CN112052345B

CN112052345B - Data storage method, data processing method and device

Info

Publication number: CN112052345B
Application number: CN201910492004.9A
Authority: CN
Inventors: 陆永明; 陈俊鹏; 左昌煜; 金杨解; 温宝军; 鲁雷
Original assignee: Beijing Hezhongdingxin Information Technology Co ltd
Current assignee: Beijing Hezhongdingxin Information Technology Co ltd
Priority date: 2019-06-06
Filing date: 2019-06-06
Publication date: 2023-08-25
Anticipated expiration: 2039-06-06
Also published as: CN112052345A

Abstract

The application discloses a data storage method, which can acquire coordinates of nodes in a three-dimensional body in three-dimensional design data to obtain a node coordinate set; the node coordinate set includes coordinates of nodes in a plurality of three-dimensional planes; the method comprises the steps of arranging nodes in each of a plurality of three-dimensional planes according to coordinates of the nodes and connection relations among the nodes in a preset sequence to obtain a node sequence corresponding to each three-dimensional plane; obtaining a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in a plurality of three-dimensional planes onto a preset plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and storing the node sequences corresponding to the two-dimensional planes corresponding to the three-dimensional planes, wherein the node sequences corresponding to the three-dimensional planes can be used as indexes of the three-dimensional planes, and the three-dimensional planes relatively close to the mechanical parts can be determined in an instantaneous manner.

Description

Data storage method, data processing method and device

Technical Field

The present application relates to the field of data processing in earthwork, and in particular, to a data storage method, a data processing method and a data processing device.

Background

In earthworks, it is often necessary to combine actual position and three-dimensional design data of a machine component, such as a blade, to determine how to control the movement of the machine component, such as to guide an operator in controlling the movement of the machine component. In particular, a three-dimensional plane that is relatively close to the mechanical component may be first determined, thereby further determining how to control the mechanical component motion.

Currently, the three-dimensional plane that is relatively close to the mechanical component can be determined in an indexed manner. Specifically, the three-dimensional design data is spatially segmented by using a method of a minimum limiting box, a relation is established between a three-dimensional body and the minimum limiting box, and then a three-dimensional spatial index is established for the minimum limiting box according to the mutual inclusion relation as an index basis, so that a three-dimensional plane relatively close to a mechanical part is determined by using the three-dimensional spatial index.

However, the three-dimensional space index is constructed using a three-dimensional body, and when a three-dimensional plane relatively close to the machine component is determined using the three-dimensional space index, the calculation amount is high, and the time required for the calculation is long. In earthwork, the main frequency of a microprocessor of an embedded hardware device running a guiding control system is generally about 1G, and the time balance measure of instantaneous actions of a mechanical component running about 2G is less than 0.5 seconds. Therefore, it makes sense to determine the three-dimensional plane relatively close to the mechanical component instantaneously, but this method of determining the three-dimensional plane relatively close to the mechanical component by using the three-dimensional spatial index is relatively long in time, and cannot determine the three-dimensional plane relatively close to the mechanical component instantaneously.

There is a need to propose a solution to the above-mentioned problem.

Disclosure of Invention

The application aims to solve the technical problems that a three-dimensional plane relatively close to a mechanical component is determined by utilizing a three-dimensional space index in the traditional technology, the time consumption is long, and the three-dimensional plane relatively close to the mechanical component cannot be determined instantaneously, and provides a data storage method, a data processing method and a data processing device.

In a first aspect, an embodiment of the present application provides a data storage method, where the method includes:

acquiring coordinates of nodes in a three-dimensional body in three-dimensional design data to obtain a node coordinate set, wherein the node coordinate set comprises coordinates of nodes in a plurality of three-dimensional planes;

the nodes in each three-dimensional plane of the plurality of three-dimensional planes are arranged according to the coordinates of the nodes and the connection relation among the nodes and a preset sequence, so that a node sequence corresponding to each three-dimensional plane is obtained; obtaining a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane;

respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane;

And saving the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane.

Optionally, the method further comprises:

acquiring operation states of a plurality of three-dimensional planes in the plurality of three-dimensional planes, wherein the operation states comprise: any one of not started, already completed, and being worked;

and storing the node sequence corresponding to the two-dimensional plane corresponding to each of the three-dimensional planes and the corresponding relation between the operation states corresponding to each of the three-dimensional planes.

Optionally, any one of the plurality of three-dimensional planes is referred to as a first three-dimensional plane, and the acquiring the operation state of the plurality of three-dimensional planes includes:

acquiring a first coordinate of a position of an actual mechanical part in a world coordinate system;

calculating a distance between the actual mechanical part and the first three-dimensional plane according to the first coordinates;

and determining the working state of the first three-dimensional plane according to the distance between the actual mechanical component and the first three-dimensional plane.

Optionally, the determining the working state of the first three-dimensional plane according to the distance between the actual mechanical component and the first three-dimensional plane includes:

Obtaining at least one projection position obtained by projecting at least one part of the actual mechanical component onto the first three-dimensional plane, and respectively calculating the distance between the at least one part and the projection position corresponding to the at least one part to obtain at least one distance;

if the at least one distance is smaller than or equal to the first distance, determining that the operation state of the first three-dimensional plane is that the operation is completed; if the at least one distance is less than or equal to the first distance, determining that the working state of the first three-dimensional plane is working; otherwise, determining that the working state of the first three-dimensional plane is not working.

Optionally, the coordinates of the nodes in the three-dimensional body are coordinates in a world coordinate system, and the method further includes:

acquiring a first coordinate of a position of an actual mechanical part in the world coordinate system;

determining a first node sequence, wherein the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with a distance between the first coordinates being smaller than or equal to a first preset distance;

according to the first node sequence and the coordinates of each node in the first node sequence, constructing a three-dimensional plane with the distance between the three-dimensional plane and the first coordinates being smaller than or equal to a first preset distance;

Obtaining a pre-constructed mechanical part model;

and displaying the constructed three-dimensional plane and displaying the mechanical part model according to the first coordinate, so that the displayed mechanical part model reflects the position relation between the position of the actual mechanical part and the three-dimensional plane.

Optionally, the method further comprises:

acquiring the operation state of a three-dimensional plane corresponding to the first node sequence;

and correspondingly displaying the working state of the three-dimensional plane on the constructed three-dimensional plane.

Optionally, the method further comprises:

acquiring a first coordinate of a position of an actual mechanical part in the world coordinate system, and acquiring a pre-constructed mechanical part model;

determining a second node sequence, wherein the second node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with a distance between the first coordinates being smaller than or equal to a second preset distance;

according to the second node sequence and the coordinates of each node in the second node sequence, constructing a three-dimensional plane with the distance between the first coordinates being smaller than or equal to a second preset distance;

calculating an intersection point of the first plane and a three-dimensional plane with the distance between the first plane and the first coordinate being smaller than or equal to a second preset distance to obtain a first intersection point plane; the first plane is a plane formed by at least two points in a working part of the actual mechanical part, wherein the at least two points are projected to the preset plane;

Displaying the first intersection plane and displaying the mechanical part model according to the first coordinates.

Optionally, the method further comprises:

determining a third node sequence, wherein the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with a distance between the first coordinates being smaller than or equal to a third preset distance;

according to the third node sequence and the coordinates of each node in the third node sequence, constructing a three-dimensional plane with the distance between the three-dimensional plane and the first coordinate being smaller than or equal to a third preset distance;

calculating an intersection point of the second plane and the three-dimensional plane with the distance between the second plane and the first coordinate being smaller than or equal to a third preset distance to obtain a second intersection point plane; the second plane is a plane formed by at least two points in the moving part of the actual mechanical part and at least two points obtained by projecting the at least two points to the preset plane;

displaying the second intersection plane and displaying the mechanical part model according to the first coordinates.

In a second aspect, an embodiment of the present application provides a data storage device, the device including:

the first acquisition unit is used for acquiring coordinates of nodes in a three-dimensional body in the three-dimensional design data to obtain a node coordinate set; the node coordinate set includes coordinates of nodes in a plurality of three-dimensional planes;

the ordering unit is used for ordering the nodes in each three-dimensional plane in the plurality of three-dimensional planes according to the coordinates of the nodes and the connection relation among the nodes and a right preset sequence to obtain a node sequence corresponding to each three-dimensional plane;

the second acquisition unit is used for acquiring a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane;

a first determining unit, configured to determine, according to the node sequence of each three-dimensional plane, a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane of the plurality of three-dimensional planes, respectively;

and the first storage unit is used for storing the node sequences corresponding to the two-dimensional planes corresponding to the three-dimensional planes.

Optionally, the apparatus further includes:

a third acquisition unit configured to acquire a job status of a plurality of three-dimensional planes among the plurality of three-dimensional planes, the job status including: any one of not started, already completed, and being worked;

The second storage unit is used for storing the corresponding node sequence of the two-dimensional plane corresponding to each of the three-dimensional planes and the corresponding operation state of each of the three-dimensional planes.

Optionally, any one three-dimensional plane of the plurality of three-dimensional planes is referred to as a first three-dimensional plane, and the third obtaining unit is specifically configured to:

Optionally, the coordinates of the nodes in the three-dimensional body are coordinates in a world coordinate system, and the apparatus further includes:

a fourth acquisition unit for acquiring a first coordinate of a position of an actual mechanical component in the world coordinate system;

a second determining unit, configured to determine a first node sequence, where the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with a distance between the first coordinates being less than or equal to a first preset distance;

the first construction unit is used for constructing a three-dimensional plane with the distance between the first coordinates being smaller than or equal to a first preset distance according to the first node sequence and the coordinates of each node in the first node sequence;

a fifth acquisition unit configured to acquire a mechanical part model constructed in advance;

And the first display unit is used for displaying the constructed three-dimensional plane and displaying the mechanical part model according to the first coordinates, so that the displayed mechanical part model reflects the position relationship between the position of the actual mechanical part and the three-dimensional plane.

Optionally, the apparatus further includes:

a sixth obtaining unit, configured to obtain a working state of a three-dimensional plane corresponding to the first node sequence;

and the second display unit is used for correspondingly displaying the operation state of the three-dimensional plane on the constructed three-dimensional plane.

Optionally, the apparatus further includes:

a seventh obtaining unit, configured to obtain a first coordinate of a position where an actual mechanical component is located in the world coordinate system, and obtain a mechanical component model that is constructed in advance;

a third determining unit, configured to determine a second node sequence, where the second node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with a distance between the first coordinates being less than or equal to a second preset distance;

the second construction unit is used for constructing a three-dimensional plane with the distance between the second construction unit and the first coordinate being smaller than or equal to a second preset distance according to the second node sequence and the coordinates of each node in the second node sequence;

The first calculating unit is used for calculating an intersection point of a first plane and a three-dimensional plane with the distance between the first plane and the first coordinate being smaller than or equal to a second preset distance to obtain a first intersection point plane; the first plane is a plane formed by at least two points in a working part of the actual mechanical part, wherein the at least two points are projected to the preset plane;

and a third display unit for displaying the first intersection plane and displaying the machine part model according to the first coordinates.

Optionally, the apparatus further includes:

an eighth obtaining unit, configured to obtain a first coordinate of a position where an actual mechanical component is located in the world coordinate system, and obtain a mechanical component model that is constructed in advance;

a fourth determining unit, configured to determine a third node sequence, where the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with a distance between the first coordinates being less than or equal to a third preset distance;

a third construction unit, configured to construct a three-dimensional plane with a distance from the first coordinate being less than or equal to a third preset distance according to the third node sequence and coordinates of each node in the third node sequence;

The second calculating unit is used for calculating an intersection point of the second plane and the three-dimensional plane with the distance between the second plane and the first coordinate being smaller than or equal to a third preset distance to obtain a second intersection point plane; the second plane is a plane formed by at least two points in the moving part of the actual mechanical part and at least two points obtained by projecting the at least two points to the preset plane;

and a fourth display unit for displaying the second intersection plane and displaying the machine part model according to the first coordinates.

Compared with the prior art, the embodiment of the application has the following advantages:

the embodiment of the application provides a data storage method, which can be used for acquiring coordinates of nodes in a three-dimensional body in three-dimensional design data to obtain a node coordinate set; the node coordinate set includes coordinates of nodes in a plurality of three-dimensional planes; the nodes in each three-dimensional plane of the plurality of three-dimensional planes are arranged according to a preset sequence and the coordinates of the nodes and the connection relation between the nodes, so that a node sequence corresponding to each three-dimensional plane is obtained; obtaining a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and storing the node sequences corresponding to the two-dimensional planes corresponding to the three-dimensional planes, wherein the node sequences corresponding to the three-dimensional planes can be used as indexes of the three-dimensional planes so as to determine the three-dimensional planes which are relatively close to the mechanical component. It can be seen that, in the embodiment of the present application, the three-dimensional plane relatively close to the mechanical component is determined based on the index constructed on the three-dimensional plane, instead of the three-dimensional spatial index constructed based on the three-dimensional body as in the conventional technology, so that the computational complexity of determining the three-dimensional plane relatively close to the mechanical component can be effectively reduced, the time for determining the three-dimensional plane relatively close to the mechanical component can be correspondingly shortened, and the three-dimensional plane relatively close to the mechanical component can be determined "instantaneously".

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.

FIG. 1 is a schematic flow chart of a data storage method according to an embodiment of the present application;

FIG. 2 is a flow chart of a method for displaying the relative relationship between an actual mechanical part and a three-dimensional plane according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a display interface according to an embodiment of the present application;

FIG. 4 is a flow chart of a method for displaying a first plane according to an embodiment of the present application;

FIG. 5 is a schematic view of a first plane according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a display interface according to an embodiment of the present application;

FIG. 7 is a flow chart of a method for displaying a first plane according to an embodiment of the present application;

FIG. 8 is a schematic view of a second plane according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a display interface according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a data storage device according to an embodiment of the present application.

Detailed Description

In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The inventors of the present application have studied and found that in the prior art, a three-dimensional plane relatively close to a mechanical part can be determined in an indexed manner. Specifically, the three-dimensional design data is spatially segmented by using a method of a minimum limiting box, a relation is established between a three-dimensional body and the minimum limiting box, and then a three-dimensional spatial index is established for the minimum limiting box according to the mutual inclusion relation as an index basis, so that a three-dimensional plane relatively close to a mechanical part is determined by using the three-dimensional spatial index.

However, the three-dimensional space index is constructed using a three-dimensional body, and when a three-dimensional plane relatively close to the machine component is determined using the three-dimensional space index, the calculation amount is high, and the time required for the calculation is long. Since the three-dimensional spatial index is constructed using a three-dimensional volume, when determining a three-dimensional plane that is relatively close to the mechanical component, the entire three-dimensional volume is traversed to determine the three-dimensional plane that is relatively close to the mechanical component. For example, if the three-dimensional design data is for a road with a length of 1000 km, when determining a three-dimensional plane relatively close to the mechanical component, the entire three-dimensional volume corresponding to the road with a length of 1000 km is traversed, which results in a relatively high calculation amount and a relatively long time.

In earthwork, the main frequency of a microprocessor of an embedded hardware device running a guiding control system is generally about 1G, and the time balance measure of instantaneous actions of a mechanical component running about 2G is less than 0.5 seconds. Therefore, it makes sense to determine the three-dimensional plane relatively close to the mechanical component instantaneously, but this method of determining the three-dimensional plane relatively close to the mechanical component by using the three-dimensional spatial index is relatively long in time, and cannot determine the three-dimensional plane relatively close to the mechanical component instantaneously.

In order to solve the above problems, the embodiment of the present application provides a data storage method, which can obtain coordinates of nodes in a three-dimensional body in three-dimensional design data to obtain a node coordinate set; the node coordinate set includes coordinates of nodes in a plurality of three-dimensional planes; the nodes in each three-dimensional plane of the plurality of three-dimensional planes are arranged according to a preset sequence and the coordinates of the nodes and the connection relation between the nodes, so that a node sequence corresponding to each three-dimensional plane is obtained; obtaining a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and storing the node sequences corresponding to the two-dimensional planes corresponding to the three-dimensional planes, wherein the node sequences corresponding to the three-dimensional planes can be used as indexes of the three-dimensional planes so as to determine the three-dimensional planes which are relatively close to the mechanical component. It can be seen that, in the embodiment of the present application, instead of the three-dimensional spatial index constructed based on the three-dimensional body, the index constructed based on the three-dimensional plane, the three-dimensional plane that is relatively close to the mechanical component is determined based on the index constructed based on the three-dimensional plane, because the three-dimensional plane having a distance from the mechanical component within a certain range can be traversed based on the index constructed based on the three-dimensional plane to determine the mechanical component without traversing all the three-dimensional planes. Thereby effectively reducing the computational complexity of determining a three-dimensional plane relatively close to the mechanical component. Accordingly, the time for determining the three-dimensional plane relatively close to the mechanical component is shortened, and the three-dimensional plane relatively close to the mechanical component can be determined "instantaneously".

Various non-limiting embodiments of the present application are described in detail below with reference to the attached drawing figures.

Exemplary method

Referring to fig. 1, the flow chart of a data storage method according to an embodiment of the present application is shown.

The data storage method provided by the embodiment of the application can be realized through the following steps S101-S105.

S101: acquiring coordinates of nodes in a three-dimensional body in the three-dimensional design data to obtain a node coordinate set; the set of node coordinates includes coordinates of nodes in a plurality of three-dimensional planes.

The three-dimensional design data mentioned in the embodiment of the application refers to an operation target in earthwork. For example, when an earthworks contractor wants to construct a highway, the three-dimensional design data is the design data of the highway to be constructed.

The three-dimensional body mentioned in the embodiment of the present application may be a three-dimensional body formed by some or all of the three-dimensional design data. For example, the one road constitutes a three-dimensional body, and for example, a part of the one road constitutes a three-dimensional body.

It is understood that the dots constitute lines and the lines constitute faces. A node in an embodiment of the present application may be understood as a unit constituting a line, i.e., a "point".

In the embodiment of the present application, each node forming the three-dimensional body may correspond to one coordinate, and the coordinate may be a three-dimensional coordinate. In one implementation of the embodiment of the present application, the coordinates may be coordinates in a world coordinate system, which represents the position of the node in a real three-dimensional volume.

In an embodiment of the present application, the three-dimensional plane is a plane constituting the three-dimensional body.

S102: and arranging the nodes in each three-dimensional plane in the plurality of three-dimensional planes according to the coordinates of the nodes and the connection relation among the nodes and a preset sequence to obtain a node sequence corresponding to each three-dimensional plane.

In the embodiment of the application, the three-dimensional body can be split into a plurality of three-dimensional planes according to the three-dimensional design data, and the nodes corresponding to the node coordinate set are determined, which nodes belong to the same three-dimensional plane. And then, the nodes in each three-dimensional plane in the plurality of three-dimensional planes can be arranged according to the coordinates of the nodes and the preset sequence to obtain a node sequence corresponding to each three-dimensional plane.

The embodiment of the application is not particularly limited to the specific implementation of arranging the nodes in each of the plurality of three-dimensional planes according to the coordinates of the nodes and the connection relationship between the nodes and according to a preset sequence to obtain the node sequence corresponding to each three-dimensional plane, and as an example, the nodes in each of the plurality of three-dimensional planes may be ordered according to the connection relationship between the coordinates of the nodes and the nodes in a right-hand spiral upward (i.e. anticlockwise when the ground is viewed from sky) rule corresponding to the order, so as to obtain the node sequence corresponding to each three-dimensional plane.

In the embodiment of the present application, in order to reduce the data amount corresponding to the node sequence, in the embodiment of the present application, coordinates of nodes in the three-dimensional body may be numbered to obtain the number of each node. The node sequence may be embodied as a sequence of numbers of a plurality of nodes.

In the embodiment of the application, the coordinates of the nodes in the three-dimensional plane are considered to be used in the subsequent construction of the three-dimensional plane, so that the corresponding relation between the coordinates of each node and the number of the node can be saved in the embodiment of the application, and the coordinates of the nodes can be determined conveniently through the numbers of the nodes.

It will be appreciated that three points may form a plane, so that three nodes in the node sequence may form a three-dimensional plane, and in the embodiment of the present application, the three-dimensional plane formed by the three nodes is referred to as a triangular patch, and the three-dimensional plane is formed by a plurality of triangular patches. For example, for the node sequence abcde (a, b, c, d and e each represent a number of a node), abc forms a triangular patch, cde forms a triangular patch, ace forms a triangular patch, and so on. Triangular patches are the basis for three-dimensional rendering. In the application, the node composition relation of the triangular patches and the composition relation between the triangular patches and the three-dimensional plane do not need to be independently recorded, so that the data storage capacity is reduced.

S103: and obtaining a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane.

The embodiment of the present application is not particularly limited to the preset plane, and the preset plane may be, for example, a plane with zero elevation (i.e., a plane with 0 coordinate corresponding to the coordinate axis z).

S104: and respectively determining the node sequences corresponding to the two-dimensional planes corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequences of each three-dimensional plane.

S105: and saving the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane.

In the embodiment of the present application, the arrangement order of each node in the node sequence corresponding to the two-dimensional plane corresponding to one three-dimensional plane is identical to the arrangement order of each node in the node sequence corresponding to the three-dimensional plane obtained in S102. For example, the node sequences are each determined in such a manner that they are sorted counterclockwise when viewed from the sky to the ground. For example, if the node sequence corresponding to the three-dimensional plane obtained in S102 is "abcde", the node sequence corresponding to the two-dimensional plane corresponding to the three-dimensional plane may be "abcde", instead of "acbde" or "edcba", for example.

As can be seen from the foregoing, a three-dimensional plane may correspond to a sequence of nodes, and a three-dimensional plane may correspond to a two-dimensional plane after being projected onto a predetermined plane. In the embodiment of the application, the node sequence corresponding to the two-dimensional plane is determined as the index of the three-dimensional plane.

In the embodiment of the application, a spatial database of file types may be used to store the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane, and an R tree index may be created.

As can be seen from the above description, by using the data storage method provided by the embodiment of the present application, coordinates of nodes in a three-dimensional body in three-dimensional design data can be obtained, and a node coordinate set is obtained; the node coordinate set includes coordinates of nodes in a plurality of three-dimensional planes; the nodes in each three-dimensional plane of the plurality of three-dimensional planes are arranged according to a preset sequence and the coordinates of the nodes and the connection relation between the nodes, so that a node sequence corresponding to each three-dimensional plane is obtained; obtaining a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and storing the node sequences corresponding to the two-dimensional planes corresponding to the three-dimensional planes, wherein the node sequences corresponding to the three-dimensional planes can be used as indexes of the three-dimensional planes so as to determine the three-dimensional planes which are relatively close to the mechanical component. It can be seen that, in the embodiment of the present application, instead of the three-dimensional spatial index constructed based on the three-dimensional body, the index constructed based on the three-dimensional plane, the three-dimensional plane that is relatively close to the mechanical component is determined based on the index constructed based on the three-dimensional plane, because the three-dimensional plane having a distance from the mechanical component within a certain range can be traversed based on the index constructed based on the three-dimensional plane to determine the mechanical component without traversing all the three-dimensional planes. Thereby effectively reducing the computational complexity of determining a three-dimensional plane relatively close to the mechanical component. Accordingly, the time for determining the three-dimensional plane relatively close to the mechanical component is shortened, and the three-dimensional plane relatively close to the mechanical component can be determined "instantaneously".

In one implementation manner of the embodiment of the present application, in addition to storing the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane, the operation state corresponding to each three-dimensional plane may be stored.

Specifically, the operation states of a plurality of three-dimensional planes in the plurality of three-dimensional planes may be obtained, and a node sequence corresponding to a two-dimensional plane corresponding to each of the plurality of three-dimensional planes and a correspondence relationship between the operation states corresponding to each of the plurality of three-dimensional planes may be stored.

In an embodiment of the present application, the job status includes: any one of not started, already completed, and being worked.

As described above, in the embodiment of the present application, for a three-dimensional plane, a node sequence corresponding to the two-dimensional plane obtained by projecting the design surface onto a preset plane is determined as an index of the three-dimensional plane. Therefore, in the embodiment of the application, after the operation state of the three-dimensional plane is obtained, the node sequence corresponding to the two-dimensional plane corresponding to the three-dimensional plane and the corresponding relation between the states corresponding to the three-dimensional plane can be stored, so that the operation state corresponding to the three-dimensional plane can be obtained through the index of the three-dimensional plane.

In the embodiment of the application, before the earthwork is not started, the working state of the three-dimensional plane is not started. After the earthwork is started, the working state of the three-dimensional plane can be determined according to the position relation between the three-dimensional plane and the actual mechanical part.

For convenience of description, any one of the plurality of three-dimensional planes is referred to as a first three-dimensional plane. In one implementation manner of the embodiment of the present application, a first coordinate of a position of an actual mechanical component in a world coordinate system may be obtained, distances between the actual mechanical component and the first three-dimensional plane are calculated according to the first coordinate, and an operation state of the first three-dimensional plane is determined according to the distances between the actual mechanical component and the first three-dimensional plane.

It will be appreciated that in practical applications, when the actual machine component is projected onto the three-dimensional plane during operation, at least one location in the actual machine component may correspond to at least one projection location on the three-dimensional plane, e.g., the actual machine component is a blade, and at least one projection location may be obtained after the at least one tooth of the blade is projected onto the three-dimensional plane. One tooth corresponds to one projection position. In the embodiment of the application, the distance between the at least one part and the projection position corresponding to the at least one part can be calculated respectively to obtain at least one distance. For example, the distance between each tooth and the projection position of each tooth onto the first three-dimensional plane is calculated. And if the at least one distance is smaller than or equal to the first distance, determining that the working state of the first three-dimensional plane is that the working is completed. It will be appreciated that if the at least one distance is less than or equal to the first distance, then it is indicated that each location in the actual mechanical component has contacted or is relatively close to the three-dimensional plane, so that the working state of the first three-dimensional plane may be determined to have completed the work. And if the at least one distance is less than or equal to the first distance, determining that the working state of the first three-dimensional plane is working. It is understood that, if the distance corresponding to the distance less than or equal to the first distance exists in the at least one distance, it indicates that there is a portion of the actual mechanical component that has contacted or is relatively close to the three-dimensional plane, so that it can be determined that the working state of the first three-dimensional plane is in working. Otherwise, the determined working state of the first three-dimensional plane is the initial state, i.e. the working is not started. It will be appreciated that in practical applications, the actual mechanical parts are just touching the three-dimensional plane, indicating that the work is complete, but that earthworks are being carried out with some work error allowed. For example, with respect to a blade or excavator, just touching a three-dimensional plane after digging (i.e., the actual excavated section coincides with the three-dimensional plane), this indicates that the work is complete, but in practice a range of "overbreak" and "underdig" are also permitted. The "overexcavation" means that the actually excavated section is out of the three-dimensional plane, and the "underexcavation" means that the actually excavated section is in the three-dimensional plane. The first distance may represent an operational error allowed by earthworks. The embodiment of the present application is not particularly limited to the first distance, and the first distance may be, for example, 5 cm.

Note that, regarding the description of the first coordinates and the acquisition of the first coordinates, reference may be made to the description of the related content in S201 below, which is not described in detail herein. It will be appreciated that in practical applications, a control room, such as the cab of a real machine component, may be provided with terminal equipment on which the relative relationship between the real machine component and the three-dimensional plane may be displayed in response to movement of the real machine component to guide an operator to control movement of the real machine component. A flow chart of a method for displaying a relative relationship between an actual mechanical component and a three-dimensional plane according to an embodiment of the present application is described below with reference to fig. 2.

The method shown in fig. 2 may be implemented, for example, by the following steps S201-S205.

S201: a first coordinate of a position of an actual mechanical component in the world coordinate system is obtained.

The actual mechanical component mentioned in the embodiments of the present application may be, for example, a blade, a doctor blade, a bucket, or the like.

It should be noted that, in the embodiment of the present application, the first coordinate of the position of the actual mechanical component in the world coordinate system may represent the position of the actual mechanical component in the real three-dimensional space.

In an embodiment of the present application, the first coordinates may include coordinates of positions of a plurality of locations in the actual mechanical part in a world coordinate system, for example, if the actual mechanical part is a blade, the first coordinates may include coordinates of at least one bucket of the blade in the world coordinate system.

The embodiment of the present application is not particularly limited to a specific implementation manner of acquiring the first coordinate, and may be used to acquire, as an example, the first coordinate of the position of the actual mechanical component in the world coordinate system by using a positioning device mounted on the actual mechanical component.

S202: and determining a first node sequence, wherein the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with a distance between the first coordinates being smaller than or equal to a first preset distance.

It will be appreciated that in practical applications, the area in which the mechanical component moves within a certain time range is limited, so in the embodiment of the present application, a three-dimensional plane with a distance from the first coordinate less than or equal to the first preset distance may be acquired for display, instead of acquiring all three-dimensional planes and displaying, thereby reducing the calculation amount.

In the embodiment of the present application, S202 may calculate a distance between the first coordinate and a node in the foregoing three-dimensional plane, and determine a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane where a three-dimensional node having a distance less than or equal to the first preset distance is located as the first node sequence.

The embodiment of the present application is not particularly limited to the first preset distance, and the first preset distance may be determined according to actual situations, and as an example, the first distance may be 100 meters.

S203: and constructing a three-dimensional plane with the distance between the three-dimensional plane and the first coordinate being smaller than or equal to a first preset distance according to the first node sequence and the coordinates of each node in the first node sequence.

After the first node sequence is acquired, a triangular patch can be firstly formed according to the coordinates of the first node sequence and each node in the first node sequence, and then a three-dimensional plane is formed by the triangular patch.

S204: a pre-built model of the machine component is obtained.

In an embodiment of the application, the machine part model is a virtual model of the actual machine part. In an embodiment of the application, the mechanical part model may be pre-stored in the form of a fixed point cache object (Vertex Buffer Object, VBO). Thus, a machine component model stored in advance can be acquired.

S205: and displaying the constructed three-dimensional plane and displaying the mechanical part model according to the first coordinate, so that the displayed mechanical part model reflects the position relation between the position of the actual mechanical part and the three-dimensional plane.

After the three-dimensional plane is constructed, the three-dimensional plane can be displayed on a terminal device, and the display position of the mechanical part model is determined according to the first coordinate representing the position of the actual mechanical part in the real three-dimensional space, and the display is performed, so that the displayed mechanical part model represents the position relationship between the position of the actual mechanical part and the three-dimensional plane. For example, it can be understood with reference to fig. 3, and fig. 3 is a schematic diagram of a display interface according to an embodiment of the present application. In fig. 3, 301 is a three-dimensional body formed by a three-dimensional plane, 302 is a mechanical component model, and from fig. 3, a relative positional relationship between the three-dimensional plane and the mechanical component model can be seen, and correspondingly, since the position of the mechanical component model is determined according to the first position, an operator can see a relationship between the three-dimensional plane and the position of the actual mechanical component in the real three-dimensional space.

As described above, in the embodiment of the present application, the operation states corresponding to the three-dimensional planes may also be saved. Therefore, in an implementation manner of the embodiment of the present application, the operation state of the three-dimensional plane corresponding to the first node sequence may also be obtained; and correspondingly displaying the working state of the three-dimensional plane on the constructed three-dimensional plane. Therefore, an operator can determine the working state of each three-dimensional plane through the content displayed by the terminal equipment.

As before, the job status of the three-dimensional plane may include: in one implementation of the embodiment of the present application, displaying the working state of the three-dimensional plane may be implemented by displaying different color backgrounds on the three-dimensional plane. For example, a job that has not started is displayed in a solid white background, a job that has completed is displayed in a green background, a job is displayed in a yellow background, and so on. So that the operator can determine the working state of the three-dimensional plane by means of the displayed colors.

In the embodiment of the present application, other content may be displayed on the terminal device in addition to the content shown in fig. 3, and two other display methods according to the embodiment of the present application are described below with reference to fig. 4 to 9.

Referring to fig. 4, a flowchart of a method for displaying a first plane according to an embodiment of the present application is shown.

The method shown in fig. 4 may be implemented, for example, by the following steps S401 to S405.

S401: and acquiring a first coordinate of the position of the actual mechanical part in the world coordinate system, and acquiring a pre-constructed mechanical part model.

Regarding the description of the first coordinates and the acquisition of the first coordinates, reference may be made to the description of the related contents in S201, which is not described in detail herein.

For the description of the mechanical part model and the acquisition of the mechanical part model, reference may be made to the description of the relevant contents in S204 described above, which will not be described in detail here.

S402: and determining a second node sequence, wherein the second node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with the distance between the first coordinates being smaller than or equal to a second preset distance.

Regarding the specific implementation of determining the second node sequence, similar to the specific implementation of determining the first node sequence, reference may be made to the description part of the related content in S202, which is not described in detail here. However, in S202, the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane having a distance between the first coordinates less than or equal to a first preset distance, and the second node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane having a distance between the first coordinates less than or equal to a second preset distance.

The embodiment of the application is not particularly limited to the second preset distance, and the second preset distance may be determined according to an actual situation, for example, may be determined according to a working distance of an actual mechanical component. Generally, the second preset distance is smaller than the first preset distance, and as an example, the second preset distance may be 3 meters.

S403: and constructing a three-dimensional plane with the distance between the three-dimensional plane and the first coordinate being smaller than or equal to a second preset distance according to the second node sequence and the coordinates of each node in the second node sequence.

After the second node sequence is acquired, firstly, a triangular patch can be formed according to the coordinates of the second node sequence and each node in the second node sequence, and then, a three-dimensional plane is formed by the triangular patch.

S404: calculating an intersection point of the first plane and a three-dimensional plane with the distance between the first plane and the first coordinate being smaller than or equal to a second preset distance to obtain a first intersection point plane; the first plane is a plane formed by at least two points in the working part of the actual mechanical part, wherein the at least two points are projected to the preset plane.

It will be appreciated that in general, the actual machine components include work components such as the bucket of a blade and moving components such as the arm of a blade.

It is understood that there may be a plurality of three-dimensional planes having a distance from the first coordinate less than or equal to the second preset distance, and the plurality of three-dimensional planes form a three-dimensional body, and thus, an intersection point of the first plane and the three-dimensional body may form a first intersection point plane.

In the embodiment of the present application, the first plane is a plane formed by at least two points in the working part of the actual mechanical part and at least two points obtained by projecting the at least two points onto the preset plane. As will be described with reference to fig. 5, if the first plane is a plane formed by a point a on the left and a point B on the right of the bucket of the blade, and points A1 and B1 obtained by projecting the points a and B onto the preset plane 510, the first intersection plane is a cross-sectional view in the vertical direction of the actual machine part working movement direction, that is, a cross-sectional view of a three-dimensional plane as seen from the front view of the operator.

S405: displaying the first intersection plane and displaying the mechanical part model according to the first coordinates.

After the first intersection point plane is determined, the first intersection point plane can be displayed, the display position of the mechanical part model is determined according to the first coordinate representing the position of the actual mechanical part in the real three-dimensional space, and the display is performed, so that an operator can intuitively determine the position relationship between the position of the actual mechanical part and the first intersection point plane through the content displayed by the terminal equipment. For example, it can be understood with reference to fig. 6, and fig. 6 is a schematic diagram of a display interface according to an embodiment of the present application. In fig. 6, 601 is a first intersection plane, 602 is a mechanical part model, and from fig. 6, a relative positional relationship between the first intersection plane and the mechanical part model can be seen, and accordingly, since the position of the mechanical part model is determined according to the first position, an operator can see a relationship between the first intersection plane and the position of the actual mechanical part in the real three-dimensional space.

Referring to fig. 7, a flowchart of a method for displaying a first plane according to an embodiment of the present application is shown.

The method shown in fig. 7 can be implemented, for example, by the following steps S701 to S705.

S701: and acquiring a first coordinate of the position of the actual mechanical part in the world coordinate system, and acquiring a pre-constructed mechanical part model.

S702: and determining a third node sequence, wherein the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with the distance between the first coordinates being smaller than or equal to a third preset distance.

Regarding the specific implementation of determining the third node sequence, similar to the specific implementation of determining the first node sequence, reference may be made to the description part of the related content in S202, which is not described in detail here. However, in S202, the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane having a distance between the first coordinates less than or equal to a first preset distance, and the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane having a distance between the first coordinates less than or equal to a third preset distance.

The third preset distance is not particularly limited, and may be determined according to an actual situation, for example, may be determined according to a working distance of an actual mechanical component. Generally, the second preset distance is smaller than the first preset distance, and as an example, the second preset distance may be 3 meters. The embodiment of the present application is not particularly limited to the magnitude relation between the third preset distance and the second preset distance in S402, where the second preset distance may be greater than the third preset distance, the second preset distance may be less than the third preset distance, and the second preset distance may also be equal to the third preset distance.

S703: and determining a third node sequence, wherein the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane with the distance between the first coordinates being smaller than or equal to a third preset distance.

After the third node sequence is acquired, a triangular patch can be formed according to the coordinates of the third node sequence and each node in the third node sequence, and then a three-dimensional plane is formed by the triangular patch.

S704: calculating an intersection point of the second plane and the three-dimensional plane with the distance between the second plane and the first coordinate being smaller than or equal to a third preset distance to obtain a second intersection point plane; the second plane is a plane formed by at least two points in the moving part of the actual mechanical part and at least two points obtained by projecting the at least two points to the preset plane.

As above, the actual machine components include the work component, such as the bucket of a blade, and the moving component, such as the arm of a blade. It is understood that there may be a plurality of three-dimensional planes having a distance from the first coordinate less than or equal to a third predetermined distance, and the plurality of three-dimensional planes form a three-dimensional body, and thus, an intersection point of the second plane and the three-dimensional body may form a second intersection point plane.

In the embodiment of the present application, the second plane is a plane formed by at least two points in the moving part of the actual mechanical part and at least two points obtained by projecting the at least two points onto the preset plane. As described with reference to fig. 8, if the second plane is a plane formed by points C and D on the arm of the blade and points C1 and D1 obtained by projecting points C and D onto the preset plane 810, the second intersection plane is a cross-sectional view of the horizontal direction of the actual machine part working movement direction, that is, a cross-sectional view of a three-dimensional plane as seen from the side view of the operator.

S705: displaying the second intersection plane and displaying the mechanical part model according to the first coordinates.

After the second intersection point plane is determined, the second intersection point plane can be displayed, and the display position of the mechanical part model is determined according to the first coordinate representing the position of the actual mechanical part in the real three-dimensional space and displayed, so that an operator can intuitively determine the position relationship between the position of the actual mechanical part and the second intersection point plane through the content displayed by the terminal equipment. For example, it can be understood with reference to fig. 9, and fig. 9 is a schematic diagram of a display interface according to an embodiment of the present application. In fig. 9, 901 is a second intersection plane, 902 is a mechanical part model, and from fig. 9, a relative positional relationship between the second intersection plane and the mechanical part model can be seen, and accordingly, since the position of the mechanical part model is determined according to the second position, an operator can see a relationship between the second intersection plane and the position of the actual mechanical part in the real three-dimensional space.

Exemplary apparatus

Based on the method provided by the embodiment, the embodiment of the application also provides a data storage device, and the device is described below with reference to the accompanying drawings.

Referring to fig. 10, which is a schematic structural diagram of a data storage device according to an embodiment of the present application, a data storage device 1000 according to an embodiment of the present application may include: a first acquisition unit 1001, a sorting unit 1002, a second acquisition unit 1003, a first determination unit 1004, and a first storage unit 1005.

A first obtaining unit 1001, configured to obtain coordinates of nodes in a three-dimensional volume in three-dimensional design data, to obtain a node coordinate set; the node coordinate set includes coordinates of nodes in a plurality of three-dimensional planes;

a sorting unit 1002, configured to, for nodes in each three-dimensional plane of the plurality of three-dimensional planes, sort the nodes according to a preset sequence according to coordinates of the nodes and a connection relationship between the nodes, and obtain a node sequence corresponding to each three-dimensional plane;

a second obtaining unit 1003, configured to obtain a two-dimensional plane corresponding to each of the plurality of three-dimensional planes by projecting the three-dimensional plane onto a preset plane;

A first determining unit 1004, configured to determine, according to the node sequences of each three-dimensional plane, a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane of the plurality of three-dimensional planes;

the first storage unit 1005 is configured to store a node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane.

Optionally, the apparatus further includes:

Since the apparatus 1000 is an apparatus corresponding to the data storage method provided in the above method embodiment, the specific implementation of each unit of the apparatus 1000 is the same as the above method embodiment, and therefore, for the specific implementation of each unit of the apparatus 1000, reference may be made to the description part of the above method embodiment, and details are not repeated herein.

As can be seen from the above description, by using the data storage device provided by the embodiment of the present application, coordinates of nodes in a three-dimensional body in three-dimensional design data can be obtained, and a node coordinate set is obtained; the node coordinate set includes coordinates of nodes in a plurality of three-dimensional planes; the nodes in each three-dimensional plane of the plurality of three-dimensional planes are arranged according to the coordinates of the nodes and the connection relation among the nodes and a preset sequence, so that a node sequence corresponding to each three-dimensional plane is obtained; obtaining a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and storing the node sequences corresponding to the two-dimensional planes corresponding to the three-dimensional planes, wherein the node sequences corresponding to the three-dimensional planes can be used as indexes of the three-dimensional planes so as to determine the three-dimensional planes which are relatively close to the mechanical component. It can be seen that, in the embodiment of the present application, the three-dimensional plane relatively close to the mechanical component is determined based on the index constructed on the three-dimensional plane, instead of the three-dimensional spatial index constructed based on the three-dimensional body as in the conventional technology, so that the computational complexity of determining the three-dimensional plane relatively close to the mechanical component can be effectively reduced, the time for determining the three-dimensional plane relatively close to the mechanical component can be correspondingly shortened, and the three-dimensional plane relatively close to the mechanical component can be determined "instantaneously".

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims

The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.

Claims

1. A method of data storage, the method comprising:

2. The method according to claim 1, wherein the method further comprises:

3. The method according to claim 2, wherein any one of the plurality of three-dimensional planes is referred to as a first three-dimensional plane, and the acquiring the operation state of the plurality of three-dimensional planes includes:

4. A method according to claim 3, wherein said determining the working state of the first three-dimensional plane from the distance between the actual mechanical component and the first three-dimensional plane comprises:

5. The method of any of claims 2-4, wherein the coordinates of the nodes in the three-dimensional volume are coordinates in a world coordinate system, the method further comprising:

obtaining a pre-constructed mechanical part model;

6. The method of claim 5, wherein the method further comprises:

7. The method according to claim 1, wherein the method further comprises:

acquiring a first coordinate of a position of an actual mechanical part in a world coordinate system, and acquiring a pre-constructed mechanical part model;

8. The method according to claim 1, wherein the method further comprises:

9. A data storage device, the device comprising:

10. The apparatus of claim 9, wherein the apparatus further comprises:

11. The apparatus according to claim 10, wherein any one of the plurality of three-dimensional planes is referred to as a first three-dimensional plane, and the third obtaining unit is specifically configured to:

12. The apparatus of claim 11, wherein the determining the operational status of the first three-dimensional plane based on the distance between the actual mechanical component and the first three-dimensional plane comprises:

13. The apparatus of claims 10-12, wherein the coordinates of the nodes in the three-dimensional volume are coordinates in a world coordinate system, the apparatus further comprising:

14. The apparatus of claim 13, wherein the apparatus further comprises:

15. The apparatus of claim 9, wherein the apparatus further comprises:

a seventh obtaining unit, configured to obtain a first coordinate of a position where an actual mechanical component is located in a world coordinate system, and obtain a mechanical component model that is constructed in advance;

16. The apparatus of claim 9, wherein the apparatus further comprises:

an eighth obtaining unit, configured to obtain a first coordinate of a position where an actual mechanical component is located in a world coordinate system, and obtain a mechanical component model that is constructed in advance;