摘要
现阶段自动化仓储数字孪生专注于设备,对输送货物的数据采集程度与可视化水平低。针对这一问题,提出了一种基于图数据库的输送线孪生映射方法。首先,设计了仓储数字孪生的虚实映射框架,对某自动化立体仓库的实际输送线布局与作业流程进行了分析;然后,基于图数据库技术构建了输送线的有向图结构模型,对图模型中的节点、关系边和属性进行了阐述;最后,建立了以物联网(IOT)数据平台为核心的数据传输架构,实现了输送线中对多源异构数据的采集和传输,完成了虚实场景间的实时交互映射,利用输送线工作流程中的码垛和入库作业进行了实验验证。研究结果表明:图数据库和孪生场景准确及时地反映了实际场景的变化,精确度98.4%,平均延时低于0.5 s,满足可靠性与实时性需求;输送线模型较好地完成了对实际设备及托盘、货物信息的追踪及展现,满足了数据采集和可视化需求。该方案能实现仓储数字孪生系统中对输送线的虚实映射。
Aiming at the problem that the digital twin system of automated warehousing focuses only on equipment at present,meanwhile the data collection degree and visualization level of conveyed goods were at a low extent,a virtual-real mapping method based on graph database of the digital twin of conveyor line was proposed.Firstly,the comprehensive framework for the virtual-real mapping of the digital twin system in automated warehousing was established,followed by an analysis of the actual conveyor line layout and operational procedure of an automated stereoscopic warehouse.Then,based on the graph database technology,a directed graph structure model of the conveyor line was constructed,and the nodes,relational edges and their attributes in the graph model were expounded.Finally,data transmission architecture with internet of things(IOT)data platform as the core was established,the collection and transmission of multi-source heterogeneous data in the conveyor line was realized,the real-time interactive mapping between virtual scenes and real scenes was completed,and the experimental verification was carried out through the stacking operations and warehousing operations in the conveyor line workflow.The research results show that the graph database and digital twin scene reflect the changes of the actual scene in accurate manner with accuracy 98.4%and average delay less than 0.5 s,it can satisfy reliability requirements and real-time requirements.The conveyor line model can better track and display the information of the actual equipment,pallets and goods,and can satisfy data collection requirements and visualization requirements.This research can realize the virtual-real mapping of the conveyor line in the automated warehousing digital twin system.
作者
管皓辉
周骅
曹小华
GUAN Haohui;ZHOU Hua;CAO Xiaohua(School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430070,China;Guangxi Liusteel Logistics Co.,Ltd.,Liuzhou 545000,China)
出处
《机电工程》
北大核心
2025年第7期1332-1340,共9页
Journal of Mechanical & Electrical Engineering
基金
湖北省重点研发项目(2023BEB046)。
关键词
输送机械
自动化仓储
图数据库
输送线
数字孪生
数据交互
虚实映射
物联网
conveying machinery
automated warehousing
graph database
conveyor line
digital twin
data interaction
virtual-real mapping
internet of things
