CN112764357A - Engineering machinery simulation method, device, equipment and storage medium - Google Patents
Engineering machinery simulation method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN112764357A CN112764357A CN202110094045.XA CN202110094045A CN112764357A CN 112764357 A CN112764357 A CN 112764357A CN 202110094045 A CN202110094045 A CN 202110094045A CN 112764357 A CN112764357 A CN 112764357A
- Authority
- CN
- China
- Prior art keywords
- target
- model
- control
- movement
- state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000004088 simulation Methods 0.000 title claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims abstract description 141
- 230000008859 change Effects 0.000 claims abstract description 15
- 230000004044 response Effects 0.000 claims abstract description 5
- 238000011022 operating instruction Methods 0.000 claims abstract description 3
- 238000004590 computer program Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The application provides an engineering machinery simulation method, device, equipment and storage medium, and relates to the field of model simulation. The method comprises the following steps: controlling the state of a target manipulatable object on the control model to change in response to an operating instruction for the target manipulatable object on the control model; and controlling a target operation object on the operation model to perform operation movement according to the changed state of the target manipulable object, wherein the target operation object is an operation object of which the target manipulable object has preset telefax control logic. Compared with the prior art, the method for simulating the engineering machinery is provided, and the blank of simulating the engineering machinery in the prior art is filled.
Description
Technical Field
The application relates to the technical field of model simulation, in particular to an engineering machinery simulation method, device, equipment and storage medium.
Background
The model emulation is an emerging discipline which has evolved with the development of computer technology since the end of the 40 th 20 th century. Simulation (Simulation) is a process of establishing an actual system model and performing experimental study on the actual system by using the established model.
The simulation technology in the prior art is mainly used in a few fields of aviation, aerospace, atomic reactor and the like, which are expensive, long in period, high in risk and difficult to realize in actual system tests.
However, in the prior art, a method for simulating the engineering machine is not provided for a while, and the engineering machine is simulated.
Disclosure of Invention
An object of the present application is to provide a method, an apparatus, a device and a storage medium for engineering machine simulation, so as to solve the problem that no method for engineering machine simulation is provided in the prior art.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides an engineering machine simulation method, which is applied to a device capable of presenting a graphical user interface, where: a virtual work machine model, the virtual work machine model comprising: a control model and a job model; the method comprises the following steps:
controlling the state of a target manipulatable object on the control model to change in response to an operating instruction for the target manipulatable object on the control model;
and controlling a target operation object on the operation model to perform operation movement according to the changed state of the target manipulable object, wherein the target operation object is an operation object of which the target manipulable object has preset telefax control logic.
Optionally, the controlling the target operation object on the operation model to perform operation movement according to the changed state of the target manipulatable object includes:
calculating a state control instruction output by the target manipulable object according to the changed state of the target manipulable object, wherein the state control instruction comprises: a motion control parameter and an identification of the target work object;
and controlling the target operation object to perform the operation movement according to the movement control parameter and the identification of the target operation object.
Optionally, the calculating the state control instruction output by the target manipulatable object according to the changed state of the target manipulatable object includes:
and calculating the state control command by adopting a preset telex control logic corresponding to the target manipulable object in the virtual engineering machinery model according to the changed state of the target manipulable object.
Optionally, the motion control parameters include: a type of the work movement; the controlling the target operation object to perform the operation movement according to the movement control parameter and the identification of the target operation object includes:
and controlling the target operation object to perform the operation movement by adopting a preset movement parameter corresponding to the operation movement according to the type of the operation movement and the identification of the target operation object.
Optionally, the type of the work movement is: and (3) performing constant-speed telescopic motion, wherein the preset motion parameters are as follows: presetting a stretching speed and a stretching direction; or,
the types of the operation movement are as follows: and (3) performing constant-speed rotation, wherein the preset motion parameters are as follows: presetting a rotation speed and a preset rotation direction; or,
the types of the operation movement are as follows: and performing omnibearing rotation motion, wherein the preset motion parameters are as follows: presetting a rotation direction range and a preset rotation center; or,
the types of the operation movement are as follows: and (3) performing constant-speed lifting movement, wherein the preset movement parameters are as follows: the lifting speed and the lifting direction are preset.
Optionally, the state of the target manipulatable object on the control model is changed, including;
and controlling the state of the target manipulable object on the control model to change according to a first characteristic attribute of the target manipulable object, wherein the first characteristic attribute is used for indicating an automatic resetting attribute of the target manipulable object.
Optionally, the method further comprises:
controlling the target operation object to drive the sub-operation objects of the target operation object to move according to the second characteristic attribute of each operation object on the operation model; the second characteristic attribute is used for indicating a parent-child relationship attribute between the operation objects.
Optionally, if the target job object is: a continuously moving object; the control of the target operation object on the operation model to perform operation movement according to the changed state of the target operable object comprises the following steps:
and controlling the target operation object to perform continuous operation movement based on a preset movement step according to the changed state of the target operable object.
Optionally, the continuously moving object is a continuously translationally moving object, or a continuously rotationally moving object.
In a second aspect, another embodiment of the present application provides a simulation apparatus for a construction machine, which is applied to a device capable of presenting a graphical user interface, where: a virtual work machine model, the virtual work machine model comprising: a control model and a job model; the device comprises: a first control module and a second control module, wherein:
the first control module is used for responding to an operation instruction aiming at a target manipulable object on the control model and controlling the state of the target manipulable object on the control model to change;
and the second control module is used for controlling a target operation object on the operation model to perform operation movement according to the changed state of the target operable object, wherein the target operation object is an operation object of which the preset telefax control logic exists in the target operable object.
Optionally, the apparatus further comprises: a calculating module, configured to calculate a state control instruction output by the target manipulable object according to the changed state of the target manipulable object, where the state control instruction includes: a motion control parameter and an identification of the target work object;
the second control module is specifically configured to control the target operation object to perform the operation motion according to the motion control parameter and the identifier of the target operation object.
Optionally, the calculation module is specifically configured to calculate the state control instruction according to the changed state of the target manipulable object by using a preset telex control logic corresponding to the target manipulable object in the virtual engineering machine model.
Optionally, the motion control parameters include: a type of the work movement; the second control module is specifically configured to control the target operation object to perform the operation motion by using a preset motion parameter corresponding to the operation motion according to the type of the operation motion and the identifier of the target operation object.
Optionally, the type of the work movement is: and (3) performing constant-speed telescopic motion, wherein the preset motion parameters are as follows: presetting a stretching speed and a stretching direction; or,
the types of the operation movement are as follows: and (3) performing constant-speed rotation, wherein the preset motion parameters are as follows: presetting a rotation speed and a preset rotation direction; or,
the types of the operation movement are as follows: and performing omnibearing rotation motion, wherein the preset motion parameters are as follows: presetting a rotation direction range and a preset rotation center; or,
the types of the operation movement are as follows: and (3) performing constant-speed lifting movement, wherein the preset movement parameters are as follows: the lifting speed and the lifting direction are preset.
Optionally, the first control module is specifically configured to control the state of the target manipulable object on the control model to change according to a first characteristic attribute of the target manipulable object, where the first characteristic attribute is used to indicate an automatic reset attribute of the target manipulable object.
Optionally, the first control module is specifically configured to control the target operation object to drive the sub-operation object of the target operation object to move according to a second characteristic attribute of each operation object on the operation model; the second characteristic attribute is used for indicating a parent-child relationship attribute between the operation objects.
Optionally, if the target job object is: a continuously moving object; the second control module is specifically configured to control the target operation object to perform continuous operation movement based on a preset movement step length according to the changed state of the target manipulable object.
Optionally, the continuously moving object is a continuously translationally moving object, or a continuously rotationally moving object.
In a third aspect, another embodiment of the present application provides a simulation device for a construction machine, including: the system comprises a processor, a storage medium and a bus, wherein the storage medium stores machine readable instructions executable by the processor, when the engineering machinery simulation device runs, the processor and the storage medium communicate through the bus, and the processor executes the machine readable instructions to execute the steps of the method according to any one of the first aspect.
In a fourth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the method according to any one of the above first aspects.
The beneficial effect of this application is: by adopting the engineering machinery simulation method provided by the application, the state of a target controllable object on a control model can be changed by acquiring an operation instruction of a user on the controllable object through a virtual engineering control model displayed on a graphical user interface and responding to the operation instruction aiming at the target controllable object on the control model; and then, the target operation object on the operation model is controlled to perform operation movement according to the changed state of the target controllable object, so that the effect of simulating the operation movement of the engineering machinery according to the virtual engineering control model is realized, and the blank of the prior art is filled.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flow chart of a simulation method of an engineering machine according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a simulation method of a construction machine according to another embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a simulation method of a construction machine according to another embodiment of the present disclosure;
fig. 4 is a schematic flow chart of a simulation method of a construction machine according to another embodiment of the present disclosure;
FIG. 5 is a schematic flow chart illustrating a simulation method for a construction machine according to another embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a simulation apparatus for engineering machinery according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a simulation apparatus for construction machinery according to another embodiment of the present application;
fig. 8 is a schematic structural diagram of a simulation device of a construction machine according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Additionally, the flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and steps without logical context may be performed in reverse order or simultaneously. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
It should be understood that, although the following embodiments of the present application all use a construction machine as a road maintenance machine for example, the method provided by the present application may be applied to any scenario that requires simulation of a construction machine, such as simulation of an excavator, simulation of a crane, and the like, and the setting of a specific simulation scenario is not limited to that provided by the above embodiments, and may be flexibly adjusted according to a user's need.
The engineering machine simulation method provided by the embodiment of the application is explained below by combining a plurality of specific application examples. Fig. 1 is a schematic flow chart of a simulation method for an engineering machine according to an embodiment of the present application, and is applied to a device capable of presenting a graphical user interface, where: virtual engineering machinery model, virtual engineering machinery model includes: a control model and a job model; as shown in fig. 1, the method includes:
s101: and responding to an operation instruction aiming at the target controllable object on the control model, and controlling the state of the target controllable object on the control model to change.
For example, in some possible embodiments, the target manipulatable object on the control model is determined according to the type of the work machine, and the target manipulatable object on the control model of different work machines is not necessarily the same; for example, when the engineering machine is a road maintenance machine, the target manipulable object on the control model may include, for example, a rotary button, a control button, a switch, etc.; the type and the number of the specific target controllable objects are determined according to the type of the construction machine, and are not limited to those in the above embodiments.
In one embodiment of the present application, the operation instruction may be, for example, dragging or clicking a manipulatable object through a mouse or a user touch screen to determine the operation instruction.
S102: and controlling the target operation object on the operation model to perform operation movement according to the changed state of the target operable object.
The target operation object is an operation object with preset telefax control logic for the target manipulatable object. The target operation objects controlled correspondingly by different target operable objects are different, and the target operation objects can be controlled to perform operation movement after the corresponding target operation objects are determined according to the states of the target operable objects.
For example, in one embodiment of the present application, the work motion may be, for example, a three-dimensional work motion, thereby enabling control of a target work object on the work model for the three-dimensional work motion by a manipulable object on the control model.
In some possible embodiments, the manipulatable object may include, for example, at least one of the following types of manipulatable objects: switching the object, continuously translating the object, or continuously rotating the object, wherein:
switching the object: is an object with two discrete states, on and off. For example: a lamp with two states of on and off, or a switch with two states of on and off.
Continuously translating the object: the object is continuously moved along a certain straight line according to a custom step length, and in some possible embodiments, the translational movement can be segmented to perform attribute marking, so that multi-segment control of the translational movement is realized.
Continuously rotating the object: the object is continuously rotated along a certain rotation axis according to a custom step length, and in some possible embodiments, the rotation motion can be segmented to perform attribute marking, so that multi-segment control of the rotation motion is realized.
By adopting the engineering machinery simulation method provided by the application, the state of a target controllable object on a control model can be changed by acquiring an operation instruction of a user on the controllable object through a virtual engineering control model displayed on a graphical user interface and responding to the operation instruction aiming at the target controllable object on the control model; and then, the target operation object on the operation model is controlled to perform operation movement according to the changed state of the target controllable object, so that the effect of simulating the operation movement of the engineering machinery according to the virtual engineering control model is realized, and the blank of the prior art is filled.
Optionally, on the basis of the above embodiment, an engineering machine simulation method may also be provided in the embodiments of the present application, and an implementation process of controlling a target work object to perform a work motion in the above method is described as follows with reference to the accompanying drawings. Fig. 2 is a schematic flowchart of a method for simulating a construction machine according to another embodiment of the present disclosure, and as shown in fig. 2, S102 may include:
s103: and calculating the state control instruction output by the target manipulable object according to the changed state of the target manipulable object.
The state control instruction comprises: motion control parameters and identification of a target work object.
In some possible embodiments, the identifier of each job object may be, for example, a timestamp when each job object is created when the job model is built, or Identity Document (ID) information of each job object, and the specific identifier type and identifier content of each job object may be flexibly adjusted according to user needs, which is not limited to those given in the above embodiments.
For example, in some possible embodiments, the operation instruction may be, for example, dragging or clicking the manipulatable object through a mouse or a user touch screen to implement changing the state of the target manipulatable object. Then, according to the state of the target controllable object after being changed, adopting a telex control logic corresponding to the target controllable object in a preset virtual engineering mechanical model, and according to the received state of the target controllable object after being changed, calculating a state control instruction; the calculation may be, for example, real-time.
S104: and controlling the target operation object to perform operation movement according to the movement control parameters and the identification of the target operation object.
Illustratively, in some possible embodiments, the motion control parameters include: the type of work movement; the manner of controlling the target work object to perform the work movement may be, for example: and controlling the target operation object to perform operation movement by adopting a preset movement parameter corresponding to the operation movement according to the type of the operation movement and the identification of the target operation object.
In one embodiment of the present application, the type of work movement may be, for example: and (3) performing constant-speed telescopic motion, wherein the preset motion parameters can be as follows: presetting a stretching speed and a stretching direction; alternatively, the type of work movement may also be: the predetermined motion parameters may be: presetting a rotation speed and a preset rotation direction; alternatively, the type of work movement may also be: and (3) performing omnibearing rotation motion, wherein the preset motion parameters can be as follows: presetting a rotation direction range and a preset rotation center; alternatively, the type of work movement may also be: the predetermined motion parameters may be: the lifting speed and the lifting direction are preset.
Alternatively, on the basis of the above embodiment, the embodiment of the present application may further provide a method for simulating a construction machine, and an implementation process of changing the state of the target manipulatable object in the method is described as follows with reference to the accompanying drawings. Fig. 3 is a schematic flowchart of a method for simulating a construction machine according to another embodiment of the present disclosure, and as shown in fig. 3, S101 may include:
s105: and according to the first characteristic attribute of the target controllable object, the state of the target controllable object on the control model is controlled to change.
Wherein the first characteristic attribute is used to indicate an auto-reset attribute of the target manipulable object. The different operable objects can have automatic reset attributes, and whether each operable object has the first characteristic attribute can be set according to the needs of the user.
Optionally, on the basis of the above embodiment, an engineering machine simulation method may also be provided in the embodiments of the present application, and an implementation process of the above method is described as follows with reference to the accompanying drawings. Fig. 4 is a schematic flow chart of a method for simulating a construction machine according to another embodiment of the present application, and as shown in fig. 4, the method may further include:
s106: and controlling the target operation object to drive the sub-operation objects of the target operation object to move according to the second characteristic attribute of each operation object on the operation model.
The second characteristic attribute is used for indicating a parent-child relationship attribute between the job objects. There may be parent-child relationship attributes between job objects. The parent-child relationship attribute is characterized in that if a parent object moves, the child object is driven to move, but the child object does not drive the parent object to move.
In an embodiment of the application, when each manipulatable object is constructed, a plurality of objects on the control model and objects on the operation model can be divided according to static objects, switch objects, continuous translation objects and continuous rotation objects, and then certain first characteristic attributes and/or second characteristic attributes are supplemented, so that the engineering machinery simulation model can be obtained based on the configured objects.
Still taking the engineering machine as the road maintenance machine as an example, according to the division standard for each object, the operable object in the plurality of objects on the control model may include a rotary button and a self-resetting rotary push-pull rod, for example. The plurality of objects on the work model may include, for example, a moving object of a lifting part, a telescopic moving object, a guardrail expanding object, a stowed rotating moving object, and the like. The objects are in a parent-child or independent relationship to construct an integral object of the work platform and the control cabinet based on state control.
Optionally, on the basis of the above embodiment, an engineering machine simulation method may also be provided in the embodiments of the present application, and an implementation process of controlling a target work object on a work model to perform a work motion in the above method is described as follows with reference to the accompanying drawings. Fig. 5 is a schematic flow chart of a method for simulating an engineering machine according to another embodiment of the present application, where if a target operation object is: a continuously moving object; as shown in fig. 5, S102 may include:
s107: and controlling the target operation object to perform continuous operation movement based on a preset movement step length according to the changed state of the target operable object.
Illustratively, in some possible embodiments, the continuously moving object is a continuously translating moving object, or alternatively, a continuously rotating moving object; the state switching process of the continuous translation moving object and the continuous rotation moving object supports the custom transition step length, namely the preset moving step length is custom, namely the rotation or translation speed is custom.
The mode of customizing the transition step length can realize continuous motion operation according to the preset motion compensation control target operation object defined by the user.
In one embodiment of the application, the state of the target manipulatable object on the control model is controlled to change in response to an operation instruction for the target manipulatable object on the control model; determining a corresponding target control instruction according to the state of the changed target operable object, and sending the target control instruction to the power module, wherein the power module controls a target operation object on the operation model to perform operation movement according to the target control instruction; in some possible embodiments, the power module may be, for example, a hydraulic transmission module.
Still take the module that the engineering machinery includes as control module, power module and operation module for the example to explain, simulation logic at this moment is according to the input of control module, confirm the output of the power module, according to the output of the power module confirm the corresponding change output of operation module, thus simulate out the telex control logic. Still explain by taking engineering machinery as a road maintenance machine as an example, by adopting the method provided by the application, the operations such as constant-speed expansion and contraction, constant-speed left side, constant-speed right side, 360-degree rotation, constant-speed lifting control and the like of the operation platform can be realized under the condition that a control module and a power module of the road maintenance machine are normal, so that the simulation of the operation of the road maintenance machine is realized.
It should be understood that the above embodiments are only exemplary, and specifically, in response to an operation instruction for a target manipulable object on a control model, a manner of controlling the target manipulable object on the work model to perform a work movement may be flexibly adjusted according to a user's need, for some engineering machinery requiring a power module, the control module is required to determine a target control instruction according to the operation instruction, and the power module is controlled by the target control instruction to perform the work movement according to the target control instruction; for some engineering machines without a power module, the control module may directly control the target operation object on the operation model to perform the operation motion according to the operation command of the controllable object, and the specific engineering machine includes a module that may be flexibly adjusted according to the user's needs, which is not limited to the above embodiments.
Although in the above embodiments, the three-dimensional object motion is controlled based on state switching, in some possible embodiments, the three-dimensional object motion may also be controlled based on a manner that speed multiplied by time equals to distance, and a manner of implementing the three-dimensional object motion may be flexibly adjusted according to a user's needs, which is not limited to the above embodiments.
By adopting the engineering machinery simulation method provided by the application, the state of a target controllable object on a control model can be changed by acquiring an operation instruction of a user on the controllable object through a virtual engineering control model displayed on a graphical user interface and responding to the operation instruction aiming at the target controllable object on the control model; and then, the target operation object on the operation model is controlled to perform operation movement according to the changed state of the target controllable object, and continuous movement operation of the target operation object is controlled according to the preset movement compensation defined by a user in a mode of customizing the transition step length, so that the effect of simulating the operation movement of the engineering machine according to the virtual engineering control model is realized, and the blank of the prior art is filled.
The following explains the engineering machine simulation apparatus provided in the present application with reference to the drawings, where the engineering machine simulation apparatus can execute any one of the engineering machine simulation methods shown in fig. 1 to 5, and specific implementation and beneficial effects of the method refer to the above description, which is not described again below.
Fig. 6 is a schematic structural diagram of a simulation apparatus for construction machinery according to an embodiment of the present application, and as shown in fig. 6, the simulation apparatus includes: a first control module 201 and a second control module 202, wherein:
the first control module 201 is configured to respond to an operation instruction for a target manipulable object on the control model, and control a state of the target manipulable object on the control model to change.
And the second control module 202 is used for controlling the target operation object on the operation model to perform operation movement according to the changed state of the target operable object, wherein the target operation object is an operation object of which the preset telefax control logic exists in the target operable object.
Fig. 7 is a schematic structural diagram of a simulation apparatus for construction machinery according to another embodiment of the present application, and as shown in fig. 7, the apparatus further includes: the calculating module 203 is configured to calculate a state control instruction output by the target manipulable object according to the changed state of the target manipulable object, where the state control instruction includes: motion control parameters and an identification of a target job object;
the second control module 202 is specifically configured to control the target job object to perform job motion according to the motion control parameter and the identifier of the target job object.
Optionally, the calculating module 203 is specifically configured to calculate a state control instruction according to the state of the target manipulable object after the change by using a telex control logic corresponding to the target manipulable object in the preset virtual engineering machine model.
Optionally, the motion control parameters include: the type of work movement; the second control module 202 is specifically configured to control the target job object to perform job motion by using a preset motion parameter corresponding to the job motion according to the type of the job motion and the identifier of the target job object.
Optionally, the type of work movement is: and (3) performing constant-speed telescopic motion, wherein the preset motion parameters are as follows: presetting a stretching speed and a stretching direction; or,
the types of work movements are: and (3) performing constant-speed rotation, wherein the preset motion parameters are as follows: presetting a rotation speed and a preset rotation direction; or,
the types of work movements are: and (3) performing omnibearing rotation motion, wherein the preset motion parameters are as follows: presetting a rotation direction range and a preset rotation center; or,
the types of work movements are: and (3) performing constant-speed lifting movement, wherein the preset movement parameters are as follows: the lifting speed and the lifting direction are preset.
Optionally, the first control module 201 is specifically configured to control the state of the target manipulable object on the control model to change according to a first characteristic attribute of the target manipulable object, where the first characteristic attribute is used to indicate an automatic reset attribute of the target manipulable object.
Optionally, the first control module 201 is specifically configured to control the target job object to drive the sub-job objects of the target job object to move according to the second characteristic attribute of each job object on the job model; the second characteristic attribute is used for indicating a parent-child relationship attribute between the job objects.
Alternatively, if the target job object is: a continuously moving object; the second control module 202 is specifically configured to control the target operation object to perform continuous operation movement based on the preset movement step length according to the changed state of the target manipulable object.
Optionally, the continuously moving object is a continuously translationally moving object, or a continuously rotationally moving object.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 8 is a schematic structural diagram of an engineering machine simulation device according to an embodiment of the present disclosure, where the engineering machine simulation device may be integrated in a terminal device or a chip of the terminal device.
The engineering machinery simulation equipment comprises: a processor 501, a storage medium 502, and a bus 503.
The processor 501 is used for storing a program, and the processor 501 calls the program stored in the storage medium 502 to execute the method embodiment corresponding to fig. 1-5. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application also provides a program product, such as a storage medium, on which a computer program is stored, including a program, which, when executed by a processor, performs embodiments corresponding to the above-described method.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to perform some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (10)
1. A method for simulating an engineering machine, the method being applied to a device capable of presenting a graphical user interface on which: a virtual work machine model, the virtual work machine model comprising: a control model and a job model; the method comprises the following steps:
controlling the state of a target manipulatable object on the control model to change in response to an operating instruction for the target manipulatable object on the control model;
and controlling a target operation object on the operation model to perform operation movement according to the changed state of the target manipulable object, wherein the target operation object is an operation object of which the target manipulable object has preset telefax control logic.
2. The method of claim 1, wherein controlling the target work object on the work model to perform the work movement according to the changed state of the target manipulable object comprises:
calculating a state control instruction output by the target manipulable object according to the changed state of the target manipulable object, wherein the state control instruction comprises: a motion control parameter and an identification of the target work object;
and controlling the target operation object to perform the operation movement according to the movement control parameter and the identification of the target operation object.
3. The method of claim 2, wherein the calculating the state control command output by the target manipulatable object according to the changed state of the target manipulatable object comprises:
and calculating the state control command by adopting a preset telex control logic corresponding to the target manipulable object in the virtual engineering machinery model according to the changed state of the target manipulable object.
4. The method of claim 2, wherein the motion control parameters comprise: a type of the work movement; the controlling the target operation object to perform the operation movement according to the movement control parameter and the identification of the target operation object includes:
and controlling the target operation object to perform the operation movement by adopting a preset movement parameter corresponding to the operation movement according to the type of the operation movement and the identification of the target operation object.
5. The method of claim 1 wherein the state of the target manipulatable object on the control model is changed, including;
and controlling the state of the target manipulable object on the control model to change according to a first characteristic attribute of the target manipulable object, wherein the first characteristic attribute is used for indicating an automatic resetting attribute of the target manipulable object.
6. The method of claim 1, further comprising:
controlling the target operation object to drive the sub-operation objects of the target operation object to move according to the second characteristic attribute of each operation object on the operation model; the second characteristic attribute is used for indicating a parent-child relationship attribute between the operation objects.
7. The method of claim 1, wherein if the target job object is: a continuously moving object; the control of the target operation object on the operation model to perform operation movement according to the changed state of the target operable object comprises the following steps:
and controlling the target operation object to perform continuous operation movement based on a preset movement step according to the changed state of the target operable object.
8. An engineering machine simulation device is applied to equipment capable of presenting a graphical user interface, wherein the graphical user interface displays: a virtual work machine model, the virtual work machine model comprising: a control model and a job model; the device comprises: a first control module and a second control module, wherein:
the first control module is used for responding to an operation instruction aiming at a target manipulable object on the control model and controlling the state of the target manipulable object on the control model to change;
and the second control module is used for controlling a target operation object on the operation model to perform operation movement according to the changed state of the target operable object, wherein the target operation object is an operation object of which the preset telefax control logic exists in the target operable object.
9. An engineering machine simulation apparatus, characterized in that the apparatus comprises: a processor, a storage medium and a bus, wherein the storage medium stores machine readable instructions executable by the processor, when the engineering machinery simulation runs, the processor and the storage medium communicate through the bus, and the processor executes the machine readable instructions to execute the method of any one of the claims 1-7.
10. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, performs the method of any of the preceding claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110094045.XA CN112764357A (en) | 2021-01-22 | 2021-01-22 | Engineering machinery simulation method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110094045.XA CN112764357A (en) | 2021-01-22 | 2021-01-22 | Engineering machinery simulation method, device, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112764357A true CN112764357A (en) | 2021-05-07 |
Family
ID=75706993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110094045.XA Pending CN112764357A (en) | 2021-01-22 | 2021-01-22 | Engineering machinery simulation method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112764357A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113553725A (en) * | 2021-08-05 | 2021-10-26 | 郑州捷安高科股份有限公司 | Simulation method and device for air path principle of brake system, electronic equipment and storage medium |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008009536A (en) * | 2006-06-27 | 2008-01-17 | Toshiba Corp | Simulation apparatus and simulation method, and simulation program |
| CN101850552A (en) * | 2010-05-28 | 2010-10-06 | 广东工业大学 | Industrial robot comprehensive control platform and control method thereof |
| RU2011108314A (en) * | 2011-03-03 | 2012-09-10 | Федеральное государственное военное образовательное учреждение высшего профессионального образования "Военный авиационный инженерн | METHOD FOR MODELING PROCESSES OF CENTRALIZED MANAGEMENT OF TECHNICAL MEANS AND SYSTEM FOR ITS IMPLEMENTATION (OPTIONS) |
| CN106777736A (en) * | 2016-12-27 | 2017-05-31 | 浙江大学 | For the emulation platform and emulation mode of actuation redundancy Mechanical transmission test model of restricting |
| CN107932504A (en) * | 2017-11-13 | 2018-04-20 | 浙江工业大学 | PyQt-based mechanical arm operation control system |
| CN108427324A (en) * | 2018-04-12 | 2018-08-21 | 南京邮电大学 | A kind of flexible mechanical arm control emulation platform and its emulation mode |
| CN108701425A (en) * | 2016-01-14 | 2018-10-23 | 比伯拉赫利勃海尔零部件有限公司 | The simulator of crane, building machinery or industrial truck |
| CN108710285A (en) * | 2018-03-28 | 2018-10-26 | 珠海格力智能装备有限公司 | industrial robot model simulation control method and device |
| CN109001986A (en) * | 2018-09-20 | 2018-12-14 | 南京邮电大学 | A kind of networking flexible mechanical arm control emulation platform and its working method |
| CN111308974A (en) * | 2020-02-27 | 2020-06-19 | 杭州和利时自动化有限公司 | Method, system and equipment for controlling DCS simulation system |
| CN111368443A (en) * | 2020-03-06 | 2020-07-03 | 北京旷视机器人技术有限公司 | Equipment simulation method and device and electronic equipment |
| CN112182891A (en) * | 2020-09-30 | 2021-01-05 | 深圳市智物联网络有限公司 | Industrial object simulation method, device and equipment |
-
2021
- 2021-01-22 CN CN202110094045.XA patent/CN112764357A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008009536A (en) * | 2006-06-27 | 2008-01-17 | Toshiba Corp | Simulation apparatus and simulation method, and simulation program |
| CN101850552A (en) * | 2010-05-28 | 2010-10-06 | 广东工业大学 | Industrial robot comprehensive control platform and control method thereof |
| RU2011108314A (en) * | 2011-03-03 | 2012-09-10 | Федеральное государственное военное образовательное учреждение высшего профессионального образования "Военный авиационный инженерн | METHOD FOR MODELING PROCESSES OF CENTRALIZED MANAGEMENT OF TECHNICAL MEANS AND SYSTEM FOR ITS IMPLEMENTATION (OPTIONS) |
| CN108701425A (en) * | 2016-01-14 | 2018-10-23 | 比伯拉赫利勃海尔零部件有限公司 | The simulator of crane, building machinery or industrial truck |
| CN106777736A (en) * | 2016-12-27 | 2017-05-31 | 浙江大学 | For the emulation platform and emulation mode of actuation redundancy Mechanical transmission test model of restricting |
| CN107932504A (en) * | 2017-11-13 | 2018-04-20 | 浙江工业大学 | PyQt-based mechanical arm operation control system |
| CN108710285A (en) * | 2018-03-28 | 2018-10-26 | 珠海格力智能装备有限公司 | industrial robot model simulation control method and device |
| CN108427324A (en) * | 2018-04-12 | 2018-08-21 | 南京邮电大学 | A kind of flexible mechanical arm control emulation platform and its emulation mode |
| CN109001986A (en) * | 2018-09-20 | 2018-12-14 | 南京邮电大学 | A kind of networking flexible mechanical arm control emulation platform and its working method |
| CN111308974A (en) * | 2020-02-27 | 2020-06-19 | 杭州和利时自动化有限公司 | Method, system and equipment for controlling DCS simulation system |
| CN111368443A (en) * | 2020-03-06 | 2020-07-03 | 北京旷视机器人技术有限公司 | Equipment simulation method and device and electronic equipment |
| CN112182891A (en) * | 2020-09-30 | 2021-01-05 | 深圳市智物联网络有限公司 | Industrial object simulation method, device and equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113553725A (en) * | 2021-08-05 | 2021-10-26 | 郑州捷安高科股份有限公司 | Simulation method and device for air path principle of brake system, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3441202A1 (en) | Information processing apparatus, information processing method, and program | |
| EP2453326B1 (en) | Method and system for operating an automated machine | |
| JP2017520853A (en) | Numerical control system based on virtual host device | |
| CN109472872A (en) | Shop floor status monitoring method and system | |
| CN113179656B (en) | SCADA webpage HMI system | |
| JPS62229343A (en) | Program counter display system | |
| CN112764357A (en) | Engineering machinery simulation method, device, equipment and storage medium | |
| US20160300000A1 (en) | System construction support apparatus | |
| Jamro et al. | IEC 61131-3 programmable human machine interfaces for control devices | |
| Park et al. | Development of Digital twin for Plug-and-Produce of a Machine tending system through ISO 21919 interface | |
| JP2015046082A (en) | Simulation device and simulation program | |
| CN112292659B (en) | Code for programming a device from a controlling computer by invoking a development tool from a semantic zoom enhancement user interface | |
| CN103294532B (en) | The method of rapid implementation of matrix switch graphical control system | |
| JP2002108600A (en) | Terminal device for control system and recording medium and control system | |
| Fernando et al. | Constraint-based immersive virtual environment for supporting assembly and maintenance tasks | |
| CN112363696B (en) | Augmented reality rapid development system and method, electronic device and readable storage medium | |
| CN106157366A (en) | Ultra-large scene based on BIM renders optimization method and system in mobile terminal | |
| CN111813400B (en) | Action event processing method and device, electronic equipment and computer storage medium | |
| KR101528480B1 (en) | Communication structure for connecting between haptic server and virtual reality | |
| CN116361156A (en) | Smoking test method, computer device and computer readable storage medium for test case | |
| JP3661336B2 (en) | Programmable controller loader | |
| CN116861606A (en) | Cable modeling method based on algorithm library | |
| Liu et al. | Study on the simulation and training system state transition method of the complex weapon equipment on operation-oriented | |
| CN104866376A (en) | Virtual prototype based on editable text driving and method therefor | |
| CN115878131A (en) | Code generation method and device for digital twin application and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210507 |