Iconic control method, device, system and medium for mechanical control system

Abstract

The present application discloses an icon-based programming control method, device, computer-readable storage medium and mechanical control system for a mechanical control system. The mechanical control system includes a mechanical component having a controller and a mechanical device and a host having a programming control interface. The programming control interface includes a block control area and a parameter setting area. The method is applied to the host, and includes: responding to the user interface to call the instructions of the blocks that match the appearance structure of each component of the mechanical device in the block control area, assembling and generating an initial virtual model in the programming control interface; setting motion parameters for the corresponding position blocks in the initial virtual model according to the obtained logical connection relationship and action parameters of the mechanical device to generate a physical virtual model. Sending an animation signal to the controller allows the mechanical device to perform the same action as the key frame animation of the physical virtual model under the control of the controller, thereby conveniently realizing the control of the mechanical component and effectively improving the control efficiency.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to an icon-based programming control method, device, computer-readable storage medium, and mechanical control system for a mechanical control system. Background Art

[0002] At present, in the design process of mechanical control system, the process is roughly as follows:

[0003] First, traditional animation design software such as 3D MAX can be used to model the mechanical components of the mechanical control system, and then the specific movement mode of the mechanical components can be designed in the animation design software to roughly verify whether the design of the mechanical components is reasonable.

[0004] In order to further ensure the reliability of the mechanical component design, it is often necessary to build a real prototype. The various parts of the mechanical component are made of rods, blocks, and rotating bodies, and power components such as servos can be used to realize the movement of the mechanical component. By studying the real movement of the physical prototype, the mechanical component can be further optimized and improved to finally form a design plan for the mechanical component.

[0005] It can be seen that during the actual movement of the mechanical component, the rotation angle of the power component needs to be set separately. This setting operation is usually time-consuming and labor-intensive. It also requires continuous optimization and improvement. The design cycle of the mechanical component is long, which not only seriously affects the design efficiency of the mechanical component, but also increases the design cost of the mechanical component.

[0006] In view of this, how to efficiently design mechanical components is a technical problem that technical personnel in this field need to solve. Summary of the invention

[0007] The present application provides an icon-based programming control method, device, computer-readable storage medium and mechanical control system for a mechanical control system, which can not only shorten the design cycle of mechanical components and reduce the design cost of mechanical components, but also facilitate the control of mechanical components and effectively improve the control efficiency of mechanical components.

[0008] To achieve the above-mentioned purpose, the present application provides, on one hand, an icon-based programming control method for a mechanical control system, wherein the mechanical control system includes a mechanical component and a host, wherein the mechanical component includes a controller and a mechanical device, and is applied to a host having a programming control interface, wherein the programming control interface includes a block control area and a parameter setting area; the method includes the steps of:

[0009] In response to the user interface's instruction to call blocks matching the external structures of the components of the mechanical device in the block control area, an initial virtual model is assembled and generated in the programming control interface;

[0010] Based on the parameter setting instruction issued by the user through the parameter setting area, the motion parameters are set for the corresponding position blocks in the initial virtual model according to the acquired logical connection relationship and action parameters of the mechanical device to generate a physical virtual model;

[0011] When a mechanical component movement instruction is received, a pre-stored animation signal is sent to the controller. The animation signal is a key frame animation made by the user for the physical virtual model based on animation requirement information, so that the mechanical device performs the same action as the key frame animation under the control of the controller.

[0012] Optionally, the responding user interface calls, in the block control area, instructions for blocks that match the external structures of the components of the mechanical device, and assembles and generates an initial virtual model in the programming control interface, including:

[0013] When it is detected that the user issues a tile selection instruction through the tile control area, calling the tile matching the tile selection instruction and assembling the tiles in the order in which the instructions are issued;

[0014] When a geometric parameter adjustment instruction is received from the user through the parameter setting area, the geometric attribute values ​​of the corresponding blocks are adjusted according to the geometric parameter values ​​of the components of the mechanical device in the geometric parameter adjustment instruction, so that the blocks in the programming control interface match the external structure of the components of the mechanical device.

[0015] Optionally, adjusting the geometric attribute value of the corresponding block according to the geometric parameter value of each component of the mechanical device in the geometric parameter adjustment instruction includes:

[0016] When it is detected that the block assembly is completed, the pre-stored geometric attribute assignment template is called;

[0017] Filling the geometric parameter values ​​of the components of the mechanical device and the corresponding relationship between the components and the blocks obtained by parsing the geometric parameter adjustment instruction into the corresponding positions of the geometric attribute assignment template;

[0018] The shape, size and position of the corresponding block are automatically adjusted according to the filled geometric attribute assignment template to generate the initial virtual model.

[0019] Optionally, setting motion parameters for corresponding position blocks in the initial virtual model according to the acquired logical connection relationship and motion parameters of the mechanical device includes:

[0020] Automatically setting logical connection attributes for each block of the initial virtual model according to the logical connection relationship between each component, so as to connect and combine the initial virtual model into a whole;

[0021] The motion parameters of the blocks at the same position of the initial virtual model are set according to the operation control parameters of each power device of the mechanical device to generate the physical virtual model; the operation control parameters include the installation position and number of installations of the power device, the component information and component motion parameters corresponding to the control of each power device.

[0022] Optionally, the parameter setting area includes a skeleton connection module, and the automatically setting the logical connection attributes for each block of the initial virtual model according to the logical connection relationship between the components includes:

[0023] Automatically fill in the information at the corresponding position of the skeletal connection module which is pre-stored and uniquely corresponds to the initial virtual model according to the logical connection relationship between the components, wherein the skeletal connection module includes a skeletal root node, a bone corresponding to the skeletal root node, and a block bound to the skeletal root node;

[0024] When it is detected that the skeleton connection module has been filled, the blocks in the initial virtual model are automatically connected and combined into a whole based on the skeleton connection module.

[0025] Optionally, the bone connection module further includes a constraint bone attribute setting template, and the step of setting the motion parameters of the blocks at the same position of the initial virtual model according to the operation control parameters of each power device of the mechanical device includes:

[0026] Determining the correspondence between each block and the skeleton in the initial virtual model based on the skeleton connection module;

[0027] The rotatable angle information and / or movable displacement information and / or the servo channel and / or the servo scaling value of the corresponding bone are set according to the acquired operation control parameters of each power device of the mechanical device.

[0028] Optionally, the programming control interface further includes a block display area, the response user interface calls instructions for blocks matching the external structures of the components of the mechanical device in the block control area, and assembling and generating the initial virtual model in the programming control interface includes:

[0029] Preliminarily constructing a CAD block data model library on the host, the CAD block data model library includes a plurality of professional data model libraries and a conventional data model library, each professional data model library includes three-dimensional CAD blocks corresponding to the same parts of various mechanical devices in the same application field, and the conventional data model library includes a plurality of three-dimensional CAD blocks of different shapes;

[0030] When the user issues a block assembly instruction through the programming control interface, the corresponding target professional data model library is matched based on the application field information of the mechanical device carried in the block assembly instruction, and is presented in the block display area;

[0031] According to the block selection instruction issued by the user through the block display area, the corresponding three-dimensional CAD blocks are retrieved from the target professional data model library to be used for assembling the three-dimensional CAD drawings into the initial virtual model.

[0032] On the other hand, the present application also provides an icon-type programming control device for a mechanical control system, the mechanical control system includes a mechanical component and a host, the mechanical component includes a controller and a mechanical device, and is applied to a host having a programming control interface, the programming control interface includes a block control area and a parameter setting area; the device includes:

[0033] A virtual model assembly module, for responding to the instruction of the user interface to call the blocks matching the external structure of each component of the mechanical device in the block control area, and assembling and generating an initial virtual model in the programming control interface;

[0034] A virtual model parameter setting module, configured to set motion parameters for corresponding position blocks in the initial virtual model according to the acquired logical connection relationship and motion parameters of the mechanical device based on the parameter setting instruction issued by the user through the parameter setting area, so as to generate a physical virtual model;

[0035] The mechanical component action module is used to send a pre-stored animation signal to the controller when receiving a mechanical component movement instruction. The animation signal is a key frame animation made by the user for the physical virtual model based on animation requirement information, so that the mechanical device performs the same action as the key frame animation under the control of the controller.

[0036] The present application also provides a computer-readable storage medium, on which an iconic programming control program for a mechanical control system is stored. When the iconic programming control program for a mechanical control system is executed by a processor, the steps of the iconic programming control method for a mechanical control system as described in any of the above items are implemented.

[0037] Finally, the present application also provides a mechanical control system, including a mechanical component and a host;

[0038] The host comprises a human-computer interaction device, a processor and a memory, wherein the human-computer interaction device is used to provide a programming control interface, and the processor is used to implement the steps of the icon-based programming control method for a mechanical control system as described in any of the preceding items when executing a computer program stored in the memory;

[0039] The mechanical component includes a controller and a mechanical device, and the host is connected to the controller; after receiving the animation signal sent by the processor, the controller controls the mechanical device to perform the same action as the physical virtual model displayed by the host based on the animation signal.

[0040] Compared with the above background technology, the advantage of the technical solution provided by the present application is that there is no need to individually design parameters for certain components, nor is there any need to individually control specific components of the mechanical assembly. Instead, a software virtual model that matches the mechanical assembly is constructed through icons based on a programming control window, so that the mechanical assembly can be efficiently designed, the design cycle of the mechanical assembly can be shortened, the design efficiency of the mechanical assembly can be effectively improved, and the design cost of the mechanical assembly can be reduced. Then, a keyframe animation is produced for the established software virtual model, and it is transmitted to the mechanical assembly as an animation signal, so as to control the mechanical assembly to perform the same action as the keyframe animation. The keyframe animation production process can be combined with the motion control of the mechanical assembly, so as to conveniently realize the control of the mechanical assembly, thereby improving the control efficiency of the mechanical assembly.

[0041] In addition, the embodiments of the present invention also provide corresponding implementation devices, computer-readable storage media and mechanical control systems for the iconic programming control method for mechanical control systems, which further makes the method more practical, and the devices, computer-readable storage media and mechanical control systems have corresponding advantages.

[0042] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0044] Figure 1 A flowchart of an implementation of an icon-based programming control method for a mechanical control system provided by an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of constructing a virtual model provided by an embodiment of the present invention;

[0046] Figure 3 A schematic diagram of geometric parameter icons of a model provided in an implementation manner according to an embodiment of the present invention;

[0047] Figure 4A schematic diagram of an icon for binding a model and an entity in an implementation manner provided in an embodiment of the present invention;

[0048] Figure 5 A schematic diagram of an icon of model parameters in an implementation manner provided in an embodiment of the present invention;

[0049] Figure 6 A schematic diagram of icons of model parameters in another implementation manner provided in an embodiment of the present invention;

[0050] Figure 7 A schematic diagram of icons of model animation parameters in an implementation manner provided in an embodiment of the present invention;

[0051] Figure 8 A schematic diagram of the structural framework of an icon-based programming control device for a mechanical control system provided by an embodiment of the present invention in one implementation manner;

[0052] Fig. 9 A schematic diagram of the structural framework of an icon-based programming control device for a mechanical control system provided by an embodiment of the present invention in another implementation manner;

[0053] Fig.10 A schematic diagram of the structural framework of a mechanical control system provided in an embodiment of the present invention in one implementation manner. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0055] The terms "first", "second", "third", "fourth", etc. in the specification and claims of this application and the above drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may include steps or units that are not listed.

[0056] First, an embodiment of the present invention provides an icon-based programming control method for a mechanical control system. In this embodiment, for a mechanical control system, the mechanical control system may include a mechanical component and a host, and the mechanical component includes a controller and a mechanical device. The mechanical component is a specific structure formed by a combination of multiple external structural components and a power drive device, such as a robot, a dog, a cat, and other physical objects, which perform specific operations or behaviors under the control of the controller. The user can send control instructions to the mechanical component through the host, and the control instructions are sent to the controller. The host is equipped with a human-computer interaction device to create a model, make keyframe animations, send control instructions, etc. through the human-computer interaction device, and the programming control interface is displayed in front of the user through the human-computer interaction device. The programming control interface may include a tile control area and a parameter setting area. The tile control area includes multiple graphic tiles and can display these image tiles to the user. The parameter setting area is used to provide the user with a selection box and an information filling box for the parameter icons and corresponding parameter values ​​that need to be set for the model. The method steps of this embodiment are applied to the host of the mechanical control system, that is, the execution host of the embodiment of this method is the host, as shown in the attached manual. Figure 1 As shown, Figure 1 A flowchart of an icon-based programming control method for a mechanical control system provided in this embodiment may include the following contents:

[0057] S101: In response to the instruction of the user interface to call the blocks matching the external structure of each component of the mechanical device in the block control area, an initial virtual model is assembled and generated in the programming control interface.

[0058] In this embodiment, the user can use the programming control interface of the modeling software to model the mechanical component to be controlled. Specifically, a software model can be established in the modeling software according to the specific shapes of the components of the mechanical component and the positional relationship between the components, that is, the established software model should be able to reflect the shape and structural characteristics of the mechanical component. The block control area of ​​this embodiment will provide the user with a variety of blocks of different shapes. The user uses a human-computer interaction device such as a mouse or uses his hand to select blocks that match the external structure of the mechanical device components of the mechanical component to be controlled on the touch display. Correspondingly, the selected blocks can then be directly dragged to the target area. The host will respond to the user interface to call the instructions of the block control area to match the external structure of the components of the mechanical device. For example, the blocks selected by the user can be moved to the target area, and these selected blocks will be successfully spliced ​​and assembled and displayed in a display such as Figure 2 In the target area shown in the figure, the geometric parameters of each block are editable, and the user can stretch or fill in data. Figure 3 The size of each block is changed to match the corresponding component. The block size can be the same as the corresponding component size, or can be reduced or enlarged proportionally, which does not affect the implementation of the present application.

[0059] S102: Based on the parameter setting instruction issued by the user through the parameter setting area, the motion parameters are set for the corresponding position blocks in the initial virtual model according to the acquired logical connection relationship and action parameters of the mechanical device to generate a physical virtual model.

[0060] It is understandable that the above initial virtual model only matches the appearance and structure of the mechanical device of the mechanical component to be controlled, but each component of the mechanical device also needs to be set according to the logical connection relationship and action parameters set in the actual application scenario to ensure that the virtual model and the mechanical component remain consistent during the movement. The so-called logical connection relationship refers to whether each component moves together when performing certain specific operations and the correspondence between each block and the corresponding component, while the action parameter refers to the movement direction and operation scale when performing a certain operation. The parameter setting area of ​​this embodiment can provide the user with a selection box and an information filling box for the parameter icons and corresponding parameter values ​​that need to be set for the model. Figure 4-Figure 7 As shown, when the user sets parameters for each block, the parameter setting area is selected in the programming control interface. The parameter setting area displays various parameter icons and corresponding parameter value setting methods. The user fills in the corresponding parameters in the corresponding positions according to the actual situation of the mechanical component to be controlled. The user can generate parameter setting instructions by clicking the Finish button or the Next button on the page, or the host can automatically generate parameter setting instructions after detecting that all necessary options in the parameter setting area have been filled in. The host reads the corresponding information from it as the initial virtual model and can automatically set the corresponding parameters. After setting the parameters, the initial virtual model generates a three-dimensional virtual model that matches the mechanical device of the mechanical component to be controlled, that is, a software model that is exactly the same as the external position relationship, internal connection relationship, and logical connection relationship of each component of the mechanical device.

[0061] S103: When a mechanical component movement instruction is received, a pre-stored animation signal is sent to the controller, so that the mechanical device performs the same action as the key frame animation under the control of the controller.

[0062] The mechanical component motion instruction of this embodiment refers to the instruction for the user to start the mechanical device to perform a task. The task to be performed is the data information carried by the animation signal. The animation signal of this embodiment is the key frame animation made by the user for the physical virtual model based on the animation requirement information. The key frame animation is the command for the physical virtual model to perform a series of actions or execute instructions within a preset time. The mechanical component motion instruction can be triggered by providing a start button on the programming control interface, for example. Of course, it can also be triggered by other methods, which does not affect the implementation of this application.

[0063] After the user has completed the software model of the mechanical component in the programming control interface of the modeling software, he continues to create keyframe animations in the modeling software, that is, to create keyframe animations for the movable parts of the software model. For example, if there are two parts that can rotate relative to each other in the software model, the keyframe animation creation process can be to control the two parts to rotate; when the keyframe animation is completed, an animation signal can be generated and stored locally on the host. The animation signal is transmitted to the mechanical component so that the mechanical component performs the same action as the keyframe animation according to the animation signal. Obviously, the animation signal contains the specific action of the software model. When the mechanical component receives the animation signal, it can perform the corresponding action according to the animation signal, that is, the action performed by the mechanical component is the same as the action of the software model, so that the motion control of the mechanical component can be achieved. For example, if the keyframe animation is that the robot repeatedly executes the actions of jumping, raising hands, and shaking its head in the first 10 seconds, and repeatedly executes the actions of walking forward 3 steps and walking backward 5 times in the 20th second, then the physical virtual model of the robot will start to repeat the actions of jumping, raising hands, and shaking its head in the first 10 seconds, and repeatedly execute the actions of walking forward 3 steps and walking backward 5 times in the 20th second after the motion instruction of the mechanical component is issued in the programming control interface. The animation signal sent to the controller of the mechanical component also repeats the actions of jumping, raising hands, and shaking its head in the first 10 seconds, and repeatedly executes the actions of walking forward 3 steps and walking backward 5 times in the 20th second. After the controller receives the motion instruction of the mechanical component, the physical robot, that is, the mechanical device, will be controlled to repeat the actions of jumping, raising hands, and shaking its head in the first 10 seconds, and repeatedly executes the actions of walking forward 3 steps and walking backward 5 times in the 20th second. In other words, the physical virtual model on the host side and the mechanical device of the mechanical component perform exactly the same actions, and the user only needs to modify the animation signal by changing the keyframe animation to achieve control of the mechanical device.

[0064] In the technical solution provided by the embodiment of the present invention, there is no need to individually design parameters for certain components, nor is there any need to individually control specific components of the mechanical assembly. Instead, a software virtual model matching the mechanical assembly is constructed through icons based on a programming control window, so that the mechanical assembly can be efficiently designed, the design cycle of the mechanical assembly can be shortened, the design efficiency of the mechanical assembly can be effectively improved, and the design cost of the mechanical assembly can be reduced. Then, a keyframe animation is produced for the established software virtual model, and it is transmitted to the mechanical assembly as an animation signal, so as to control the mechanical assembly to perform the same action as the keyframe animation. The keyframe animation production process can be combined with the motion control of the mechanical assembly, so as to conveniently realize the control of the mechanical assembly, thereby improving the control efficiency of the mechanical assembly.

[0065] It should be noted that there is no strict order of execution between the steps in this application. As long as they comply with the logical order, these steps can be executed simultaneously or in a certain preset order. Figure 1 This is just a schematic and does not mean that this is the only execution order.

[0066] In the above embodiment, there is no limitation on how to perform step S101. In this embodiment, a method for generating an initial virtual model is provided, which may include the following steps:

[0067] When it is detected that the user issues a tile selection instruction through the tile control area, the tile matching the tile selection instruction is called and the tiles are assembled in the order in which the instructions are issued.

[0068] When receiving the geometric parameter adjustment instruction issued by the user through the parameter setting area, the geometric attribute value of the corresponding block can be automatically adjusted according to the geometric parameter value of each component of the mechanical device in the geometric parameter adjustment instruction, so that each block in the programming control interface matches the external structure of each component of the mechanical device.

[0069] Among them, the geometric parameter adjustment instruction can be triggered and generated based on the stretching scale when the system detects that the block is stretched, or it can be triggered and generated after detecting that the user clicks the parameter setting completion button. This embodiment does not impose any limitations on this. The geometric parameters may include, for example, length, width, height, and angle.

[0070] As an optional implementation of this embodiment, the step of automatically adjusting the geometric attribute values ​​of the corresponding blocks according to the geometric parameter values ​​of the components of the mechanical device in the geometric parameter adjustment instruction may include:

[0071] When it is detected that the block assembly is completed, the pre-stored geometric attribute assignment template is called; the geometric attribute assignment template can be as follows Figure 3 As shown, for example, it may include the block name, block shape, moving direction and moving parameters. The geometric parameter values ​​of each component of the mechanical device obtained by parsing the geometric parameter adjustment instruction and the corresponding relationship between the component and the block will be automatically filled into the corresponding position of the geometric attribute assignment template; according to the filled geometric attribute assignment template, the shape, size and position of the corresponding block can be automatically adjusted to generate the initial virtual model.

[0072] This embodiment provides the user with an icon-based parameter setting method, which makes it easier to build a software model and helps improve the control efficiency of mechanical components.

[0073] In the above embodiment, there is no limitation on how to execute step S102. In this embodiment, a method for generating a physical virtual model is provided, which may include the following steps:

[0074] According to the logical connection relationship between the components, the logical connection attributes are automatically set for each block of the initial virtual model to connect and combine the initial virtual model into a whole; according to the operation control parameters of each power device of the mechanical device, the motion parameters of the blocks at the same position of the initial virtual model are set to generate a physical virtual model.

[0075] In this embodiment, the operation control parameters may include the installation position and number of power devices, the component information and component motion parameters of each power device. The parameter setting area may also include a skeleton connection module, which treats each block of the entity virtual model as a skeleton node. The skeleton connection module provides the setting pages of each skeleton root node, skeleton attributes and binding objects, and skeleton animation, such as Figure 4-7 As shown. Each skeleton root node includes a plurality of controlled skeletons, each skeleton has a name, is bound to an object, and the object is a component of a mechanical device such as a head or a corresponding block, and has a plurality of constraint skeleton attributes, such as minimum angle, maximum angle, offset angle, steering gear channel, steering gear scaling value, and rotation axis. At the same time, it is also possible to set whether the skeleton is hidden, and a drop-down page can be set after each skeleton parameter as an option to directly select and fill in, or an information input box can be set. This does not affect the implementation of the present application. Among them, the skeleton attributes can be displayed in the form of a constraint skeleton attribute setting template, based on this, the implementation process of step S102 in the above embodiment can be:

[0076] The information at the corresponding position of the skeletal connection module that is pre-stored and uniquely corresponds to the initial virtual model is automatically filled in according to the logical connection relationship between the various components. The skeletal connection module includes a skeletal root node, a bone corresponding to the skeletal root node, and a block bound to the skeletal root node. When it is detected that the skeletal connection module has been filled, the blocks in the initial virtual model are automatically connected and combined into a whole based on the skeletal connection module.

[0077] As an optional implementation of this embodiment, the process of setting the motion parameters of the initial virtual model may include:

[0078] Based on the bone connection module, the corresponding relationship between each block and the bone in the initial virtual model is determined; the rotatable angle information and / or movable displacement information and / or the servo channel and / or the servo scaling value of the corresponding bone are set according to the acquired operation control parameters of each power device of the mechanical device.

[0079] The motion parameters and logical connection relationships of the software model of this embodiment are set in a skeleton form, which is more in line with the motion model of the mechanical device. The software model can be easily constructed, which is beneficial to improving the control efficiency of the mechanical components.

[0080] In order to make the technical solution of the present application more practical, simple and easy to implement, the technical solution of the present application can be built on a CAD platform. Accordingly, the above-mentioned programming control interface can also include a block display area. An implementation method of step S101 of the above-mentioned embodiment can be:

[0081] A CAD block data model library is pre-built on the host, and the CAD block data model library includes a plurality of professional data model libraries and a conventional data model library. Each professional data model library includes three-dimensional CAD blocks corresponding to the same parts of each mechanical device in the same type of application field, and the conventional data model library includes a plurality of three-dimensional CAD blocks of different shapes. Three-dimensional CAD blocks include but are not limited to simple three-dimensional shapes such as cuboids, cubes, triangular pyramids, etc., basic three-dimensional blocks spliced ​​by simple shapes such as a combination of cuboids and spheres, etc. In other words, each three-dimensional CAD block contained in the professional data model library is a basic model in the corresponding application field formed by combining a plurality of simple three-dimensional small blocks or plane small blocks, and the three-dimensional CAD blocks in the conventional data model library are conventional combinations of some blocks and / single blocks. For example, taking the animal field as an example, each three-dimensional CAD block in the professional data model library is a three-dimensional model of a cat of different types, a three-dimensional model of a dog of different types, etc., and the three-dimensional CAD blocks of the conventional data model library are cat heads, tails, ears, etc.

[0082] When the user issues a block assembly instruction through the programming control interface, the corresponding target professional data model library is matched based on the application field information of the mechanical device carried in the block assembly instruction, and presented in the block display area. For example, the image assembly instruction can include a start modeling button and an application field option in the block control area of ​​the programming control interface. When the user starts modeling, he first fills in the application field option and then clicks the start modeling button. When the system detects that the start modeling button is clicked, it triggers the generation of the image assembly instruction.

[0083] According to the block selection instruction issued by the user through the block display area, the corresponding 3D CAD block is retrieved from the target professional data model library and displayed in the window, so as to assemble the 3D CAD drawings into the initial virtual model. A selection sensing module can be set in the block control area of ​​the programming control interface. The selection sensing module is used to trigger the generation of image selection instructions when it detects that the user has selected the block corresponding to the device to be controlled in the database. The block selection operation can be pre-set, such as double-clicking. When the system detects that a block is double-clicked, it proves that the block is selected, and then triggers the generation of the block selection instruction.

[0084] It is understandable that the controller of the mechanical component of the mechanical control system can adopt any hardware device that can realize the above functions, such as Micro:bit, single-chip microcomputer or Arduino. Among them, the Micro:bit board is a microcomputer development board for youth programming education launched by the British BBC company. Its biggest feature is that it can be executed immediately by simply connecting to the USB port of the computer. The single-chip microcomputer is just a chip. When the single-chip microcomputer needs to be applied, the circuit should also be designed and the corresponding program should be written according to the hardware circuit; similarly, the Arduino board is only a core board, and it also needs to cooperate with other software and hardware to realize the corresponding functions. In order to make the technical solution of the present application clearer to the technicians in the relevant field, the present application uses the Micro:bit board as a connecting board between the software model and the mechanical component as an example for explanation. One end of the Micro:bit is connected to the host computer installed with the modeling software through the USB port, so that the animation signal of the mechanical component is transmitted from the computer to the Micro:bit board, and the other end of the Micro:bit is connected to the servo of the mechanical component through the adapter board. The servo is the power unit for the rotation of the two components, and the adapter board directly controls the rotation of the servo. .

[0085] After the programming control page of the host's modeling software completes step S101 and step S102, and the keyframe animation production has been completed or the keyframe animation has been stored in the host, click the deployment button on the programming control interface, the animation signal is sent to the Micro:bit board, and then press the programming button on the Micro:bit board, that is, the keyframe animation is mapped to the Micro:bit board through the USB port, and then fed back to the conversion board connected to the Micro:bit board, and then fed back to the servo to realize the rotation of the servo; the rotation of the servo realizes the movement of the mechanical component, and the movement of the mechanical component is the same as the keyframe animation.

[0086] The step of establishing a software model of the mechanical component according to the above steps S101-S102 may specifically include:

[0087] Establish component models of each component in the mechanical device respectively;

[0088] Build an initial virtual model based on the mechanical assembly and all component models.

[0089] In short, in the editing control page, you can first create separate CAD blocks. CAD blocks refer to the basic parts for making software models. Each CAD block has different basic shapes, such as rods, blocks, and disks. According to the specific shape structure of each component in the mechanical assembly, separate component models are created. At this time, the component models are independent of each other and not connected to each other. Here, CAD blocks can be regarded as component models.

[0090] Then, according to the positional relationship and connection relationship of each component in the mechanical assembly, the component models established are subjected to the so-called skeleton binding, thereby constructing the above-mentioned software model. That is, the above-mentioned CAD blocks are connected according to the specific setting method of the mechanical assembly, thereby constructing a physical virtual model.

[0091] The specific steps for "building software models based on mechanical components and all part models" include:

[0092] Connect all component models according to mechanical components;

[0093] The rotatable angle and / or movable displacement of the corresponding component model are set according to the power device of the mechanical assembly.

[0094] When all component models are established, the component models can be connected first according to the connection method of each component in the mechanical assembly. For example, if the first component and the second component in the mechanical assembly are fixedly connected, then the two component models corresponding to the first component and the second component should also be set to be fixedly connected. At the same time, the relative position relationship between the first component and the second component should also be reflected in the two component models corresponding to the two. Similarly, after all component models are set according to the connection relationship and position relationship of each component of the mechanical assembly, the rotation angle of the corresponding component model should also be set.

[0095] According to the installation position and properties of the power device of the mechanical component, which may be a servo, for example, the properties of the component model at the same position are set accordingly; that is, first determine the installation position of the power device of the mechanical component, which may be a servo, and which components can be rotated and displaced, and correspondingly determine which component models can achieve rotation and displacement, and then, based on the properties such as the rotatable angle of the power device (which may be a servo), assign the rotatable angle of the component model in the programming control page of the software accordingly.

[0096] That is to say, the software model established in the programming control page of the software can reflect the characteristics of the mechanical component to the greatest extent, so as to reasonably produce key frame animation and effectively control the movement of the mechanical component.

[0097] As mentioned above, the finished animation signal can be transmitted to the conversion board of the power device such as the servo. Since the movement of the mechanical component is completely determined by the power device, the movement of the mechanical component can be realized by controlling the movement of the power device such as the servo. The conversion board mentioned above directly controls the movement of the power device such as the servo. Therefore, by connecting the above-mentioned Micro:bit board and the conversion board, the control of the power device such as the servo can be realized, thereby effectively controlling the movement of the mechanical component.

[0098] Before the step of transmitting the animation signal to the mechanical component, the method further includes: establishing an electrical connection between the animation signal and the mechanical component.

[0099] The step of "establishing an electrical connection between the animation signal and the mechanical component" can be performed before or after the step of establishing the software model of the mechanical component, but it is obvious that the electrical connection between the animation signal and the mechanical component should be established first, and then the step of transmitting the animation signal to the mechanical component should be performed.

[0100] The embodiment of the present invention also provides a corresponding device for the method of the iconic programming control device for the mechanical control system, which further makes the method more practical. Among them, the device can be described from the perspective of functional modules and hardware. The iconic programming control device for the mechanical control system provided by the embodiment of the present invention is introduced below. The iconic programming control device for the mechanical control system described below and the iconic programming control method for the mechanical control system described above can be referred to each other.

[0101] From the perspective of functional modules, see Figure 8 , Figure 8 A structural diagram of an icon-based programming control device for a mechanical control system provided by an embodiment of the present invention in a specific implementation manner. The mechanical control system may include a mechanical component and a host, the mechanical component includes a controller and a mechanical device, the icon-based programming control device for the mechanical control system is built into a host having a programming control interface, the programming control interface may include a block control area and a parameter setting area; the device may include:

[0102] The virtual model assembly module 801 is used to respond to the instruction of the user interface to call the blocks matching the appearance structure of each component of the mechanical device in the block control area, and assemble and generate the initial virtual model in the programming control interface.

[0103] The virtual model parameter setting module 802 is used to set motion parameters for corresponding position blocks in the initial virtual model according to the acquired logical connection relationship and action parameters of the mechanical device based on the parameter setting instructions issued by the user through the parameter setting area, and generate a physical virtual model.

[0104] The mechanical component action module 803 is used to send a pre-stored animation signal to the controller when receiving a mechanical component movement instruction. The animation signal is a key frame animation made by the user for the physical virtual model based on the animation requirement information, so that the mechanical device performs the same action as the key frame animation under the control of the controller.

[0105] Among them, the virtual model assembly module 801 and the virtual model parameter setting module 802 can be specifically the encapsulation modules corresponding to the modeling function in the modeling software, and the mechanical component action module 803 can be specifically the encapsulation module corresponding to the key frame animation in the software and the encapsulation module corresponding to the deployment function; and by connecting the Micro: bit board, the conversion board and the servo, the Micro: bit board and the computer installed with the software are connected through the USB interface to realize the motion control of the mechanical component.

[0106] Optionally, as an implementation of this embodiment, the virtual model assembly module 801 may include:

[0107] The assembly submodule is used to call the blocks matching the block selection instruction and assemble the blocks according to the instruction issuance order when it is detected that the user issues a block selection instruction through the block control area;

[0108] The attribute value adjustment submodule is used to adjust the geometric attribute values ​​of the corresponding blocks according to the geometric parameter values ​​of the various components of the mechanical device in the geometric parameter adjustment instructions when receiving the geometric parameter adjustment instructions issued by the user through the parameter setting area, so that the various blocks in the programming control interface match the external structure of the various components of the mechanical device.

[0109] As an optional implementation of this embodiment, the above attribute value adjustment submodule may be further used for:

[0110] When it is detected that the assembly of the blocks is completed, the pre-stored geometric attribute assignment template is called; the geometric parameter values ​​of each component of the mechanical device obtained by parsing the geometric parameter adjustment instruction and the corresponding relationship between the components and the blocks are filled into the corresponding positions of the geometric attribute assignment template; the shape, size and position of the corresponding block are automatically adjusted according to the filled geometric attribute assignment template to generate an initial virtual model.

[0111] As another optional implementation of this embodiment, the above-mentioned virtual model assembly module 801 can be further used for example: the programming control interface also includes a block display area, a CAD block data model library is pre-built on the host, the CAD block data model library includes multiple professional data model libraries and a conventional data model library, each professional data model library includes three-dimensional CAD blocks corresponding to the same components of each mechanical device in the same type of application field, and the conventional data model library includes multiple three-dimensional CAD blocks of different shapes; when the user issues a block assembly instruction through the programming control interface, the corresponding target professional data model library is matched based on the application field information of the mechanical device carried in the block assembly instruction, and presented in the block display area; according to the block selection instruction issued by the user through the block display area, the corresponding three-dimensional CAD blocks are retrieved from the target professional data model library for assembling each three-dimensional CAD drawing into an initial virtual model.

[0112] Optionally, as another implementation of this embodiment, the virtual model parameter setting module 802 may include:

[0113] A combination submodule, used for automatically setting logical connection attributes for each block of the initial virtual model according to the logical connection relationship between each component, so as to connect and combine the initial virtual model into a whole;

[0114] The power parameter setting submodule is used to set the motion parameters of the blocks at the same position of the initial virtual model according to the operation control parameters of each power device of the mechanical device to generate a physical virtual model; the operation control parameters include the installation position and number of power devices, the corresponding control component information of each power device, and the component motion parameters.

[0115] As an optional implementation of this embodiment, the above-mentioned combination module can be specifically used for: the parameter setting area includes a skeleton connection module, which automatically fills in the information at the corresponding position of the skeleton connection module that is pre-stored and uniquely corresponds to the initial virtual model according to the logical connection relationship between the components, and the skeleton connection module includes a skeleton root node, a skeleton corresponding to the skeleton root node, and a block bound to the skeleton root node; when it is detected that the skeleton connection module has been filled, the blocks in the initial virtual model are automatically connected and combined into a whole based on the skeleton connection module.

[0116] As an optional implementation of this embodiment, the above-mentioned power parameter setting submodule can be further used for: the skeleton connection module also includes a constraint skeleton property setting template, and the correspondence between each block and the skeleton in the initial virtual model is determined based on the skeleton connection module; the rotatable angle information and / or movable displacement information and / or servo channel and / or servo scaling value of the corresponding skeleton are set according to the operation control parameters of each power device of the mechanical device obtained.

[0117] The functions of the functional modules of the icon-based programming control device for a mechanical control system described in the embodiment of the present invention can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0118] It can be seen from the above that the embodiments of the present invention can conveniently realize the control of mechanical components and effectively improve the control efficiency of mechanical components.

[0119] The above-mentioned iconic programming control device for mechanical control systems is described from the perspective of functional modules. Furthermore, the present application also provides an iconic programming control device for mechanical control systems, which is described from the perspective of hardware. Fig. 9 This is a structural diagram of another icon-based programming control device for a mechanical control system provided in an embodiment of the present application. Fig. 9As shown, the device includes a memory 90 for storing a computer program;

[0120] The processor 91 is used to implement the steps of the icon-based programming control method for a mechanical control system as mentioned in any of the above embodiments when executing a computer program.

[0121] Among them, the processor 91 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 91 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 91 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 91 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 91 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0122] The memory 90 may include one or more computer-readable storage media, which may be non-transitory. The memory 90 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 90 is at least used to store the following computer program 901, wherein, after the computer program is loaded and executed by the processor 91, it can implement the relevant steps of the iconic programming control method for a mechanical control system disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 90 may also include an operating system 902 and data 903, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 902 may include Windows, Unix, Linux, etc. Data 903 may include, but is not limited to, data corresponding to the iconic programming control results for the mechanical control system, etc.

[0123] In some embodiments, the icon-based programmable control device for a mechanical control system may further include a display screen 99 , an input / output interface 93 , a communication interface 94 , a power supply 95 , and a communication bus 96 .

[0124] Those skilled in the art will understand that Fig. 9 The structure shown in the figure does not constitute a limitation on the icon-type programmable control device for a mechanical control system, and may include more or less components than those shown in the figure, for example, it may also include a sensor 97.

[0125] The functions of the functional modules of the icon-based programming control device for a mechanical control system described in the embodiment of the present invention can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0126] It can be seen from the above that the embodiments of the present invention can conveniently realize the control of mechanical components and effectively improve the control efficiency of mechanical components.

[0127] It is understandable that if the iconic programming control method for a mechanical control system in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, magnetic disk or optical disk, etc. Various media that can store program codes.

[0128] Based on this, an embodiment of the present invention also provides a computer-readable storage medium, which stores an iconic programming control program for a mechanical control system. When the iconic programming control program for a mechanical control system is executed by a processor, it follows the steps of the iconic programming control method for a mechanical control system as described in any of the above embodiments.

[0129] The functions of the functional modules of the computer-readable storage medium described in the embodiment of the present invention can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0130] It can be seen from the above that the embodiments of the present invention can conveniently realize the control of mechanical components and effectively improve the control efficiency of mechanical components.

[0131] It can be seen from the above that the embodiments of the present invention can conveniently realize the control of mechanical components and effectively improve the control efficiency of mechanical components.

[0132] Finally, the present invention also provides a mechanical control system, see Fig.10 , including a mechanical component 11 and a host 12. The host 12 may include a human-computer interaction device 120, a processor 121 and a memory 122. The human-computer interaction device 120 is used to provide a programming control interface, for example, it may include a display, a keyboard and a mouse, or a touch screen; the processor 121 is used to implement the steps of any of the previous embodiments of the icon-based programming control method for a mechanical control system when executing the computer program stored in the memory. The mechanical component 11 may include a controller 111 and a mechanical device 112, and the host 12 is connected to the controller 111; after receiving the animation signal sent by the processor 121, the controller 111 controls the mechanical device 112 to perform the same action as the physical virtual model displayed by the host 12 based on the animation signal.

[0133] Similar to the above, first, a software virtual model is established through the human-computer interaction interface of the host 12, such as a display, and then the user stores the pre-made key frame animation in the memory 122 of the host 12 and generates an animation signal. Finally, the generated animation signal is transmitted to the mechanical component 11 through a signal transmission module such as wifi or Bluetooth between the host 12 and the mechanical component 11, thereby controlling the mechanical component 11 to perform the same action as the key frame animation. In this way, the key frame animation production process and the motion control of the mechanical component can be combined, which facilitates the control of the mechanical component and improves the control efficiency.

[0134] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0135] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0136] The above is a detailed introduction to an icon-based programming control method, device, computer-readable storage medium and mechanical control system for a mechanical control system provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An icon programming control method for a mechanical control system, the mechanical control system comprising a mechanical component and a host, the mechanical component comprising a controller and a mechanical device, characterized in that: Applied to a host having a programming control interface, the programming control interface comprising a tile control area and a parameter setting area; the mechanical component is a physical object; the mechanical component is controlled based on the controller; the method comprises: In response to the user interface's instruction to call blocks matching the external structure of each component of the mechanical device in the block control area, an initial virtual model is assembled and generated in the programming control interface; the initial virtual model is a software model matching the external structure of each component of the mechanical device; Based on the parameter setting instruction issued by the user through the parameter setting area, the motion parameters are set for the corresponding position blocks in the initial virtual model according to the acquired logical connection relationship and action parameters of the mechanical device, so as to generate a physical virtual model; the physical virtual model is a software model with the same external position relationship, internal connection relationship and logical connection relationship as the components of the mechanical device; When a mechanical component movement instruction is received, a pre-stored animation signal is sent to the controller. The animation signal is a key frame animation made by the user for the physical virtual model based on animation requirement information, so that the mechanical device performs the same action as the key frame animation under the control of the controller.

2. The method for icon programming control of a mechanical control system according to claim 1, characterized in that: The responding user interface calls the instructions of the blocks matching the appearance structure of each component of the mechanical device in the block control area, and assembles and generates the initial virtual model in the programming control interface, including: When it is detected that the user issues a tile selection instruction through the tile control area, calling the tile matching the tile selection instruction and assembling the tiles in the order in which the instructions are issued; When a geometric parameter adjustment instruction is received from the user through the parameter setting area, the geometric attribute values ​​of the corresponding blocks are adjusted according to the geometric parameter values ​​of the components of the mechanical device in the geometric parameter adjustment instruction, so that the blocks in the programming control interface match the external structure of the components of the mechanical device.

3. The method for icon programming control of a mechanical control system according to claim 2, characterized in that: The step of adjusting the geometric attribute values ​​of the corresponding blocks according to the geometric parameter values ​​of the components of the mechanical device in the geometric parameter adjustment instruction includes: When it is detected that the block assembly is completed, the pre-stored geometric attribute assignment template is called; Filling the geometric parameter values ​​of the components of the mechanical device and the corresponding relationship between the components and the blocks obtained by parsing the geometric parameter adjustment instruction into the corresponding positions of the geometric attribute assignment template; The shape, size and position of the corresponding block are automatically adjusted according to the filled geometric attribute assignment template to generate the initial virtual model.

4. The method for icon-based programming control of a mechanical control system according to claim 1, characterized in that: The step of setting motion parameters for corresponding position blocks in the initial virtual model according to the acquired logical connection relationship and motion parameters of the mechanical device comprises: Automatically setting logical connection attributes for each block of the initial virtual model according to the logical connection relationship between each component, so as to connect and combine the initial virtual model into a whole; The motion parameters of the blocks at the same position of the initial virtual model are set according to the operation control parameters of each power device of the mechanical device to generate the physical virtual model; the operation control parameters include the installation position and number of installations of the power device, the component information and component motion parameters corresponding to the control of each power device.

5. The method for icon programming control of a mechanical control system according to claim 4, characterized in that: The parameter setting area includes a skeleton connection module, and the automatic setting of logical connection attributes for each block of the initial virtual model according to the logical connection relationship between the components includes: Automatically fill in the information at the corresponding position of the skeletal connection module which is pre-stored and uniquely corresponds to the initial virtual model according to the logical connection relationship between the components, wherein the skeletal connection module includes a skeletal root node, a bone corresponding to the skeletal root node, and a block bound to the skeletal root node; When it is detected that the skeleton connection module has been filled, the blocks in the initial virtual model are automatically connected and combined into a whole based on the skeleton connection module.

6. The method for icon programming control of a mechanical control system according to claim 5, characterized in that: The skeleton connection module also includes a constraint skeleton attribute setting template, and the motion parameters of the blocks at the same position of the initial virtual model are set according to the operation control parameters of each power device of the mechanical device, including: Determining the correspondence between each block and the skeleton in the initial virtual model based on the skeleton connection module; The rotatable angle information and / or movable displacement information and / or the servo channel and / or the servo scaling value of the corresponding bone are set according to the acquired operation control parameters of each power device of the mechanical device.

7. The method for icon programming control of a mechanical control system according to any one of claims 1 to 6, characterized in that: The programming control interface also includes a block display area, and the response user interface calls instructions of blocks matching the appearance structure of each component of the mechanical device in the block control area. Assembling and generating an initial virtual model in the programming control interface includes: Preliminarily constructing a CAD block data model library on the host, the CAD block data model library includes a plurality of professional data model libraries and a conventional data model library, each professional data model library includes three-dimensional CAD blocks corresponding to the same parts of various mechanical devices in the same application field, and the conventional data model library includes a plurality of three-dimensional CAD blocks of different shapes; When the user issues a block assembly instruction through the programming control interface, the corresponding target professional data model library is matched based on the application field information of the mechanical device carried in the block assembly instruction, and is presented in the block display area; According to the block selection instruction issued by the user through the block display area, the corresponding three-dimensional CAD blocks are retrieved from the target professional data model library to be used for assembling the three-dimensional CAD drawings into the initial virtual model.

8. An icon-type programming control device for a mechanical control system, the mechanical control system comprising a mechanical component and a host, the mechanical component comprising a controller and a mechanical device, characterized in that: Applied to a host having a programming control interface, the programming control interface including a tile control area and a parameter setting area; the mechanical component is a physical object; the mechanical component is controlled based on the controller; the device includes: A virtual model assembly module, for responding to the instruction of the user interface to call the blocks matching the external structure of each component of the mechanical device in the block control area, and assembling and generating an initial virtual model in the programming control interface; the initial virtual model is a software model matching the external structure of each component of the mechanical device; A virtual model parameter setting module, configured to set motion parameters for corresponding position blocks in the initial virtual model based on the parameter setting instructions issued by the user through the parameter setting area, according to the acquired logical connection relationship and action parameters of the mechanical device, and generate a physical virtual model; the physical virtual model is a software model with the same external position relationship, internal connection relationship and logical connection relationship as the components of the mechanical device; The mechanical component action module is used to send a pre-stored animation signal to the controller when receiving a mechanical component movement instruction. The animation signal is a key frame animation made by the user for the physical virtual model based on animation requirement information, so that the mechanical device performs the same action as the key frame animation under the control of the controller.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an iconic programming control program for a mechanical control system, and when the iconic programming control program for a mechanical control system is executed by a processor, the steps of the iconic programming control method for a mechanical control system as described in any one of claims 1 to 7 are implemented.

10. A mechanical control system, characterized in that: Including mechanical components and host; The host comprises a human-computer interaction device, a processor and a memory, wherein the human-computer interaction device is used to provide a programming control interface, and the processor is used to implement the steps of the icon-based programming control method for a mechanical control system as claimed in any one of claims 1 to 7 when executing the computer program stored in the memory; The mechanical component includes a controller and a mechanical device, and the host is connected to the controller; after receiving the animation signal sent by the processor, the controller controls the mechanical device to perform the same action as the physical virtual model displayed by the host based on the animation signal.

Images