WO2024002293A1 - 一种对象计划状态数字孪生和订阅方法、装置、设备 - Google Patents

一种对象计划状态数字孪生和订阅方法、装置、设备 Download PDF

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WO2024002293A1
WO2024002293A1 PCT/CN2023/104170 CN2023104170W WO2024002293A1 WO 2024002293 A1 WO2024002293 A1 WO 2024002293A1 CN 2023104170 W CN2023104170 W CN 2023104170W WO 2024002293 A1 WO2024002293 A1 WO 2024002293A1
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sub
target
plan
object model
model
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PCT/CN2023/104170
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English (en)
French (fr)
Inventor
林伟
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北京亚控科技发展有限公司
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Priority claimed from CN202210767331.2A external-priority patent/CN115080543A/zh
Priority claimed from CN202210767591.XA external-priority patent/CN115145896A/zh
Application filed by 北京亚控科技发展有限公司 filed Critical 北京亚控科技发展有限公司
Publication of WO2024002293A1 publication Critical patent/WO2024002293A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/21—Design, administration or maintenance of databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/23—Updating
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/903—Querying
    • G06F16/9035—Filtering based on additional data, e.g. user or group profiles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/906—Clustering; Classification
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/95—Retrieval from the web
    • G06F16/953—Querying, e.g. by the use of web search engines
    • G06F16/9537—Spatial or temporal dependent retrieval, e.g. spatiotemporal queries

Definitions

  • This application relates to the field of information technology, specifically to an object plan status digital twin and subscription method, device, and equipment.
  • the current twinning process of existing entities and objects is complex and requires the construction of models with different data structures. There are many types of models, which are not uniform and cannot be applied to the twinning of all things. Moreover, the current entity twinning process is not targeted at the future. The state of the physical object in different time periods is digitally twinned.
  • twins Although there are currently many twinning methods for entity objects, there are fewer twinning methods for event objects, and most of the existing twinning methods for event objects are based on specific scenarios. At the same time, digital In the case of twins, the twin method does not have unity and cannot be applied to twins of all things.
  • the present invention provides an object planning status digital twin and subscription method, device, and equipment, which are used to solve the problem that the existing twin process of physical objects does not carry out digital twins according to the status of the physical objects in different time periods in the future.
  • Most of the current twinning methods for event objects are based on specific scenarios and are not uniform and cannot be applied to the problem of twinning of all things.
  • this application provides an object planning status digital twin method, which method includes:
  • the target plan object is a target plan entity
  • the sub-object is a sub-entity
  • the target planning object is a target planning event
  • the sub-object is a sub-goal planning event
  • the future time is at least one moment in the future or at least one duration in the future.
  • the target plan object model as a model of a parent plan object
  • identifying the child plan object model as a model of a child plan object belonging to the parent plan object, establishing the relationship between the target plan object model and the at least one The parent-child relationship of the child plan object model.
  • identifying the sub-plan object model as a model of a sub-plan object belonging to the parent plan object includes:
  • the child planning object model is identified as a model of a child planning object belonging to a unique parent planning object.
  • the target planning object model and the at least one sub-planning object model further include a first spatial attribute, and the first spatial attribute of the at least one sub-planning object model is The spatial attribute value is within the range of the first spatial attribute value of the target plan object model;
  • the first spatial attribute includes at least one of spatial range, spatial location and shape.
  • the spatial range is used to describe the spatial range where the target planning object and at least one sub-object are located;
  • the spatial position is located within the spatial range of the target planning object, and the identification of other planning objects where the sub-object is located in the spatial position is used, or the sub-object is in the spatial coordinate system of the target planning object model.
  • the coordinate value represents the spatial position of the sub-object
  • the shape is represented by the coordinates of the spatial coordinate system in which the target planning object is located to represent the shape of the target planning object model, and the relative coordinates of the spatial coordinate system relative to the target planning entity are used to represent the shape of the sub-planning object model.
  • the target plan object model and at least one sub-plan object model are used to generate the target plan object model in at least one sustained period in the future.
  • the parent record and the child record of the at least one child plan object model are respectively used to describe the attribute status of the target plan object and the at least one child object in at least one duration in the future;
  • the time range of the at least one child record is within the time range of the parent record.
  • the parent record and the at least one child record include a record identifier, which is used to uniquely identify the parent record or the at least one child record.
  • the parent record and the at least one child record include a second spatial attribute
  • the second spatial attribute includes at least one of spatial range, spatial size, spatial shape, and spatial location.
  • the parent record and the at least one child record are used to describe the target planning object and the at least one child object in at least one duration in the future. Change information of the spatial range within the segment;
  • the spatial extent of the at least one child record is contained within the spatial extent of the parent record for at least one duration in the future.
  • the parent record and the at least one child record are used to describe the target plan object and the Change information of the space size of the at least one sub-object in at least one sustained period of time in the future;
  • the space size of the at least one child record is smaller than the space size of the parent record during at least one sustained period in the future.
  • the parent record and the at least one child record are used to describe the target plan object and the at least one child object in at least one duration in the future. Change information of spatial position movement within the segment;
  • the spatial location of the at least one child record is contained within the spatial location of the parent record for at least one duration in the future.
  • the parent record and the at least one child record are used to describe the target planning object and the at least one child object in at least one duration period in the future.
  • Internal shape change information when the second spatial attribute is a shape, the parent record and the at least one child record are used to describe the target planning object and the at least one child object in at least one duration period in the future.
  • the shape of the at least one child record is contained within the shape of the parent record for at least one duration in the future.
  • the target planning object model of at least one sub-planning object model meets the conditions for deletion at different times in the future, it also includes:
  • the satisfying the deletion condition includes that the spatial location range of the sub-planned object model changes outside the spatial location range of the target planned object model.
  • the parent-child relationship between the at least one sub-plan object model and the target plan object model is released, it also includes:
  • the starting time of the parent planning object is earlier than or equal to the starting time of the child planning object, and the end time of the parent planning object is later than or equal to the Describes the end time of the subplan object.
  • the target plan object model and the sub-plan object model include parent objects, and a parent-child relationship between the target plan object model and the sub-plan object model is established, including :
  • the parent object of the sub-plan object model is determined as the object identifier of the target plan object model, and a parent-child relationship between the target plan object model and the sub-plan object model is established.
  • the target plan object model of the sub-plan object model meets the deletion conditions at different times in the future, it also includes:
  • the parent-child relationship between the sub-plan object model and the target plan object model is released;
  • the condition for being deleted includes that the end time of the child plan object is later than the end time of the parent plan object, or the duration of the child plan object is longer than the duration of the parent plan object.
  • the target plan object model and the sub-plan object model also include spatial attributes
  • the spatial range is used to describe the spatial range in which the target plan object and its sub-objects occur
  • the spatial location is used to describe that the spatial location where the sub-plan object model occurs is within a certain range of the spatial location where the target plan object model occurs, or the spatial range where the sub-plan object model occurs is within the target plan object. within the spatial range in which the model occurs.
  • the method also includes:
  • the corresponding first record is generated based on the target plan object model corresponding to that time;
  • the corresponding second record is generated based on the sub-plan object model corresponding to that time;
  • the target plan object model record and the sub-plan object model record include a record identifier, which is used to uniquely identify the target plan object model record or the sub-plan object model record.
  • the method also includes:
  • the start time of the time attribute of the root storage node is determined to be the preset reference time, and the start time of the time attribute of the child storage node is the relative offset time of the preset reference time.
  • this application provides a method for subscribing to the future state of an object.
  • the method includes:
  • the target plan object is a target plan entity
  • the sub-object is a sub-entity
  • the target planning object is a target planning event
  • the sub-object is a sub-goal planning event
  • the target plan object model includes a parent object identifier for uniquely mapping the target plan object model of the target plan object;
  • the at least one sub-plan object model includes a sub-object identifier for uniquely mapping the sub-plan object model of the sub-object.
  • generate a subscription item based on a subscription request for a future state of the target plan object, and generate subscription information matching the subscription item based on the future state of the target plan object model and at least one associated sub-plan object model include:
  • For a target plan object model generate subscription information for querying the future status of each sub-plan object model associated with the target plan object model according to the parent object identifier of the target plan object model;
  • For a sub-plan object model generate subscription information for querying the future status of a target plan object model associated with the sub-plan object model according to the sub-object identifier of the sub-plan object model.
  • generate a subscription item based on a subscription request for a future state of the target plan object, and generate subscription information matching the subscription item based on the future state of the target plan object model and at least one associated sub-plan object model include:
  • subscription information for querying the future status of each sub-plan object model associated with the target plan object model within the time range is generated.
  • the method also includes:
  • the object When it is determined that the object is a physical object, receive a query request for the future status of the target plan object, where the query request includes a spatial range;
  • For a target plan object model query the future status of each sub-plan object model within the space range according to the spatial range of the target plan object model;
  • For a sub-plan object model according to the spatial scope of the sub-plan object model, query the target plan object model whose spatial scope includes the spatial scope of the sub-plan object model and/or the spatial scope of the target plan object model. Contains additional subplan object models.
  • this application provides an object planning status digital twin device, which includes:
  • a plan object model module used to build a target plan object model of the target plan object and a sub-plan object model that constitutes at least one sub-object of the target plan object, the target plan object model and the at least one sub-plan object model Includes time attributes;
  • Setting a time module is used to set the time attribute of the target plan object model and the at least one sub-plan object model to a future time;
  • a relationship establishment module is configured to establish an association between the target plan object model and the at least one sub-plan object model.
  • this application provides an object subscription device, which includes:
  • a plan object model module used to build a target plan object model of the target plan object and a sub-plan object model that constitutes at least one sub-object of the target plan object, the target plan object model and the at least one sub-plan object model Includes time attributes;
  • Setting a time module is used to set the time attribute of the target plan object model and the at least one sub-plan object model to a future time;
  • a relationship establishment module configured to establish an association between the target plan object model and the at least one sub-plan object model
  • Generate subscription item information module configured to generate subscription items based on a subscription request for a future state of a target plan object, and generate a subscription item that matches the subscription item based on the future state of the target plan object model and at least one associated sub-plan object model. subscription information.
  • this application provides an object planning status digital twin device, which includes:
  • At least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to The at least one processor is enabled to perform the method according to any one of the first aspects.
  • this application provides an object subscription device, which includes:
  • At least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to The at least one processor is enabled to perform the method according to any one of the second aspects.
  • the present application provides a computer storage medium that stores a computer program, and the computer program is used to cause a computer to perform the method as described in any one of the first aspects, or to perform the method as described in the first aspect. The method described in any of the two aspects.
  • the problem that the existing twin process of physical objects does not carry out digital twins for the status of the physical objects in different time periods in the future can be solved.
  • Most of the current twinning methods for event objects are based on specific scenarios and are not uniform and cannot be applied to the problem of twinning of all things.
  • Figure 1 is a schematic data structure diagram of a digital twin method of planning status of an entity according to an exemplary embodiment of the present invention
  • Figure 2 is a schematic flow chart of a digital twin method of planning status of an entity according to an exemplary embodiment of the present invention
  • Figure 3 is a schematic diagram of a planned physical model according to an exemplary embodiment of the present invention.
  • Figure 4 is a schematic diagram of a predefined planning entity according to an exemplary embodiment of the present invention.
  • Figure 5 is a schematic diagram of a planned entity according to an exemplary embodiment of the present invention.
  • Figure 6 is a schematic diagram of planned entity data according to an exemplary embodiment of the present invention.
  • Figure 7 is a schematic diagram of the spatial position of a parent record and the at least one child record according to an exemplary embodiment of the present invention.
  • Figure 8 is a schematic diagram of spatial position changes of sub-records according to an exemplary embodiment of the present invention.
  • Figure 9 is a schematic diagram of the spatial position of a planned entity according to an exemplary embodiment of the present invention.
  • Figure 10 is a schematic diagram of spatial position changes of sub-plan entities according to an exemplary embodiment of the present invention.
  • Figure 11 is a schematic diagram of member information according to an exemplary embodiment of the present invention.
  • Figure 12 is an exemplary schematic diagram according to an exemplary embodiment of the present invention.
  • Figure 13 is another schematic diagram illustrating an example according to an exemplary embodiment of the present invention.
  • Figure 14 is a schematic flowchart of a method for subscribing to the future state of an entity according to an exemplary embodiment of the present invention
  • Figure 15 is a schematic data structure diagram of an event planning status digital twin method according to an exemplary embodiment of the present invention.
  • Figure 16 is a schematic flowchart of an event planning status digital twin method according to an exemplary embodiment of the present invention.
  • Figure 17 is a schematic diagram of a planned event model according to an exemplary embodiment of the present invention.
  • Figure 18 is a schematic diagram of a planned event predefinition according to an exemplary embodiment of the present invention.
  • Figure 19 is a schematic diagram of a planned event according to an exemplary embodiment of the present invention.
  • Figure 21 is a schematic diagram of an event planning status digital twin method according to an exemplary embodiment of the present invention.
  • Figure 22 is a schematic diagram of another event planning status digital twin method according to an exemplary embodiment of the present invention.
  • Figure 23 is a schematic diagram of a time attribute of a planned event according to an exemplary embodiment of the present invention.
  • Figure 24 is a schematic flowchart of a method for subscribing to the future status of an event according to an exemplary embodiment of the present invention
  • Figure 25 is a schematic diagram of a physical object planning status digital twin device according to an exemplary embodiment of the present invention.
  • Figure 27 is a schematic diagram of an event planning status digital twin device according to an exemplary embodiment of the present invention.
  • Figure 28 is a schematic diagram of an event subscription device according to an exemplary embodiment of the present invention.
  • Figure 29 is a schematic diagram of a physical object planning status digital twin device, an physical object subscription device, an event planning status digital twin device and an event subscription device according to an exemplary embodiment of the present invention.
  • This application proposes an object planning status digital twin method, device, and equipment.
  • the above object planning status digital twin method includes two aspects.
  • the first aspect is the physical object planning status digital twin method
  • the second aspect is the event planning status digital twin method. method.
  • the above-mentioned target plan object is a target plan entity object
  • the above-mentioned sub-object is a sub-entity object.
  • the entity object is used for description below. For ease of description, the following physical objects are described using physical objects.
  • physical objects may exist in different states. At the current time, there is only physical object 1. At some time in the future, as shown in Figure 1, physical object 1 contains physical object 2. In this state, Under the change, a unified data structure is used to represent entity 1 and entity 2. Physical object 1 and physical object 2 are marked with unique physical object identifiers respectively. The physical object identifier is unique in the entire plan library system, and the name can be repeated.
  • this application provides a digital twin method of the planned status of the physical object, as shown in Figure 2.
  • the method includes:
  • S201 Construct a target plan entity model of the target plan entity and a sub-plan entity model of at least one sub-entity that constitutes the target plan entity, the target plan entity model and the at least one sub-plan entity
  • the model includes temporal attributes.
  • the structure of the entity model is a collection of attribute parameters of the entity.
  • the entity can include historical status, current status and planned status based on time attributes.
  • Digital twins are performed based on the physical object model and different states of the physical object to obtain physical objects corresponding to different states.
  • the embodiment of the present application relates to the planning state of the physical object. For planning the physical object, it can be specifically based on the physical object model and the physical object.
  • the planning status is digitally twinned to obtain the planned physical object.
  • the structure of the planning entity model can be obtained by determining the attribute parameter set of the planning entity.
  • the attribute parameters in the attribute parameter set of the planning entity include attribute names and data types.
  • the structure of the planned physical object model can be predefined at least once, that is, a parameter initialization operation can be performed to obtain at least one set of predefined data initial values corresponding to the structure of the planned physical object model. Predefined steps or no predefined actions can be performed based on the user's needs.
  • the planned physical object data corresponding to different planning time periods can also be determined based on the status values of the physical objects in different planning time periods.
  • S202 Set the time attribute of the target plan entity model and the at least one sub-plan entity model to a future time.
  • the attribute parameters of the target plan entity model and the at least one sub-plan entity model include time attributes. Since the planning status of the entity is digitally twinned, the time attribute is the future time.
  • the future time is at least one moment in the future or at least one duration in the future.
  • S203 Establish an association between the target plan entity model and the at least one sub-plan entity model.
  • establishing an association between the target plan entity model and the at least one sub-plan entity model includes:
  • the target plan entity is established by identifying the target plan entity model as a model of the parent plan entity and identifying the child plan entity model as a model of a child plan entity belonging to the parent plan entity.
  • the parent-child relationship between the model and the at least one sub-plan entity model is established by identifying the target plan entity model as a model of the parent plan entity and identifying the child plan entity model as a model of a child plan entity belonging to the parent plan entity.
  • One association established in the embodiment of this application is a parent-child relationship, that is, the relationship between parent plan entities and child entities, the target plan entity model and the child plan entity model. It includes multiple attribute parameters. You can use the attribute parameters to identify whether the plan entity model is the model of the parent plan entity or the sub-plan entity model. After the identification is completed, the target plan entity model and the sub-plan entity are established. The parent-child binding relationship of the object model.
  • the parent planned entity to which the child entity belongs is unique, and the child planned entity model is identified as belonging to the parent planned entity.
  • the model of the sub-plan entity includes: identifying the sub-plan entity model as a model of the sub-plan entity belonging to the unique parent plan entity.
  • the digital twin of the planned status of the physical object in order to realize the digital twin of the planned status of the physical object, it mainly includes several stages: building the planned physical object model, predefining the planned physical object model (optional), generating the planned physical object, and generating the planned physical object record, as follows. Describe the implementation of each stage.
  • the planning entity model is a configuration of certain planning entities with common characteristics. Some basic attributes of the planning entity are defined in the planning entity model.
  • This embodiment requires the construction of a target planning entity model of the target planning entity and at least A sub-plan entity model of a sub-entity.
  • the target plan entity can have at least one sub-entity that has a parent-child binding relationship with it.
  • the sub-entity is bound to the only target plan entity.
  • the attribute names in the attribute parameter sets of the target plan entity model and the sub-plan entity model can be the same, but the attribute parameter values are different.
  • the attribute parameters of the planned physical object model include spatial attributes.
  • the target plan entity model and the at least one sub-plan entity model further include a first spatial attribute
  • the first spatial attribute value of the at least one sub-plan entity model is in the target Within the range of the spatial attribute value of the planning entity model, that is, the child entity belongs spatially to the parent planning entity.
  • the first spatial attribute in this embodiment includes at least one of spatial range, spatial location and shape.
  • the first spatial attribute of the target planned entity model and the sub-planned entity model includes a spatial range
  • the first spatial attribute can be used to determine that the sub-entity object is located within the spatial range of the parent planned entity object. If the first spatial attribute includes a spatial range and spatial position, then the first spatial attribute can be used to determine a certain spatial position of the child entity within the spatial range of the parent planned entity. If the first spatial attribute includes spatial range, spatial position and shape, the first spatial attribute can be used to determine Determine the shape of the child entity at a certain spatial location within the spatial range of the parent planning entity.
  • Spatial attributes corresponding to the following types can be defined in the following ways:
  • the spatial range where the target plan entity object and at least one sub-entity object are located. That is, through the spatial attributes of the target plan entity object model, the spatial range where the target plan entity object is located can be determined. Through the spatial attributes of the sub-plan entity object model, The spatial range where the fruiting body object is located can be determined.
  • the coordinate value represents the spatial position of the fruiting entity.
  • the spatial attributes of the sub-planned entity model include spatial range and spatial position.
  • the spatial range belongs to the spatial range of the parent planned entity.
  • the spatial range of the parent planned entity includes multiple planned entities, and the child entity If it is located at the location of one of the planning entities, the identity of the planning entity where it is located can be used as the attribute value of the spatial location of the sub-entity. For example, if the planned physical object is generated on a certain device in the workshop, the spatial location of the planned physical object can be represented by the equipment identifier.
  • the coordinates of the spatial coordinate system where the target plan entity is located are used to represent the shape of the target plan entity model, and the relative coordinates relative to the spatial coordinate system of the target plan entity are used to represent the shape of the sub-plan entity model.
  • the basic attributes in the attribute parameter set of the planned physical object model can include, but are not limited to: model identification, time accuracy (year/month/day), coordinate type (2D/3D), coordinate accuracy digits , number of digits of rotation angle.
  • the model identification is used to determine the uniqueness of the model;
  • the time accuracy describes the time attributes of the model;
  • the coordinate type, coordinate accuracy digits, and rotation angle accuracy describe the spatial attributes of the model.
  • other basic attributes can also be defined according to user needs, which are not specifically limited here.
  • Each member has a member identification (member ID) and member name. For floating point type data, the member precision can also be configured.
  • Members in the model are divided into two types: index members and ordinary members. An index attribute is established on the corresponding member, at least one index condition is configured for the index attribute, and the index attribute parameters are queried according to the at least one index condition.
  • the plan entity model can be predefined.
  • the predefinition is to determine the initial value configuration of each attribute parameter in the target plan entity model and the sub-plan entity model, as shown in Figure 4, where Including basic attributes, index members and members.
  • Basic attributes include: predefined identification, model identification, planning entity name, planning entity description, parent object identification and baseline time.
  • model identifier on the pre-definition of the planning entity, which is used to indicate which model this pre-definition was generated by; predefining the name of the planning entity and the description of the planning entity can determine the twin of the planning entity; this document
  • the planning entity is established according to the tree structure, so each predefinition records the identification of its own parent object.
  • the parent object identification When the parent object identification is 0, it means that it is the root object; if the planning entity is For sub-plan entities, the base time is the time of the corresponding parent object.
  • the function of setting the index member is as above.
  • the types of its basic attributes can be configured according to user needs. In the predefined members, only the member ID and member value need to be stored.
  • the plan entity is a specific plan entity.
  • a specific plan can be twinned by defining the plan entity name and plan entity description in the above plan entity model. Physical objects.
  • a target plan entity with a parent-child binding relationship also called a parent plan entity in this embodiment
  • a child plan entity can be twinned.
  • the plan entity includes basic attributes and index members. and members. Based on the predefinition of each planned entity model as the basic template, an object information is constructed for each planned object to describe the basic attributes. nature, there is a parent-child hierarchical structure between planned entities.
  • the planned entity model and the predefined tree structure of the planned entity are established based on the spatial relationship in the real world, and the planned entity model is established based on the predefined spatial relationship between the planned entity model and the planned entity.
  • Object name given by the user when creating the object, used to identify the planned entity.
  • the basic attributes include: object identification, predefined identification, plan entity name, plan entity description, parent object identification and baseline time, security configuration and audit configuration.
  • the object identifier is generated by the system when it is created and returned to the user to uniquely identify a planning entity; the planning entity is a specific entity that is predefined and created by the planning entity, so the predefined identification needs to be recorded in the planning entity; if For sub-plan entities, the corresponding parent object information needs to be added, such as parent object identification and base time.
  • Parent object identifier used to identify the parent object of the plan entity. If it is 0, it means it is the root object; there is "time base" information on the plan entity.
  • PlanTime PlanTime is used to describe the base time of a root object. With this base After the time, the timestamp of the data can be set to the difference from the benchmark implementation. For example, the benchmark time is 2021-1-1 00:00:00, then the time of 2021-1-5 00:00:00 can be expressed as 4 days, the time base of the sub-plan entity is 0.
  • Some public configurations of the object data corresponding to the object can be stored in the plan entity, such as security configuration, audit configuration, etc.
  • the security configuration is used to record the operation permissions corresponding to different attribute parameter values in the target plan entity model or sub-plan entity model;
  • the audit configuration is used to record the target plan entity model or sub-plan entities that need to be audited. Attribute parameter value manipulation in the object model.
  • Time accuracy refers to the time accuracy of the description object data, which can be divided into multiple levels such as year, month, quarter, week, day, hour, minute, second, millisecond, etc., such as time accuracy Set to days, describing the time period from 2021-1-1 00:00:00 to 2021-1-5 00:00:00 can be expressed as 1 to 5 days, as shown in Table 1:
  • the planned entity object record that is, the planned entity object data
  • this embodiment uses the attribute parameters of the target planned entity object at different times in the future. , based on the target plan entity model corresponding to the time, generate the corresponding target plan entity record (i.e. the first record); using the attribute parameters of the sub-entity at different times in the future, based on the sub-plan entity model corresponding to the time ( That is, the second record), generate a corresponding sub-plan entity record; wherein the attribute parameters include at least one of a first spatial attribute and a member attribute.
  • the attribute parameters may also include attribute names, data types and other attribute parameters.
  • Figure 6 shows a schematic diagram of the planned entity data.
  • the planned entity data is the status value of the planned object in different time periods.
  • Each piece of planning entity data has a unique data ID and data name.
  • the data is also associated with a parent data ID, which is used to represent the association relationship of the planning data.
  • the parent data ID of the root object's planning data is 0.
  • the start time offset and end time offset on the plan data where the start time offset and end time offset are offsets relative to the start time of the parent plan data. If it is the root object, it is relative to the baseline in the plan object. time shift.
  • Planned entity data includes the following attributes:
  • Object ID Indicates which planning entity the record belongs to
  • Data record name used to identify different records of a planning entity, input by the user, the record name of each planning entity cannot be repeated;
  • Parent data record name Indicates which parent plan entity record the current plan entity record is bound to. If the object corresponding to the planned entity record does not have a parent object, there is no need to specify the parent data record name;
  • Start/end time offset Use the relative time representation relative to the parent planned entity record. If the object corresponding to the planned entity record does not have a parent object (that is, it is a root object), then the start time offset of the planned entity record is used. Expressed relative to a time base. For example, the time base is 2021-1-1 00:00:00. When the time precision is days, if the starting time offset is 6, it means the offset is 6 days. The actual corresponding time is 2021-1-7 00 :00:00; Similarly, the end time offset method is similar to the start time offset method, so I won’t go into details here.
  • Duration Use the time precision of the corresponding object to express it. For example, the precision is days, and the duration is 6, which means it lasted for 6 days. Details are shown in Table 2:
  • one way to trigger the generation of plan entity records may be to generate the target plan entity in at least one sustained period in the future through the target plan entity model and at least one sub-plan entity model.
  • the parent record of the object model and the child record of the at least one sub-plan entity object model are respectively used to describe the attribute status of the target plan entity object and the at least one sub-entity object in at least one duration in the future;
  • the time range of the at least one child record is within the time range of the parent record.
  • the parent record and the at least one child record include a record identifier, Used to uniquely identify the parent record or the at least one child record.
  • the parent record and the at least one child record include a second spatial attribute, and the second spatial attribute includes at least one of spatial range, spatial size, spatial shape, and spatial location.
  • the second spatial attribute is the spatial range.
  • the parent record and the at least one child record are used to describe the change information of the spatial scope of the target plan entity and the at least one child entity in at least one sustained period of time in the future; in the future
  • the spatial extent of the at least one child record is included in the spatial extent of the parent record for at least one sustained period of time.
  • the spatial range in the spatial attribute of the child record will be included in the spatial range of the parent record. Then when generating a child record corresponding to the future time, the value of the spatial range can be the identifier of the parent record, and the child record can only be bound to the unique parent record.
  • the parent record can also contain other child records X, and the child records can be moved arbitrarily within the bounded child record space. When the parent record moves, the child records within its spatial range will also move, but the position of the child record relative to the parent record will not change.
  • the second space attribute is the space size.
  • the parent record and the at least one child record are used to describe the change information of the space size of the target plan entity and the at least one child entity in at least one sustained period of time in the future; in the future For at least one sustained period of time, the space size of the at least one child record is smaller than the space size of the parent record. In the future, the space size of the parent record and the child record may change, but the space size of the child record needs to be smaller than the space size of its corresponding parent record.
  • the second spatial attribute is spatial location.
  • the parent record and the at least one child record are used to describe the change information of the spatial position movement of the target planned entity object and the at least one child entity object in at least one sustained period of time in the future;
  • the spatial location of the at least one child record is contained within the spatial location of the parent record for at least one duration in the future.
  • the spatial location of the same child record changes from the belonging parent record to another parent record at different future times
  • the future time after the spatial location change is modified, and the child plan corresponding to the child record is modified.
  • the spatial location of the physical object model is modified.
  • the parent record and the at least one child record each have their own coordinate system and spatial location.
  • the spatial positions of the parent record and the at least one child record are coordinate offsets in their own spatial coordinate system.
  • the physical object can be rotated in real time at any angle within this coordinate system, and attitude information can be set.
  • the spatial coordinate system of the child record is relative to the identity of the parent record.
  • the type and unit of the child record's spatial coordinate system are independent of the parent record.
  • the location attribute value of the child record can be other child records within the spatial range of the parent record.
  • the location attribute of the child record is position 1, then the location attribute of the corresponding child record at that time
  • the value of is the identifier of position 1.
  • the position attribute of the sub-record is position 2, that is, the sub-record moves from position 1 to position 2, then the position attribute value of the corresponding sub-record at that moment will be
  • the identity of position 1 is modified to the identity of position 2, and the future time is modified.
  • Figure 8 as an example, when the child record moves from parent record 1 to parent record 2 at a certain time in the future, its spatial location ownership changes from parent record 1 to parent record 2, and then the future time after the spatial location change is performed Revise.
  • the second spatial attribute is shape.
  • the shape attributes of the target plan entity model corresponding to the parent record are modified, and the child plan entity model is maintained.
  • the shape properties remain unchanged.
  • the parent record and the at least one child record are used to describe the change information of the shape of the target planned entity object and the at least one child entity object within the at least one sustained period of time in the future;
  • the shape of the at least one child record is contained within the shape of the parent record for at least one duration in the future.
  • the method further includes: releasing the at least one plan entity model at a future time after the deletion condition is met.
  • the parent-child relationship between a sub-plan entity model and the target plan entity model; the condition for being deleted includes a change in the spatial location range of the sub-plan entity model to the spatial location range of the target plan entity model. outside. Take Figure 9 as an example.
  • entity 2 will be included in entity 1.
  • the spatial attributes of entity 2 will be modified, and entity 2 will be released from the entity.
  • the attribute value of the spatial range of the sub-plan entity record can be modified to be the identifier of the re-bound entity, as shown in Figure 10.
  • the entity object 2 is The spatial scope is modified from the identity of entity 1 to the identity of entity 3.
  • the differentiated attributes of different planned entities can be represented by members, and the types and numbers of members can be different.
  • the member information is: member ID, member name, member data type, and member value.
  • This application provides a digital twin method of planning status of an entity.
  • the planning entity can exist independently or contain a child object; the child planning entity can only be bound to a unique (parent) object.
  • the object itself can be used as space; in terms of time relationship, the future time is expressed using relative time. Through the relative time relationship, different entities are expressed at different times in the future. When the base time changes, No need to adjust the timing of future states.
  • the power supply time is used as an example. Assume that the factory needs to produce a car. For this reason, the factory needs to start power supply work, so a power supply plan needs to be developed according to the production process. As shown in Figure 12, the factory includes workshop 1 and workshop 2, workshop 1 includes production line 1 and production line 2, and workshop 2 includes production line 1 and production line 2. In Figure 13, the work of each workshop and production line has a contextual relationship. Power is only provided when production is in progress, otherwise the power is cut off. In this case, assuming that the time required for the factory to produce cars is "2021-10-01" to "2021-10-13", then the factory needs to be powered on during this period.
  • the embodiment of this application pre-constructs the planned entity model of the factory, production line, workshop and tire. It can be predefined and then the twin planned entities are determined, such as factory, workshop 1, workshop 2, production line 1, production line 2, car, tire etc., and determine the planned entity object of the tree structure based on its parent-child inclusion relationship, and then add data according to the following rules to generate the planned entity record of the tree structure: Each piece of data is marked with a unique name or identifier, and the child object On the data, you need to select the name or identifier of the parent object data. For example, if the parent object of producing tires is to produce cars, then you need to specify which car's tires are to be produced.
  • Workshop 1 needs to produce auto parts first (days 1 to 7), so it needs to supply power for production first.
  • Workshop 2 needs to complete production in workshop 1 before it can assemble auto parts (days 8 to 13);
  • workshop 1 now completes the production of production line 1 before starting production of production line 2, that is, it first produces screws and nuts (day 1 to day 3), and then produces tires (day 4 to day 8); the production of workshop 1
  • the production of production line 1 of workshop 2 is completed first, and then the production of production line 2 of workshop 2 is carried out, that is, the chassis is assembled first (day 1 to day 3), and then the body is assembled (day 4 to day 6).
  • This embodiment first establishes a production plan based on this demand, but there will be many accidental changes in the actual production process. For example, if there is an equipment failure in workshop 1 that delays production, then the production of workshop 2 and its production line needs to be postponed.
  • the time used is relative time. For example, if the factory is used as the base time, workshop 1 and workshop 2 are both relative times; if workshop 1 is used as the base time, the corresponding production line 1 and production line 2 are both relative times; if workshop 2 is used as the base time, the corresponding production line 1 and production line 2 are All are relative times.
  • Each object has a time precision, mainly including progress levels such as year, month, day, hour, minute, and second. If production is calculated on a daily basis, it will be days. If some production is faster, hours will be used.
  • the root object has a base time.
  • a factory has a base time of "2021-10-01". Then the factory starting to produce cars on "2021-10-01" can be expressed as the production of cars in the 10th month, which can reduce the time.
  • the size of the information stored in the database This base time can also be modified. After modification, the actual production time of the factory is automatically updated based on the relative time, without having to update every production plan time of the factory.
  • the time of the child object's data is relative to the parent object's data.
  • the actual time range of workshop 1's production of automobile parts is 2021-10-01 ⁇ 2021-10-07, which can be expressed as the 1st day to the 7th day.
  • Each data can have its own geometric shape set on it.
  • the geometric coordinates of the root object data (parent object data) are relative to the coordinate origin, and the geometric coordinates of the child object data are relative to the coordinate position of the parent data.
  • the coordinate range of the child object data cannot exceed the coordinate range of the parent object data. This prevents exceeding the reach of the device when planning a build that can be positioned.
  • embodiments of the present application provide a method for subscribing to the future state of an entity, as shown in Figure 14.
  • the method includes:
  • S1401 Construct a target plan entity model of the target plan entity and a sub-plan entity model of at least one sub-entity that constitutes the target plan entity, the target plan entity model and the at least one sub-plan entity
  • the model includes temporal attributes.
  • S1402 Set the time attribute of the target plan entity model and the at least one sub-plan entity model to a future time.
  • S1403 Establish an association between the target plan entity model and the at least one sub-plan entity model.
  • S1404 Generate a subscription item based on the subscription request for the future state of the target plan entity, and generate subscription information matching the subscription item based on the future state of the target plan entity model and at least one associated sub-plan entity model. , and send the subscription information to the subscriber.
  • the target plan entity model includes a parent object identifier used to uniquely map the target plan entity model to the target plan entity model;
  • the at least one sub-plan entity model includes a sub-object identifier for uniquely mapping the sub-plan entity model of the sub-entity.
  • the subscription method can be used to subscribe to planned entities based on object identification, spatial attributes, spatial range, and category attributes.
  • a subscription item is generated according to a subscription request for a future state of a target plan entity, and a subscription item corresponding to the target plan entity model is generated based on the future state of the target plan entity model and at least one associated sub-plan entity model.
  • the subscription information matching the subscription item includes: receiving a subscription request for the future state of the planned entity, the subscription request including a parent object identifier and a child object identifier, and generating a subscription item according to the subscription request;
  • For a target plan entity model generate subscription information for querying the future status of each sub-plan entity model associated with the target plan entity model according to the parent object identifier of the target plan entity model;
  • For a sub-plan entity model For a sub-plan entity model, generate subscription information for querying the future status of a target plan entity model associated with the sub-plan entity model based on the sub-object identification of the sub-plan entity model.
  • the above subscription items may include the object identifier of the parent planned entity, and a subscription item including the object identifier and filtering conditions may be generated, and may further include the entity type; then the parent object identifier and the object in the subscription item are queried according to the subscription item Identify the future states of all sub-plan entity models that are consistent, and obtain subscription information that matches the subscription item. If there is a filter condition field in the subscription item and it is not empty, it is judged whether the object meets the filter condition, and if it does, the corresponding status change event is published. Or the subscription item may include the object identifier of the sub-entity object.
  • all sub-plan entity models whose object identifiers are consistent with the object identifiers in the subscription item are queried, and the parents of all found sub-plan entity models are determined.
  • Object identifier obtain the future state of the target plan entity model corresponding to all parent object identifiers, and obtain subscription information matching the subscription item. If there is a filter condition field in the subscription item and it is not empty, it is judged whether the object meets the filter condition, and if it does, the corresponding status change event is published.
  • subscription information for querying the future status of each sub-plan entity model associated with the target plan entity model within the time range is generated.
  • the above subscription items can include a time range, generate subscription items including a time range and filter conditions, and can further include entity types; Then, according to the future status of each sub-plan entity model that satisfies the filter condition and is consistent with the entity type within the query time range of the subscription item, subscription information matching the subscription item is obtained. If the filter condition field in the subscription item is not empty, it is judged whether the object meets the filter condition, and if it does, the corresponding status change event is published.
  • the method further includes:
  • For a target plan entity model query the future status of each sub-plan entity model within the space range according to the spatial range of the target plan entity model;
  • a sub-plan entity model For a sub-plan entity model, according to the spatial range of the sub-plan entity model, query the target plan entity model and/or the target plan entity whose spatial range includes the spatial range of the sub-plan entity model.
  • the spatial scope of the physical model contains other sub-plan physical models.
  • the above-mentioned subscription items may include a spatial range identifier, and a subscription item including a spatial range identifier and a filtering condition may be generated, and may further include an entity type; then, according to the subscription item, the spatial range that satisfies the filtering condition and is related to all The future state of each sub-plan entity model with the same entity type is obtained, and subscription information matching the subscription item is obtained. Then, when a new included entity object is created within the space range of the target plan entity, or the included entity object is modified or deleted, all subscription items identified as the plan entity in all space ranges can be queried.
  • the planning entity identified by the space corresponding to the subscription item can detect the creation, modification or deletion of sub-planning entities. If the filter condition field in the subscription item is not empty, it is judged whether the object meets the filter condition, and if it does, the corresponding status change event is published. Or query the future status of each target planned entity model including the spatial range that satisfies the filtering condition and is consistent with the entity type according to the subscription item to obtain subscription information that matches the subscription item.
  • the above subscription items may also include other field subscription items to achieve subscription queries for different purposes, such as subscription items that may include geometric ranges, spatial relationships and filtering conditions; in the target plan entity model and the future state of at least one associated sub-plan entity model, query the future state whose geometric specifications and the geometric range comply with the spatial relationship and satisfy the filtering conditions, and obtain subscription information that matches the subscription item.
  • subscription items may include geometric ranges, spatial relationships and filtering conditions; in the target plan entity model and the future state of at least one associated sub-plan entity model, query the future state whose geometric specifications and the geometric range comply with the spatial relationship and satisfy the filtering conditions, and obtain subscription information that matches the subscription item.
  • the planning library receives a subscription request containing "geometric range, entity type, spatial relationship, and filter conditions.”
  • the above filtering conditions include changes in the future state of the sub-plan entity model.
  • the changes include the creation of a new sub-plan entity model, changes in the future state of the same sub-plan entity model, and deletion of the sub-plan entity model.
  • the above-mentioned target planning object is a target planning event
  • the above-mentioned sub-object is a sub-target planning event.
  • events are directly used for description. In the objective world, there are many events that will occur at different moments in the future. The relationship between these events is usually intricate. There is a certain sequence between two events corresponding to the same physical object. There may also be a sequence of events between different physical objects.
  • the duration range contains another event, as shown in Figure 15, the duration range of event 1 contains event 2, or the actual start time of an event affects the start of another event, etc.
  • Event 1 and event 2 are respectively marked with unique event identifiers, where the event identifiers are unique in the entire plan library system, and the names can be repeated.
  • this application provides a digital twin method of event planning status, as shown in Figure 16.
  • the method includes:
  • a target planned event model of the target planned event and a sub-planned event model of at least one sub-target planned event of the target planned event Construct a target planned event model of the target planned event and a sub-planned event model of at least one sub-target planned event of the target planned event.
  • the target planned event model and the sub-planned event model include time attributes; the structure of the event model is the attribute parameters of the event.
  • event objects corresponding to the different states can be obtained.
  • the embodiment of the present application involves the planned state of the event.
  • a digital twin can be specifically performed based on the event model and the planned state of the event. , get the planned event object.
  • the following event objects are replaced by events.
  • the structure of the planned event model can be obtained by determining the attribute parameter set of the planned event.
  • the attribute parameters in the attribute parameter set of the planned event include attribute names and data types.
  • the structure of the planned event model can be predefined at least once, that is, a parameter initialization operation can be performed to obtain at least a set of predefined data initial values corresponding to the structure of the planned event model.
  • the above predefined steps can be set according to the user's needs, or no predefined operations are required.
  • the planned event data corresponding to different planning time periods can also be determined based on the status values of the events in different planning time periods.
  • S1602 set the time attribute of the target planned event model and the sub-planned event model to the future time; the attribute parameters of the above-mentioned target planned event model and the sub-planned event model include time attributes. Since the planning status of the event is digitally twinned, the above-mentioned The time attribute is the future time.
  • setting the time attribute of the target planned event model and the sub-planned event model to a future time includes: setting the start time of the target planned event model and the sub-planned event model to at least one moment in the future, and Set the duration; or set the start time of the target planned event model and the sub-planned event model to at least one moment in the future, and the end time to at least one moment in the future.
  • the above start time refers to the actual start time of the event, that is, the actual time of occurrence.
  • You can set the time attribute of the event model to the future time by setting the start time of the event model to the future time and setting the duration, or by setting Setting the event model's start time and end time to a future time sets the event model's time attribute to a future time.
  • S1603 Establish an association between the target plan event model and the sub-plan event model.
  • establishing an association between the target planned event model and the sub-planned event model includes: identifying the target planned event model as a model of the parent planned event, and identifying the sub-planned event model as belonging to the parent plan event model.
  • the model of the sub-planned event of the planned event establishes the parent-child relationship between the target planned event model and the sub-planned event model.
  • the target plan event model and the sub-plan event model include parent objects, and establishing a parent-child relationship between the target plan event model and the sub-plan event model includes: determining the parent object of the sub-plan event model as the target plan The object identification of the entity model establishes the parent-child relationship between the target plan event model and the sub-plan event model.
  • One correlation established in the embodiment of this application is a parent-child relationship, that is, the relationship between a parent planned event and a sub-planned event.
  • the target planned event model and the sub-planned event model include multiple attributes. Parameters, you can use the attribute parameters to identify whether the planned event model is a parent planned event model or a child planned event model. After the identification is completed, the parent-child binding relationship between the target planned event model and the child planned event model is established.
  • the parent-child binding relationship of the above event model is determined based on the time attribute of the event.
  • the time inclusion relationship is the only constraint of the parent-child binding relationship of the event model.
  • the start time of the parent planned event is earlier than or equal to the start time of the child planned event.
  • the end time of the parent planned event is later than or equal to the end time of the child planned event, that is, the duration of the child planned event is included in the duration of its corresponding parent planned event.
  • the parent planned event to which the sub-planned event belongs is unique, and identifying the above-mentioned sub-planned event model as a model of the sub-planned event that belongs to the parent planned event includes: identifying the sub-planned event model as belonging to the unique parent plan A model for sub-scheduled events of events.
  • an event planning status digital twin method provided by this application, configuring common characteristics for certain events can realize twins of all things, and the planning status of the event in different time periods in the future can be digitized by setting time attributes. twins.
  • the digital twin of the event planning status in order to realize the digital twin of the event planning status, it mainly includes several stages: building a planned event model, predefining the planned event model (optional), generating planned events, and generating planned event records. The following is the stage of each stage. Embodiments are described.
  • the planned event model is a configuration of certain planned events with common characteristics. Some basic attributes of the planned event are defined in the above planned event model.
  • This embodiment needs to build a target planned event model of the target planned event and a sub-planned event model of the sub-planned event.
  • the target plan event can have at least one sub-plan event that has a parent-child binding relationship with it.
  • the sub-plan event is bound to the only target plan event; the sub-plan event occurs within the duration of the target plan event, and the sub-plan event Has a business relationship with target planning events.
  • the attribute names in the attribute parameter sets of the target planned event model and the sub-planned event model can be the same, but the attribute parameter values are different.
  • the above-mentioned target planned event model and sub-planned event model also include spatial attributes; the spatial attributes include at least one of spatial range and spatial location.
  • the above-mentioned spatial range is used to describe the spatial range where the target plan event and the sub-plan event occur; the above-mentioned spatial position is used to describe the spatial location where the above-mentioned sub-plan event model occurs, which is within a certain range of the spatial location where the above-mentioned target plan event model occurs, or
  • the spatial range in which the above sub-planned event model occurs is within the spatial range in which the above-mentioned target planned event model occurs. Since the planned event model also has spatial attributes, the planned event model can also be associated with physical objects to represent that the event is generated, formulated, or executed by the physical objects.
  • the association relationship between the target plan event model and the plan entity object, and the sub-plan event model and the plan entity object are established;
  • the target plan event model and the sub-plan event model are associated with the same or different plan entities.
  • the association between the target planning event model and the planning entity, and the sub-planning event model and the planning entity may be established by: setting the spatial attribute of the target planning event model to the associated planning entity The identity of the object; set the spatial attribute of the sub-plan event model to the identity of the associated planning entity.
  • the basic attributes in the attribute parameter set of the planned event model can include but are not limited to: model identification, model version, time accuracy (year/month/day), coordinate type (2D/3D), coordinate accuracy digits, rotation angle precision digits.
  • the model identification and model version are used to determine the uniqueness of the model; the time precision describes the time attributes of the model; the coordinate type, coordinate precision digits, and rotation angle precision describe the spatial attributes of the model.
  • the coordinate type, coordinate precision digits, and rotation angle precision describe the spatial attributes of the model.
  • other basic attributes can also be defined according to user needs, which are not specifically limited here.
  • constructing a target plan event model of a target plan event and a sub-plan event model of a sub-goal plan event includes: for the same target plan event, building different versions of the target plan event model; for the same sub-plan Events, build different versions of sub-plan event models.
  • the version identifier is used to identify the version to which the target plan event model or sub-plan event model belongs. There are deletions or additions of attribute parameters or the same attribute parameters between different versions of target plan event models or between different versions of sub-plan event models. Characteristics of changes with different initial values.
  • Multiple attribute parameters included in a planned event model can be understood as members.
  • Each member has a member identification (member ID) and member name.
  • member ID member identification
  • member name For floating point type data, the member precision can also be configured.
  • the members in the model are divided into two types: index members and members.
  • An index attribute is established on the corresponding member, at least one index condition is configured for the index attribute, and the index attribute parameters are queried according to at least one index condition.
  • the planned event model can be predefined.
  • the predefinition is to determine the initial value configuration of each attribute parameter in the target planned event model and the sub-planned event model, as shown in Figure 18, which includes basic attributes, Index members and member 3 parts.
  • Basic attributes include: predefined ID, model ID, model version, planned event name, planned event description, parent object ID, and baseline time.
  • the planned event predefinition has model identification and model version information on it, which is used to indicate which model this predefinition was generated by.
  • Predefining the planned event name and planned event description can determine the planned event twinned by the planned event.
  • planned events are established according to a tree structure, so each predefinition records the identification of its own parent object.
  • parent object identification is 0, it means that it is the root object; if the planned event is a child
  • base time is the time of the corresponding parent object.
  • the function of setting the index member is as above.
  • the types of its basic attributes can be configured according to user needs. In the predefined members, only the member ID and member value need to be stored.
  • the planned event is a specific planned event.
  • a specific planned event can be twinned.
  • the planned event can be twinned.
  • Twin target planning events with parent-child binding relationship This embodiment is also called parent planned event) and child planned event.
  • planned events include basic attributes, index members, and members.
  • an object information is constructed for each planned event to describe basic attributes.
  • the planned event model and the predefined tree structure of planned events are established based on the spatial relationship in the real world, and the tree structure of the planned event is established based on the planned event model and the predefined spatial relationship of the planned events.
  • the basic attributes include: object identification, predefined identification, planned event name, planned event description, parent object identification and baseline time, version information, security configuration and audit configuration.
  • Object name given by the user when creating the object, used to identify planned events for the user.
  • the object identifier is generated by the system when it is created and is returned to the user to uniquely identify a planned event;
  • the planned event is a specific event that is predefined and created by the planned event, so the predefined identification needs to be recorded in the planned event; if it is a sub-planned event, Then you need to add the corresponding parent object information, such as parent object identification and base time.
  • Parent object identifier used to identify the parent object of the planned event. If it is 0, it means it is the root object;
  • PlanTime is used to describe the base time of a root object.
  • the timestamp of the data can be set to the difference from the base implementation, for example, the base time is 2021 -1-1 00:00:00, then the time of 2021-1-5 00:00:00 can be expressed as 4 days, and the time base of the planned event sub-object is 0.
  • the time attribute of the event also includes the current moment, which is the current absolute moment of the real-time event. Each time a member of the event is modified, the value of the current moment will be modified synchronously, recording the latest time of the event change.
  • Some public configurations of the object data corresponding to the object can be stored in the planned event, such as version information, security configuration, audit configuration, etc.
  • the above security configuration is used to record the above target planned event model or sub-planned event The operation permissions corresponding to different attribute parameter values in the model;
  • the audit configuration is used to record the attribute parameter value operations in the target plan event model or sub-plan event model that need to be audited.
  • Time precision refers to the time precision of describing the data, which can be divided into multiple levels such as year, month, quarter, week, day, hour, minute, second, millisecond, etc.
  • the time precision is set to days, describing the time period from 2021-1-1 00:00:00 to 2021-1-5 00:00:00 can be expressed as 1 to 5 days, as shown in Table 3:
  • planned event records can be obtained, that is, planned event data.
  • this embodiment uses the attribute parameters of the target planning event at different times in the future, and generates the corresponding target planning event model record (i.e., the first record) based on the target planning event model corresponding to the time; using Based on the sub-plan event model corresponding to the attribute parameters of the sub-plan event at different times in the future, a corresponding sub-plan event model record (i.e., the second record) is generated; wherein the attribute parameters include attribute names and data types. At least one. At the same time, the attribute parameters may also include other attribute parameters such as spatial attributes and member attributes. Those skilled in the art can flexibly adjust and set the attribute parameters according to the actual production needs of the factory.
  • the above-mentioned target plan event model record and sub-plan event model record include a record identifier, which is used to uniquely identify the target plan event model record or sub-plan event model record.
  • the planning library finds the corresponding event based on the specified event identifier and obtains the member information corresponding to the event. If you do not specify a member value when generating an event record, the member information on the event will be inherited by default, and the start time of the event record also needs to be specified when generating the event record, and it cannot be earlier than the time of the parent event record.
  • the planned event record When the planned event record ends, the planned event record is deleted.
  • the plan database system obtains the current time, subtracts the start time, calculates the continuous events of the planned event record, and transfers them to the history database system for storage.
  • the plan when a factory formulates its annual plan, the plan is broken down into various departments and becomes departmental plans.
  • the annual plan is a real-time parent event.
  • the parent event is created and the start time is 2022-01-01.
  • the annual plan event has two members, one is output and the other is energy consumption.
  • the output is updated monthly.
  • energy consumption is updated once a day.
  • Each update of energy consumption and products only updates the current time attributes, and its associated entity object is the "entire factory".
  • the department plan is a real-time sub-event. Multiple departments execute the plan in parallel, and the attributes in the plan are consistent, such as planned output, daily output, number of people on the job, power consumption, etc., which can be created A child event whose parent event is identified as a department event.
  • the sub-event does not set the start time, only the members of the department event, etc. are set.
  • event record A is created, and its start time is 2022-02-01. Department A plans to complete all planned output on 2022-03-01. At this time, the event record ends and the event record is deleted.
  • event record B When department B starts executing the department plan, event record B is created, and its start time is 2022-02-15. Department B plans to complete the planned output on 2022-04-01. At this time, the event record ends and the event record is deleted.
  • the start time of the time attribute of the above-mentioned root storage node is determined to be the preset reference time, and the start time of the time attribute of the above-mentioned child storage node is the relative offset time of the above-mentioned preset reference time.
  • Figure 20 shows a schematic diagram of planned event data.
  • Planned event data is the status value of planned events in different time periods.
  • Each piece of planned event data has a unique data ID and data name.
  • the data is also associated with a parent data ID, which is used to indicate the association of the plan data.
  • the parent data ID of the root object's plan data is 0.
  • the start time offset and the end time offset on the planned event data where the start time offset is the offset relative to the start time of the parent plan data. If it is the root object, it is the offset relative to the base time in the planned event.
  • Planned event data includes the following attributes: Object ID: Indicates which planned event the record belongs to; Data record name: Used to identify different records of a planned event, input by the user, the record name of each planned event cannot be repeated; Parent data Record name: Indicates which parent planned event record the current planned event record is bound to. If the object corresponding to the planned event record has no parent object, there is no need to give the parent data record name; starting time offset: Use the relative time relative to the parent planned event record to express, if the object corresponding to the planned event record has no parent object (i.e. is the root object), the start time offset of the planned event record is expressed relative to the time base. For example, the time base is 2021-1-1 00:00:00.
  • the time precision is days, if the starting time offset is 6, it means the offset is 6 days.
  • the actual corresponding time is 2021-1-7 00 :00:00; Duration: Use the time precision of the corresponding object to express it. For example, the precision is days, and the duration is 6, which means it lasts for 6 days. Details are shown in Table 4:
  • one way to trigger the generation of planned event records may be when the time attribute changes.
  • the time attribute of the target planned event changes at least one event record in the future is generated through the target planned event model and at least one sub-planned event model.
  • the parent object record of the target planned event and the child object record of the sub-planned event within a sustained period of time; the time range of the child object record is within the time range of the parent object record.
  • the time range of target plan events and sub-plan events can change.
  • the following is the specific information of the plan event record when the time attribute changes:
  • event 2 is bound to event 1, then the time range of event 2 is included in the time range of event 1. Then when generating a sub-planned event record corresponding to the future time, the value of the parent data identifier can be the identifier of event 1, and event 2 can only be bound to the only parent object, that is, event 1 is the parent corresponding to event 2. object.
  • Event 1 can also serve as a containing event for other events X.
  • Event 2 can move arbitrarily within the time range of bound event 1.
  • event 2 When event 1 moves, event 2 within its time range will also move, but the time offset of event 2 relative to event 1 will not change.
  • this application also includes:
  • Meeting the deletion conditions includes that the end time of the child planned event is later than the end time of the parent planned event, or the duration of the child planned event is longer than the duration of the parent planned event.
  • the time attribute of the same plan event can change. Since the time inclusion relationship of the event is the only constraint of the parent-child binding relationship, when the time attribute of the child plan event changes, its corresponding parent plan Events can change accordingly, that is, when the time attribute of a child planned event changes and the duration range of its event is no longer included in the duration range of its original parent planned event, its relationship with the original parent planned event will be released. Parent-child binding relationship.
  • the duration range of event 3 is included in the duration range of event 1.
  • the start time of event 3 changes, and the duration range of event 3 does not. It is then included in the duration range of event 1, but is included in the duration range of event 2.
  • its parent-child binding relationship with event 1 is released, and its parent-child binding relationship with event 2 is established.
  • the parent object identifier of the sub-planned event record can be modified to the identifier of the rebinding event, as shown in Figure 22.
  • the parent object identifier of event 3 is changed from the event
  • the identifier of 1 is changed to the identifier of event 2.
  • the differentiated attributes of different planned events can be represented by members, and the types and numbers of members can be different.
  • the specific structural information of members is: member identification ID, member name, member data type, member value, such as an alarm event, its person in charge, alarm threshold, etc. can be represented by members.
  • This application provides an event planning status digital twin method.
  • planned events can exist independently or contain a child object.
  • the child planned event can only be bound to a unique (parent) object.
  • the events generated by planned objects form the parent-child hierarchical relationship of planned events according to the inclusion relationship of time range; in space, the planned objects that generate planned events form the parent-child hierarchical relationship of planned objects according to the inclusion relationship of spatial range; based on planned objects and planned things Relationship unifies the spatial relationship between physical objects and the temporal relationship between events in the objective world in space and time.
  • each planned object In the application of coordinated planning objects, each planned object generates a series of events. As shown in Figure 12 below, the planned object factory will complete the event of producing cars, and another planned object workshop will complete the events of producing components and assembling components. The planned object workshop is divided into another planned object production line, which will complete the production process.
  • Each piece of data is marked with a unique name or identifier
  • the data name or identifier of the parent event needs to be selected for the data of the child event.
  • the parent event of the planned production of tires is the planned production of cars. These production events need to specify specific products.
  • the planned event serves the planned entity object, and the connection between them can be established through the association between the planned object and the planned event.
  • workshop 1 needs to produce auto parts first, and workshop 2 needs to complete production in workshop 1 before assembly can be carried out; there are also corresponding relationships between similar production lines.
  • the production car event sets the start time and time range.
  • the start time generates a start event record
  • the end time generates an end event record.
  • the production part event also sets the start time and time range, and each production generates a record data.
  • Each event has a time accuracy, which mainly includes years, months, days, hours, minutes, seconds and other accuracy levels.
  • time accuracy uses days.
  • time accuracy can be hours of use.
  • the root object has a base time.
  • the car production event has a base time of "2021-01-01”.
  • the factory "2021-10-01" starts producing cars, which can be expressed as the production of cars in the 10th month, so You can reduce the size of time information stored in the database.
  • the base time can also be modified. After modification, the actual production time of the factory is automatically updated according to the relative time, without having to update every production plan time of the factory.
  • the time of the child event data is relative to the parent object data.
  • the actual time range of the automobile parts production event in workshop 1 is "2021-10-01" ⁇ "2021-10-08", which can be expressed as Day 1 to Day 8. In this way, when the factory adjusts the planned time for car production due to faults and other reasons, there is no need to adjust the data of the sub-events.
  • the embodiment of the present application provides a method for subscribing to the future state of an event, as shown in Figure 24.
  • the method includes:
  • S2401. Construct a target planned event model of the target planned event and a sub-planned event model of at least one sub-target planned event of the target planned event.
  • the target planned event model and the sub-planned event model include time attributes;
  • S2402 set the time attributes of the target plan event model and the sub-plan event model to the future time
  • S2404 Generate a subscription item based on the subscription request for the future state of the target planned event, generate subscription information matching the subscription item based on the future state of the target event model and the associated sub-planned event model, and send the subscription information to the subscriber.
  • the target planned event model includes a parent object identifier used to uniquely map the target event model of the target planned event;
  • the sub-plan entity model includes a sub-object identifier, which is used to uniquely map the sub-plan entity model to the sub-plan entity model.
  • the subscription method can be to subscribe to scheduled events based on a subscription request containing any information in the parent object ID, child object ID, and time range.
  • a subscription item is generated based on the subscription request for the future state of the target planned event, and subscription information matching the subscription item is generated based on the future state of the target event model and the associated sub-planned event model, including: Receive a subscription request for the future state of the planned event.
  • the subscription request includes a parent object identifier and a child object identifier, and generates a subscription item according to the subscription request.
  • For a sub-planned event model generate a query for a sub-planned event model based on the sub-object identifier of the sub-planned event model. Subscription information for the future state of the target event model associated with the sub-scheduled event model.
  • the above-mentioned subscription items may include parent object identifiers to generate subscription items including object identifiers and filtering conditions; query the future status of all sub-planned event models whose parent object identifiers are consistent with the object identifiers in the subscription items according to the subscription items, and obtain the Subscription information that matches the subscription item. If there is a filter condition field in the subscription item and it is not empty, it is judged whether the object meets the filter condition, and if it does, the corresponding status change event is published.
  • the subscription item may include a sub-object identifier, and based on the subscription item, query all sub-scheduled event models whose object identifiers are consistent with the object identifiers in the subscription item, and determine the parent object identifiers of the found sub-scheduled event models to obtain all parent
  • the future state of the target planned event model corresponding to the object identifier is used to obtain the subscription information that matches the subscription item. If there is a filter condition field in the subscription item and it is not empty, it is judged whether the object meets the filter condition, and if it does, the corresponding status change event is published.
  • a subscription item is generated based on the subscription request for the future state of the target planned event, and subscription information matching the subscription item is generated based on the future state of the target event model and the associated sub-planned event model, including: Receive a subscription request for the future state of the planned event.
  • the subscription request includes a time range, and generates a subscription item including the time range; based on the parent object identifier of the target event model, generates a query for each sub-planned event model associated with the target event model in the time range. Subscription information for the future state within.
  • the above subscription items can include a time range, and a subscription item including a time range and filter conditions is generated; according to the parent object identifier of the target event model, the future status of each sub-planned event model associated with the target event model within the time range is queried. , to obtain the subscription information matching the subscription item. If the filter condition field in the subscription item is not empty, it is judged whether the object meets the filter condition, and if it does, the corresponding status change event is published.
  • the above subscription items may also include other field subscription items to achieve subscription queries for different purposes.
  • the planning library After receiving the subscription request, the planning library stores the subscription item information containing the "event ID".
  • the subscription item information includes the event ID and filter conditions.
  • Scheduled events When creating scheduled event data (scheduled event records), specify which event is created. All subscription items corresponding to the event ID are queried internally in the plan library. If the subscription item includes filter conditions, determine whether the event record satisfies the filter conditions. If it does, publish the subscription event that creates the scheduled event record. If it does not, it will not publish it.
  • plan data record During the editing and modification process of the event record, a new version of the plan data record is generated, which is the same as the subscription publishing process of creating plan data.
  • the plan library After the plan library receives the subscription request, it stores it as subscription item information.
  • the subscription item information includes the plan entity identifier and filter conditions.
  • the associated planning entity is specified, that is, the planning entity attribute value of the event is set to the identity of the planning entity.
  • the creation of the planned event ends. During the life cycle of the planned event, deletion events and modification of the attributes or member values of the event occur.
  • the publishing process is the same as when it was created.
  • the plan library After the plan library receives a subscription request that only contains "parent event ID and filter conditions", it stores it as subscription item information, which includes parent event ID and filter conditions.
  • the parent event corresponding to the subscription item can sense that a child event has been created. If the filter condition field in the subscription item is not empty, it is judged whether the sub-event meets the filter condition. If it does, the sub-event will be published to create a record. If it does not, it will not be published. The publishing process for deleting sub-events is the same as that for modifications.
  • the parent event corresponding to the subscription item can sense the event record creation, deletion or modification of the child event. If the subscription item has a filter condition, determine whether the object meets the filter condition. If it meets the condition, the subscription event of creating, deleting or modifying the event record will be published. If it does not meet the condition, it will not be published.
  • the embodiment of the present application provides a digital twin device for the planned status of an physical object.
  • the device 2500 includes: a planned physical object model module 2501, which is used to construct a planned physical object model module 2501.
  • a target plan entity model and a sub-plan entity model that constitutes at least one sub-entity of the target plan entity, and the target plan entity model and the at least one sub-plan entity model include a time attribute;
  • Set time module 2502 used to set the time attribute of the target plan entity model and the at least one sub-plan entity model to the future time
  • the relationship establishment module 2503 is used to establish an association relationship between the target plan entity model and the at least one sub-plan entity model.
  • the device 2600 includes:
  • the construction plan entity model module 2601 is used to construct a target plan entity model of the target plan entity and a sub-plan entity model of at least one sub-entity that constitutes the target plan entity.
  • the target plan entity model and The at least one sub-plan entity model includes a time attribute;
  • Set time module 2602 used to set the time attribute of the target plan entity model and the at least one sub-plan entity model to the future time
  • the relationship establishment module 2603 is used to establish an association relationship between the target plan entity model and the at least one sub-plan entity model
  • Generate subscription item information module 2604 configured to generate subscription items according to the subscription request for the future state of the target plan entity, and generate the subscription item based on the future state of the target plan entity model and at least one associated sub-plan entity model. Subscription information matching the subscription item.
  • the embodiment of the present application provides an event planning status digital twin device.
  • the above-mentioned device 2700 includes:
  • Build planned event model module 2701 used to build a target planned event model of the target planned event and a sub-planned event model of at least one sub-target planned event of the above-mentioned target planned event.
  • the above-mentioned target planned event model and the above-mentioned sub-planned event model include time attributes. ;
  • Set time module 2702 used to set the time attribute of the above-mentioned target planned event model and the above-mentioned sub-planned event model to the future time;
  • the relationship establishment module 2703 is used to establish an association between the above-mentioned target plan event model and the above-mentioned sub-plan event model.
  • the embodiment of the present application provides a device for subscribing to the future state of an event.
  • the above device 2800 includes:
  • Build planned event model module 2801 used to build a target planned event model of the target planned event and a sub-planned event model of at least one sub-target planned event of the above-mentioned target planned event.
  • the above-mentioned target planned event model and the above-mentioned sub-planned event model include time attributes. ;
  • Set time module 2802 used to set the time attribute of the above-mentioned target planned event model and the above-mentioned sub-planned event model to the future time;
  • the relationship establishment module 2803 is used to establish an association between the above-mentioned target plan event model and the above-mentioned sub-plan event model;
  • the subscription item information generation module 2804 is configured to generate subscription items based on the subscription request for the future state of the target planned event, and generate subscription information matching the above subscription item based on the future state of the target event model and the associated sub-planned event model.
  • the device includes at least one processor; and a memory communicatively connected to the at least one processor. ; wherein the memory stores information that can be executed by the at least one processor A line of instructions, which are executed by the at least one processor, so that the at least one processor can execute any method of planning state digital twin of an entity in the above embodiments.
  • FIG. 29 An electronic device 290 according to this embodiment of the present application is described below with reference to FIG. 29 .
  • the electronic device 290 shown in FIG. 29 is only an example and should not bring any limitations to the functions and scope of use of the embodiments of the present application.
  • the electronic device 290 is represented by a general electronic device.
  • the components of the electronic device 290 may include, but are not limited to: the above-mentioned at least one processor 291, the above-mentioned at least one memory 292, and a bus 293 connecting different system components (including the memory 292 and the processor 291).
  • inventions of the present application provide a subscription device or a twin device, as shown in Figure 29.
  • the device includes at least one processor; and a device communicatively connected to the at least one processor.
  • Memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any of the above embodiments.
  • this application also provides a computer-readable storage medium that stores a computer program.
  • the computer program is used to cause the computer to execute the method described in any one of the above embodiments.

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Abstract

本申请提供了一种对象计划状态数字孪生和订阅方法、装置、设备，该孪生方法包括：构建目标计划对象的目标计划对象模型以及组成所述目标计划对象的至少一个子对象的子计划对象模型；其中，所述对象为实体物或事件；设置所述目标计划对象模型及所述至少一个子计划对象模型的时间属性为未来时间；建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系。通过该方法，不需要针对不同的对象构建不同的数据结构模型，可以实现万物孪生，而且可以对未来不同时间段该对象所处的状态进行数字孪生。

Description

一种对象计划状态数字孪生和订阅方法、装置、设备
相关申请的交叉引用
本申请要求在2022年06月30日提交中国专利局、申请号为202210767591.X、申请名称为“一种实体物计划状态数字孪生方法、装置及设备”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；本申请要求在2022年06月30日提交中国专利局、申请号为202210767331.2、申请名称为“一种事件计划状态数字孪生方法、装置及设备”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
本申请涉及信息技术领域，具体涉及一种对象计划状态数字孪生和订阅方法、装置、设备。
背景技术
目前的现有的实体物对象孪生过程复杂，需要构建不同的数据结构的模型，且模型类型较多，不具有统一性，不能适用于万物孪生；而且目前现有的实体孪生过程并没有针对未来不同时间段该实体物所处的状态进行数字孪生。
同时，虽然目前现有的实体对象的孪生方式有过很多，但针对事件对象的孪生方法较少，且现有的事件对象的孪生方法，大部分基于特定的场景进行孪生，同时，在进行数字孪生时，孪生方法不具有统一性，不能适用于万物孪生。
发明内容
本发明提供了一种对象计划状态数字孪生和订阅方法、装置、设备，用于解决目前现有的实体物孪生过程并没有针对未来不同时间段该实体物所处的状态进行数字孪生的问题，和目前事件对象的孪生方法，大部分基于特定的场景进行孪生，且不具有统一性，不能适用于万物孪生的问题。
第一方面，本申请提供了一种对象计划状态数字孪生方法，所述方法包括：
构建目标计划对象的目标计划对象模型以及组成所述目标计划对象的至少一个子对象的子计划对象模型，所述目标计划对象模型以及所述至少一个子计划对象模型包括时间属性；
设置所述目标计划对象模型及所述至少一个子计划对象模型的时间属性为未来时间；
建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系。
可选的，所述目标计划对象为目标计划实体物，所述子对象为子实体物；或者，
所述目标计划对象为目标计划事件，所述子对象为子目标计划事件。
可选的，所述未来时间为未来的至少一个时刻或未来至少一个持续时间段。
可选的，建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系，包括：
通过将所述目标计划对象模型标识为父计划对象的模型，将所述子计划对象模型标识为属于所述父计划对象的子计划对象的模型，建立所述目标计划对象模型与所述至少一个子计划对象模型的父子关系。
可选的，将所述子计划对象模型标识为属于所述父计划对象的子计划对象的模型，包括：
将所述子计划对象模型标识为属于唯一的父计划对象的子计划对象的模型。
可选的，确定所述目标计划对象为目标计划实体物时，所述目标计划对象模型以及所述至少一个子计划对象模型还包括第一空间属性，所述至少一个子计划对象模型的第一空间属性值在所述目标计划对象模型的第一空间属性值的范围内；
所述第一空间属性包括空间范围、空间位置和形状中的至少一种。
可选的，分别建立所述目标计划对象模型及至少一个子计划对象模型的空间坐标系；
所述空间范围，用于描述目标计划对象及至少一个子对象所在的空间范围；
所述空间位置，采用位于所述目标计划对象的空间范围内，所述子对象在空间位置上所在的其他计划对象的标识或采用所述子对象在所述目标计划对象模型的空间坐标系中的坐标值表示所述子对象的空间位置；
所述形状，采用目标计划对象所在的空间坐标系的坐标表示所述目标计划对象模型的形状，采用相对于目标计划实体的空间坐标系的相对坐标表示所述子计划对象模型的形状。
可选的，确定所述目标计划对象为目标计划实体物时，通过所述目标计划对象模型及至少一个子计划对象模型，生成在所述未来至少一个持续段时间段内所述目标计划对象模型的父记录及所述至少一个子计划对象模型的子记录，分别用于描述所述目标计划对象及所述至少一个子对象在未来至少一个持续时间段内的属性状态；
所述至少一个子记录的时间范围在所述父记录的时间范围内。
可选的，建立所述父记录及所述至少一个子记录之间的关联关系，所述至少一个子记录具有唯一的父记录。
可选的，所述父记录和所述至少一个子记录包括记录标识，用于唯一标识所述父记录或所述至少一个子记录。
可选的，所述父记录及所述至少一个子记录包括第二空间属性，所述第二空间属性至少包括空间范围、空间大小、空间形状及空间位置中的至少一种。
可选的，所述第二空间属性为空间范围时，所述父记录及所述至少一个子记录用于描述所述目标计划对象及所述至少一个子对象在所述未来至少一个持续段时间段内的空间范围的变更信息；
在所述未来至少一个持续段时间段内，所述至少一个子记录的空间范围被包含在所述父记录的空间范围内。
可选的，所述第二空间属性为空间大小时，所述父记录及所述至少一个子记录用于描述所述目标计划对象及所 述至少一个子对象在所述未来至少一个持续段时间段内的空间大小的变更信息；
在所述未来至少一个持续段时间段内，所述至少一个子记录的空间大小小于所述父记录的空间大小。
可选的，所述第二空间属性为空间位置时，所述父记录及所述至少一个子记录用于描述所述目标计划对象及所述至少一个子对象在所述未来至少一个持续段时间段内空间位置移动的变更信息；
在所述未来至少一个持续段时间段内，所述至少一个子记录的空间位置被包含在所述父记录的空间位置内。
可选的，所述第二空间属性为形状时，所述父记录及所述至少一个子记录用于描述所述目标计划对象及所述至少一个子对象在所述未来至少一个持续段时间段内形状的变更信息；
在所述未来至少一个持续段时间段内，所述至少一个子记录的形状被包含在所述父记录的形状内。
可选的，同一个子对象在不同未来时间在空间位置从归属的一个其他计划对象变化到另一个其他计划对象时，修改在空间位置变化后的未来时间，所述子对象对应的子计划对象模型的空间位置。
可选的，若至少一个子计划对象模型的目标计划对象模型在未来不同时间满足被删除条件时，还包括：
在满足被删除条件后的未来时间，解除所述至少一个子计划对象模型与所述目标计划对象模型的父子关系；
所述满足被删除条件包括所述子计划对象模型的空间位置范围变化到所述目标计划对象模型的空间位置范围之外。
可选的，在满足被删除条件后的未来时间，仅解除所述至少一个子计划对象模型与所述目标计划对象模型的父子关系之后，还包括：
将所述至少一个子计划对象模型的第一空间属性，修改为所述至少一个子计划对象模型对应的子对象所在的物理空间描述。
可选的，确定所述目标计划对象为目标计划事件时，所述父计划对象的开始时间早于或等于所述子计划对象的开始时间，所述父计划对象的结束时间晚于或等于所述子计划对象的结束时间。
可选的，确定所述目标计划对象为目标计划事件时，所述目标计划对象模型及子计划对象模型包括父对象，建立所述目标计划对象模型与所述子计划对象模型的父子关系，包括：
将所述子计划对象模型的父对象确定为所述目标计划对象模型的对象标识，建立所述目标计划对象模型与所述子计划对象模型的父子关系。
可选的，确定所述目标计划对象为目标计划事件时，若子计划对象模型的目标计划对象模型在未来不同时间满足被删除条件时，还包括：
在满足被删除条件后的未来时间，解除所述子计划对象模型与所述目标计划对象模型的父子关系；
所述满足被删除条件包括子计划对象的结束时间晚于父计划对象的结束时间，或者子计划对象的持续时间长于父计划对象的持续时间。
可选的，所述目标计划对象模型以及所述子计划对象模型还包括空间属性；
所述空间属性包括空间范围和空间位置中的至少一种。
可选的，所述空间范围，用于描述目标计划对象及子对象发生的空间范围；
所述空间位置，用于描述所述子计划对象模型发生的空间位置处于所述目标计划对象模型发生的空间位置的一定范围内或所述子计划对象模型发生的空间范围处于所述目标计划对象模型发生的空间范围内。
可选的，所述方法还包括：
利用目标计划对象在未来不同时间的属性参数，基于该时间对应的目标计划对象模型，生成对应的第一记录；
利用子对象在未来不同时间的属性参数，基于该时间对应的子计划对象模型，生成对应的第二记录；
其中，所述属性参数包括属性名称、数据类型、第一空间属性、成员属性中的至少一种。
可选的，所述目标计划对象模型记录和所述子计划对象模型记录包括记录标识，用于唯一标识目标计划对象模型记录或子计划对象模型记录。
可选的，所述方法还包括：
将所述第一记录作为根存储节点，将所述第二记录作为所述根存储节点的子存储节点，建立树形存储结构；
确定所述根存储节点的时间属性的开始时间为预设基准时间，所述子存储节点的时间属性的开始时间为所述预设基准时间的相对偏移时间。
第二方面，本申请提供一种对象未来状态的订阅方法，所述方法包括：
构建目标计划对象的目标计划对象模型以及组成所述目标计划对象的至少一个子对象的子计划对象模型，所述目标计划对象模型以及所述至少一个子计划对象模型包括时间属性；
设置所述目标计划对象模型及所述至少一个子计划对象模型的时间属性为未来时间；
建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系；
根据目标计划对象未来状态的订阅请求生成订阅项，并根据所述目标计划对象模型及关联的至少一个子计划对象模型的未来状态，生成与所述订阅项相匹配的订阅信息，并将所述订阅信息发送至订阅方。
可选的，所述目标计划对象为目标计划实体物，所述子对象为子实体物；或者，
所述目标计划对象为目标计划事件，所述子对象为子目标计划事件。
可选的，所述目标计划对象模型包括父对象标识，用于唯一映射目标计划对象的目标计划对象模型；
所述至少一个子计划对象模型包括子对象标识，用于唯一映射子对象的子计划对象模型。
可选的，根据目标计划对象未来状态的订阅请求生成订阅项，并根据所述目标计划对象模型及关联的至少一个子计划对象模型的未来状态，生成与所述订阅项相匹配的订阅信息，包括：
接收计划对象未来状态的订阅请求，所述订阅请求包括父对象标识、子对象标识，根据所述订阅请求生成订阅项；
针对一个目标计划对象模型，根据所述目标计划对象模型的父对象标识，生成用于查询与所述目标计划对象模型关联的各个子计划对象模型未来状态的订阅信息；
针对一个子计划对象模型，根据所述子计划对象模型的子对象标识，生成用于查询与所述子计划对象模型关联的目标计划对象模型未来状态的订阅信息。
可选的，根据目标计划对象未来状态的订阅请求生成订阅项，并根据所述目标计划对象模型及关联的至少一个子计划对象模型的未来状态，生成与所述订阅项相匹配的订阅信息，包括：
接收计划对象未来状态的订阅请求，所述订阅请求包括时间范围，生成包括时间范围的订阅项；
根据所述目标计划对象模型的父对象标识，生成用于查询与所述目标计划对象模型关联的各个子计划对象模型在所述时间范围内的未来状态的订阅信息。
可选的，所述方法还包括：
确定所述对象为实体物时，接收目标计划对象未来状态的查询请求，所述查询请求中包括空间范围；
针对一个目标计划对象模型，根据所述目标计划对象模型的空间范围，查询所述空间范围内的各个子计划对象模型的未来状态；
针对一个子计划对象模型，根据所述子计划对象模型的空间范围，查询所述空间范围包含所述子计划对象模型的空间范围的目标计划对象模型和/或所述目标计划对象模型的空间范围包含的其他子计划对象模型。
第三方面，本申请提供了一种对象计划状态数字孪生装置，所述装置包括：
构建计划对象模型模块，用于构建目标计划对象的目标计划对象模型以及组成所述目标计划对象的至少一个子对象的子计划对象模型，所述目标计划对象模型以及所述至少一个子计划对象模型包括时间属性；
设置时间模块，用于设置所述目标计划对象模型及所述至少一个子计划对象模型的时间属性为未来时间；
建立关系模块，用于建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系。
第四方面，本申请提供了一种对象订阅装置，所述装置包括：
构建计划对象模型模块，用于构建目标计划对象的目标计划对象模型以及组成所述目标计划对象的至少一个子对象的子计划对象模型，所述目标计划对象模型以及所述至少一个子计划对象模型包括时间属性；
设置时间模块，用于设置所述目标计划对象模型及所述至少一个子计划对象模型的时间属性为未来时间；
建立关系模块，用于建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系；
生成订阅项信息模块，用于根据目标计划对象未来状态的订阅请求生成订阅项，并根据所述目标计划对象模型及关联的至少一个子计划对象模型的未来状态，生成与所述订阅项相匹配的订阅信息。
第五方面，本申请提供了一种对象计划状态数字孪生设备，所述设备包括：
至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如第一方面中任何一项所述的方法。
第六方面，本申请提供了一种对象订阅设备，所述设备包括：
至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如第二方面中任何一项所述的方法。
第七方面，本申请提供了一种计算机存储介质，所述计算机存储介质存储有计算机程序，所述计算机程序用于使计算机执行如第一方面中任何一项所述的方法，或执行如第二方面中任何一项所述的方法。
根据本申请提供的一种对象计划状态数字孪生和订阅方法、装置、设备，可以解决目前现有的实体物孪生过程并没有针对未来不同时间段该实体物所处的状态进行数字孪生的问题，和目前事件对象的孪生方法，大部分基于特定的场景进行孪生，且不具有统一性，不能适用于万物孪生的问题。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简要介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为根据本发明示例性实施例示例的一种实体物计划状态数字孪生方法的数据结构示意图；
图2为根据本发明示例性实施例示例的一种实体物计划状态数字孪生方法流程示意图；
图3为根据本发明示例性实施例示例的一种计划实体物模型示意图；
图4为根据本发明示例性实施例示例的一种计划实体物预定义示意图；
图5为根据本发明示例性实施例示例的一种计划实体物示意图；
图6为根据本发明示例性实施例示例的一种计划实体物数据示意图；
图7为根据本发明示例性实施例示例的父记录及所述至少一个子记录的空间位置示意图；
图8为根据本发明示例性实施例示例的子记录的空间位置变化示意图；
图9为根据本发明示例性实施例示例的一种计划实体物的空间位置示意图；
图10为根据本发明示例性实施例示例的子计划实体物的空间位置变化示意图；
图11为根据本发明示例性实施例示例的一种成员信息示意图；
图12为根据本发明示例性实施例示例的一种举例示意图；
图13为根据本发明示例性实施例示例的另一种举例示意图；
图14为根据本发明示例性实施例示例的一种实体物未来状态的订阅方法流程示意图；
图15为根据本发明示例性实施例示例的一种事件计划状态数字孪生方法的数据结构示意图；
图16为根据本发明示例性实施例示例的一种事件计划状态数字孪生方法的流程示意图；
图17为根据本发明示例性实施例示例的一种计划事件模型示意图；
图18为根据本发明示例性实施例示例的一种计划事件预定义示意图；
图19为根据本发明示例性实施例示例的一种计划事件示意图；
图20为根据本发明示例性实施例示例的一种计划事件数据示意图；
图21为根据本发明示例性实施例示例的一种事件计划状态数字孪生方法的举例示意图；
图22为根据本发明示例性实施例示例的另一种事件计划状态数字孪生方法的举例示意图；
图23为根据本发明示例性实施例示例的一种计划事件的时间属性的示意图；
图24为根据本发明示例性实施例示例的一种事件未来状态的订阅方法流程示意图；
图25为根据本发明示例性实施例示例的一种实体物计划状态数字孪生装置示意图；
图26为根据本发明示例性实施例示例的一种实体物订阅装置；
图27为根据本发明示例性实施例示例的一种事件计划状态数字孪生装置示意图；
图28为根据本发明示例性实施例示例的一种事件订阅装置的示意图；
图29为根据本发明示例性实施例示例的一种实体物计划状态数字孪生设备、一种实体物订阅设备、一种事件计划状态数字孪生的设备和一种事件订阅设备示意图。
具体实施方式
下面将结合附图对本申请实施例中的技术方案进行清楚、详尽地描述。显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。本申请实施例中对数据的获取、存储、使用、处理等均符合国家法律法规的相关规定。
本申请提出了一种对象计划状态数字孪生方法、装置、设备，上述对象计划状态数字孪生方法包括两个方面，第一方面为实体物计划状态数字孪生方法，第二方面为事件计划状态数字孪生方法。
第一方面，当确定上述对象为实体物时，上述目标计划对象为目标计划实体物，上述子对象为子实体物，为了区分实体物和事件，以下都采用实体物进行描述。为了便于描述，以下实体物对象都采用实体物进行描述。
在客观世界的当前时间和未来时间，实体物可能存在不同的状态，当前时间只有实体物1，在未来某个时间，如图1所示，实体物1包含实体物2，在这种状态的变化下，采用一种统一的数据结构来表示实体物1和实体物2。实体物1和实体物2分别用唯一实体物标识标记。实体物标识在整个计划库***中唯一，且名称可以重复。
为了实现对未来不同时间段该实体物所处的状态进行数字孪生，本申请提供了一种实体物计划状态数字孪生方法，如图2所示，所述方法包括：
S201：构建目标计划实体物的目标计划实体物模型以及组成所述目标计划实体物的至少一个子实体物的子计划实体物模型，所述目标计划实体物模型以及所述至少一个子计划实体物模型包括时间属性。
实体物模型的结构为实体物的属性参数的集合，实体物依据时间属性可以包括历史状态、当前状态以及计划状态。基于所述实体物模型以及实体物的不同状态进行数字孪生，得到不同状态对应的实体物，本申请实施例涉及实体物的计划状态，对于计划实体物，具体可以基于实体物模型及实体物的计划状态进行数字孪生，得到计划实体物。
在创建计划实体物模型时，可以通过确定计划实体物的属性参数集合得到计划实体物模型的结构，计划实体物的属性参数集合中的属性参数包括属性名称及数据类型。进一步地，还可以对计划实体物模型的结构进行至少一次预定义，即进行参数初始化操作，得到与计划实体物模型的结构对应的至少一组预定义数据初始值。可以根据用户的需求进行预定义的步骤，或不进行预定义操作。另外，还可以根据实体物在不同计划时间段的状态值，确定不同计划时间段对应的计划实体物数据。
S202：设置所述目标计划实体物模型及所述至少一个子计划实体物模型的时间属性为未来时间。
所述目标计划实体物模型及所述至少一个子计划实体物模型的属性参数包括时间属性，由于是对实体物的计划状态进行数字孪生，因此所述时间属性为未来时间。
在一种可能的实施方式中，所述未来时间为未来的至少一个时刻或未来至少一个持续时间段。
S203：建立所述目标计划实体物模型与所述至少一个子计划实体物模型的关联关系。
在一种可能的实施方式中，建立所述目标计划实体物模型与所述至少一个子计划实体物模型的关联关系，包括：
通过将所述目标计划实体物模型标识为父计划实体物的模型，将所述子计划实体物模型标识为属于所述父计划实体物的子计划实体物的模型，建立所述目标计划实体物模型与所述至少一个子计划实体物模型的父子关系。
实体物间可能存在多种关联关系，本申请实施例中建立的一种关联关系为父子关系，即父计划实体物与子实体物之间的关系，目标计划实体物模型及子计划实体物模型包括多个属性参数，可以通过其中的属性参数进行标识该计划实体物模型为父计划实体物的模型，还是子计划实体物模型，完成标识后，即建立了目标计划实体物模型与子计划实体物模型的父子绑定关系。
本实施例中，子实体物所属的父计划实体物是唯一的，将所述子计划实体物模型标识为属于所述父计划实体物的 子计划实体物的模型，包括：将所述子计划实体物模型标识为属于唯一的父计划实体物的子计划实体物的模型。
通过本申请提供的一种实体物计划状态数字孪生方法，为某一些实体物进行共同特征的配置，可以实现万物孪生，而且可以通过设置时间属性对未来不同时间段该实体物所处的计划状态进行数字孪生。
本申请实施例中为了实现实体物计划状态的数字孪生，主要包括构建计划实体物模型、计划实体物模型的预定义(可选)、生成计划实体物、生成计划实体物记录几个阶段，下面对各阶段的实施方式进行描述。
1)构建计划实体物模型
计划实体物模型是某一些计划实体物具有共同特征的配置，在所述计划实体物模型中定义计划实体物的一些基本属性，本实施例需要构建目标计划实体物的目标计划实体物模型及至少一个子实体物的子计划实体物模型，目标计划实体物可以有至少一个与其有父子绑定关系的子实体物，子实体物绑定到唯一的目标计划实体物。
目标计划实体物模型及子计划实体物模型的属性参数集合中属性名称可以相同，但属性参数值不同。
作为一种可选的实施方式，计划实体物模型的属性参数包括空间属性。
在一种可能的实施方式中，目标计划实体物模型以及所述至少一个子计划实体物模型还包括第一空间属性，所述至少一个子计划实体物模型的第一空间属性值在所述目标计划实体物模型的空间属性值的范围内，即子实体物在空间上归属于父计划实体物。
本实施例中的第一空间属性包括空间范围、空间位置和形状中的至少一种。
如目标计划实体物模型及子计划实体物模型的第一空间属性包括空间范围，则通过第一空间属性可以确定子实体物位于父计划实体物的空间范围内，如果第一空间属性包括空间范围和空间位置，则通过第一空间属性可以确定子实体物位于父计划实体物的空间范围内的某一空间位置，如果第一空间属性包括空间范围、空间位置和形状，通过第一空间属性可以确定位于父计划实体物的空间范围内的某一空间位置为什么形状的子实体物。
本实施例中在所述目标计划实体物模型以及所述至少一个子计划实体物模型包括空间属性时，分别建立所述父计划实体物模型及至少一个子计划实体物模型的空间坐标系，则对应以下各种类型的空间属性可以进行如下方式定义：
1.1)空间范围
用于描述目标计划实体物及至少一个子实体物所在的空间范围，即通过目标计划实体物模型的空间属性，可以确定目标计划实体物所在的空间范围，通过子计划实体物模型的空间属性，可以确定子实体物所在的空间范围。
1.2)空间位置
采用位于所述目标计划实体物的空间范围内，所述子实体物在空间位置上所在的其他计划实体物的标识或采用所述子实体物在所述目标计划实体物模型的空间坐标系中的坐标值表示所述子实体物的空间位置。
本实施例中子计划实体物模型的空间属性包括空间范围及空间位置，空间范围归属于父计划实体物的空间范围，父计划实体物的空间范围内包括多个计划实体物，而子实体物位于其中一个计划实体物的位置，则可以利用其所在的计划实体物的标识，作为子实体物的空间位置的属性值。例如计划生成实体物在车间内的某个设备上生成，则计划生产实体物的空间位置可以用设备标识表示。
或者，针对目标计划实体物模型的空间范围建立坐标系，利用子实体物在对应坐标系的坐标位置表示其空间位置。
1.3)形状
采用目标计划实体物所在的空间坐标系的坐标表示所述目标计划实体物模型的形状，采用相对于目标计划实体的空间坐标系的相对坐标表示所述子计划实体物模型的形状。将实体物的形状信息抽象提取，如果只关心包络信息，那么可以设置包络信息，如果关心具体的形状信息，可以设置精确的在本坐标系内的形状数据。
如图3所示，计划实体物模型的属性参数集合中基本属性可以但不限于包括：模型标识、时间精度(年/月/日)、坐标类型(2维/3维)、坐标精度位数、旋转角度位数。其中，模型标识用于确定模型的唯一性；时间精度描述的是模型的时间属性；坐标类型、坐标精度位数、旋转角精度描述的是模型的空间属性。除了上述列举的基本属性外，还可以根据用户需求进行定义其它的基本属性，此处不作具体限定。
一个计划实体物模型中包括的多个属性参数可以理解为成员，每个成员有成员标识(成员ID)和成员名称，对于浮点类型数据还可以配置成员精度。模型里面的成员分为索引成员和普通成员两种类型，在对应成员上建立索引属性，为所述索引属性配置至少一个索引条件，根据所述至少一个索引条件对所述索引属性参数进行查询。
2)计划实体物模型的预定义(可选)
在构建了计划实体物模型后，可以对计划实体物模型进行预定义，预定义是确定目标计划实体物模型及子计划实体物模型中各个属性参数的初始值配置，如图4所示，其中包括基本属性、索引成员和成员3部分。基本属性包括：预定义标识、模型标识、计划实体物名称、计划实体物描述、父对象标识和基准时间。计划实体物预定义上面有模型标识，用于表示这个预定义是用哪个模型生成的；对计划实体物名称和计划实体物描述进行预定义，可以确定计划实体物孪生出的计划实体物；本实施例中计划实体物是按树形结构建立起来的，因此每个预定义上面都记录了自己的父对象的标识，父对象标识为0的时候表示自己是根对象；若该计划实体物为子计划实体物，则基准时间为其对应的父对象的时间，设置索引成员的作用如上述。其基本属性的类型可以根据用户需求进行配置。在预定义的成员里面，只需要存储成员ID和成员值。
3)生成计划实体物
计划实体物是一个具体的计划实体物，可以针对具体的计划实体物及构建的计划实体物模型，通过定义上述计划实体物模型中的计划实体物名称及计划实体物描述，孪生出具体的计划实体物。本实施例中可以孪生出有父子绑定关系的目标计划实体物(本实施例也称父计划实体物)及子计划实体物，如图5所示，计划实体物中包括基本属性、索引成员和成员。以每一个计划实体物模型的预定义为基础模板，为每一个计划物构建一个对象信息，用于描述基本属 性，计划实体物之间具有父子层次结构。在计划实体物模型的构建过程中，根据真实世界中的空间关系建立计划实体物模型和计划物预定义树型结构，依据计划实体物模型和计划实体物预定义的空间关系建立计划实体物的树型结构。对象名称：由用户创建对象时候给定，用于用户标识计划实体物。其中基本属性中包括：对象标识、预定义标识、计划实体物名称、计划实体物描述、父对象标识和基准时间、安全配置和审计配置。
对象标识创建时***生成，返回给用户，用于唯一标识一个计划实体物；计划实体物是一个具体的实体物，由计划物预定义创建，因此计划实体物里面需要记录预定义标识；若为子计划实体物，则需要增加对应的父对象信息，例如父对象标识和基准时间。父对象标识：用于标识计划实体物自己的父对象，为0表示是根对象；计划实体物上面有“时间基准”信息PlanTime：PlanTime，用于描述一个根对象的基准时间，有了这个基准时间后，数据的时间戳就可以设置成和基准实现的差值，比如基准时间为2021-1-1 00:00:00，那2021-1-5 00:00:00的时间就可以表示成4天，子计划实体物的时间基准是0。
在计划实体物里面可以存储所述对象对应的对象数据的一些公共配置，例如：安全配置、审计配置等。所述安全配置用于记录所述目标计划实体物模型或子计划实体物模型中不同属性参数值对应的操作权限；审计配置用于记录需要进行审计的所述目标计划实体物模型或子计划实体物模型中的属性参数值操作。
计划实体物上面有“时间精度”信息：时间精度是指描述物数据的时间精度，可分为年、月、季度、周、日、时、分、秒、毫秒等多个等级，比如时间精度设置为天，描述2021-1-1 00:00:00～2021-1-5 00:00:00的时间段就可以表述为1～5天，具体如表1所示：
表1
4)生成计划实体物记录
根据计划实体物在未来不同时间的属性参数值，可以得到计划实体物记录，即计划实体物数据，作为一种可选的实施方式，本实施例利用目标计划实体物在未来不同时间的属性参数，基于该时间对应的目标计划实体物模型，生成对应的目标计划实体物记录(即第一记录)；利用子实体物在未来不同时间的属性参数，基于该时间对应的子计划实体物模型(即第二记录)，生成对应的子计划实体物记录；其中，所述属性参数包括第一空间属性、成员属性中的至少一种。所述属性参数还可以包括属性名称、数据类型等其他属性参数，本领域技术人员可以根据工厂的实际生产需要对属性参数进行灵活的调整和设置。
作为一种可选的实施方式，将所述目标计划实体物记录作为根存储节点，将所述子计划实体物记录作为所述根存储节点的子存储节点，建立树形存储结构；确定所述根存储节点的时间属性的开始时间为预设基准时间，所述子存储节点的时间属性的开始时间为所述预设基准时间的相对偏移时间。
如图6所示为计划实体物数据示意图，计划实体物数据是计划物对象在不同时间段上的状态值。每条计划实体物数据都有唯一的数据标识和数据名称，数据上面还关联了父数据标识，用于表示计划数据的关联关系，根对象的计划数据的父数据标识为0。计划物数据上起始时间偏移和结束时间偏移，其中起始时间偏移和结束时间偏移是相对父计划数据的开始时间的偏移，如果是根对象就是相对计划物对象里面的基准时间的偏移。
计划实体物数据包括如下属性：
对象标识：表示该记录是属于哪个计划实体物的；
数据记录名称：用于标识一个计划实体物的不同记录，由用户输入，每个计划实体物的记录名称不能重复；
父数据记录名称：表述当前计划实体物记录是和哪一条父计划实体物记录绑定的。如果计划实体物记录对应的对象没有父对象，就不需要给定父数据记录名称；
起始/结束时间偏移：使用相对父计划实体物记录的相对时间表示，如果计划实体物记录对应的对象没有父对象(即是根对象)，那计划实体物记录的起始时间偏移使用相对于时间基准来表示。比如时间基准为2021-1-1 00:00:00，当时间精度为天的时候，如果起始时间偏移为6则表示偏移了6天，实际对应的时间为2021-1-7 00:00:00；同理，结束时间偏移方式与起始时间偏移方式类似，在此不再赘述。
持续时间：使用对应对象的时间精度表示，比如精度为天，持续时间为6表示持续了6天。具体如表2所示：
表2
除了上述的基本属性外，还可添加位置标识、数据名称、位置偏移、旋转角度、几何包络和几何信息等基本属性。
本实施例中触发生成计划实体物记录的一种方式可以是通过所述目标计划实体物模型及至少一个子计划实体物模型，生成在所述未来至少一个持续段时间段内所述目标计划实体物模型的父记录及所述至少一个子计划实体物模型的子记录，分别用于描述所述目标计划实体物及所述至少一个子实体物在未来至少一个持续时间段内的属性状态；所述至少一个子记录的时间范围在所述父记录的时间范围内。其中，所述父记录和所述至少一个子记录包括记录标识， 用于唯一标识所述父记录或所述至少一个子记录。另外，所述父记录及所述至少一个子记录包括第二空间属性，所述第二空间属性至少包括空间范围、空间大小、空间形状及空间位置中的至少一种。
1)第二空间属性为空间范围。
所述父记录及所述至少一个子记录用于描述所述目标计划实体物及所述至少一个子实体物在所述未来至少一个持续段时间段内的空间范围的变更信息；在所述未来至少一个持续段时间段内，所述至少一个子记录的空间范围被包含在所述父记录的空间范围内。
如图7所示，在未来某个时间，将子记录绑定到父记录上，则子记录的空间属性中空间范围包含在父记录的空间范围内。则在生成该未来时间对应的一条子记录时，空间范围的取值可以是父记录的标识，子记录只能绑定到唯一的父记录上。父记录也可以包含其他子记录X，子记录可以在被绑定的子记录空间范围内任意移动。父记录移动时，其空间范围内的子记录也会随之移动，但是子记录相对于父记录的位置不会发生变化。
2)第二空间属性为空间大小。
所述父记录及所述至少一个子记录用于描述所述目标计划实体物及所述至少一个子实体物在所述未来至少一个持续段时间段内的空间大小的变更信息；在所述未来至少一个持续段时间段内，所述至少一个子记录的空间大小小于所述父记录的空间大小。在未来时间，父记录和子记录的空间大小可能发生变化，但是子记录的空间大小需要小于其对应的父记录的空间大小。
3)第二空间属性为空间位置。
所述父记录及所述至少一个子记录用于描述所述目标计划实体物及所述至少一个子实体物在所述未来至少一个持续段时间段内空间位置移动的变更信息；
在所述未来至少一个持续段时间段内，所述至少一个子记录的空间位置被包含在所述父记录的空间位置内。
作为一种可选的实施方式，同一个子记录在不同未来时间在空间位置从归属的父记录变化到另一个父记录时，修改在空间位置变化后的未来时间，所述子记录对应的子计划实体物模型的空间位置。
父记录及所述至少一个子记录都有自己的坐标系和空间位置。父记录及所述至少一个子记录的空间位置是在自己的空间坐标系下的坐标偏移。实体物在本坐标系内，可以任意角度实时旋转，可设置姿态信息。图7中，子记录的空间坐标系是相对父记录的标识。子记录的空间坐标系的类型以及单位与父记录无关。
本实施例中子记录的位置属性值可以为父记录的空间范围内的其他子记录，在未来的某个时刻，子记录的位置属性为位置1，则在该时刻对应的子记录的位置属性的取值为位置1的标识，在未来的另一个时刻，子记录的位置属性为位置2，即子记录从位置1移动到位置2，则在该时刻对应的子记录的位置属性值，将位置1的标识修改为位置2的标识，并对未来时间进行修改。以图8为例，当子记录在未来某一时刻从父记录1移动至父记录2时，其空间位置的归属从父记录1变化到父记录2，然后对空间位置变化后的未来时间进行修改。
4)第二空间属性为形状。
在未来不同时间，同一父记录在空间坐标系的坐标发生变化时，在坐标变化后的未来时间，修改所述父记录对应的目标计划实体物模型的形状属性，保持所述子计划实体物模型的形状属性不变。
所述父记录及所述至少一个子记录用于描述所述目标计划实体物及所述至少一个子实体物在所述未来至少一个持续段时间段内形状的变更信息；
在所述未来至少一个持续段时间段内，所述至少一个子记录的形状被包含在所述父记录的形状内。
在一种可能的实施方式中，若至少一个子计划实体物模型的目标计划实体物模型在未来不同时间满足被删除条件时，还包括：在满足被删除条件后的未来时间，解除所述至少一个子计划实体物模型与所述目标计划实体物模型的父子关系；所述满足被删除条件包括所述子计划实体物模型的空间位置范围变化到所述目标计划实体物模型的空间位置范围之外。以图9为例，在未来某个时刻，实体物2被包含在实体物1，在未来另一个时刻，实体物1删除后，修改实体物2的空间属性，并解除实体物2解除与该实体物1的绑定关系。
在一种可能的实施方式中，在满足被删除条件后的未来时间，仅解除所述至少一个子计划实体物模型与所述目标计划实体物模型的父子关系之后，可能有两种情况，一种情况是子计划实体物模型对应的对象变更为根对象，另一个情况是绑定到新的计划物实体对象，如图10中，实体物2绑定到实体物3，对于第一种情况，将所述至少一个子计划实体物模型的第一空间属性，修改为所述至少一个子计划实体物模型对应的子实体物所在的物理空间描述。对于第二种情况，可以在满足被删除条件后的未来时间，修改子计划实体物记录的空间范围的属性值为重新绑定实体物的标识，如图10所示，如将实体物2的空间范围从实体物1的标识修改为实体物3的标识。
不同的计划实体物的差异化属性，可以用成员表示，成员的类型以及个数都可以不同。如图11所示，其中成员信息为：成员标识、成员名称、成员数据类型、成员值。
本申请提供的一种实体物计划状态数字孪生方法在空间关系上，计划实体物可以独立存在，也可以包含一个子对象；子计划实体物只能绑定到唯一的(父)对象上，实体物本身就可以作为空间来使用；在时间关系上，将未来的时间使用相对时间来表达，通过时间相对关系，将不同的实体物在未来不同时间进行表达，在根基准时间变化的情况下，无需调整未来状态的时间。
在构建出空间上的父子关系后，就可以根据业务进行添加数据，这里以供电时间为例进行说明。假设工厂需要生产一辆汽车，为此工厂需要开始供电工作，因此需要根据生产过程制定供电计划。如图12所示，工厂中包括车间1和车间2，车间1中包括生产线1和生产线2，车间2包括生产线1和生产线2。在图13中，每个车间和产线的工作有前后关系，只有进行生产的时候才进行供电，否则就断电。在这种情况下，假设工厂生产汽车需要的时间是“2021-10-01”～“2021-10-13”那么工厂就需要在这段时间都处于供电状态。
本申请实施例预先构建工厂、生产线、车间及轮胎的计划实体物模型，可以进行预定义，然后确定孪生的计划实体物，如工厂、车间1、车间2、生产线1、生产线2、汽车、轮胎等，并根据其父子包含关系，确定树形结构的计划实体物，然后按照如下规则添加数据生成树形结构的计划实体物记录：每一条数据都有一个唯一的名称或标识进行标记，子对象的数据上面需要选父对象数据的名称或标识，比如生产轮胎的父对象是生成汽车，那就需要指定是生成哪个汽车的轮胎。车间1需要先生产出汽车部件(第1天～第7天)，因此需要先进行供电生产，车间2需要车间1生产完毕后，才能进行组装汽车部件工作(第8天～第13天)；类似的产线之间也有对应的前后关系。如现在车间1先完成生产线1的生产后，才进行生产线2的生产，即先生产螺丝螺母(第1天～第3天)，再生产轮胎(第4天～第8天)；车间1的生产完成后，先完成车间2生产线1的生产后，才进行车间2生产线2的生产，即先组装底盘(第1天～第3天)，再组装车身(第4天～第6天)。
本实施例根据这种需求先建立出一个生产计划，但是实际生产过程中会有很多偶然的变化，比如车间1有设备故障导致生成延期，那么车间2及其产线的生产都需要顺延。为了加快修改的过程，在进行数据组织的时候，使用的时间都是相对时间。例如以工厂为基准时间，车间1和车间2均为相对时间；以车间1为基准时间，对应的生产线1和生产线2均为相对时间；以车间2为基准时间，对应的生产线1和生产线2均为相对时间。
相对时间的规则：
每个对象都有一个时间精度，主要有年、月、日、时、分、秒这样的进度等级。如果生产都是按日计算就是日，有的生产较快就用小时。
根对象有一个基准时间，比如工厂就有一个基准时间为”2021-10-01”，那么工厂”2021-10-01”开始生成汽车就可以表达为第10个月生产汽车，这样可以减少时间信息在数据库中存储的大小。这个基准时间也可以修改，修改后工厂的实际生产时间自动根据相对时间进行更新，而不用去更新工厂的每一个生产计划时间。
子对象的数据的时间都是相对于父对象数据的，比如车间1生产汽车部件的实际时间范围为2021-10-01～2021-10-07，就可以表达为第1天～第7天。这样的好处是在工厂由于别的原因调整了生产汽车的计划时间的时候，不需要调整下面调整数据。
同一个对象的不同数据不能有时间范围交叉，这样在进行生产计划的时候能够快速识别资源冲突。
每一个数据上面可以设置自己的几何形状，根对象数据(父对象数据)的几何坐标相对于坐标原点，子对象数据的几何坐标相对于父数据的坐标位置。子对象数据的坐标范围不能超出父对象数据的坐标范围。这样可以在对可以进行位置调配的生成做计划的时候，可以防止超出设备可以到达的范围。
基于相同的发明构思，本申请实施例提供了一种实体物未来状态的订阅方法，如图14所示，所述方法包括：
S1401：构建目标计划实体物的目标计划实体物模型以及组成所述目标计划实体物的至少一个子实体物的子计划实体物模型，所述目标计划实体物模型以及所述至少一个子计划实体物模型包括时间属性。
S1402：设置所述目标计划实体物模型及所述至少一个子计划实体物模型的时间属性为未来时间。
S1403：建立所述目标计划实体物模型与所述至少一个子计划实体物模型的关联关系。
其中S1401-S1403的具体实施方式可以参见上述描述，在此不再赘述。
S1404：根据目标计划实体物未来状态的订阅请求生成订阅项，并根据所述目标计划实体物模型及关联的至少一个子计划实体物模型的未来状态，生成与所述订阅项相匹配的订阅信息，并将所述订阅信息发送至订阅方。
其中，所述目标计划实体物模型包括父对象标识，用于唯一映射目标计划实体物的目标计划实体物模型；
所述至少一个子计划实体物模型包括子对象标识，用于唯一映射子实体物的子计划实体物模型。
订阅方式具体可以基于包含对象标识、空间属性、空间范围以及类别属性进行计划实体物的订阅。
在一种可能的实施方式中，根据目标计划实体物未来状态的订阅请求生成订阅项，并根据所述目标计划实体物模型及关联的至少一个子计划实体物模型的未来状态，生成与所述订阅项相匹配的订阅信息，包括：接收计划实体物未来状态的订阅请求，所述订阅请求包括父对象标识、子对象标识，根据所述订阅请求生成订阅项；
针对一个目标计划实体物模型，根据所述目标计划实体物模型的父对象标识，生成用于查询与所述目标计划实体物模型关联的各个子计划实体物模型未来状态的订阅信息；
针对一个子计划实体物模型，根据所述子计划实体物模型的子对象标识，生成用于查询与所述子计划实体物模型关联的目标计划实体物模型未来状态的订阅信息。
实施中，上述订阅项可以包括父计划实体物的对象标识，生成包括对象标识及过滤条件的订阅项，还可以进一步包含实体物类型；则根据所述订阅项查询父对象标识与订阅项中对象标识一致的所有子计划实体物模型未来状态，得到与所述订阅项相匹配的订阅信息。如果订阅项中的有过滤条件字段且不为空，判断该对象是否满足过滤条件，满足则发布对应的状态变化事件。或者订阅项可以包括子实体物的对象标识，根据所述订阅项查询本身的对象标识与订阅项中对象标识一致的所有子计划实体物模型，并确定查到的所有子计划实体物模型的父对象标识，得到所有的父对象标识对应的目标计划实体物模型的未来状态，得到与所述订阅项相匹配的订阅信息。如果订阅项中的有过滤条件字段且不为空，判断该对象是否满足过滤条件，满足则发布对应的状态变化事件。
根据目标计划实体物未来状态的订阅请求生成订阅项，并根据所述目标计划实体物模型及关联的至少一个子计划实体物模型的未来状态，生成与所述订阅项相匹配的订阅信息，包括：
接收计划实体物未来状态的订阅请求，所述订阅请求包括时间范围，生成包括时间范围的订阅项；
根据所述目标计划实体物模型的父对象标识，生成用于查询与所述目标计划实体物模型关联的各个子计划实体物模型在所述时间范围内的未来状态的订阅信息。
实施中，上述订阅项可以包括时间范围，生成包括时间范围及过滤条件的订阅项，还可以进一步包含实体物类型； 则根据所述订阅项查询时间范围内满足所述过滤条件且与所述实体物类型一致的各个子计划实体物模型的未来状态，得到与所述订阅项相匹配的订阅信息。如果订阅项中的有过滤条件字段不为空，判断该对象是否满足过滤条件，满足则发布对应的状态变化事件。
在一种可能的实施方式中，该方法还包括：
接收目标计划实体物未来状态的查询请求，所述查询请求中包括空间范围；
针对一个目标计划实体物模型，根据所述目标计划实体物模型的空间范围，查询所述空间范围内的各个子计划实体物模型的未来状态；
针对一个子计划实体物模型，根据所述子计划实体物模型的空间范围，查询所述空间范围包含所述子计划实体物模型的空间范围的目标计划实体物模型和/或所述目标计划实体物模型的空间范围包含的其他子计划实体物模型。
实施中，上述订阅项可以包括空间范围标识，生成包括空间范围标识及过滤条件的订阅项，还可以进一步包含实体物类型；则根据所述订阅项查询空间范围内满足所述过滤条件且与所述实体物类型一致的各个子计划实体物模型的未来状态，得到与所述订阅项相匹配的订阅信息。则在目标计划实体物的空间范围内创建了新的被包含实体对象或被包含实体对象修改、删除时，可以查询所有空间范围标识为该计划实体物的所有订阅项。如果有订阅项，则该订阅项对应的空间标识的计划实体物能感知到有子计划实体物创建、修改或删除。如果订阅项中的有过滤条件字段不为空，判断该对象是否满足过滤条件，满足则发布对应的状态变化事件。或者则根据所述订阅项查询包含所述空间范围满足所述过滤条件且与所述实体物类型一致的各个目标计划实体物模型的未来状态，得到与所述订阅项相匹配的订阅信息。
作为一种可能的实施方式，上述订阅项还可以是包括其他字段订阅项，以实现不同目的订阅查询，例如可以包含几何范围、空间关系及过滤条件的订阅项；在所述目标计划实体物模型及关联的至少一个子计划实体物模型的未来状态中，查询几何规格与所述几何范围符合所述空间关系并满足过滤条件的未来状态，得到与所述订阅项相匹配的订阅信息。
或者，计划库收到包含“几何范围、实体物类型、空间关系以及过滤条件”的订阅请求。
接收计划实体物未来状态的订阅请求，所述订阅请求包括几何范围、实体物类型、空间关系及过滤条件，生成包括几何范围、实体物类型、空间关系及过滤条件的订阅项；
在所述目标计划实体物模型及关联的至少一个子计划实体物模型的未来状态中，查询几何规格与所述几何范围符合所述空间关系、与所述实体物类型一致并满足过滤条件的未来状态，得到与所述订阅项相匹配的订阅信息。
上述过滤条件包括子计划实体物模型的未来状态发生变化，所述变化包括创建新的子计划实体物模型、同一子计划实体物模型的未来状态变化、子计划实体物模型被删除。
第二方面，当确定上述对象为事件时，上述目标计划对象为目标计划事件，上述子对象为子目标计划事件，为了便于与实体物区分直接采用事件进行描述。在客观世界中，未来不同的时刻发生的事件众多，这些事件之间的关系通常错综复杂，同一实物体对应的两个事件间存在一定的先后顺序，不同实物体之间，也可能存在一个事件的持续时间范围内包含另一个事件，如图15所示，事件1的持续时间范围内包含事件2，或者某个事件的实际开始时间影响另一个事件的开始等。在这种情况下，可以采用同一的数据结构来表示上述事件1和事件2，事件1和事件2分别用唯一事件标识标记，其中，事件标识在整个计划库***中唯一，且名称可以重复。
为了实现对未来不同时间段的事件所处的状态进行数字孪生，本申请提供了一种事件计划状态数字孪生方法，如图16所示，该方法包括：
S1601，构建目标计划事件的目标计划事件模型以及目标计划事件的至少一个子目标计划事件的子计划事件模型，目标计划事件模型以及子计划事件模型包括时间属性；事件模型的结构为事件的属性参数的集合，事件依据时间属性可以包括历史状态、当前状态以及计划状态。基于该事件模型以及事件的不同状态进行数字孪生，可以得到与不同状态对应的事件对象，本申请实施例涉及事件的计划状态，对于计划事件，具体可以基于事件模型及事件的计划状态进行数字孪生，得到计划事件对象。为了便于描述，以下事件对象都采用事件进行代替。
在创建计划事件模型时，可以通过确定计划事件的属性参数集合得到计划事件模型的结构，计划事件的属性参数集合中的属性参数包括属性名称及数据类型。
进一步地，还可以对计划事件模型的结构进行至少一次预定义，即进行参数初始化操作，得到与计划事件模型的结构对应的至少一组预定义数据初始值。上述预定义的步骤可以根据用户的需求进行设置，也可以不进行预定义的操作。另外，还可以根据事件在不同计划时间段的状态值，确定不同计划时间段对应的计划事件数据。
S1602，设置目标计划事件模型及子计划事件模型的时间属性为未来时间；上述目标计划事件模型及子计划事件模型的属性参数包括时间属性，由于是对事件的计划状态进行数字孪生，因此设置上述时间属性为未来时间。
在一种可能的实施方式中，上述设置目标计划事件模型及子计划事件模型的时间属性为未来时间，包括：设置目标计划事件模型及子计划事件模型的开始时间为未来的至少一个时刻，并设置持续时间；或者设置目标计划事件模型及子计划事件模型的开始时间为未来的至少一个时刻，结束时间为未来的至少一个时刻。
上述开始时间是指事件实际开始的时间，即实际发生的时间，可以通过将事件模型的开始时间设置为未来时间，并设置持续时间来将事件模型的时间属性设置为未来时间，也可通过将事件模型的开始时间和结束时间设置为未来时间来将事件模型的时间属性设置为未来时间。
S1603，建立目标计划事件模型与子计划事件模型的关联关系。
在一种可能的实施方式中，建立目标计划事件模型与子计划事件模型的关联关系，包括：通过将目标计划事件模型标识为父计划事件的模型，将子计划事件模型标识为属于所述父计划事件的子计划事件的模型，建立目标计划事件模型与子计划事件模型的父子关系。
在一种可能的实施方式中，目标计划事件模型及子计划事件模型包括父对象，建立目标计划事件模型与子计划事件模型的父子关系，包括：将子计划事件模型的父对象确定为目标计划实体物模型的对象标识，建立目标计划事件模型与子计划事件模型的父子关系。
事件间可能存在多种关联关系，本申请实施例中建立的一种关联关系为父子关系，即父计划事件与子计划事件之间的关系，目标计划事件模型及子计划事件模型包括多个属性参数，可以通过其中的属性参数进行标识该计划事件模型为父计划事件的模型，还是子计划事件模型，完成标识后，即建立了目标计划事件模型与子计划事件模型的父子绑定关系。
上述事件模型的父子绑定关系是基于事件的时间属性确定的，时间包含关系为事件模型的父子绑定关系的唯一约束，父计划事件的开始时间早于或等于所述子计划事件的开始时间，且父计划事件的结束时间晚于或等于所述子计划事件的结束时间，即，子计划事件的持续时间包含在其对应的父计划事件的持续时间内。
本实施例中，子计划事件所属的父计划事件是唯一的，将上述子计划事件模型标识为属于父计划事件的子计划事件的模型，包括：将子计划事件模型标识为属于唯一的父计划事件的子计划事件的模型。
通过本申请提供的一种事件计划状态数字孪生方法，为某一些事件进行共同特征的配置，可以实现万物孪生，而且可以通过设置时间属性对未来不同时间段的该事件所处的计划状态进行数字孪生。
本申请实施例中为了实现事件计划状态的数字孪生，主要包括构建计划事件模型、计划事件模型的预定义(可选)、生成计划事件、生成计划事件记录几个阶段，下面对各阶段的实施方式进行描述。
1)构建计划事件模型。
计划事件模型是某一些计划事件具有共同特征的配置，在上述计划事件模型中定义计划事件的一些基本属性，本实施例需要构建目标计划事件的目标计划事件模型及子计划事件的子计划事件模型，目标计划事件可以有至少一个与其有父子绑定关系的子计划事件，子计划事件绑定到唯一的目标计划事件；该子计划事件发生在目标计划事件的持续范围内，且该子计划事件与目标计划事件有业务关联关系。
目标计划事件模型及子计划事件模型的属性参数集合中属性名称可以相同，但属性参数值不同。
作为一种可选的实施方式，上述目标计划事件模型以及子计划事件模型还包括空间属性；空间属性包括空间范围和空间位置中的至少一种。上述空间范围，用于描述目标计划事件及子计划事件发生的空间范围；上述空间位置，用于描述上述子计划事件模型发生的空间位置处于上述目标计划事件模型发生的空间位置的一定范围内或上述子计划事件模型发生的空间范围处于上述目标计划事件模型发生的空间范围内。由于计划事件模型还具有空间属性，因此，计划事件模型还可以关联实体物，来表征该事件由该实体物产生或制定或执行。
在一种可能的实施方式中，建立目标计划事件模型与计划实物体，以及子计划事件模型与计划实体物的关联关系；
目标计划事件模型及子计划事件模型关联相同或不同的计划实体物。
在一种可能的实施方式中，建立目标计划事件模型与计划实物体，以及子计划事件模型与计划实体物的关联关系的方式可以为：将目标计划事件模型的空间属性设置为关联的计划实体物的标识；将子计划事件模型的空间属性设置为关联的计划实体物的标识。
如图17所示，计划事件模型的属性参数集合中基本属性可以但不限于包括：模型标识、模型版本、时间精度(年/月/日)、坐标类型(2维/3维)、坐标精度位数、旋转角精度位数。
其中，模型标识和模型版本用于确定模型的唯一性；时间精度描述的是模型的时间属性；坐标类型、坐标精度位数、旋转角精度描述的是模型的空间属性。除了上述列举的基本属性外，还可以根据用户需求进行定义其它的基本属性，此处不作具体限定。
在一种可能的实施方式中，构建目标计划事件的目标计划事件模型以及子目标计划事件的子计划事件模型，包括：对于同一目标计划事件，构建不同版本的目标计划事件模型；对于同一子计划事件，构建不同版本的子计划事件模型。
版本标识用于标识目标计划事件模型或子计划事件模型所属的版本，不同版本的目标计划事件模型之间或不同版本的子计划事件模型之间存在删减属性参数或增加属性参数或同一属性参数的初始值不同的变化特征。
一个计划事件模型中包括的多个属性参数可以理解为成员，每个成员有成员标识(成员ID)和成员名称，对于浮点类型数据还可以配置成员精度。模型里面的成员分为索引成员和成员两种类型，在对应成员上建立索引属性，为所述索引属性配置至少一个索引条件，根据至少一个索引条件对所述索引属性参数进行查询。在查询计划事件数据的时候，根据索引对成员进行过滤、聚合等运算能够更快速。
2)计划事件模型的预定义(可选)。
在构建了计划事件模型后，可以对计划事件模型进行预定义，预定义是确定目标计划事件模型及子计划事件模型中各个属性参数的初始值配置，如图18所示，其中包括基本属性、索引成员和成员3部分。
基本属性包括：预定义标识、模型标识、模型版本、计划事件名称、计划事件描述、父对象标识和基准时间。
计划事件预定义上面有模型标识和模型版本信息，用于表示这个预定义是用哪个模型生成的；对计划事件名称和计划事件描述进行预定义，可以确定计划事件孪生出的计划事件。
本实施例中计划事件是按树形结构建立起来的，因此每个预定义上面都记录了自己的父对象的标识，父对象标识为0的时候表示自己是根对象；若该计划事件为子计划事件，则基准时间为其对应的父对象的时间，设置索引成员的作用如上述。其基本属性的类型可以根据用户需求进行配置。在预定义的成员里面，只需要存储成员ID和成员值。
3)生成计划事件。
计划事件是一个具体的计划事件，可以针对具体的计划事件及构建的计划事件模型，通过定义上述计划事件模型中的计划事件名称及计划事件描述，孪生出具体的计划事件，本实施例中可以孪生出有父子绑定关系的目标计划事件 (本实施例也称父计划事件)及子计划事件。
如图19所示，计划事件中包括基本属性、索引成员和成员。以每一个计划事件模型的预定义为基础模板，为每一个计划事件构建一个对象信息，用于描述基本属性，计划事件之间具有父子层次结构。
在计划事件模型的构建过程中，根据真实世界中的空间关系建立计划事件模型和计划事件预定义树型结构，依据计划事件模型和计划事件预定义的空间关系建立计划事件的树型结构。
其中基本属性中包括：对象标识、预定义标识、计划事件名称、计划事件描述、父对象标识和基准时间、版本信息、安全配置和审计配置。
对象名称：由用户创建对象时候给定，用于用户标识计划事件。
对象标识创建时***生成，返回给用户，用于唯一标识一个计划事件；计划事件是一个具体的事件，由计划事件预定义创建，因此计划事件里面需要记录预定义标识；若为子计划事件，则需要增加对应的父对象信息，例如父对象标识和基准时间。
父对象标识：用于标识计划事件自己的父对象，为0表示是根对象；
计划事件上面有“时间基准”信息PlanTime：PlanTime，用于描述一个根对象的基准时间，有了这个基准时间后，数据的时间戳就可以设置成和基准实现的差值，比如基准时间为2021-1-1 00:00:00，那2021-1-5 00:00:00的时间就可以表示成4天，计划事件子对象的时间基准是0。
事件的时间属性还包括当前时刻，当前时刻是实时事件的当前绝对时刻，事件的成员每次修改时会同步修改当前时刻的值，记录事件变化的最新时间。
由于在客观世界中，需要经常制定计划，通过计划事件的多版本性值，可以建立多个版本计划，然后在实际生产的时候可以快速决定采用哪一个版本的计划。为每个计划事件创建不同的版本信息，在添加数据的时候可以指定添加的是哪一个版本的数据。版本名称由用户输入，名称不能重复；用户可以查询到已经创建的版本信息列表。
在计划事件里面可以存储所述对象对应的对象数据的一些公共配置，例如：版本信息、安全配置、审计配置等。
由于事件的计划状态可能不会完全按照计划进行状态的改变，因此针对计划事件在不同时间段所处的计划状态设置不同版本的数据；上述安全配置用于记录上述目标计划事件模型或子计划事件模型中不同属性参数值对应的操作权限；审计配置用于记录需要进行审计的所述目标计划事件模型或子计划事件模型中的属性参数值操作。
计划事件上面有“时间精度”信息：时间精度是指描述数据的时间精度，可分为年、月、季度、周、日、时、分、秒、毫秒等多个等级，比如时间精度设置为天，描述2021-1-1 00:00:00～2021-1-5 00:00:00的时间段就可以表述为1～5天，具体如表3所示：
表3
4)生成计划事件记录。
根据计划事件在未来不同时间的属性参数值，可以得到计划事件记录，即计划事件数据。
作为一种可选的实施方式，本实施例利用目标计划事件在未来不同时间的属性参数，基于该时间对应的目标计划事件模型，生成对应的目标计划事件模型记录(即第一记录)；利用子计划事件在未来不同时间的属性参数，基于该时间对应的子计划事件模型，生成对应的子计划事件模型记录(即第二记录)；其中，所述属性参数包括属性名称、数据类型中的至少一种。同时，所述属性参数还可以包括空间属性、成员属性等其他属性参数，本领域技术人员可以根据工厂的实际生产需要灵活地调整和设置属性参数。
上述目标计划事件模型记录和子计划事件模型记录包括记录标识，用于唯一标识目标计划事件模型记录或子计划事件模型记录。
用户生成事件记录时，需要指定事件的标识，计划库根据指定的事件标识，查找到对应的事件，获取到事件对应的成员信息。事件记录生成时如果不指定成员值，那么默认继承事件上的成员信息，并且生成事件记录时事件记录的开始时间也需要指定，且不能早于父事件记录的时间。
当计划事件记录结束时，删除计划事件记录，计划库***获取当前时间，减去开始时间，计算得到计划事件记录的持续事件，并转存到历史库***储存。
例如工厂制定年计划时，计划被分解到各个部门，变为部门计划。企业开始执行年计划时，年计划则为实时父事件，创建父事件，开始时间为2022-01-01，年计划事件有两个成员，一个是产量，一个是能耗，产量每月更新一次，能耗每天更新一次，能耗和产品每次更新只更新当前时刻属性，其关联的实体对象是“整个工厂”。
部门开始执行部门计划时，部门计划则为实时子事件，多个部门并行执行计划，且计划中的属性特征一致，例如都有计划产量、日产量、在岗人数、耗电量等，即可以创建一个子事件，其父事件标识为部门事件。子事件不设置开始时间，只设置部门事件的成员等。
部门A开始执行部门计划后，创建事件记录A，其开始时间为2022-02-01，部门A计划在2022-03-01完成所有计划产量，此时事件记录结束，删除该事件记录。
部门B开始执行部门计划时，创建事件记录B，其开始时间为2022-02-15，部门B计划在2022-04-01完成计划产量，此时事件记录结束，删除该事件记录。
作为一种可选的实施方式，将上述目标计划事件模型记录作为根存储节点，将上述子计划事件模型记录根存储节点的子存储节点，建立树形存储结构；
确定上述根存储节点的时间属性的开始时间为预设基准时间，上述子存储节点的时间属性的开始时间为上述预设基准时间的相对偏移时间。
如图20所示为计划事件数据示意图，计划事件数据是计划事件在不同时间段上的状态值。每条计划事件数据都有唯一的数据标识和数据名称，数据上面还关联了父数据标识，用于表示计划数据的关联关系，根对象的计划数据的父数据标识为0。计划事件数据上起始时间偏移和结束时间偏移，其中起始时间偏移是相对父计划数据的开始时间的偏移，如果是根对象就是相对计划事件里面的基准时间的偏移。
计划事件数据包括如下属性：对象标识：表示该记录是属于哪个计划事件的；数据记录名称：用于标识一个计划事件的不同记录，由用户输入，每个计划事件的记录名称不能重复；父数据记录名称：表述当前计划事件记录是和哪一条父计划事件记录绑定的。如果计划事件记录对应的对象没有父对象，就不需要给定父数据记录名称；起始时间偏移：使用相对父计划事件记录的相对时间表示，如果计划事件记录对应的对象没有父对象(即是根对象)，那计划事件记录的起始时间偏移使用相对于时间基准来表示。比如时间基准为2021-1-1 00:00:00，当时间精度为天的时候，如果起始时间偏移为6则表示偏移了6天，实际对应的时间为2021-1-7 00:00:00；持续时间：使用对应对象的时间精度表示，比如精度为天，持续时间为6表示持续了6天。具体如表4所示：
表4
本实施例中触发生成计划事件记录的一种方式可以为时间属性发生变化，当所述目标计划事件的时间属性发生变化，通过目标计划事件模型及至少一个子计划事件模型，生成在未来至少一个持续段时间段内该目标计划事件的父对象记录及子计划事件的子对象记录；该子对象记录的时间范围在所述父对象记录的时间范围内。
如前所述，对于目标计划事件及子计划事件，目标计划事件及子计划事件的时间范围可以发生变化，下面给出时间属性发生变化时，计划事件记录的具体信息：
如图21所示，在未来某个时间，将事件2绑定到事件1，则事件2的时间范围包含在事件1的时间范围内。则在生成该未来时间对应的一条子计划事件记录时，父数据标识的取值可以是事件1的标识，事件2只能绑定到唯一的父对象上，即事件1为事件2对应的父对象。
事件1也可以作为其他事件X的包含事件。事件2可以在被绑定的事件1的时间范围内任意移动。
事件1移动时，其时间范围内的事件2也会随之移动，但是事件2相对事件1的时间偏移不会发生变化。
在一些实施例中，若子计划事件模型的目标计划事件模型在未来不同时间满足被删除条件时，本申请还包括：
在满足被删除条件后的未来时间，解除子计划事件模型与目标计划事件模型的父子关系；
满足被删除条件包括子计划事件的结束时间晚于父计划事件的结束时间，或者子计划事件的持续时间长于父计划事件的持续时间。
在未来计划中，同一个计划事件的时间属性是可以变化的，由于事件的时间包含关系为父子绑定关系的唯一约束，因此，当子计划事件的时间属性发生变换时，其对应的父计划事件可以随之变化，即，当子计划事件的时间属性发生变化，其事件的持续时间范围不再包含在其原来的父计划事件的持续时间范围内时，解除其与原来的父计划事件的父子绑定关系。
在一种可能的实施方式中，在满足被删除条件后的未来时间，解除子计划事件模型与目标计划事件模型的父子关系之后，可能有两种情况，一种情况是该子计划事件模型对应的对象变更为根对象，另一个情况是绑定到新的计划事假对象。以图22为例，在未来某个时刻，事件3的持续时间范围被包含在事件1的持续时间范围内，在未来另一个时刻，事件3的开始时间发生变换，事件3的持续时间范围不再包含在事件1的持续时间范围内，而是包含在事件2的持续时间范围内，此时，解除其与事件1的父子绑定关系，建立其与事件2的父子绑定关系。
对于第一种情况，将该子计划事件模型对应的事件的父对象标识，修改为0，即代表该子计划事件模型对应的事件为根对象。
对于第二种情况，可以在满足被删除条件后的未来时间，修改子计划事件记录的父对象标识为重新绑定事件的标识，如图22所示，如将事件3的父对象标识从事件1的标识修改为事件2的标识。
不同的计划事件的差异化属性，可以用成员表示，成员的类型以及个数都可以不同。如图23所示，其中成员的具体结构信息为：成员标识ID、成员名称、成员数据类型、成员值，例如报警事件，其负责人、报警阈值等可以用成员表示。
本申请提供的一种事件计划状态数字孪生方法在时间关系上，计划事件可以独立存在，也可以包含一个子对象，子计划事件只能绑定到唯一的(父)对象上。计划物产生的事件按照时间范围包含关系组建了计划事件的父子层次关系；在空间上，产生计划事件的计划物按照空间范围包含关系组件了计划物的父子层次关系；基于计划物和计划事的关系，将客观世界的实体物空间关系和事件时间关系进行了时空统一。
基于这种计划物和计划事的时空统一关系，在构建出事件上的父子关系后，就可以根据业务进行添加数据，这里 结合图12和图13以工厂生产汽车的过程为例进行说明。
在配合计划物的应用中，每个计划物都产生一系列的事件，如下图12中，计划物工厂将要完成的事件是生产汽车，另一计划物车间将要完成生产部件和组装部件的事件，计划物车间下面又分为了又一计划物生产线，将要完成生产子的事件。
如图13所示，每个车间生产事件和产线生产事件的工作有前后关系。在这种情况下，假设工厂生产汽车需要的时间是“2021-10-01”～“2021-10-13”，那么工厂就需要在这段时间都处于生产状态。
在添加数据的时候需要如下规则进行组织：
1、每一条数据都有一个唯一的名称或标识进行标记；
2、子事件的数据上面需要选父事件的数据名称或标识，比如计划生产轮胎的父事件是计划生产汽车，这些生产事件需要指定具体的生产物。这时，计划事件是为计划实体物服务的，通过计划物和计划事的关联就可以建立他们之间的联系。
在生产过程中，车间1需要先生产出汽车部件，车间2需要车间1生产完毕后，才能进行组装工作；类似的产线之间也有对应的前后关系。
因此，首先需要根据需求建立出一个生产计划(计划事件数据的组合)。生产汽车事件设置了开始时间和时间范围，开始时间产生开始事件记录，结束时候产生结束事件记录。生产部件事件也设置开始时间和时间范围，每次生产都生成一个记录数据。
但是实际生产过程中会有很多偶然的变化，比如车间1有设备故障导致生成延期，那么车间2及其产线的生产都需要顺延。为了加快修改的过程，在进行数据组织的时候，使用的时间都是相对时间。相对时间的规则：
1、每个事件都有一个时间精度，主要有年、月、日、时、分、秒等精度等级，生产都是按日计算时，时间精度使用日，在生产较快时，时间精度可以使用小时。
2、根对象具有一个基准时间，例如生产汽车事件具有一个基准时间为“2021-01-01”，则工厂“2021-10-01”开始生成汽车就可以表达为第10个月生产汽车，这样可以减少时间信息在数据库中存储的大小。
基准时间也可以进行修改，修改后工厂的实际生产时间自动根据相对时间进行更新，无需去更新工厂的每一个生产计划时间。
3、子事件数据的时间为相对于父对象数据的相对时间，例如车间1生产汽车部件事件的实际时间范围为“2021-10-01”～“2021-10-08”，则可以表达为第1天～第8天。这样，在工厂由于故障等原因调整生产汽车的计划时间时，不需要再调整子事件的数据。
4、同一个事件的不同事件数据不能存在时间范围交叉，以在进行生产计划时快速识别资源冲突。
基于相同的发明构思，本申请实施例提供了一种事件未来状态的订阅方法，如图24所示，所述方法包括：
S2401，构建目标计划事件的目标计划事件模型以及目标计划事件的至少一个子目标计划事件的子计划事件模型，目标计划事件模型以及子计划事件模型包括时间属性；
S2402，设置目标计划事件模型及子计划事件模型的时间属性为未来时间；
S2403，建立目标计划事件模型与子计划事件模型的关联关系；
其中S2401-S2403的具体实施方式可以参见上述描述，在此不再赘述。
S2404，根据目标计划事件未来状态的订阅请求生成订阅项，并根据目标事件模型及关联的子计划事件模型的未来状态，生成与订阅项相匹配的订阅信息，并将订阅信息发送至订阅方。
在一种可能的实施方式中，目标计划事件模型包括父对象标识，用于唯一映射目标计划事件的目标事件模型；
子计划实体物模型包括子对象标识，用于唯一映射子计划实体物的子计划实体物模型。
订阅方式可以为基于包含父对象标识、子对象标识以及时间范围中的任意信息的订阅请求进行计划事件的订阅。
在一种可能的实施方式中，根据目标计划事件未来状态的订阅请求生成订阅项，并根据目标事件模型及关联的子计划事件模型的未来状态，生成与订阅项相匹配的订阅信息，包括：接收计划事件未来状态的订阅请求，订阅请求包括父对象标识、子对象标识，根据订阅请求生成订阅项；针对一个子计划事件模型，根据所述子计划事件模型的子对象标识，生成用于查询与子计划事件模型关联的目标事件模型未来状态的订阅信息。
实施中，上述订阅项可以包括父对象标识，生成包括对象标识及过滤条件的订阅项；根据所述订阅项查询父对象标识与订阅项中对象标识一致的所有子计划事件模型未来状态，得到与所述订阅项相匹配的订阅信息。如果订阅项中的有过滤条件字段且不为空，判断该对象是否满足过滤条件，满足则发布对应的状态变化事件。
或者，订阅项可以包括子对象标识，根据订阅项查询本身的对象标识与订阅项中对象标识一致的所有子计划事件模型，并确定查到的子计划事件模型的父对象标识，得到所有的父对象标识对应的目标计划事件模型的未来状态，得到与订阅项相匹配的订阅信息。如果订阅项中的有过滤条件字段且不为空，判断该对象是否满足过滤条件，满足则发布对应的状态变化事件。
在一种可能的实施方式中，根据目标计划事件未来状态的订阅请求生成订阅项，并根据目标事件模型及关联的子计划事件模型的未来状态，生成与订阅项相匹配的订阅信息，包括：接收计划事件未来状态的订阅请求，订阅请求包括时间范围，生成包括时间范围的订阅项；根据目标事件模型的父对象标识，生成用于查询与目标事件模型关联的各个子计划事件模型在时间范围内的未来状态的订阅信息。
实施中，上述订阅项可以包括时间范围，生成包括时间范围及过滤条件的订阅项；根据目标事件模型的父对象标识，查询与目标事件模型关联的各个子计划事件模型在时间范围内的未来状态，得到与所述订阅项相匹配的订阅信息。如果订阅项中的有过滤条件字段不为空，判断该对象是否满足过滤条件，满足则发布对应的状态变化事件。
作为一种可能的实施方式，上述订阅项还可以是包括其他字段订阅项，以实现不同目的订阅查询。
以下对本申请提供的事件未来状态的订阅方法进行详细阐述，其订阅方法大致分为以下三类：
1、订阅计划事件的所有计划事件记录的生命周期。
计划库收到订阅请求后，存储包含“事件标识”的订阅项信息，订阅项信息中包括事件标识以及过滤条件。计划事件在创建计划事件数据时(计划事件记录)，指定了由哪个事件创建。计划库内部查询与该事件标识对应的所有订阅项。如果订阅项包括过滤条件，判断该事件记录是否满足过滤条件，满足则发布创建计划事件记录的订阅事件，不满足则不发布。
事件记录创建成功之后，根据实际情况进行编辑修改或者删除事件记录，其发布过程同添加时的发布过程一样。
事件记录在编辑修改过程中，生成新版本的计划数据记录，与创建计划数据的订阅发布过程相同。
2、订阅计划实体物所对应的所有事件。
计划库收到订阅请求后，存储为订阅项信息，订阅项信息包括计划实体物标识以及过滤条件。
计划事件创建时，指定了关联的计划实体物，即设置事件的计划实体物属性值为该计划实体物的标识。查询所有计划实体物标识为该事件的计划实体物的所有订阅项。如果订阅项有过滤条件，判断该对象是否满足过滤条件，满足则发布创建事件记录，不满足则不发布。
计划事件创建结束，在计划事件存在的生命周期中，发生删除事件以及修改事件的属性或成员值，发布过程同创建时的发布过程一样。
在上述第一类方法中描述的计划事件的所有计划事件记录的生命周期过程中，查询所有计划实体物标识为该事件记录对应的计划事件的所有订阅项。如果订阅项有过滤条件，判断该对象是否满足过滤条件，满足则发布创建事件记录，不满足则不发布。
3、订阅计划事件内的所有子事件孪生状态的变化，包括子事件的变化和以及删除，以及子事件产生的子事件记录的孪生状态的变化。
计划库收到只包含“父事件标识以及过滤条件”的订阅请求后，存储成订阅项信息，其包括父事件标识以及过滤条件。
子事件变化时，查询所有“父事件标识”为该事件的父事件标识的所有订阅项。如果有订阅项，则该订阅项对应的父事件能感知到有子事件创建了。如果订阅项中的有过滤条件字段不为空，判断该子事件是否满足过滤条件，满足则发布子事件创建记录，不满足则不发布。删除子事件的发布过程同修改时的发布过程一样。
描述的子计划事对象的所有子计划事件记录的生命周期过程中，查询所有“父事件标识”为该子事件记录对应的事件的父事件标识的所有订阅项。如果有订阅项，则该订阅项对应的父事件能感知子事件的事件记录创建、删除或修改。如果订阅项有过滤条件，判断该对象是否满足过滤条件，满足则发布创建，删除或修改事件记录的订阅事件，不满足则不发布。
基于相同的发明构思，本申请实施例提供了一种实体物计划状态数字孪生装置，如图25所示，所述装置2500包括：构建计划实体物模型模块2501，用于构建目标计划实体物的目标计划实体物模型以及组成所述目标计划实体物的至少一个子实体物的子计划实体物模型，所述目标计划实体物模型以及所述至少一个子计划实体物模型包括时间属性；
设置时间模块2502，用于设置所述目标计划实体物模型及所述至少一个子计划实体物模型的时间属性为未来时间；
建立关系模块2503，用于建立所述目标计划实体物模型与所述至少一个子计划实体物模型的关联关系。
基于相同的发明构思，本申请实施例提供了一种实体物订阅装置，如图26所示，所述装置2600包括：
构建计划实体物模型模块2601，用于构建目标计划实体物的目标计划实体物模型以及组成所述目标计划实体物的至少一个子实体物的子计划实体物模型，所述目标计划实体物模型以及所述至少一个子计划实体物模型包括时间属性；
设置时间模块2602，用于设置所述目标计划实体物模型及所述至少一个子计划实体物模型的时间属性为未来时间；
建立关系模块2603，用于建立所述目标计划实体物模型与所述至少一个子计划实体物模型的关联关系；
生成订阅项信息模块2604，用于根据目标计划实体物未来状态的订阅请求生成订阅项，并根据所述目标计划实体物模型及关联的至少一个子计划实体物模型的未来状态，生成与所述订阅项相匹配的订阅信息。
基于相同的发明构思，本申请实施例提供了一种事件计划状态数字孪生装置，如图27所示，上述装置2700包括：
构建计划事件模型模块2701，用于构建目标计划事件的目标计划事件模型以及上述目标计划事件的至少一个子目标计划事件的子计划事件模型，上述目标计划事件模型以及上述子计划事件模型包括时间属性；
设置时间模块2702，用于设置上述目标计划事件模型及上述子计划事件模型的时间属性为未来时间；
建立关系模块2703，用于建立上述目标计划事件模型与上述子计划事件模型的关联关系。
基于相同的发明构思，本申请实施例提供了一种事件未来状态的订阅装置，如图28所示，上述装置2800包括：
构建计划事件模型模块2801，用于构建目标计划事件的目标计划事件模型以及上述目标计划事件的至少一个子目标计划事件的子计划事件模型，上述目标计划事件模型以及上述子计划事件模型包括时间属性；
设置时间模块2802，用于设置上述目标计划事件模型及上述子计划事件模型的时间属性为未来时间；
建立关系模块2803，用于建立上述目标计划事件模型与上述子计划事件模型的关联关系；
生成订阅项信息模块2804，用于根据目标计划事件未来状态的订阅请求生成订阅项，并根据上述目标事件模型及关联的子计划事件模型的未来状态，生成与上述订阅项相匹配的订阅信息。
基于相同的发明构思，本申请实施例提供了一种实体物计划状态数字孪生的设备，如图29所示，所述设备包括至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执 行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述实施例中的任一实体物计划状态数字孪生的方法。
下面参照图29来描述根据本申请的这种实施方式的电子设备290。图29显示的电子设备290仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图29所示，电子设备290以通用电子设备的形式表现。电子设备290的组件可以包括但不限于：上述至少一个处理器291、上述至少一个存储器292、连接不同***组件(包括存储器292和处理器291)的总线293。
基于相同的发明构思，本申请实施例提供了一种订阅设备或一种孪生的设备，可以如图29所示，所述设备包括至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述实施例中的任一订阅的方法或上述实施例中的任一计划状态数字孪生的方法。其具体实施方式如前述，此处不再赘述。
另外，本申请还提供一种计算机可读存储介质，所述计算机存储介质存储有计算机程序所述计算机程序用于使计算机执行上述实施例中任何一项所述的方法。
尽管已描述了本申请的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (37)

  1. 一种对象计划状态数字孪生方法，其特征在于，所述方法包括：
    构建目标计划对象的目标计划对象模型以及组成所述目标计划对象的至少一个子对象的子计划对象模型，所述目标计划对象模型以及所述至少一个子计划对象模型包括时间属性；
    设置所述目标计划对象模型及所述至少一个子计划对象模型的时间属性为未来时间；
    建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系。
  2. 根据权利要求1所述的方法，其特征在于，所述目标计划对象为目标计划实体物，所述子对象为子实体物；或者，
    所述目标计划对象为目标计划事件，所述子对象为子目标计划事件。
  3. 根据权利要求1或2所述的方法，其特征在于，所述未来时间为未来的至少一个时刻或未来至少一个持续时间段。
  4. 根据权利要求1或2所述的方法，其特征在于，建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系，包括：
    通过将所述目标计划对象模型标识为父计划对象的模型，将所述子计划对象模型标识为属于所述父计划对象的子计划对象的模型，建立所述目标计划对象模型与所述至少一个子计划对象模型的父子关系。
  5. 根据权利要求4所述的方法，其特征在于，将所述子计划对象模型标识为属于所述父计划对象的子计划对象的模型，包括：
    将所述子计划对象模型标识为属于唯一的父计划对象的子计划对象的模型。
  6. 根据权利要求1或2所述的方法，其特征在于，确定所述目标计划对象为目标计划实体物时，所述目标计划对象模型以及所述至少一个子计划对象模型还包括第一空间属性，所述至少一个子计划对象模型的第一空间属性值在所述目标计划对象模型的第一空间属性值的范围内；
    所述第一空间属性包括空间范围、空间位置和形状中的至少一种。
  7. 根据权利要求6所述的方法，其特征在于，分别建立所述目标计划对象模型及至少一个子计划对象模型的空间坐标系；
    所述空间范围，用于描述目标计划对象及至少一个子对象所在的空间范围；
    所述空间位置，采用位于所述目标计划对象的空间范围内，所述子对象在空间位置上所在的其他计划对象的标识或采用所述子对象在所述目标计划对象模型的空间坐标系中的坐标值表示所述子对象的空间位置；
    所述形状，采用目标计划对象所在的空间坐标系的坐标表示所述目标计划对象模型的形状，采用相对于目标计划实体的空间坐标系的相对坐标表示所述子计划对象模型的形状。
  8. 根据权利要求1或2所述的方法，其特征在于，确定所述目标计划对象为目标计划实体物时，通过所述目标计划对象模型及至少一个子计划对象模型，生成在所述未来至少一个持续段时间段内所述目标计划对象模型的父记录及所述至少一个子计划对象模型的子记录，分别用于描述所述目标计划对象及所述至少一个子对象在未来至少一个持续时间段内的属性状态；
    所述至少一个子记录的时间范围在所述父记录的时间范围内。
  9. 根据权利要求8所述的方法，其特征在于，建立所述父记录及所述至少一个子记录之间的关联关系，所述至少一个子记录具有唯一的父记录。
  10. 根据权利要求9所述的方法，其特征在于，所述父记录和所述至少一个子记录包括记录标识，用于唯一标识所述父记录或所述至少一个子记录。
  11. 根据权利要求9所述的方法，其特征在于，所述父记录及所述至少一个子记录包括第二空间属性，所述第二空间属性至少包括空间范围、空间大小、空间形状及空间位置中的至少一种。
  12. 根据权利要求11所述的方法，其特征在于，所述第二空间属性为空间范围时，所述父记录及所述至少一个子记录用于描述所述目标计划对象及所述至少一个子对象在所述未来至少一个持续段时间段内的空间范围的变更信息；
    在所述未来至少一个持续段时间段内，所述至少一个子记录的空间范围被包含在所述父记录的空间范围内。
  13. 根据权利要求11所述的方法，其特征在于，所述第二空间属性为空间大小时，所述父记录及所述至少一个子记录用于描述所述目标计划对象及所述至少一个子对象在所述未来至少一个持续段时间段内的空间大小的变更信息；
    在所述未来至少一个持续段时间段内，所述至少一个子记录的空间大小小于所述父记录的空间大小。
  14. 根据权利要求11所述的方法，其特征在于，所述第二空间属性为空间位置时，所述父记录及所述至少一个子记录用于描述所述目标计划对象及所述至少一个子对象在所述未来至少一个持续段时间段内空间位置移动的变更信息；
    在所述未来至少一个持续段时间段内，所述至少一个子记录的空间位置被包含在所述父记录的空间位置内。
  15. 根据权利要求11所述的方法，其特征在于，所述第二空间属性为形状时，所述父记录及所述至少一个子记录用于描述所述目标计划对象及所述至少一个子对象在所述未来至少一个持续段时间段内形状的变更信息；
    在所述未来至少一个持续段时间段内，所述至少一个子记录的形状被包含在所述父记录的形状内。
  16. 根据权利要求7所述的方法，其特征在于，同一个子对象在不同未来时间在空间位置从归属的一个其他计划 对象变化到另一个其他计划对象时，修改在空间位置变化后的未来时间，所述子对象对应的子计划对象模型的空间位置。
  17. 根据权利要求6所述的方法，其特征在于，若至少一个子计划对象模型的目标计划对象模型在未来不同时间满足被删除条件时，还包括：
    在满足被删除条件后的未来时间，解除所述至少一个子计划对象模型与所述目标计划对象模型的父子关系；
    所述满足被删除条件包括所述子计划对象模型的空间位置范围变化到所述目标计划对象模型的空间位置范围之外。
  18. 根据权利要求17所述的方法，其特征在于，在满足被删除条件后的未来时间，仅解除所述至少一个子计划对象模型与所述目标计划对象模型的父子关系之后，还包括：
    将所述至少一个子计划对象模型的第一空间属性，修改为所述至少一个子计划对象模型对应的子对象所在的物理空间描述。
  19. 根据权利要求4所述的方法，其特征在于，
    确定所述目标计划对象为目标计划事件时，所述父计划对象的开始时间早于或等于所述子计划对象的开始时间，所述父计划对象的结束时间晚于或等于所述子计划对象的结束时间。
  20. 根据权利要求4所述的方法，其特征在于，确定所述目标计划对象为目标计划事件时，所述目标计划对象模型及子计划对象模型包括父对象，建立所述目标计划对象模型与所述子计划对象模型的父子关系，包括：
    将所述子计划对象模型的父对象确定为所述目标计划对象模型的对象标识，建立所述目标计划对象模型与所述子计划对象模型的父子关系。
  21. 根据权利要求4所述的方法，其特征在于，确定所述目标计划对象为目标计划事件时，若子计划对象模型的目标计划对象模型在未来不同时间满足被删除条件时，还包括：
    在满足被删除条件后的未来时间，解除所述子计划对象模型与所述目标计划对象模型的父子关系；
    所述满足被删除条件包括子计划对象的结束时间晚于父计划对象的结束时间，或者子计划对象的持续时间长于父计划对象的持续时间。
  22. 根据权利要求21所述的方法，其特征在于，所述目标计划对象模型以及所述子计划对象模型还包括空间属性；
    所述空间属性包括空间范围和空间位置中的至少一种。
  23. 根据权利要求22所述的方法，其特征在于，
    所述空间范围，用于描述目标计划对象及子对象发生的空间范围；
    所述空间位置，用于描述所述子计划对象模型发生的空间位置处于所述目标计划对象模型发生的空间位置的一定范围内或所述子计划对象模型发生的空间范围处于所述目标计划对象模型发生的空间范围内。
  24. 根据权利要求1或2所述的方法，其特征在于，还包括：
    利用目标计划对象在未来不同时间的属性参数，基于该时间对应的目标计划对象模型，生成对应的第一记录；
    利用子对象在未来不同时间的属性参数，基于该时间对应的子计划对象模型，生成对应的第二记录；
    其中，所述属性参数包括属性名称、数据类型、第一空间属性、成员属性中的至少一种。
  25. 根据权利要求24所述的方法，其特征在于，
    所述目标计划对象模型记录和所述子计划对象模型记录包括记录标识，用于唯一标识目标计划对象模型记录或子计划对象模型记录。
  26. 根据权利要求24所述的方法，其特征在于，还包括：
    将所述第一记录作为根存储节点，将所述第二记录作为所述根存储节点的子存储节点，建立树形存储结构；
    确定所述根存储节点的时间属性的开始时间为预设基准时间，所述子存储节点的时间属性的开始时间为所述预设基准时间的相对偏移时间。
  27. 一种对象未来状态的订阅方法，其特征在于，所述方法包括：
    构建目标计划对象的目标计划对象模型以及组成所述目标计划对象的至少一个子对象的子计划对象模型，所述目标计划对象模型以及所述至少一个子计划对象模型包括时间属性；
    设置所述目标计划对象模型及所述至少一个子计划对象模型的时间属性为未来时间；
    建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系；
    根据目标计划对象未来状态的订阅请求生成订阅项，并根据所述目标计划对象模型及关联的至少一个子计划对象模型的未来状态，生成与所述订阅项相匹配的订阅信息，并将所述订阅信息发送至订阅方。
  28. 根据权利要求27所述的方法，其特征在于，所述目标计划对象为目标计划实体物，所述子对象为子实体物；或者，
    所述目标计划对象为目标计划事件，所述子对象为子目标计划事件。
  29. 根据权利要求27或28所述的方法，其特征在于，所述目标计划对象模型包括父对象标识，用于唯一映射目标计划对象的目标计划对象模型；
    所述至少一个子计划对象模型包括子对象标识，用于唯一映射子对象的子计划对象模型。
  30. 根据权利要求29所述的方法，其特征在于，根据目标计划对象未来状态的订阅请求生成订阅项，并根据所述目标计划对象模型及关联的至少一个子计划对象模型的未来状态，生成与所述订阅项相匹配的订阅信息，包括：
    接收计划对象未来状态的订阅请求，所述订阅请求包括父对象标识、子对象标识，根据所述订阅请求生成订阅项；
    针对一个目标计划对象模型，根据所述目标计划对象模型的父对象标识，生成用于查询与所述目标计划对象模型关联的各个子计划对象模型未来状态的订阅信息；
    针对一个子计划对象模型，根据所述子计划对象模型的子对象标识，生成用于查询与所述子计划对象模型关联的目标计划对象模型未来状态的订阅信息。
  31. 根据权利要求29所述的方法，其特征在于，根据目标计划对象未来状态的订阅请求生成订阅项，并根据所述目标计划对象模型及关联的至少一个子计划对象模型的未来状态，生成与所述订阅项相匹配的订阅信息，包括：
    接收计划对象未来状态的订阅请求，所述订阅请求包括时间范围，生成包括时间范围的订阅项；
    根据所述目标计划对象模型的父对象标识，生成用于查询与所述目标计划对象模型关联的各个子计划对象模型在所述时间范围内的未来状态的订阅信息。
  32. 根据权利要求27或28所述的方法，其特征在于，还包括：
    确定所述目标计划对象为目标计划实体物时，接收目标计划对象未来状态的查询请求，所述查询请求中包括空间范围；
    针对一个目标计划对象模型，根据所述目标计划对象模型的空间范围，查询所述空间范围内的各个子计划对象模型的未来状态；
    针对一个子计划对象模型，根据所述子计划对象模型的空间范围，查询所述空间范围包含所述子计划对象模型的空间范围的目标计划对象模型和/或所述目标计划对象模型的空间范围包含的其他子计划对象模型。
  33. 一种对象计划状态数字孪生装置，其特征在于，所述装置包括：
    构建计划对象模型模块，用于构建目标计划对象的目标计划对象模型以及组成所述目标计划对象的至少一个子对象的子计划对象模型，所述目标计划对象模型以及所述至少一个子计划对象模型包括时间属性；
    设置时间模块，用于设置所述目标计划对象模型及所述至少一个子计划对象模型的时间属性为未来时间；
    建立关系模块，用于建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系。
  34. 一种对象订阅装置，其特征在于，所述装置包括：
    构建计划对象模型模块，用于构建目标计划对象的目标计划对象模型以及组成所述目标计划对象的至少一个子对象的子计划对象模型，所述目标计划对象模型以及所述至少一个子计划对象模型包括时间属性；
    设置时间模块，用于设置所述目标计划对象模型及所述至少一个子计划对象模型的时间属性为未来时间；
    建立关系模块，用于建立所述目标计划对象模型与所述至少一个子计划对象模型的关联关系；
    生成订阅项信息模块，用于根据目标计划对象未来状态的订阅请求生成订阅项，并根据所述目标计划对象模型及关联的至少一个子计划对象模型的未来状态，生成与所述订阅项相匹配的订阅信息。
  35. 一种对象计划状态数字孪生设备，其特征在于，所述设备包括：
    至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求1-26中任一项所述的方法。
  36. 一种对象订阅设备，其特征在于，所述设备包括：
    至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求27-32中任一项所述的方法。
  37. 一种计算机存储介质，其特征在于，所述计算机存储介质存储有计算机程序，所述计算机程序用于使计算机执行如权利要求1-26中任一项所述的方法，或执行如权利要求27-32中任一项所述的方法。
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