CN108038289A - A kind of emulation mode and device for clearing up body surface - Google Patents

Abstract

The invention belongs to three-dimensional artificial field, the invention discloses a kind of emulation mode and device for clearing up body surface, the described method includes obtain depth value, divide value and minimum lookup value, choose the plane of reference, face for clearance and cleaning area, the cleaning area is divided into by multiple units according to the divide value, obtaining unit vertex projects to the subpoint in face for clearance, and the cell projection is obtained to the cell projection area of body surface, according to the plane of reference, depth value, minimum lookup value and subpoint judge whether the cell projection area is located at face for clearance, and cleaning face is obtained according to judging result, emulation cleans cleaning face；Described device is corresponding with the method, and described device includes data read module, unit acquisition module, cleaning face acquisition module, cleaning emulation module.The present invention has been used for realization the activity of analog simulation cleaning body surface, so as to save time and manpower.

Description

A kind of emulation mode and device for clearing up body surface

Technical field

The invention belongs to three-dimensional artificial field, more particularly, to a kind of emulation mode and device for clearing up body surface.

Background technology

At present, cleaning body surface activity is only capable of realizing by putting into practice operation, enterprising if necessary to a wide range of or big quantity The education activities of row cleaning body surface, then can waste substantial amounts of time and material resources, it is therefore desirable to cleaning body surface Activity carries out analogue simulation to save time and material resources.

The content of the invention

For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of emulation side for clearing up body surface Method and device, its object is to by analog simulation clear up body surface activity, thus solve at present be only capable of by manpower into The technical problem of row body surface cleaning.

To achieve the above object, one side according to the invention, there is provided a kind of emulation mode for clearing up body surface, Comprise the following steps：

S1, obtain depth value, divide value and minimum lookup value, chooses the plane of reference, face for clearance and cleaning area, institute The view field that cleaning area is stated in body surface partially overlaps with the face for clearance, and the plane of reference is plane, described to treat Cleaning face is the plane or curved surface on body surface；

S2, according to the divide value be divided into multiple units by the cleaning area, obtaining unit vertex project to treats it is clear The subpoint in reason face, and obtain the cell projection to the cell projection area of body surface, the divide value are horizontal division institute The spacing value of cleaning area and the spacing value of the longitudinally divided cleaning area are stated, the unit is quadrilateral units or triangle Unit；

S3, judge whether the cell projection area is located at according to the plane of reference, depth value, minimum lookup value and subpoint and treat Cleaning face, and cleaning face is obtained according to judging result, the cleaning face is view field of the cleaning area in body surface The part overlapped with the face for clearance, whether the plane of reference is as judging the subpoint on the unit vertex in face for clearance Reference；

S4, emulation clean cleaning face.

Preferably, the step S3 includes：

S31, determine whether to be not carried out the unit of step S32, is to enter step S32, otherwise enters step S34；

S32, choose any one unit for being judged to being not carried out step S32, judges whether the area of the unit is less than institute Minimum lookup value is stated, is to judge that the cell projection area is located at face for clearance, and the cell projection area is run up into cleaning face, is returned Step S31 is returned, otherwise enters step S33；

Whether S33, judge according to the plane of reference, depth value and subpoint the cell projection area partly positioned at for clearance Face, is, obtains the part that the cell projection area is located at face for clearance, and the cell projection area is located to the part in face for clearance The cleaning face of running up to, return to step S31；Otherwise the unit, return to step S31 are abandoned；

S34, obtain cleaning face.

As it is further preferred that the step S33 is specifically included：

The subpoint on each vertex of the unit is obtained, and obtains the subpoint on each vertex to the distance of the plane of reference Value, judges that the distance value of subpoint to the plane of reference on the whether each vertex of the unit is respectively less than and is equal to the depth value, be Then judge that the cell projection area part is located at face for clearance, and according to the midpoint on adjacent two side of the unit and this two The dividing elements are multiple units by the vertical line on side, and return to step S31, otherwise judges the cell projection area not positioned at for clearance Face, and the unit is abandoned, return to step S31.

As it is further preferred that one or more cell projection areas positioned at face for clearance can be another unit Projected area is located at the part in face for clearance.

As it is further preferred that the step S33 is specifically included：

S331, judge whether the unit is quadrilateral units；It is to enter step S332, otherwise enters step S334；

S332, obtain the quadrilateral units four vertex subpoint, and obtain four vertex subpoint arrive described in The distance value of the plane of reference, judges whether the distance value of the subpoint on four vertex to the plane of reference is respectively less than the quadrilateral units Equal to the depth value, it is to judge that the quadrilateral units projected area part is located at face for clearance, and according to the quadrilateral units Adjacent two while midpoint and vertical line at this two, by the dividing elements be multiple units, return to step S31, otherwise Judge whether the distance value of the subpoint on three vertex to the plane of reference is respectively less than equal to the depth to the quadrilateral units Angle value, is, the distance value for acquiring the plane of reference is less than or equal to the corresponding vertex composition of three subpoints of the depth value Triangular element, enter step S333, otherwise abandon the quadrilateral units, return to step S31；

S333, judge whether the area of the triangular element is less than the minimum lookup value, is to judge the triangle list First projected area is located at face for clearance, and the triangular element projected area is run up to cleaning face, and return to step S31, otherwise enters Step S334；

S334, obtain the triangular element three vertex subpoint, and obtain three vertex subpoint arrive described in The distance value of the plane of reference, judges whether the distance value of the subpoint on three vertex to the plane of reference is respectively less than the triangular element Equal to the depth value, it is to judge that the triangular element projected area part is located at cleaning face, and according to the triangular element Adjacent two while midpoint and vertical line at this two, the triangular element is divided into multiple units, return to step S31, Otherwise the triangular element, return to step S31 are abandoned.

Preferably, before the step S4, further include：

Obtain cleaning brush.

As it is further preferred that the step S4 is specifically included：

The cleaning face of cleaning is emulated using cleaning brush.

As it is further preferred that between the acquisition cleaning brush and the cleaning face using cleaning brush emulation cleaning Further include：

The cleaning path of cleaning brush is selected, the cleaning path includes unidirectional cleaning and "the" shape cleaning.

It is another aspect of this invention to provide that a kind of simulator for clearing up body surface is provided, including digital independent mould Block, unit acquisition module, cleaning face acquisition module, cleaning emulation module；

First output terminal of the data read module connects the input terminal of the unit acquisition module, the digital independent Second, third output terminal of module connects first, second input terminal of the cleaning face acquisition module, the unit acquisition module Output terminal connect the 3rd input terminal of the cleaning face acquisition module, described in the output terminal connection of the cleaning face acquisition module Clear up the input terminal of emulation module；First input of the input terminal of the cleaning emulation module as the cleaning emulation module End；

The data read module is used to obtain depth value, divide value and minimum lookup value, chooses the plane of reference, for clearance Face and cleaning area, the cleaning area partially overlap in the view field of body surface with the face for clearance, the ginseng It is plane to examine face, and the face for clearance is the plane or curved surface on body surface；

The unit acquisition module is used to the cleaning area is divided into multiple units according to the divide value, obtains single First vertex projects to the subpoint in face for clearance, and obtains the cell projection to the cell projection area of body surface, described stroke For score value laterally to divide the spacing value of the spacing value of the cleaning area and the longitudinally divided cleaning area, the unit is four Side shape unit or triangular element；

The cleaning face acquisition module is used for according to judging the plane of reference, depth value, minimum lookup value and subpoint Whether cell projection area is located at face for clearance, and obtains cleaning face according to judging result, and the cleaning face is the cleaning area In the part that the view field of body surface overlaps with the face for clearance, the plane of reference is as judging the unit vertex Subpoint whether face for clearance reference；

The cleaning emulation module is used to emulate the cleaning face of cleaning.

Preferably, the cleaning face acquisition module tires out mould including the first judgment module, the second judgment module, cleaning area Block, the 3rd judgment module, unit abandon module；

Threeth input terminal of the first input end of first judgment module as the cleaning face acquisition module, described First input end of the first input end of two judgment modules as the cleaning face acquisition module, the of the 3rd judgment module Second input terminal of one input terminal as the cleaning face acquisition module, the first output terminal connection institute of first judgment module The second input terminal of the second judgment module is stated, the second output terminal connection cleaning area of first judgment module tires out module First input end, the first output terminal connection cleaning area of second judgment module tires out the second input terminal of module, Second output terminal of second judgment module connects the second input terminal of first judgment module, second judgment module The 3rd output terminal connect the second input terminal of the 3rd judgment module, the first output terminal connection of the 3rd judgment module The cleaning area tires out the 3rd input terminal of module, and the second output terminal connection described first of the 3rd judgment module judges mould 3rd input terminal of block, the 3rd output terminal of the 3rd judgment module connect the input terminal that the unit abandons module；It is described Cleaning area tires out output terminal of the output terminal of module as the cleaning face acquisition module；

First judgment module is used to judge whether unit and the acquisition first by the second judgment module not judged Judge signal；

The cleaning area tires out module and is used to judge that signal obtains cleaning face according to described first；

Second judgment module be used for according to described first judge signal judging unit area whether be less than described in most Small lookup value simultaneously obtains the second judgement signal；

The cleaning area tires out module and is additionally operable to judge that cell projection area is run up to cleaning face by signal according to described second；

Described 3rd judges that signal is used to judge that signal, the plane of reference, depth value and subpoint judge according to described second Whether cell projection area partly judges signal positioned at face for clearance and acquisition the 3rd；

The cleaning area tires out module and is additionally operable to judge that cell projection area is located at face for clearance by signal according to the described 3rd Partial to cleaning face；

The unit abandons module and is used to judge that signal abandons unit according to the described 3rd.

As it is further preferred that the 3rd judgment module includes parameter acquisition module, subpoint judgment module, unit Division module；

First, second input of first, second input terminal of the parameter acquisition module as the 3rd judgment module End, the output terminal of the parameter acquisition module connect the input terminal of the subpoint judgment module, the subpoint judgment module The first output terminal connect the input terminal of the dividing elements module, the second output terminal of the subpoint judgment module is as institute The 3rd output terminal of the 3rd judgment module is stated, first, second output terminal of the dividing elements module judges as the described 3rd First, second output terminal of module；

The parameter acquisition module is used for the subpoint for obtaining each vertex of the unit, and obtains the projection on each vertex Distance value of the point to the plane of reference；The parameter acquisition module is additionally operable to obtain depth value；

The subpoint judgment module be used to judging the subpoint on the whether each vertex of the unit to the plane of reference away from It is respectively less than from value and is equal to the depth value, and is obtained subpoint and judge signal；

The unit abandons module and is used to judge that signal abandons unit according to the subpoint；

The dividing elements module be used for according to the subpoint judge signal, unit adjacent two side midpoint with And dividing elements are multiple units by the vertical line on this two sides.

As it is further preferred that the 3rd judgment module includes cell configuration judgment module, quadrilateral units parameter Acquisition module, quadrilateral units subpoint judgment module, quadrilateral units division module, triangular element area judgment module, Triangular element parameter acquisition module, triangular element subpoint judgment module, triangular element division module；

Second input terminal of the input terminal of the cell configuration judgment module as the 3rd judgment module, the unit First output terminal of shape judgment module connects the first input end of the quadrilateral units parameter acquisition module, the unit shape Second output terminal of shape judgment module connects the first input end of the triangular element parameter acquisition module, the quadrangle list First input end of second input terminal of first parameter acquisition module as the 3rd judgment module, the quadrilateral units parameter The output terminal of acquisition module connects the input terminal of the quadrilateral units subpoint judgment module, the quadrilateral units subpoint First output terminal of judgment module connects the input terminal of the quadrilateral units division module, and the quadrilateral units subpoint is sentenced Second output terminal of disconnected module connects the input terminal of the triangular element acquisition module, the triangular element acquisition module The input terminal of the output terminal connection triangular element area judgment module, the first of the triangular element area judgment module Output terminal connects the second input terminal of the triangular element parameter acquisition module, the triangular element parameter acquisition module Output terminal connects the input terminal of the triangular element subpoint judgment module, the triangular element subpoint judgment module First output terminal connects the input terminal of the triangular element division module, and the of the quadrilateral units subpoint judgment module The 3rd output of three output terminals, the second output terminal of triangular element subpoint judgment module as the 3rd judgment module End, the output terminal of the quadrilateral units division module, the second output terminal of triangular element area judgment module, triangle list Second output terminal of the output terminal of first division module as the 3rd judgment module, the triangular element area judge mould First output terminal of 3rd output terminal of block as the 3rd judgment module；

The cell configuration judgment module is used for whether judging unit to be quadrilateral units and obtaining unit shape judges letter Number；

The quadrilateral units parameter acquisition module is used to judge that signal obtains the quadrangle list according to the cell configuration The subpoint on four vertex of member, and the subpoint on four vertex is obtained to the distance value of the plane of reference；

The quadrilateral units subpoint judgment module is used to judge whether the subpoint on four vertex arrives quadrilateral units The distance value of the plane of reference, which is respectively less than, is equal to the depth value, and obtains the first quadrilateral units subpoint and judge signal；

The quadrilateral units division module is used to judge signal, quadrangle according to the first quadrilateral units subpoint Adjacent two of unit while midpoint and vertical line at this two, quadrilateral units are divided into multiple units；

The quadrilateral units subpoint judgment module is additionally operable to judge to believe according to the first quadrilateral units subpoint Number judge quadrilateral units whether the distance value of the subpoint on three vertex to the plane of reference be respectively less than to be equal to the depth Angle value, and obtain the second quadrilateral units subpoint and judge signal；

The unit abandons module and is additionally operable to judge that signal abandons unit according to the second quadrilateral units subpoint；

The triangular element acquisition module is used to judge that signal acquires according to the second quadrilateral units subpoint The distance value of the plane of reference is less than or equal to the triangular element that the corresponding vertex of three subpoints of the depth value is formed；

The triangular element area judgment module is used to judge whether the area of triangular element is looked into less than the minimum Value is looked for, and obtains triangular element area and judges signal；

The triangular element parameter acquisition module is used to judge signal or the triangle list according to the cell configuration Elemental area judges that signal obtains the subpoint on three vertex of triangular element, and obtains the subpoint on three vertex to the ginseng Examine the distance value in face；

The cleaning area tires out module and is additionally operable to judge that signal accumulates cell projection area according to the triangular element area Tire out cleaning face；

The triangular element subpoint judgment module is used to judge whether the subpoint on three vertex arrives triangular element The distance value of the plane of reference, which is respectively less than, is equal to the depth value, and obtains triangular element subpoint and judge signal；

The triangular element division module is used to judge signal, triangular element according to the triangular element subpoint Adjacent two while midpoint and vertical line at this two, the triangular element is divided into multiple units；

The unit abandons module and is additionally operable to judge that signal abandons unit according to the triangular element subpoint.

Preferably, the data read module is additionally operable to obtain cleaning brush, and the cleaning emulation module is also used for clearly Reason brush emulation cleans cleaning face.

Preferably, the simulator of the cleaning body surface further includes cleaning path selection module, the digital independent The input terminal of the 4th output terminal connection cleaning path selection module of module, the output terminal of the cleaning path selection module Connect the second input terminal of the cleaning emulation module；The cleaning path selection module is used for the cleaning road for selecting cleaning brush Footpath, the cleaning path include unidirectional cleaning and "the" shape cleaning.

In general, by the contemplated above technical scheme of the present invention compared with prior art, since the present invention realizes The activity of analog simulation cleaning body surface, can obtain following beneficial effect.

1st, it is of the invention by the way that cleaning area is divided into multiple units and for clearance by whether being located to cell projection area The judgement in face, which obtains, needs the cleaning face that cleans, it is achieved thereby that emulation cleans the activity in cleaning face, when needing to three-dimensional body Clean-up activities when being demonstrated, demonstration infinitely can be realized by the present invention, save substantial amounts of manpower and time；

2nd, the present invention is located at face for clearance by judging that a cell projection area is entirely located in face for clearance or part, Treated so as to fulfill the cell projection area and part that are fully located at face for clearance are located at positioned at the cell projection area in face for clearance The partial in cleaning face is to cleaning face, so as to ensure that the accuracy according to cleaning area, face for clearance selection cleaning face；

3rd, the present invention is by positioned at the dividing elements in face for clearance be multiple units by part, then after rejudging and dividing The cell projection area of unit is entirely located in face for clearance or part and is located at face for clearance, improves cleaning face positioned at for clearance The probability in face so that the activity for cleaning cleaning face more they tends to actualization.

Brief description of the drawings

Fig. 1 is the flow chart of the emulation mode of present invention cleaning body surface；

Fig. 2 is the unidirectional cleaning path schematic diagram of cleaning brush of the present invention；

Fig. 3 is the "the" shape cleaning path schematic diagram of cleaning brush of the present invention；

Fig. 4 is the parameter setting schematic diagram in the specific embodiment of the invention；

Fig. 5 is the structure chart of the simulator of present invention cleaning body surface.

Embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below Not forming conflict each other can be mutually combined.

The present invention provides a kind of emulation mode for clearing up body surface, as shown in Figure 1, comprising the following steps：

S1, obtain depth value, divide value and minimum lookup value, chooses the plane of reference, face for clearance and cleaning area, institute The view field that cleaning area is stated in body surface partially overlaps with the face for clearance, and the plane of reference is plane, described to treat Cleaning face is the plane or curved surface on body surface；

S2, according to the divide value be divided into multiple units by the cleaning area, obtaining unit vertex project to treats it is clear The subpoint in reason face, and obtain the cell projection to the cell projection area of body surface, the divide value are horizontal division institute The spacing value of cleaning area and the spacing value of the longitudinally divided cleaning area are stated, the unit is quadrilateral units or triangle Unit；

S3, judge whether the cell projection area is located at according to the plane of reference, depth value, minimum lookup value and subpoint and treat Cleaning face, and cleaning face is obtained according to judging result, the cleaning face is view field of the cleaning area in body surface The part overlapped with the face for clearance, whether the plane of reference is as judging the subpoint on the unit vertex in face for clearance Reference；

S4, emulation clean cleaning face.

The depth value, divide value, minimum lookup value, the plane of reference, face for clearance and cleaning area can be as needed The body surface of cleaning directly determines that the plane of reference can be selected from body surface, can also select other faces, can such as incite somebody to action As the face that refers to, the face for clearance is the one or more on body surface in the section of an arcwall face on body surface Face, a face in face for clearance can also be used as the face that refer to, the shape of the cleaning area can for quadrangle, circle or its His arbitrary shape, the selection of the cleaning area is related with the face for clearance of selection, i.e., described cleaning area is in body surface View field partially overlaps with the face for clearance；The size of the depth value is used to judge throwing of the cleaning area in body surface Whether each unit in shadow zone belongs to face for clearance, if belonging to face for clearance, which belongs to cleaning face, criterion It is to judge whether distance of the cleaning area on the vertex of each unit of the projected area of body surface to the plane of reference is less than or equal to institute Depth value is stated, if less than equal to the depth value, then the unit belongs to face for clearance, i.e. the unit belongs to the thing that needs are cleared up Body surface face, is otherwise not belonging to need the body surface cleared up, the divide value is multiple for the cleaning area to be divided into Unit, the size of the minimum lookup value are to be used to judge whether a unit has been divided into minimum, i.e., minimum lookup value is For judging whether a unit can continue to divide.

The cleaning area is divided into multiple units according to the divide value to be specifically described as：With straight line to described Cleaning area progress is horizontal and vertical to be divided into multiple units, and the distance between adjacent two parallel lines are worth equal, phase The distance between adjacent two parallel lines value is divide value, for cleaning area marginal portion can by divide straight line with it is clear The line of the intersection point of edges of regions and the irregular quadrilateral of straight line composition or triangle sets are managed into the removing edge of cleaning area Part be made of square, so, the unit is by quadrilateral units or triangular element.

Before the step S4, it can also include：Obtain cleaning brush；The size of the cleaning brush can be according to clearing zone The size in domain determines.

The step S4 can be：The cleaning face of cleaning is emulated using cleaning brush.

It can also include between the acquisition cleaning brush and the step S4：Select the cleaning path of cleaning brush；Such as Shown in Fig. 2 and Fig. 3, the cleaning path of the cleaning brush can be unidirectional cleaning or "the" shape cleaning.

The step S3 includes：

S31, determine whether to be not carried out the unit of step S32, is to enter step S32, otherwise enters step S34；

S32, choose any one unit for being judged to being not carried out step S32, judges whether the area of the unit is less than institute Minimum lookup value is stated, is to judge that the cell projection area is located at face for clearance, and the cell projection area is run up into cleaning face, is returned Step S31 is returned, otherwise enters step S33；

S33, according to the plane of reference, depth value and subpoint judge whether the cell projection area is partly located at face for clearance, It is to obtain the part that the cell projection area is located at face for clearance, and the cell projection area is located to the partial in face for clearance To cleaning face, return to step S31；Otherwise the unit, return to step S31 are abandoned；

S34, obtain cleaning face.

The step S33 is specifically included：

The subpoint on each vertex of the unit is obtained, and obtains the subpoint on each vertex to the distance of the plane of reference Value, judges that the distance value of subpoint to the plane of reference on the whether each vertex of the unit is respectively less than and is equal to the depth value, be Then judge that the cell projection area part is located at face for clearance, and according to the midpoint on adjacent two side of the unit and this two The dividing elements are multiple units by the vertical line on side, and return to step S31, otherwise judges the cell projection area not positioned at for clearance Face, and the unit is abandoned, return to step S31.

The step S33 is specifically included：

S331, judge whether the unit is quadrilateral units；It is to enter step S332, otherwise enters step S334；

S332, obtain the quadrilateral units four vertex subpoint, and obtain four vertex subpoint arrive described in The distance value of the plane of reference, judges whether the distance value of the subpoint on four vertex to the plane of reference is respectively less than the quadrilateral units Equal to the depth value, it is to judge that the quadrilateral units projected area part is located at face for clearance, and according to the quadrilateral units Adjacent two while midpoint and vertical line at this two, by the dividing elements be multiple units, return to step S31, otherwise Judge whether the distance value of the subpoint on three vertex to the plane of reference is respectively less than equal to the depth to the quadrilateral units Angle value, is, the distance value for acquiring the plane of reference is less than or equal to the corresponding vertex composition of three subpoints of the depth value Triangular element, enter step S333, otherwise abandon the quadrilateral units, return to step S31；

S333, judge whether the area of the triangular element is less than the minimum lookup value, is to judge the triangle list First projected area is located at face for clearance, and the triangular element projected area is run up to cleaning face, and return to step S31, otherwise enters Step S334；

S334, obtain the triangular element three vertex subpoint, and obtain three vertex subpoint arrive described in The distance value of the plane of reference, judges whether the distance value of the subpoint on three vertex to the plane of reference is respectively less than the triangular element Equal to the depth value, it is to judge that the triangular element projected area part is located at cleaning face, and according to the triangular element Adjacent two while midpoint and vertical line at this two, the triangular element is divided into multiple units, return to step S31, Otherwise the triangular element, return to step S31 are abandoned.

In a specific embodiment of the present invention, the emulation mode of the cleaning body surface, specifically includes following steps：

One A1, selection object, depth value, divide value, minimum lookup value, cleaning brush, selection cleaning are obtained according to object The cleaning path of brush, selects the plane of reference, face for clearance, and selects cleaning area according to the face for clearance；In the tool of the present invention In body embodiment, square of the cleaning area for 10 unit of the length of side can be selected, as shown in figure 4, the cleaning area of selection For a rectangle for framing object left-hand component, the face for clearance of selection is three faces of object left-hand component, including left lateral The face of at the upper inferior horn divided and center section, it is the face where trunk to select the plane of reference, obtains cleaning brush and is It is 20mm to set brush width, and it is that setting initial size is 10 pixels to obtain divide value, obtains minimum lookup value and is It is 2 pixels to set minimum seeking scope, and it is 2mm to obtain depth value and as set the absolute value of reference depth scope, selection cleaning The cleaning path of brush is that selection brush types are unidirectional, that is to say, that the cleaning path of selection is unidirectional cleaning；

A2, according to divide value be divided into multiple units by the cleaning area；In a specific embodiment of the present invention, can be with It is 3 units to select divide value, then it is by the length of side to be divided into the upper left corner according to the square that the length of side can be 10 units by divide value The length of side for the 9 small square composition of 3 units is the big square of 9 units, and it by a length of 3 unit, width is 1 unit that the upper right corner, which is, 3 rectangles composition a length of 9 unit, width be 1 unit composition rectangle, the lower left corner be by a length of 3 unit, 3 that width is 1 unit A length of 9 unit of a rectangle composition, the rectangle that width is 1 unit composition, the lower right corner is the square that the length of side is 1 unit；

A3, obtain the most upper left corner a length of side be 3 units unit, judge the unit area whether be less than it is described most Small lookup value, if less than the minimum lookup value, the cell projection area of the unit is located at face for clearance, and by the cell projection Area runs up to cleaning face, then obtains next unit of the unit, until directly obtaining cleaning after all unit judges Face, the cleaning face of cleaning is emulated using cleaning brush；If the area for wherein having a unit is more than or equal to the minimum lookup value, Whether the depth can be less than or equal to by the distance value of subpoint to the plane of reference on four vertex for judging the unit Value, being then can be according to the midpoint of the unit adjacent two edges and to cross the vertical line at the midpoint by the dividing elements be four lists Member, will the square be divided into four small squares, then judge this each small square area whether be less than it is described most Small lookup value, and small square is handled according to judging result, the otherwise subpoint on the three of judging unit vertex to the reference Whether the distance value in face is less than or equal to the depth value, is to retain the triangle that these three vertex surround, and judge the triangle Whether the area of shape is less than the minimum lookup value, is that the corresponding cell projection area of the triangular element is run up to cleaning Face, otherwise divides the triangle according to the vertical line at the midpoint of triangular element adjacent two edges and midpoint excessively, may It is divided into two triangles and a quadrangle, it is also possible to be divided into three triangles, and the unit after division is distinguished Processing；If the unit that area is more than or equal to the minimum lookup value only has two vertex a vertex or not have either The distance value of the subpoint on vertex to the plane of reference is less than or equal to the depth value, then judges that the cell projection area of the unit is not located at Face for clearance, and abandon the unit.

After all units all complete judgement, cleaning face is directly obtained, and cleaning face is cleaned using cleaning brush, completes emulation Activity.

Correspondingly, the present invention provides a kind of simulator for clearing up body surface, as shown in figure 5, including digital independent Module, unit acquisition module, cleaning face acquisition module, cleaning emulation module.

First output terminal of the data read module connects the input terminal of the unit acquisition module, the digital independent Second, third output terminal of module connects first, second input terminal of the cleaning face acquisition module, the unit acquisition module Output terminal connect the 3rd input terminal of the cleaning face acquisition module, described in the output terminal connection of the cleaning face acquisition module Clear up the input terminal of emulation module.

The data read module is used to obtain depth value, divide value and minimum lookup value, chooses the plane of reference, for clearance Face and cleaning area, the cleaning area partially overlap in the view field of body surface with the face for clearance, the ginseng It is plane to examine face, and the face for clearance is the plane or curved surface on body surface.

The unit acquisition module is used to the cleaning area is divided into multiple units according to the divide value, obtains single First vertex projects to the subpoint in face for clearance, and obtains the cell projection to the cell projection area of body surface, described stroke For score value laterally to divide the spacing value of the spacing value of the cleaning area and the longitudinally divided cleaning area, the unit is four Side shape unit or triangular element.

The cleaning face acquisition module is used for according to judging the plane of reference, depth value, minimum lookup value and subpoint Whether cell projection area is located at face for clearance, and obtains cleaning face according to judging result, and the cleaning face is the cleaning area In the part that the view field of body surface overlaps with the face for clearance, the plane of reference is as judging the unit vertex Subpoint whether face for clearance reference；

The cleaning emulation module is used to emulate the cleaning face of cleaning.

The data read module obtains depth value, divide value and minimum lookup value, choose the plane of reference, face for clearance with And the cleaning area is divided into multiple units by cleaning area, the unit acquisition module according to the divide value, is obtained single First vertex projects to the subpoint in face for clearance, and obtains the cell projection to the cell projection area of body surface, described clear Reason face acquisition module judges whether the cell projection area is located at according to the plane of reference, depth value, minimum lookup value and subpoint Face for clearance, and cleaning face is obtained according to judging result, the cleaning emulation module emulation cleans cleaning face.

The cleaning face acquisition module includes the first judgment module, the second judgment module, cleaning area and tires out module, the 3rd sentences Disconnected module, unit abandon module.

Threeth input terminal of the first input end of first judgment module as the cleaning face acquisition module, described First input end of the first input end of two judgment modules as the cleaning face acquisition module, the of the 3rd judgment module Second input terminal of one input terminal as the cleaning face acquisition module, the first output terminal connection institute of first judgment module The second input terminal of the second judgment module is stated, the second output terminal connection cleaning area of first judgment module tires out module First input end, the first output terminal connection cleaning area of second judgment module tires out the second input terminal of module, Second output terminal of second judgment module connects the second input terminal of first judgment module, second judgment module The 3rd output terminal connect the second input terminal of the 3rd judgment module, the first output terminal connection of the 3rd judgment module The cleaning area tires out the 3rd input terminal of module, and the second output terminal connection described first of the 3rd judgment module judges mould 3rd input terminal of block, the 3rd output terminal of the 3rd judgment module connect the input terminal that the unit abandons module；It is described Cleaning area tires out output terminal of the output terminal of module as the cleaning face acquisition module.

First judgment module is used to judge whether unit and the acquisition first by the second judgment module not judged Judge signal；Described first judges that signal includes the first affirmative signal and the first negative acknowledge character (NAK).

The cleaning area tires out module and is used to judge that signal obtains cleaning face according to described first；I.e. described cleaning area tires out Module is used to obtain cleaning face according to the first negative acknowledge character (NAK).

Second judgment module be used for according to described first judge signal judging unit area whether be less than described in most Small lookup value simultaneously obtains the second judgement signal；I.e. described second judgment module is used for according to the described first affirmative signal judging unit Area whether be less than the minimum lookup value and obtain the second judgement signal；Described second judges that signal includes second and believes certainly Number and the second negative acknowledge character (NAK).

The cleaning area tires out module and is additionally operable to judge that cell projection area is run up to cleaning face by signal according to described second； I.e. described cleaning area tires out module and is additionally operable to that cell projection area is run up to cleaning face according to the described second affirmative signal.

Described 3rd judges that signal is used to judge that signal, the plane of reference, depth value and subpoint judge according to described second Whether cell projection area partly judges signal positioned at face for clearance and acquisition the 3rd；I.e. described 3rd judges that signal is used for according to institute State whether the second negative acknowledge character (NAK), the plane of reference, depth value and subpoint judging unit projected area are partly located at face for clearance and obtain Obtain the 3rd and judge signal；Described 3rd judges that signal includes the 3rd affirmative signal and the 3rd negative acknowledge character (NAK).

The cleaning area tires out module and is additionally operable to judge that cell projection area is located at face for clearance by signal according to the described 3rd Partial to cleaning face；I.e. described cleaning area tires out module and is additionally operable to affirm signal by cell projection area according to the described 3rd Partial positioned at face for clearance is to cleaning face.

The unit abandons module and is used to judge that signal abandons unit according to the described 3rd；I.e. described unit abandons module use In abandoning unit according to the 3rd negative acknowledge character (NAK).

First judgment module is additionally operable to judge signal according to described second or the described 3rd judges that signal judges whether In the presence of not by unit that the second judgment module judges and obtaining and first judge signal；Described first judges that signal includes the first affirmative Signal and the first negative acknowledge character (NAK)；I.e. described first judgment module is additionally operable to according to the described second affirmative signal or the 3rd affirmative Signal judges whether not judge signal by the unit of the second judgment module judgement and acquisition first；Described first judges signal Including the first affirmative signal and the first negative acknowledge character (NAK).

First judgment module judges whether the unit not judged by the second judgment module, otherwise the cleaning face Accumulate module and obtain cleaning face, be then to choose a unit not judged by the second judgment module, second judgment module is sentenced Whether the area of the disconnected unit is less than the minimum lookup value, is, the cleaning area tires out module and runs up to cell projection area Cleaning face, and the first judgment module judges whether not by the unit of the second judgment module judgement and obtains the first judgement letter again Number；Otherwise the described 3rd judges whether signal is partly located at according to the plane of reference, depth value and subpoint judging unit projected area Face for clearance, is, the cleaning area tires out module and the cell projection area is located at the partial in face for clearance to cleaning face, And first judgment module judge whether again not by unit that the second judgment module judges and obtain and first judge signal, otherwise The unit abandons module and abandons the unit, and the first judgment module judges whether what is do not judged by the second judgment module again Unit simultaneously obtains and first judges signal.

3rd judgment module includes parameter acquisition module, subpoint judgment module, dividing elements module.

First, second input of first, second input terminal of the parameter acquisition module as the 3rd judgment module End, the output terminal of the parameter acquisition module connect the input terminal of the subpoint judgment module, the subpoint judgment module The first output terminal connect the input terminal of the dividing elements module, the second output terminal of the subpoint judgment module is as institute The 3rd output terminal of the 3rd judgment module is stated, first, second output terminal of the dividing elements module judges as the described 3rd First, second output terminal of module.

The parameter acquisition module is used for the subpoint for obtaining each vertex of the unit, and obtains the projection on each vertex Distance value of the point to the plane of reference；The parameter acquisition module is additionally operable to obtain depth value；

The parameter acquisition module is according to the second negative acknowledge character (NAK) of the second judgment module and the output of data read module The subpoint on each vertex of the unit is obtained, and obtains the subpoint on each vertex to the distance value of the plane of reference；It is described Parameter acquisition module is additionally operable to obtain depth value.

The subpoint judgment module be used to judging the subpoint on the whether each vertex of the unit to the plane of reference away from It is respectively less than from value and is equal to the depth value, and is obtained subpoint and judge signal；The subpoint judges that signal includes the 4th affirmative Signal and the 4th negative acknowledge character (NAK).

The unit abandons module and is used to judge that signal abandons unit according to the subpoint；I.e. described unit abandons module For abandoning unit according to the 4th negative acknowledge character (NAK).

The dividing elements module be used for according to the subpoint judge signal, unit adjacent two side midpoint with And dividing elements are multiple units by the vertical line on this two sides；I.e. described dividing elements module is used to certainly believe according to the described 4th Number, adjacent two of unit while midpoint and vertical line at this two, by dividing elements be multiple units.

The dividing elements module is connected with first judgment module, and first judgment module may determine that unit is drawn Judge to believe with the presence or absence of the unit and acquisition first that by the second judgment module are not judged in multiple units that sub-module division obtains Number.And dividing elements module is tired out module with the cleaning area and is connected, cleaning area tires out module can be with accumulative element division module Cell projection area in the multiple units obtained is divided to obtain more in the cell projection area in face for clearance, dividing elements Module Division Cell projection area may be clear positioned at treating for the cell projection area of another unit in the cell projection area in face for clearance in a unit The part in reason face.

3rd judgment module includes cell configuration judgment module, quadrilateral units parameter acquisition module, quadrangle list First subpoint judgment module, quadrilateral units division module, triangular element area judgment module, triangular element parameter acquiring Module, triangular element subpoint judgment module, triangular element division module.

Second input terminal of the input terminal of the cell configuration judgment module as the 3rd judgment module, the unit First output terminal of shape judgment module connects the first input end of the quadrilateral units parameter acquisition module, the unit shape Second output terminal of shape judgment module connects the first input end of the triangular element parameter acquisition module, the quadrangle list First input end of second input terminal of first parameter acquisition module as the 3rd judgment module, the quadrilateral units parameter The output terminal of acquisition module connects the input terminal of the quadrilateral units subpoint judgment module, the quadrilateral units subpoint First output terminal of judgment module connects the input terminal of the quadrilateral units division module, and the quadrilateral units subpoint is sentenced Second output terminal of disconnected module connects the input terminal of the triangular element acquisition module, the triangular element acquisition module The input terminal of the output terminal connection triangular element area judgment module, the first of the triangular element area judgment module Output terminal connects the second input terminal of the triangular element parameter acquisition module, the triangular element parameter acquisition module Output terminal connects the input terminal of the triangular element subpoint judgment module, the triangular element subpoint judgment module First output terminal connects the input terminal of the triangular element division module, and the of the quadrilateral units subpoint judgment module The 3rd output of three output terminals, the second output terminal of triangular element subpoint judgment module as the 3rd judgment module End, the output terminal of the quadrilateral units division module, the second output terminal of triangular element area judgment module, triangle list Second output terminal of the output terminal of first division module as the 3rd judgment module, the triangular element area judge mould First output terminal of 3rd output terminal of block as the 3rd judgment module.

The cell configuration judgment module is used for whether judging unit to be quadrilateral units and obtaining unit shape judges letter Number；The cell configuration judges that signal includes the 5th affirmative signal and the 5th negative acknowledge character (NAK).

The quadrilateral units parameter acquisition module is used to judge that signal obtains the quadrangle list according to the cell configuration The subpoint on four vertex of member, and the subpoint on four vertex is obtained to the distance value of the plane of reference；I.e. described quadrangle Cell parameters acquisition module is used for the subpoint that four vertex of the quadrilateral units are obtained according to the described 5th affirmative signal, and The subpoint on four vertex is obtained to the distance value of the plane of reference.

The quadrilateral units subpoint judgment module is used to judge whether the subpoint on four vertex arrives quadrilateral units The distance value of the plane of reference, which is respectively less than, is equal to the depth value, and obtains the first quadrilateral units subpoint and judge signal；Institute State the first quadrilateral units subpoint and judge that signal includes the 6th affirmative signal and the 6th negative acknowledge character (NAK).

The quadrilateral units division module is used to judge signal, quadrangle according to the first quadrilateral units subpoint Adjacent two of unit while midpoint and vertical line at this two, quadrilateral units are divided into multiple units；I.e. described four While shape dividing elements module be used for according to the described 6th affirmative signal, quadrilateral units adjacent two article while midpoint and this Quadrilateral units are divided into multiple units by the vertical line on two sides.

The quadrilateral units division module is connected with first judgment module, therefore first judgment module is additionally operable to Judge to whether there is in multiple units that the quadrilateral units division module division obtains and do not sentenced by second judgment module Disconnected unit and acquisition first judges signal.

The quadrilateral units subpoint judgment module is additionally operable to judge to believe according to the first quadrilateral units subpoint Number judge quadrilateral units whether the distance value of the subpoint on three vertex to the plane of reference be respectively less than to be equal to the depth Angle value, and obtain the second quadrilateral units subpoint and judge signal；I.e. described quadrilateral units subpoint judgment module is additionally operable to Judge whether the distance value of the subpoint on three vertex to the plane of reference is quadrilateral units according to the 6th negative acknowledge character (NAK) No be respectively less than is equal to the depth value, and obtains the second quadrilateral units subpoint and judge signal；Second quadrilateral units Subpoint judges that signal includes the 7th affirmative signal and the 7th negative acknowledge character (NAK).

The quadrilateral units subpoint judgment module is abandoned module with the unit and is connected, and the unit abandons module also For judging that signal abandons unit according to the second quadrilateral units subpoint；I.e. described unit abandons module and is additionally operable to basis 7th negative acknowledge character (NAK) abandons unit.

The triangular element acquisition module is used to judge that signal acquires according to the second quadrilateral units subpoint The distance value of the plane of reference is less than or equal to the triangular element that the corresponding vertex of three subpoints of the depth value is formed；I.e. The distance value that the triangular element acquisition module is used to acquire the plane of reference according to the 7th affirmative signal is less than or equal to institute State the triangular element that the corresponding vertex of three subpoints of depth value is formed.

The triangular element area judgment module is used to judge whether the area of triangular element is looked into less than the minimum Value is looked for, and obtains triangular element area and judges signal；The triangular element area judges that signal includes the 8th affirmative signal With the 8th negative acknowledge character (NAK).

The triangular element parameter acquisition module is used to judge signal or the triangle list according to the cell configuration Elemental area judges that signal obtains the subpoint on three vertex of triangular element, and obtains the subpoint on three vertex to the ginseng Examine the distance value in face；I.e. described triangular element parameter acquisition module is used for according to the 5th negative acknowledge character (NAK) or described 8th no Determine signal obtain triangular element three vertex subpoint, and obtain three vertex subpoint to the plane of reference away from From value.

The triangular element area judgment module tires out module with the cleaning area and is connected, therefore the cleaning area tires out mould Block is additionally operable to judge that cell projection area is run up to cleaning face by signal according to the triangular element area；I.e. described cleaning area Tired module is additionally operable to that cell projection area is run up to cleaning face according to the described 8th affirmative signal, and the cleaning area tires out module The cell projection area of accumulation is probably that the cell projection area of another unit is located at the part in face for clearance.

The triangular element area judgment module is connected with first judgment module, therefore when the cleaning area tires out mould After root tuber judges that cell projection area is run up to cleaning face by signal according to the triangular element area, the first judgment module also can root Judge that signal judges whether unit and the acquisition first not judged by the second judgment module according to the triangular element area Judge signal.

The triangular element subpoint judgment module is used to judge whether the subpoint on three vertex arrives triangular element The distance value of the plane of reference, which is respectively less than, is equal to the depth value, and obtains triangular element subpoint and judge signal；Described three Corner shaped elements subpoint judges that signal includes the 9th affirmative signal and the tenth affirmative signal.

The triangular element division module is used to judge signal, triangular element according to the triangular element subpoint Adjacent two while midpoint and vertical line at this two, the triangular element is divided into multiple units；I.e. described triangle Shape dividing elements module be used for according to the described 9th affirmative signal, triangular element adjacent two article side midpoint and this two The triangular element is divided into multiple units by the vertical line on bar side.

The triangular element division module is connected with first judgment module, therefore first judgment module is additionally operable to Judge to whether there is in multiple units that the triangular element division module division obtains and do not sentenced by second judgment module Disconnected unit and acquisition first judges signal.

The triangular element subpoint judgment module is abandoned module with the unit and is connected, therefore the unit abandons module It is additionally operable to judge that signal abandons unit according to the triangular element subpoint；I.e. described unit is abandoned module and is additionally operable to according to institute State the 9th negative acknowledge character (NAK) and abandon unit.

As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., should all include Within protection scope of the present invention.

Claims (8)

1. a kind of emulation mode for clearing up body surface, it is characterised in that comprise the following steps：

S1, obtain depth value, divide value and minimum lookup value, chooses the plane of reference, face for clearance and cleaning area, described clear Reason region partially overlaps in the view field of body surface with the face for clearance, and the plane of reference is plane, described for clearance Face is the plane or curved surface on body surface；

S2, according to the divide value be divided into multiple units by the cleaning area, and obtaining unit vertex projects to face for clearance Subpoint, and obtain the cell projection to the cell projection area of body surface, the divide value is described clear for laterally division The spacing value in region and the spacing value of the longitudinally divided cleaning area are managed, the unit is quadrilateral units or triangle list Member；

S3, according to the plane of reference, depth value, minimum lookup value and subpoint to judge whether the cell projection area is located at for clearance Face, and cleaning face is obtained according to judging result, the cleaning face is the cleaning area in the view field of body surface and institute State the part that face for clearance overlaps, the plane of reference as judge the unit vertex subpoint whether face for clearance ginseng According to；

S4, emulation clean cleaning face.

2. the emulation mode of cleaning body surface as claimed in claim 1, it is characterised in that the step S3 includes：

S31, determine whether to be not carried out the unit of step S32, is to enter step S32, otherwise enters step S34；

S32, choose any one unit for being judged to being not carried out step S32, judge the unit area whether be less than it is described most Small lookup value, is to judge that the cell projection area is located at face for clearance, and the cell projection area is run up to cleaning face, returns to step Rapid S31, otherwise enters step S33；

S33, according to the plane of reference, depth value and subpoint judge whether the cell projection area is partly located at face for clearance, It is to obtain the part that the cell projection area is located at face for clearance, and the cell projection area is located to the partial in face for clearance To cleaning face, return to step S31；Otherwise the unit, return to step S31 are abandoned；

S34, obtain cleaning face.

3. the emulation mode of cleaning body surface as claimed in claim 2, it is characterised in that the step S33 is specifically included：

The subpoint on each vertex of the unit is obtained, and obtains the subpoint on each vertex to the distance value of the plane of reference, Judge that the distance value of subpoint to the plane of reference on the whether each vertex of the unit is respectively less than and be equal to the depth value, be to sentence The fixed cell projection area part is located at face for clearance, and according to adjacent two of the unit while midpoint and at this two, The dividing elements are multiple units by vertical line, and return to step S31, otherwise judges that the cell projection area is not located at face for clearance, and Abandon the unit, return to step S31.

4. the emulation mode of cleaning body surface as claimed in claim 2, it is characterised in that the step S33 is specifically included：

S331, judge whether the unit is quadrilateral units；It is to enter step S332, otherwise enters step S334；

S332, obtain the quadrilateral units four vertex subpoint, and obtain the subpoint on four vertex to the reference The distance value in face, judges whether the distance value of the subpoint on four vertex to the plane of reference is respectively less than equal to the quadrilateral units The depth value, is to judge that the quadrilateral units projected area part is located at face for clearance, and according to the phase of the quadrilateral units Adjacent two while midpoint and vertical line at this two, by the dividing elements be multiple units, return to step S31, otherwise judges Whether whether the distance value of the subpoint on three vertex to the plane of reference is respectively less than equal to the depth value to the quadrilateral units, It is the three of the distance value vertex composition corresponding less than or equal to three subpoints of the depth value for acquiring the plane of reference Corner shaped elements, enter step S333, otherwise abandon the quadrilateral units, return to step S31；

S333, judge whether the area of the triangular element is less than the minimum lookup value, is to judge that the triangular element is thrown Shadow zone is located at face for clearance, and the triangular element projected area is run up to cleaning face, and return to step S31, otherwise enters step S334；

S334, obtain the triangular element three vertex subpoint, and obtain the subpoint on three vertex to the reference The distance value in face, judges whether the distance value of the subpoint on three vertex to the plane of reference is respectively less than equal to the triangular element The depth value, is to judge that the triangular element projected area part is located at cleaning face, and according to the adjacent of the triangular element Two while midpoint and vertical line at this two, the triangular element is divided into multiple units, return to step S31, otherwise Abandon the triangular element, return to step S31.

5. a kind of simulator for clearing up body surface, it is characterised in that including data read module, unit acquisition module, clear Reason face acquisition module, cleaning emulation module；

First output terminal of the data read module connects the input terminal of the unit acquisition module, the data read module Second, third output terminal connect first, second input terminal of the cleaning face acquisition module, the unit acquisition module it is defeated Outlet connects the 3rd input terminal of the cleaning face acquisition module, and the output terminal of the cleaning face acquisition module connects the cleaning The input terminal of emulation module；

The data read module is used to obtain depth value, divide value and minimum lookup value, choose the plane of reference, face for clearance with And cleaning area, the cleaning area partially overlap in the view field of body surface with the face for clearance, the plane of reference For plane, the face for clearance is the plane or curved surface on body surface；

The unit acquisition module is used to the cleaning area is divided into multiple units, obtaining unit top according to the divide value Spot projection and obtains the cell projection to the cell projection area of body surface, the divide value to the subpoint in face for clearance Laterally to divide the spacing value of the spacing value of the cleaning area and the longitudinally divided cleaning area, the unit is quadrangle Unit or triangular element；

The cleaning face acquisition module is used to judge the unit according to the plane of reference, depth value, minimum lookup value and subpoint Whether projected area is located at face for clearance, and obtains cleaning face according to judging result, and the cleaning face is the cleaning area in thing The part that the view field in body surface face overlaps with the face for clearance, the plane of reference is as the projection for judging the unit vertex Point whether face for clearance reference；

The cleaning emulation module is used to emulate the cleaning face of cleaning.

6. the simulator of cleaning body surface as claimed in claim 5, it is characterised in that the cleaning face acquisition module bag The first judgment module, the second judgment module, cleaning area is included to tire out module, the 3rd judgment module, unit and abandon module；

Threeth input terminal of the first input end of first judgment module as the cleaning face acquisition module, described second sentences First input end of the first input end of disconnected module as the cleaning face acquisition module, the first of the 3rd judgment module are defeated Enter second input terminal of the end as the cleaning face acquisition module, the first output terminal of first judgment module connects described the Second input terminal of two judgment modules, the second output terminal connection cleaning area of first judgment module tire out the of module One input terminal, the first output terminal connection cleaning area of second judgment module tires out the second input terminal of module, described Second output terminal of the second judgment module connects the second input terminal of first judgment module, and the of second judgment module Three output terminals connect the second input terminal of the 3rd judgment module, described in the first output terminal connection of the 3rd judgment module Cleaning area tires out the 3rd input terminal of module, and the second output terminal of the 3rd judgment module connects first judgment module 3rd input terminal, the 3rd output terminal of the 3rd judgment module connect the input terminal that the unit abandons module；The cleaning Area tires out output terminal of the output terminal of module as the cleaning face acquisition module；

First judgment module is used to judge whether unit and the judgement of acquisition first by the second judgment module not judged Signal；

The cleaning area tires out module and is used to judge that signal obtains cleaning face according to described first；

Second judgment module is used to judge whether the area of signal judging unit is looked into less than the minimum according to described first Look for value and obtain second and judge signal；

The cleaning area tires out module and is additionally operable to judge that cell projection area is run up to cleaning face by signal according to described second；

Described 3rd judges that signal is used to judge signal, the plane of reference, depth value and subpoint judging unit according to described second Whether projected area partly judges signal positioned at face for clearance and acquisition the 3rd；

The cleaning area tires out module and is additionally operable to judge that cell projection area is located at the portion in face for clearance by signal according to the described 3rd Divide and run up to cleaning face；

The unit abandons module and is used to judge that signal abandons unit according to the described 3rd.

7. the simulator of cleaning body surface as claimed in claim 6, it is characterised in that the 3rd judgment module includes Parameter acquisition module, subpoint judgment module, dividing elements module；

First, second input terminal of first, second input terminal of the parameter acquisition module as the 3rd judgment module, institute The output terminal for stating parameter acquisition module connects the input terminal of the subpoint judgment module, and the first of the subpoint judgment module Output terminal connects the input terminal of the dividing elements module, and the second output terminal of the subpoint judgment module is as the described 3rd 3rd output terminal of judgment module, first, second output terminal of the dividing elements module is as the 3rd judgment module First, second output terminal；

The parameter acquisition module is used for the subpoint for obtaining each vertex of the unit, and the subpoint for obtaining each vertex arrives The distance value of the plane of reference；The parameter acquisition module is additionally operable to obtain depth value；

The subpoint judgment module is used to judge the subpoint on the whether each vertex of the unit to the distance value of the plane of reference Respectively less than it is equal to the depth value, and obtains subpoint and judge signal；

The unit abandons module and is used to judge that signal abandons unit according to the subpoint；

The dividing elements module be used for according to the subpoint judge signal, unit adjacent two side midpoint and this Dividing elements are multiple units by the vertical line on two sides.

8. the simulator of cleaning body surface as claimed in claim 6, it is characterised in that the 3rd judgment module includes Cell configuration judgment module, quadrilateral units parameter acquisition module, quadrilateral units subpoint judgment module, quadrilateral units are drawn Sub-module, triangular element area judgment module, triangular element parameter acquisition module, triangular element subpoint judge mould Block, triangular element division module；

Second input terminal of the input terminal of the cell configuration judgment module as the 3rd judgment module, the cell configuration First output terminal of judgment module connects the first input end of the quadrilateral units parameter acquisition module, and the cell configuration is sentenced Second output terminal of disconnected module connects the first input end of the triangular element parameter acquisition module, the quadrilateral units ginseng First input end of second input terminal of number acquisition module as the 3rd judgment module, the quadrilateral units parameter acquiring The output terminal of module connects the input terminal of the quadrilateral units subpoint judgment module, and the quadrilateral units subpoint judges First output terminal of module connects the input terminal of the quadrilateral units division module, and the quadrilateral units subpoint judges mould Second output terminal of block connects the input terminal of the triangular element acquisition module, the output of the triangular element acquisition module End connects the input terminal of the triangular element area judgment module, the first output of the triangular element area judgment module End connects the second input terminal of the triangular element parameter acquisition module, the output of the triangular element parameter acquisition module The input terminal of the end connection triangular element subpoint judgment module, the first of the triangular element subpoint judgment module Output terminal connects the input terminal of the triangular element division module, and the 3rd of the quadrilateral units subpoint judgment module is defeated The 3rd output terminal of outlet, the second output terminal of triangular element subpoint judgment module as the 3rd judgment module, Output terminal, the second output terminal, the triangular element of triangular element area judgment module of the quadrilateral units division module Second output terminal of the output terminal of division module as the 3rd judgment module, the triangular element area judgment module First output terminal of the 3rd output terminal as the 3rd judgment module；

The cell configuration judgment module is used for whether judging unit to be quadrilateral units and obtaining unit shape judges signal；

The quadrilateral units parameter acquisition module is used to judge that signal obtains the quadrilateral units according to the cell configuration The subpoint on four vertex, and the subpoint on four vertex is obtained to the distance value of the plane of reference；

Whether the subpoint on four vertex is described in for judging quadrilateral units for the quadrilateral units subpoint judgment module The distance value of the plane of reference, which is respectively less than, is equal to the depth value, and obtains the first quadrilateral units subpoint and judge signal；

The quadrilateral units division module is used to judge signal, quadrilateral units according to the first quadrilateral units subpoint Adjacent two while midpoint and vertical line at this two, quadrilateral units are divided into multiple units；

The quadrilateral units subpoint judgment module is additionally operable to judge that signal is sentenced according to the first quadrilateral units subpoint Whether whether the distance value of the subpoint on three vertex to the plane of reference is respectively less than equal to the depth value to disconnected quadrilateral units, And obtain the second quadrilateral units subpoint and judge signal；

The unit abandons module and is additionally operable to judge that signal abandons unit according to the second quadrilateral units subpoint；

The triangular element acquisition module is used for according to the second quadrilateral units subpoint judges that signal acquires The distance value of the plane of reference is less than or equal to the triangular element that the corresponding vertex of three subpoints of the depth value is formed；

The triangular element area judgment module is used to judge whether the area of triangular element to be less than the minimum lookup value, And obtain triangular element area and judge signal；

The triangular element parameter acquisition module is used to judge signal or the triangular element face according to the cell configuration Product judges that signal obtains the subpoint on three vertex of triangular element, and the subpoint on three vertex of acquisition is to the plane of reference Distance value；

The cleaning area tires out module and is additionally operable to judge that signal runs up to cell projection area according to the triangular element area Cleaning face；

Whether the subpoint on three vertex is described in for judging triangular element for the triangular element subpoint judgment module The distance value of the plane of reference, which is respectively less than, is equal to the depth value, and obtains triangular element subpoint and judge signal；

The triangular element division module is used for the phase that signal, triangular element are judged according to the triangular element subpoint Adjacent two while midpoint and vertical line at this two, the triangular element is divided into multiple units；

The unit abandons module and is additionally operable to judge that signal abandons unit according to the triangular element subpoint.