a mouse/touch point and a virtual workpiece by using the proposed optimized ray and direction bounding box intersection detection method, reducing the false detection rate of the traditional detection method, sending a processing command, and finally remotely controlling a real machine tool to execute the processing command; the wireless communication module is used for sending a processing command of the three-dimensional digital twin machine tool to the production end server; and the production end server module is used for analyzing the machining instruction into a corresponding operation instruction so as to realize remote machining of the numerical control machine tool. The remote on-line machining of the numerical control machine tool is realized, the labor intensity of operators is reduced, and the interactive algorithm of the personnel operation is improved, so that the operation precision is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a system architecture according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a possible control instruction flow according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and detailed description for the purpose of better understanding of the technical solution of the present invention to those skilled in the art. Embodiments of the present invention will hereinafter be described in detail, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention discloses a digital twin-based remote machining system for a numerical control machine tool, and relates to the technical field of machining. By combining the remote transmission technology and the digital twin technology, the remote online processing of the numerical control machine tool is realized, so that the labor intensity of operators is reduced, the processing efficiency is improved, and the intelligent transformation of the production process is promoted. The embodiment of the invention provides a digital twin-based remote processing method of a numerical control machine tool, which is shown in fig. 3 and comprises the following steps:
s101, acquiring operation data of the numerical control machine tool from a production end server.
Among them, historical operation data and real-time operation data of the numerical control machine tool are included, for example: the distance of movement of each axis, the material usage, the type of tool, etc., as well as real-time operational data such as the current position and speed of each axis, environmental parameters of the machine tool, such as temperature, humidity, air pressure, etc.
S102, constructing a digital twin model of the numerical control machine tool, and loading and displaying the digital twin model of the numerical control machine tool in an interactive panel.
In the process of constructing the digital twin model of the numerical control machine tool, firstly, a geometric model is established according to the appearance and the size of the machine tool, and then, a multi-field coupling system of a mechanical system, an electric control system and a heat transfer system is constructed according to the operation mechanism and priori knowledge of the machine tool, so that the inherent essence and the operation mechanism of the machine tool are fully reflected.
And then a data model is constructed according to the real-time data and the historical data collected by the sensor, so that on one hand, the behavior action of the digital twin model is restrained, and on the other hand, the real-time running state and the future working trend of the machine tool are fully reflected. Forming a digital twin model based on the geometric, physical and data models to perform simulation calculation, and feeding generated simulation data back to the data model in real time; and finally, the simulation data and the data model jointly form twin data, and finally, the twin data are fed back to a real numerical control machine tool to complete a virtual-real closed loop.
The displayed digital twin model comprises a three-dimensional digital twin machine tool in a mapping relation with the numerical control machine tool and a virtual workpiece in a mapping relation with a workpiece to be processed in the numerical control machine tool; the three-dimensional digital twin machine tool can be generated according to the digital twin model, and then related images of the three-dimensional digital twin machine tool are displayed in the interactive UI of the interactive panel, so that a user can operate the three-dimensional digital twin machine tool in the interactive panel.
S103, receiving an operation instruction input by a user through the interaction panel, and generating a processing instruction according to the operation instruction.
The process of receiving the operation instruction input by the user through the interaction panel comprises the following steps: processing the interactive operation of the user and the virtual workpiece through a mouse or a touch point by utilizing an optimized ray and direction bounding box intersection detection algorithm;
s104, transmitting the machining instruction to the production end server through a wireless network, and inputting the machining instruction into the numerical control machine by the production end server.
In this embodiment, in S103, the processing the interactive operation between the user and the virtual workpiece through the mouse or the touch point by using the optimized intersection detection algorithm of the ray and the direction bounding box includes:
s1, determining the coordinate position of a click point or a touch point of a mouse, taking the determined coordinate position as a ray starting point, and calculating the direction vector of the ray according to the moving direction and the distance of the mouse or the touch. For example: the method comprises the steps of firstly obtaining the coordinate position of a mouse/touch point, obtaining the coordinate position of the mouse/touch point by utilizing rays when a user clicks the mouse/touch point on a screen, taking the current position of the mouse/touch point as a starting point of the rays, and then calculating the direction vector of the rays according to the moving direction and the distance of the mouse/touch point.
S2, dividing the virtual workpiece into i parts according to the principle that the surface areas of the parts are similar, and then calculating the center coordinate o of each part i The method comprises the steps of carrying out a first treatment on the surface of the And taking the average value of all the calculated center coordinates as the simplified coordinates of the virtual workpiece, so as to form a bounding box of the virtual workpiece, and determining the side lengths of three axes of the bounding box of the virtual workpiece. For example: the virtual workpiece is surrounded by using an optimized direction bounding box creation method. The traditional bounding box creation algorithm divides a workpiece model into m triangles, and takes the average value of three vertex coordinates of the triangles as the simplified vertex coordinates. However, there are certain limitations to this algorithm. When the structure of the workpiece model is uneven, that is, some parts contain more triangles and other parts contain fewer triangles, the simplified coordinates of the created bounding box are biased toward the parts with more triangles, which may lead to false detection.
The main thought of the proposed optimized directional bounding box algorithm is as follows: dividing the virtual workpiece into i parts, wherein the surface areas of the parts are similar, and calculating the central coordinate o of each part i And the average of these center coordinates is taken as the simplified coordinates of the workpiece model. Therefore, the bounding box of the workpiece can be obtained quickly and effectively, and meanwhile, the problem of false detection caused by uneven workpiece structure is avoided.
S3, detecting whether the ray obtained in the S1 interacts with the bounding box of the virtual workpiece, wherein if the ray intersects with the bounding box, the interaction is judged, and corresponding processing is carried out according to the position of the intersection point and the type of interaction (the type comprises internal intersection, boundary intersection, surface intersection and non-intersection). . Whether interaction is performed is judged according to the intersection relation of the ray of the mouse/touch point and the bounding box, if the ray intersects the bounding box, the interaction between the mouse/touch point and the virtual workpiece is judged, and corresponding processing, such as adjustment of the position of the virtual workpiece, can be performed according to the position of the intersection point and the type of interaction.
Further, in S2, the method includes: according to each partCenter coordinate o of the minute i Determining a covariance matrix C, wherein:
o represents the average of all the calculated center coordinates, and +.>Wherein the vertex coordinates of the jth triangle are (p j ，q j ，r j )，p j ，q j ，r j Coordinate values of three vertexes of the triangle are respectively represented;
the matrix elements constituting the covariance matrix C are C jk Specifically expressed asWherein (1)> And->Respectively->The values of the j-th and k-th elements of (2) are thus known +.>Respectively->Values of j and k elements, for example>Respectively->The values of the j and k elements of (a);
and according to the covariance matrix C, the three eigenvectors are unitized to obtain a base which is taken as the directions of three axes of the bounding box.
Wherein, according to the covariance matrixIts characteristic vector d 1 、d 2 、d 3 The resulting base after unitization is taken as the direction of the three axes of the bounding box, i.e. +.>
The directions of the three axes of the bounding box are expressed asWherein d' 1 、d′ 2 、d′ 3 Respectively represent the directions of three axes d 1 ～d 3 Respectively representing 3 eigenvectors of the covariance matrix;
obtaining maximum and minimum values of three-axis vertex projection by utilizing the principle of triangle vertex projection, and determining the side length l of the three axes 1 ～l 3 ：Wherein the three axis projection intervals are respectively P x 、P y 、P z The respective maximum and minimum values are respectively P xmax ，P xmin ，P ymax ，P ymin ，P zmax ，P zmin 。
In this embodiment, S102 includes: a model building tool (such as 3DS Max and the like) is utilized to build a three-dimensional model of a digital twin model numerical control machine of the numerical control machine;
the method for constructing the digital twin model of the numerical control machine tool in the virtual scene comprises the following steps of:
the distance between the X axis of the machine tool and the coordinate system of the machine tool is X 0 The displacement matrix M of the X-axis only translates relative to the machine coordinate system x The following are provided:
the initial coordinate of the Y-axis relative to the machine tool local coordinate system is Y 0 The Y axis only translates relative to the coordinate system of the machine tool, and the motion matrix M of the Y axis of the machine tool is similar to the translation y The method comprises the following steps:
the motion of the Z axis is combined by the movement of the Y axis and the translation of the Z axis relative to the machine coordinate system, and the combination of the motions is represented by multiplication of a matrix. The initial coordinate of the Z axis relative to the machine tool local coordinate system is Z 0 The translation matrix is M tz Motion matrix M of Z axis of machine tool z The method comprises the following steps:
and adding a mark corresponding to the numerical control machine tool to the constructed digital twin model, and storing the marked digital twin model into a model library.
And adding a mark corresponding to the numerical control machine tool to the constructed digital twin model, and storing the marked digital twin model into a model library. The three-dimensional twin model of the numerical control machine tool with various models can be selected by a user according to the currently used actual numerical control machine tool when in use.
In S103, the operation instruction input by the user through the interactive panel includes an NC file. Further comprises: receiving model selection operation input by a user through the interactive panel, extracting all digital twin models corresponding to the numerical control machine tool from a model library according to the model selection operation, and displaying the digital twin models on the interactive panel; and loading the digital twin model selected by the user according to the selection operation of the user. For example: the digital twin machine tool interaction module can load the corresponding digital twin machine tool according to the selection of operators, automatically configure initial data of the twin machine tool when a client is started, and simultaneously enable the operators to select, observe or drag virtual workpieces in the interaction panel by using a mouse/touch, so that an interaction function is realized. An operator can wirelessly transmit NC machining codes to a production-end numerical control machine tool by using the digital twin machine tool, and remotely start a machining flow.
In this embodiment, a remote processing system of a numerically-controlled machine tool based on digital twin is further provided, which may specifically be composed of a client and a server, where the server is abutted against a numerically-controlled machine tool of a production end, and a module running on the client includes: the system comprises a digital twin model construction module, a digital twin machine tool interaction module and a wireless communication module; the module running on the service end comprises: a production end server module;
the digital twin model construction module is used for acquiring the operation data of the numerical control machine tool from the production end server module, including historical operation data and real-time operation data, and constructing a digital twin model of the numerical control machine tool;
the digital twin machine tool interaction module is used for loading and displaying a digital twin model of a numerical control machine tool in an interaction panel, wherein the displayed digital twin model comprises a three-dimensional digital twin machine tool in a mapping relation with the numerical control machine tool and a virtual workpiece in a mapping relation with a workpiece to be processed in the numerical control machine tool;
the digital twin machine tool interaction module is further configured to receive an operation instruction input by a user through the interaction panel, and generate a machining instruction according to the operation instruction, where in the process of receiving the operation instruction input by the user through the interaction panel, the digital twin machine tool interaction module includes: processing the interactive operation of the user and the virtual workpiece through a mouse or a touch point by utilizing an optimized ray and direction bounding box intersection detection algorithm; and an operator can click a client interactive panel of the digital twin machine tool by using a mouse or touch mode to send a machining command, and finally the numerical control machine tool is remotely controlled to execute the machining command.
The wireless communication module is used for remote data interaction between the digital twin machine tool running on the client and the production end server module, and the data interaction comprises: transmitting the processing instruction to the production end server through a wireless network; the wireless communication module is used for realizing remote data interaction between the client digital twin machine tool and the production server by using an efficient and reliable message transmission mechanism.
The production end server module is used for collecting operation data of the numerical control machine tool and sending the operation data to the client; and the numerical control machine tool is also used for analyzing the processing instruction sent by the client into a corresponding operation instruction and inputting the operation instruction into the production end. The method comprises the steps of collecting data of a machining operation process of the numerical control machine tool in real time, sending the data to a client twin machine tool, monitoring a machining command sent by a client, analyzing the machining command into a corresponding machining command, and realizing remote machining of a production end machine tool body.
Specifically, the wireless communication module is used for remotely sending the operation data of the numerical control machine tool acquired by the production end server to the digital twin model construction module to construct a twin system of the numerical control machine tool, and remotely sending the client NC machining program to the production end server;
the wireless communication module supports two transmission modes, namely a synchronous mode and an asynchronous mode, and when the system transmits faults, the normal transmission of the message is ensured through asynchronous transmission. Wherein the sender can continue to send messages even if the receiver is temporarily unable to respond. The synchronous mode is used for scenes with higher instantaneity, and the instantaneity of the system can be guaranteed. And the production end server module is used for constructing a client-side numerical control machine twin system by using the acquired numerical control machine operation data.
The production end server module is connected with a plurality of numerical control machine tools simultaneously through a serial port/Ethernet port, so that synchronous on-line production of the plurality of machine tools is realized
The digital twin machine tool interaction module is further used for: determining the coordinate position of a mouse click point or a touch point, taking the determined coordinate position as a ray starting point, and calculating the direction vector of the ray according to the moving direction and the distance of the mouse or the touch;
dividing the virtual workpiece into i parts according to the principle that the surface areas of the parts are similar, and then calculating the central coordinate o of each part i The method comprises the steps of carrying out a first treatment on the surface of the Taking the average value of all the calculated center coordinates as the simplified coordinates of the virtual workpiece, so as to form a bounding box of the virtual workpiece, and determining the side lengths of three axes of the bounding box of the virtual workpiece;
and detecting whether the obtained ray interacts with the bounding box of the virtual workpiece, wherein if the ray intersects with the bounding box, the interaction is judged to occur, and corresponding processing is carried out according to the position of the intersection point and the type of the interaction.
For example, the present example may be implemented as a digital twin-based remote processing system for a digital machine tool as shown in fig. 1, including a digital twin model building module, a digital twin machine tool interaction module, a wireless communication module, a production end server module, and a digital machine tool.
The digital twin model construction module constructs a digital twin model of the numerical control machine tool according to the historical operation data and the real-time operation data of the actual numerical control machine tool, and generates a three-dimensional digital twin machine tool;
the three-dimensional digital twin machine tool loads and displays in a digital twin machine tool interaction module, an operator selects, observes or drags a virtual workpiece in the interaction panel or clicks a virtual button of the three-dimensional twin machine tool interaction panel to send a machining instruction by means of a mouse, touch and the like, the interaction module is connected with a wireless communication module, the wireless communication module remotely sends machine tool data acquired by a production end server to a digital twin model building module to build a digital control machine tool twin system, meanwhile, the machining instruction is required to be transmitted to the production end server, and the production end server analyzes the machining instruction into a corresponding operation instruction to realize remote machining of the digital control machine tool.
In the example, the digital twin model construction module establishes a three-dimensional model of the numerical control machine tool by using a model construction tool, performs kinematic study on the numerical control machine tool by combining a kinematic principle, and collects real-time operation data of the numerical control machine tool according to a kinematic equation and a production end server module to realize the twin model of the numerical control machine tool in a virtual scene.
In the real-time example, the digital twin model building module comprises three-dimensional twin models of numerical control machine tools with various models, and a user can select according to the actual numerical control machine tools currently used when using the digital twin model building module.
In the real-time example, the digital twin machine tool interaction module can select to load the corresponding digital twin machine tool according to an operator, automatically configure initial data of the twin machine tool when the client is started, and the operator can wirelessly transmit NC machining codes to the production-end numerical control machine tool by using the digital twin machine tool and remotely start a machining flow.
Referring to fig. 2, fig. 2 is a control instruction flow chart, and the remote processing is as follows:
s1: firstly, establishing connection between a production end and a numerical control machine tool;
s2: after the connection is established successfully, an operator writes an NC file into the client twin machine tool in the digital twin machine tool interaction module.
S3: the client machine tool runs and debugs the NC file, and a user can check whether remote debugging of the digital machine tool is required according to the real-time state of the real machine tool displayed in the twin machine tool interactive panel.
S4: if remote debugging is needed, an operator inputs a debugging code in a manual data input mode of the client, whether the running condition of the numerical control machine tool is normal is judged again according to the display condition of the machine tool interaction panel, and if not, debugging is conducted again.
S5: after the numerical control machine operates normally, a client operator remotely starts the numerical control machine to process, and observes the state of the machine in a twin machine interaction panel, and when the numerical control machine is abnormal, the numerical control machine can be remotely and suddenly stopped, so that the safety is ensured.
S6: after the machine tool remote machining is finished, an operator can disconnect the relevant connection at the client.
In this example, the interaction between the mouse/touch point and the virtual workpiece is accomplished using the proposed optimized ray and direction bounding box intersection detection method, specifically, the steps are as follows:
s1: the method comprises the steps of firstly obtaining the coordinate position of a mouse/touch point, obtaining the coordinate position of the mouse/touch point by utilizing rays when a user clicks the mouse/touch point on a screen, taking the current position of the mouse as a starting point of the rays, and then calculating the direction vector of the rays according to the moving direction and the distance of the mouse/touch point.
S2: the virtual workpiece is surrounded by using an optimized direction bounding box creation method. The traditional bounding box creation algorithm divides a workpiece model into m triangles, and takes the average value of three vertex coordinates of the triangles as the simplified vertex coordinates. However, there are certain limitations to this algorithm. When the structure of the workpiece model is uneven, that is, some parts contain more triangles and other parts contain fewer triangles, the simplified coordinates of the created bounding box are biased toward the parts with more triangles, which may lead to false detection.
The main idea of the optimized directional bounding box algorithm is to divide a virtual workpiece into i parts, and the surface areas of all the parts are similar. Then calculate the center coordinates o of each part i And the average of these center coordinates is taken as the simplified coordinates of the workpiece model. Therefore, the bounding box of the workpiece can be obtained quickly and effectively, and meanwhile, the problem of false detection caused by uneven workpiece structure is avoided.
Wherein,
the covariance matrix C is:
wherein C is jk Is an element of matrix C; respectively isThe value of the j, k element of (2), thereby knowing +.>
C obtained by the formula (3) is a symmetric matrix of a 3×3 matrix, and the basis obtained after unitizing three eigenvectors is the direction of three axes of the bounding box:
s3: and determining the side lengths of the three axes according to the maximum value and the minimum value of the vertex projection of the triangle:
s4: judging whether interaction is carried out according to the intersection relation of the ray of the mouse/touch point and the bounding box, if the ray is intersected with the bounding box, judging that the mouse/touch point is interacted with the virtual workpiece, and carrying out corresponding processing according to the position of the intersection point and the interaction type, for example, adjusting the position of the virtual workpiece and the like.
In this example, the wireless communication module remotely transmits the machine tool data collected by the production end server to the digital twin model construction module to construct a digital control machine tool twin system, and is responsible for remotely transmitting the client machining program to the production end server.
In this example, the wireless communication module supports two transmission modes, namely a synchronous mode and an asynchronous mode, when the system fails to send, the asynchronous transmission can ensure that the message can still be normally transmitted, and even if the receiver cannot respond temporarily, the sender can continue to send the message. The synchronous mode has higher real-time performance, and can ensure the real-time performance of the system.
In the example, the production end server collects data of the machining operation process of the numerical control machine tool in real time and sends the data to the client twin machine tool, meanwhile, a command sent by the client is monitored, and the machining command is analyzed into a corresponding machining command, so that remote machining of the machine tool is realized.
In this example, the collected numerical control machine tool operation data is used to construct a client-side numerical control machine tool twinning system.
In the example, the production end server module CAN simultaneously connect a plurality of numerical control machine tools through various communication such as serial ports, ethernet ports, CAN buses and the like, so that synchronous on-line production of a plurality of machine tools is realized.
In the example, the digital twin technology is adopted to digitally map the numerical control machine tool, the digital twin model is utilized to simulate the actual condition and the operation process of the numerical control machine tool, the corresponding machine tool body is controlled to process a workpiece, meanwhile, the wireless communication technology is combined with the digital twin technology of the numerical control machine tool on the basis, the problems of complex wiring of a wired network, large electromagnetic interference, limited machine tool operation, increased equipment investment and the like can be solved, and the intelligent degree and the processing efficiency of the numerical control machine tool processing can be improved.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (9)
1. The digital twin-based remote machining method for the numerical control machine tool is characterized by comprising the following steps of:
s101, acquiring operation data of a numerical control machine tool from a production end server, wherein the operation data comprise historical operation data and real-time operation data of the numerical control machine tool;
s102, constructing a digital twin model of the numerical control machine tool, and loading and displaying the digital twin model of the numerical control machine tool in an interactive panel, wherein the displayed digital twin model comprises a three-dimensional digital twin machine tool with a mapping relation with the numerical control machine tool and a virtual workpiece with a mapping relation with a workpiece to be processed in the numerical control machine tool;
s103, receiving an operation instruction input by a user through the interaction panel, and generating a machining instruction according to the operation instruction, wherein in the process of receiving the operation instruction input by the user through the interaction panel, the method comprises the following steps: processing the interactive operation of the user and the virtual workpiece through a mouse or a touch point by utilizing an optimized ray and direction bounding box intersection detection algorithm;
s104, transmitting the machining instruction to the production end server through a wireless network, and inputting the machining instruction into the numerical control machine by the production end server.
2. The method according to claim 1, wherein in S103, the processing the interaction operation of the user with the virtual workpiece through a mouse or a touch point using the optimized ray-direction bounding box intersection detection algorithm includes:
s1, determining the coordinate position of a mouse click point or a touch point, taking the determined coordinate position as a ray starting point, and calculating the direction vector of the ray according to the movement direction and the distance of the mouse or touch;
s2, according to the surface area of each partThe similar principle divides the virtual workpiece into i parts, and then calculates the center coordinates o of each part i The method comprises the steps of carrying out a first treatment on the surface of the Taking the average value of all the calculated center coordinates as the simplified coordinates of the virtual workpiece, so as to form a bounding box of the virtual workpiece, and determining the side lengths of three axes of the bounding box of the virtual workpiece;
s3, detecting whether the ray obtained in the S1 interacts with the bounding box of the virtual workpiece, wherein if the ray intersects with the bounding box, judging that interaction occurs, and carrying out corresponding processing according to the position of the intersection point and the type of interaction.
3. The method according to claim 2, characterized in that in S2 it comprises:
determining a covariance matrix C from the center coordinates of each portion, wherein:
o represents the average of all the calculated center coordinates, and +.>Wherein the vertex coordinates of the jth triangle are (p j ，q j ，r j )，p j ，q j ，r j Coordinate values of three vertexes of the triangle are respectively represented;
the matrix elements constituting the covariance matrix C are C jk Specifically expressed asWherein, and->Respectively->The values of the j-th and k-th elements of (2) are thus known +.>Respectively->Values of j and k elements, for example>Respectively->The values of the j and k elements of (a);
and according to the covariance matrix C, the three eigenvectors are unitized to obtain a base which is taken as the directions of three axes of the bounding box.
4. A method according to claim 3, wherein the directions of the three axes of the bounding box are expressed asWherein d' 1 、d′ 2 、d′ 3 Respectively represent the directions of three axes d 1 ～d 3 Respectively representing 3 eigenvectors of the covariance matrix;
obtaining maximum and minimum values of three-axis vertex projection by utilizing the principle of triangle vertex projection, and determining the side length l of the three axes 1 ～l 3 ：Wherein the three axis projection intervals are respectively P x 、P y 、P z The respective maximum and minimum values are respectively P xmax 、P xmin 、P ymax 、P ymin 、P zmax 、P zmin 。
5. The method according to claim 1, characterized in that in S102 it comprises:
establishing a three-dimensional model of a digital twin model numerical control machine of the numerical control machine by using a model construction tool;
according to the kinematic equation and the operation data of the numerical control machine acquired by the production end server, constructing a digital twin model of the numerical control machine in a virtual scene, wherein the method comprises the following steps:
the distance between the X axis of the machine tool and the coordinate system of the machine tool is X 0 The displacement matrix M of the X-axis only translates relative to the machine coordinate system x The following are provided:
the initial coordinate of the Y-axis relative to the machine tool local coordinate system is Y 0 The Y axis only translates relative to the coordinate system of the machine tool, and the motion matrix M of the Y axis of the machine tool is similar to the translation y The method comprises the following steps:
the motion of the Z axis is combined by the movement of the Y axis and the translation of the Z axis relative to the machine coordinate system, and the combination of the motions is represented by multiplication of a matrix. The initial coordinate of the Z axis relative to the machine tool local coordinate system is Z 0 The translation matrix is M tz Motion matrix M of Z axis of machine tool z The method comprises the following steps:
and adding a mark corresponding to the numerical control machine tool to the constructed digital twin model, and storing the marked digital twin model into a model library.
6. The method according to claim 1 or 5, wherein in S103, the operation instruction input by the user through the interactive panel includes a numerical control machine tool processing file;
in S103, further including: receiving model selection operation input by a user through the interactive panel, extracting all digital twin models corresponding to the numerical control machine tool from a model library according to the model selection operation, and displaying the digital twin models on the interactive panel;
and loading the digital twin model selected by the user according to the selection operation of the user.
7. The digital twin-based remote processing system of the numerical control machine tool is characterized by comprising a client and a server, wherein the server is in butt joint with the numerical control machine tool at a production end, and a module running on the client comprises: the system comprises a digital twin model construction module, a digital twin machine tool interaction module and a wireless communication module; the module running on the service end comprises: a production end server module;
the digital twin model construction module is used for acquiring the operation data of the numerical control machine tool from the production end server module, including historical operation data and real-time operation data, and constructing a digital twin model of the numerical control machine tool;
the digital twin machine tool interaction module is used for loading and displaying a digital twin model of a numerical control machine tool in an interaction panel, wherein the displayed digital twin model comprises a three-dimensional digital twin machine tool in a mapping relation with the numerical control machine tool and a virtual workpiece in a mapping relation with a workpiece to be processed in the numerical control machine tool;
the digital twin machine tool interaction module is further configured to receive an operation instruction input by a user through the interaction panel, and generate a machining instruction according to the operation instruction, where in the process of receiving the operation instruction input by the user through the interaction panel, the digital twin machine tool interaction module includes: processing the interactive operation of the user and the virtual workpiece through a mouse or a touch point by utilizing an optimized ray and direction bounding box intersection detection algorithm;
the wireless communication module is used for remote data interaction between the digital twin machine tool running on the client and the production end server module, and the data interaction comprises: transmitting the processing instruction to the production end server through a wireless network;
the production end server module is used for collecting operation data of the numerical control machine tool and sending the operation data to the client; and the numerical control machine tool is also used for analyzing the processing instruction sent by the client into a corresponding operation instruction and inputting the operation instruction into the production end.
8. The system according to claim 7, wherein the wireless communication module is configured to remotely send the operation data of the NC machine acquired by the production end server to the digital twin model building module to build the NC machine twin system, and simultaneously remotely send the client NC machining program to the production end server;
the wireless communication module supports two transmission modes, namely a synchronous mode and an asynchronous mode, and when the system transmits faults, the normal transmission of the message is ensured through asynchronous transmission.
9. The system of claim 7, wherein the digital twin machine interaction module is further configured to: determining the coordinate position of a mouse click point or a touch point, taking the determined coordinate position as a ray starting point, and calculating the direction vector of the ray according to the moving direction and the distance of the mouse or the touch;
dividing the virtual workpiece into i parts according to the principle that the surface areas of the parts are similar, and then calculating the central coordinate o of each part i The method comprises the steps of carrying out a first treatment on the surface of the Taking the average value of all the calculated center coordinates as the simplified coordinates of the virtual workpiece, so as to form a bounding box of the virtual workpiece, and determining the side lengths of three axes of the bounding box of the virtual workpiece;
and detecting whether the obtained ray interacts with the bounding box of the virtual workpiece, wherein if the ray intersects with the bounding box, the interaction is judged to occur, and corresponding processing is carried out according to the position of the intersection point and the type of the interaction.
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