Flexible body folding simulation method, device, terminal and computer-readable storage medium

Abstract

The present invention discloses a flexible body folding simulation method, comprising the steps of: obtaining a target three-dimensional model of a target object, determining a flexible three-dimensional model and a rigid three-dimensional model in the target three-dimensional model; converting the flexible three-dimensional model into a flexible linear model, and determining the connection points between the flexible linear model and the rigid three-dimensional model; marking the flexible linear model into multiple segments according to the connection points; creating a preset number of connecting rods in each of the segments, and establishing kinematic pairs between adjacent connecting rods; receiving input operating parameters, and solving the target three-dimensional model at the current moment according to the operating parameters to generate a flexible body folding simulation result. The present invention also discloses a flexible body folding simulation device, a terminal, and a computer-readable storage medium. By applying the flexible body folding simulation method of the present invention to the terminal, the motion simulation process of the flexible body is simplified, the work efficiency is improved, and the accuracy of the simulated motion is ensured.

Description

Technical Field

[0001] The present invention relates to the field of motion simulation, and in particular to a flexible body folding simulation method, device, terminal and computer-readable storage medium. Background Art

[0002] At present, the simulation of flexible bodies usually requires meshing the model through early modeling processing software, setting the corresponding interfaces and parameters, and importing it into the simulation software for motion state analysis. However, this conventional motion simulation process is relatively complicated and requires a high understanding of material properties. It is difficult for new technicians to get started, and it will also consume a lot of time and energy for experienced technicians, thus affecting the folding motion analysis of the flexible body, and then affecting the early design and delaying the workflow. Summary of the Invention

[0003] The present invention proposes a flexible body folding simulation method, device, terminal and computer-readable storage medium, which aim to solve the technical problems of the current flexible body folding motion simulation being complex and time-consuming.

[0004] To achieve the above object, the present invention provides a flexible body folding simulation method, comprising the following steps:

[0005] Acquire a target three-dimensional model of a target object, and determine a flexible three-dimensional model and a rigid three-dimensional model in the target three-dimensional model;

[0006] Converting the flexible three-dimensional model into a flexible linear model, and determining a connection point between the flexible linear model and the rigid three-dimensional model;

[0007] Marking the flexible linear model into multiple segments according to the connection points;

[0008] Creating a preset number of connecting rods in each of the segments, and establishing kinematic pairs between adjacent connecting rods;

[0009] The input operating parameters are received, and the target three-dimensional model at the current moment is solved according to the operating parameters to generate a flexible body folding simulation result.

[0010] Optionally, the step of converting the flexible three-dimensional model into a flexible linear model and determining a connection point between the flexible linear model and the rigid three-dimensional model includes:

[0011] Projecting the flexible three-dimensional model onto a longitudinal plane to generate a flexible linear model;

[0012] A connector connected to the flexible three-dimensional model in the rigid three-dimensional model is determined, and the flexible linear model is connected to the connector to determine a connection point between the flexible linear model and the rigid three-dimensional model.

[0013] Optionally, the step of marking the flexible linear model into multiple segments according to the connection points includes:

[0014] Acquire line segments between adjacent connection points, and filter out non-flexible line segments among the line segments;

[0015] The filtered line segments are used as segments of the flexible line model.

[0016] Optionally, the step of creating a preset number of connecting rods in each of the segments comprises:

[0017] Obtaining the segment length and the preset connecting rod length of the segment;

[0018] The ratio of the segment length to the connecting rod length is calculated, and the ratio is used as the preset number of connecting rods corresponding to the segment.

[0019] Optionally, the step of establishing a kinematic pair between adjacent connecting rods includes:

[0020] A reference link and a kinematic link are determined among adjacent links, a hinge pair is established between the reference link and the kinematic link, and the hinge pair is used as a kinematic pair.

[0021] Optionally, after the steps of creating a preset number of connecting rods in each segment and establishing kinematic pairs between adjacent connecting rods, the method further includes:

[0022] An active component in the rigid body three-dimensional model is determined, a driving pair in the kinematic pair is determined based on the active component, and preset driving parameters are configured.

[0023] Optionally, the step of determining the flexible three-dimensional model and the rigid three-dimensional model in the target three-dimensional model includes:

[0024] Material properties in the target three-dimensional model are detected, and a model corresponding to a flexible material in the target three-dimensional model is used as a flexible three-dimensional model, and a model corresponding to a rigid material in the target three-dimensional model is used as a rigid three-dimensional model.

[0025] In addition, to achieve the above-mentioned purpose, the present invention further provides a flexible body folding simulation device, characterized in that the flexible body folding simulation device comprises:

[0026] a model analysis module, configured to obtain a target three-dimensional model of a target object and determine a flexible three-dimensional model and a rigid three-dimensional model in the target three-dimensional model;

[0027] A model conversion module, configured to convert the flexible three-dimensional model into a flexible linear model and determine a connection point between the flexible linear model and the rigid three-dimensional model;

[0028] A simulation configuration module is used to mark the flexible linear model into multiple segments according to the connection points; create a preset number of connecting rods in each segment and establish kinematic pairs between adjacent connecting rods; receive input operating parameters, and solve the target three-dimensional model at the current moment according to the operating parameters to generate flexible body folding simulation results.

[0029] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal, which includes a memory, a processor, and a flexible body folding simulation program stored in the memory and runnable on the processor, wherein: when the flexible body folding simulation program is executed by the processor, the steps of the flexible body folding simulation method described above are implemented.

[0030] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium, on which a flexible body folding simulation program is stored. When the flexible body folding simulation program is executed by a processor, the steps of the flexible body folding simulation method described above are implemented.

[0031] The flexible body folding simulation method of the present invention first obtains the target three-dimensional model of the target object, determines the steps of the flexible three-dimensional model and the rigid three-dimensional model in the target three-dimensional model, and classifies a complete target model into two types of models: flexible three-dimensional model and rigid three-dimensional model. This not only facilitates the subsequent separate analysis of the flexible body folding motion, but also takes into account the comprehensive analysis of the flexible body folding motion under the action of the rigid body, reduces the computational complexity of the flexible body motion simulation, and improves the efficiency of the motion simulation. By converting the flexible three-dimensional model into a flexible linear model, determining the connection points between the flexible linear model and the rigid three-dimensional model, and marking the flexible linear model into multiple segments according to the connection points, the flexible three-dimensional model in the target three-dimensional model can be simplified under the premise of meeting the actual situation of the target three-dimensional model and the needs of motion simulation, further reducing the amount of calculation for flexible body motion simulation, avoiding unnecessary simulation processes, and shortening the working time of technicians. Finally, by creating a preset number of connecting rods in each of the segments, establishing kinematic pairs between adjacent connecting rods, and receiving input operating parameters, the target three-dimensional model at the current moment is solved according to the operating parameters to generate a flexible body folding simulation result. The current simplified target three-dimensional model can be obtained, and the motion simulation result of the flexible body can be obtained accurately and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1A schematic diagram of the terminal structure of the hardware operating environment of the terminal involved in the embodiment of the present invention;

[0033] Figure 2 Schematic diagram of the flow of a first embodiment of a flexible body folding simulation method according to the present invention;

[0034] Figure 3 A three-dimensional model diagram of a vehicle rear roof according to the first embodiment of the present invention;

[0035] Figure 4 A simplified three-dimensional model diagram of the rear roof of a vehicle according to the first embodiment of the present invention;

[0036] Figure 5 Schematic diagram of connecting rod modeling in a segment involved in the flexible body folding simulation method of the present invention;

[0037] Figure 6 It is the configuration diagram of the reference link, kinematic link and kinematic pair for the simulation software;

[0038] Figure 7 Schematic diagram of a flexible body folding simulation device involved in the flexible body folding simulation method of the present invention. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] like Figure 1 As shown, Figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment of the terminal involved in the embodiment of the present invention.

[0041] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display (Display), an input unit such as a control panel, and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a 5G interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. The memory 1005 as a computer storage medium may include a flexible body folding simulation program.

[0042] Optionally, the terminal may further include a microphone, a speaker, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a wireless module, etc. Sensors such as an acceleration sensor, a light sensor, a temperature sensor, and other sensors are not described in detail here.

[0043] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation to the terminal, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0044] like Figure 2 As shown, Figure 2 FIG. 1 is a flow chart of a first embodiment of a flexible body folding simulation method according to the present invention. In this embodiment, the method includes:

[0045] Step S10, obtaining a target three-dimensional model of the target object, and determining a flexible three-dimensional model and a rigid three-dimensional model in the target three-dimensional model;

[0046] In this embodiment, the target three-dimensional model can be a three-dimensional model created by technicians using various modeling software. For example, industrial software such as 3Ds MAX, Alias, and Solid Works can be used to construct and build the model.

[0047] Specifically, the step of determining the flexible three-dimensional model and the rigid three-dimensional model in the target three-dimensional model includes:

[0048] Step a: detecting material properties in the target three-dimensional model, taking the model corresponding to the flexible material in the target three-dimensional model as a flexible three-dimensional model, and taking the model corresponding to the rigid material in the target three-dimensional model as a rigid three-dimensional model.

[0049] Reference Figure 3 , Figure 3It is a three-dimensional model of the rear roof of a vehicle. The vehicle is a convertible with a tarpaulin soft top structure. This convertible structure was once common in some mid-to-high-end sports cars, but now with the continuous improvement of people's living standards, more and more family vehicles have been gradually produced. The fabric of the tarpaulin soft top can be made of multi-layer canvas, and the outermost material uses a waterproof coating, which also has the function of eliminating external noise. The middle can be an insulation layer with one-way heat exchange, reducing the input of external heat and preventing heat loss in the car. The innermost layer can be a velvet composite sponge. In addition, the tarpaulin support keel connected to the tarpaulin, which is a flexible material, is made of rigid material. Therefore, in this three-dimensional model, the entire three-dimensional model can be further divided into a flexible three-dimensional model and a rigid three-dimensional model. Correspondingly, the upper part in the figure basically belongs to the flexible three-dimensional model, that is, the tarpaulin of the vehicle. The lower part of the tarpaulin is the support keel that connects the tarpaulin to the rest of the vehicle, which is a rigid three-dimensional model. In addition, according to the connection structure between the support keel and the tarpaulin, the tarpaulin can be divided into five parts with corresponding numbers ①, ③, ④, ⑤, and ⑥, and can be marked according to the above corresponding numbers. Among them, number ② is the rear windshield of the vehicle, which is a rigid material and is distinguished as a rigid three-dimensional model in the three-dimensional model.

[0050] To effectively distinguish between flexible and rigid 3D models, the two models can be labeled with different symbols, including but not limited to color, text, and arrows. By distinguishing the target 3D model into a flexible and rigid 3D model based on material properties, the flexible and rigid materials can be processed separately. This not only facilitates the motion simulation of the flexible material, but also facilitates the analysis of the impact of the rigid material on the motion of the flexible material, ensuring that the simulation more closely matches the actual motion of the flexible body.

[0051] Step S20, converting the flexible three-dimensional model into a flexible linear model, and determining the connection point between the flexible linear model and the rigid three-dimensional model;

[0052] Specifically, step S20 includes:

[0053] Step b: projecting the flexible three-dimensional model onto a longitudinal plane to generate a flexible linear model;

[0054] Step c: determining a connector in the rigid three-dimensional model that is connected to the flexible three-dimensional model, and connecting the flexible linear model to the connector to determine a connection point between the flexible linear model and the rigid three-dimensional model.

[0055] Reference Figure 4 , Figure 4 To simplify the three-dimensional model of the rear roof of the vehicle, Figure 3The flexible 3D model in the original 3D model of the rear roof of the vehicle is projected onto the Y (longitudinal) plane, simplifying it into a corresponding flexible linear model. The flexible linear models are also numbered ①, ③, ④, ⑤, and ⑥. The rigid 3D model is then simplified accordingly to determine whether it is a symmetrical model. If so, any symmetrical model within the rigid 3D model is obtained. This simplified approach significantly reduces the computational effort for motion simulation and the time technicians spend configuring relevant parameters during motion simulation, improving the efficiency of motion simulation.

[0056] Determine the connection parts between the rigid 3D model and the flexible 3D model, that is, determine the structural parts in the support keel that are directly connected to the tarpaulin and the rear windshield. For the directly connected structural parts, such as the three connecting shafts in the middle of the figure and the vehicle body. After projecting to generate a flexible linear model, connect the line segment-shaped flexible model with all the structural parts in the rigid 3D model that are directly connected to the tarpaulin, and finally obtain Figure 4 The simplified three-dimensional model of the rear roof of the vehicle also determines the connection points between the flexible linear model and the rigid model three-dimensional model.

[0057] Step S30, marking the flexible linear model into multiple segments according to the connection points;

[0058] Reference Figure 4 , determine the number and relative position of the connection points between the flexible linear model and the rigid model, determine the number of segments of the flexible linear model according to the number of connection points, and determine the position of each segment in the simplified three-dimensional model according to the relative position of the connection points, that is, the positions corresponding to the numbers ①, ③, ④, ⑤, and ⑥.

[0059] Specifically, step S30 includes:

[0060] Step d, obtaining line segments between adjacent connection points, and filtering out non-flexible line segments among the line segments;

[0061] Step e: using the filtered line segments as segments of the flexible line model.

[0062] After determining each connection point, the line segments between the adjacent connection points are obtained. The line segments here are not necessarily all flexible line models, but may also be like Figure 4 There is also a three-dimensional model corresponding to the rigid body such as the rear windshield in the middle, so a filtering operation is required to mark each line segment as a rigid line segment and a flexible line segment respectively, filter out the rigid line segments, and retain only the flexible line segments, so that only the folding movement of the tarpaulin can be simulated and analyzed.

[0063] Step S40: creating a preset number of connecting rods in each of the segments, and establishing kinematic pairs between adjacent connecting rods.

[0064] Specifically, the step of creating a preset number of connecting rods in each of the segments includes:

[0065] Step f, obtaining the segment length and the preset connecting rod length;

[0066] Step g: Calculate the ratio of the segment length to the connecting rod length, and use the ratio as the preset number of connecting rods corresponding to the segment.

[0067] First determine the length of each segment in the simplified 3D model, and then divide the length of each segment by the preset connecting rod length to determine the number of connecting rods to be created in each segment. After creating the connecting rods, mark and name each connecting rod. Figure 5 , Figure 5 This is a schematic diagram of connecting rod modeling in the segments involved in the present invention. Preferably, each two adjacent connecting rod segments are marked with different colors. Each connecting rod segment can be marked with letters and numbers, for example, J019, J018. The preset connecting rod length value can be set according to actual needs. The more connecting rods each segment has, the more accurate the folding motion simulation of the tarpaulin is. This not only simplifies the folding motion simulation process and saves time, but also ensures the accuracy of the simulation.

[0068] If the length of each segment is not divisible by the preset connecting rod length, the remainder can be used as the length of the connecting rod at the end of each segment. After the connecting rods are established in each segment, kinematic pairs are established between the connecting rods so that the driving pair drives the associated motion of the kinematic pairs.

[0069] Step S50 , receiving input operating parameters, and solving the target three-dimensional model at the current moment according to the operating parameters to generate flexible body folding simulation results.

[0070] The terminal system can automatically solve the current motion model based on the target 3D model configuration, or the technician can input operating parameters such as run time and gravity direction according to actual needs. Alternatively, the technician can click the solve option to solve the current motion model. After the solution is completed, the model operation status can be viewed through the animation option.

[0071] The flexible body folding simulation method of the present invention first obtains the target three-dimensional model of the target object, determines the steps of the flexible three-dimensional model and the rigid three-dimensional model in the target three-dimensional model, and classifies a complete target model into two types of models: flexible three-dimensional model and rigid three-dimensional model. This not only facilitates the subsequent separate analysis of the flexible body folding motion, but also takes into account the comprehensive analysis of the flexible body folding motion under the action of the rigid body, reduces the computational complexity of the flexible body motion simulation, and improves the efficiency of the motion simulation. By converting the flexible three-dimensional model into a flexible linear model, determining the connection points between the flexible linear model and the rigid three-dimensional model, and marking the flexible linear model into multiple segments according to the connection points, the flexible three-dimensional model in the target three-dimensional model can be simplified under the premise of meeting the actual situation of the target three-dimensional model and the needs of motion simulation, further reducing the amount of calculation for flexible body motion simulation, avoiding unnecessary simulation processes, and shortening the working time of technicians. Finally, by creating a preset number of connecting rods in each of the segments, establishing kinematic pairs between adjacent connecting rods, and receiving input operating parameters, the target three-dimensional model at the current moment is solved according to the operating parameters to generate a flexible body folding simulation result. The current simplified target three-dimensional model can be obtained, and the motion simulation result of the flexible body can be obtained accurately and efficiently.

[0072] Furthermore, based on the first embodiment of the flexible body folding simulation method of the present invention, a second embodiment of the flexible body folding simulation method of the present invention is proposed. In this embodiment, the step of establishing a kinematic pair between adjacent connecting rods includes:

[0073] Step h: determining a reference link and a kinematic link among adjacent links, establishing a hinge pair between the reference link and the kinematic link, and using the hinge pair as a kinematic pair.

[0074] The motion simulation terminal can automatically identify the base link and the kinematic link in the link, and automatically establish hinge pairs between adjacent base links and kinematic links.

[0075] Reference Figure 6 , Figure 6 To simulate the software reference link, motion link and motion pair configuration diagram, conventional simulation software, such as UG, can be used. In the UG interface, the technician selects the reference link, the motion link, specifies the origin, and sets parameters such as the vector direction. A hinge pair can also be established between the reference link and the motion link. The vector direction selects the normal of the motion plane of the linkage mechanism. Usually, the vector direction of this mechanism is the Y direction, which is the direction indicated by the arrow in the figure.

[0076] By implementing the technical solution in this example, the reference link, the motion link, and the hinge pair between the reference link and the motion link are determined, which can not only simplify the motion simulation model of the flexible body, but also ensure the reliability and authenticity of the simulated motion, and facilitate the prediction and analysis of the actual motion of the flexible body.

[0077] Furthermore, based on the first embodiment of the flexible body folding simulation method of the present invention, a third embodiment of the flexible body folding simulation method of the present invention is proposed. In this embodiment, after step S40, the method further includes:

[0078] Step i: determining the active component in the rigid body three-dimensional model, determining the driving pair in the kinematic pair based on the active component, and configuring preset driving parameters.

[0079] The active parts in the rigid body three-dimensional model can be determined by automatic search and confirmation by the motion simulation terminal, and then the motion simulation terminal can configure the drive parameters preset for the model type according to the model type of the rigid body three-dimensional model. In addition, the technical personnel can also use the motion simulation software to set it up by themselves according to actual needs, obtain the preset configuration of relevant settings and parameters, and then the simulation software can automatically confirm the active parts in the rigid body three-dimensional model according to the preset settings and parameters, and finally configure the corresponding preset drive parameters.

[0080] The steps for technicians to set active parts with the help of motion simulation software according to actual needs, and confirm the driving pair in the kinematic pair based on the active parts can be as follows: for example, after the technicians have determined the active parts in the rigid three-dimensional model, they can use the relevant motion simulation software to select one of the kinematic pairs as the driving kinematic pair according to actual needs, click the edit option in the corresponding software, click the "Drive" option in the pop-up dialog box, and modify the relative parameters. The drive type can be selected as polynomial, and the initial displacement is set to 0; the speed can be defined according to actual conditions, such as 20° / s. If it is a uniform speed drive, the acceleration and jerk do not need to be set. If it is a non-uniform speed drive, the relevant acceleration and jerk need to be set.

[0081] In this embodiment, by determining the driving pair according to the active component, the driving pair can be set up conveniently and quickly, which saves the time of technicians and improves the efficiency of the flexible body folding motion simulation.

[0082] In addition, the present invention also provides a flexible body folding simulation device, the flexible body folding simulation device comprising:

[0083] A model analysis module A10 is configured to obtain a target three-dimensional model of a target object and determine a flexible three-dimensional model and a rigid three-dimensional model in the target three-dimensional model;

[0084] A model conversion module A20, configured to convert the flexible three-dimensional model into a flexible linear model and determine a connection point between the flexible linear model and the rigid three-dimensional model;

[0085] The simulation configuration module A30 is used to mark the flexible linear model into multiple segments according to the connection points; create a preset number of connecting rods in each segment, and establish kinematic pairs between adjacent connecting rods; receive input operating parameters, and solve the target three-dimensional model at the current moment according to the operating parameters to generate a flexible body folding simulation result.

[0086] Optionally, the model conversion module A20 is further configured to:

[0087] Projecting the flexible three-dimensional model onto a longitudinal plane to generate a flexible linear model;

[0088] A connector connected to the flexible three-dimensional model in the rigid three-dimensional model is determined, and the flexible linear model is connected to the connector to determine a connection point between the flexible linear model and the rigid three-dimensional model.

[0089] Optionally, the simulation configuration module A30 is further configured to:

[0090] Acquire line segments between adjacent connection points, and filter out non-flexible line segments among the line segments;

[0091] The filtered line segments are used as segments of the flexible line model.

[0092] Optionally, the simulation configuration module A30 is further configured to:

[0093] Obtaining the segment length and the preset connecting rod length of the segment;

[0094] The ratio of the segment length to the connecting rod length is calculated, and the ratio is used as the preset number of connecting rods corresponding to the segment.

[0095] Optionally, the simulation configuration module A30 is further configured to:

[0096] A reference link and a kinematic link are determined among adjacent links, a hinge pair is established between the reference link and the kinematic link, and the hinge pair is used as a kinematic pair.

[0097] Optionally, the simulation configuration module A30 is further configured to:

[0098] An active component in the rigid body three-dimensional model is determined, a driving pair in the kinematic pair is determined based on the active component, and preset driving parameters are configured.

[0099] Optionally, the model analysis module A10 is further configured to:

[0100] Material properties in the target three-dimensional model are detected, and a model corresponding to a flexible material in the target three-dimensional model is used as a flexible three-dimensional model, and a model corresponding to a rigid material in the target three-dimensional model is used as a rigid three-dimensional model.

[0101] The specific implementation of the flexible body folding simulation device of the present invention is basically the same as the various embodiments of the flexible body folding simulation method described above, and will not be repeated here.

[0102] In addition, the present invention also proposes a terminal, which includes a memory, a processor, and a flexible body folding simulation program stored in the memory and runnable on the processor. When the processor executes the flexible body folding simulation program, the steps of the flexible body folding simulation method described in the above embodiment are implemented.

[0103] The specific implementation of the terminal of the present invention is basically the same as the above-mentioned embodiments of the flexible body folding simulation method, and will not be repeated here.

[0104] In addition, the present invention also proposes a computer-readable storage medium, characterized in that the computer-readable storage medium includes a flexible body folding simulation program, and when the flexible body folding simulation program is executed by a processor, the steps of the flexible body folding simulation method described in the above embodiment are implemented.

[0105] The specific implementation of the computer-readable storage medium of the present invention is basically the same as the above-mentioned embodiments of the flexible body folding simulation method, and will not be repeated here.

[0106] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0107] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a TV, mobile phone, computer, server, car computer, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0108] In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0109] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0110] Although the embodiments of the present invention have been shown and described above, the scope of protection of the present invention is not limited thereto. It should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Persons skilled in the art may make changes, modifications, and substitutions to the above embodiments within the scope of the present invention, and such changes, modifications, and substitutions should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A flexible body folding simulation method, characterized in that: The flexible body folding simulation method comprises the following steps: Acquire a target three-dimensional model of a target object, and determine a flexible three-dimensional model and a rigid three-dimensional model in the target three-dimensional model; Converting the flexible three-dimensional model into a flexible linear model, and determining a connection point between the flexible linear model and the rigid three-dimensional model; Marking the flexible linear model into multiple segments according to the connection points; Creating a preset number of connecting rods in each of the segments, and establishing kinematic pairs between adjacent connecting rods; receiving input operating parameters, and solving a target three-dimensional model at a current moment according to the operating parameters to generate a flexible body folding simulation result; The step of converting the flexible three-dimensional model into a flexible linear model and determining the connection point between the flexible linear model and the rigid three-dimensional model includes: Projecting the flexible three-dimensional model onto a longitudinal plane to generate a flexible linear model; Determining a connector in the rigid three-dimensional model that is connected to the flexible three-dimensional model, and connecting the flexible linear model to the connector to determine a connection point between the flexible linear model and the rigid three-dimensional model; The step of marking the flexible linear model into multiple segments according to the connection points includes: Acquire line segments between adjacent connection points, and filter out non-flexible line segments among the line segments; The filtered line segments are used as segments of the flexible line model.

2. The flexible body folding simulation method according to claim 1, wherein: The step of creating a preset number of connecting rods in each of the segments comprises: Obtaining the segment length and the preset connecting rod length of the segment; The ratio of the segment length to the connecting rod length is calculated, and the ratio is used as the preset number of connecting rods corresponding to the segment.

3. The flexible body folding simulation method according to claim 1, wherein: The step of establishing a kinematic pair between adjacent connecting rods comprises: A reference link and a kinematic link are determined among adjacent links, a hinge pair is established between the reference link and the kinematic link, and the hinge pair is used as a kinematic pair.

4. The flexible body folding simulation method according to claim 1, wherein: After the steps of creating a preset number of connecting rods in each segment and establishing kinematic pairs between adjacent connecting rods, the method further includes: An active component in the rigid three-dimensional model is determined, a driving pair in the kinematic pair is determined based on the active component, and preset driving parameters are configured.

5. The flexible body folding simulation method according to claim 1, wherein: The step of determining the flexible three-dimensional model and the rigid three-dimensional model in the target three-dimensional model includes: Material properties in the target three-dimensional model are detected, and a model corresponding to a flexible material in the target three-dimensional model is used as a flexible three-dimensional model, and a model corresponding to a rigid material in the target three-dimensional model is used as a rigid three-dimensional model.

6. A flexible body folding simulation device, characterized in that: The flexible body folding simulation device comprises: a model analysis module, configured to obtain a target three-dimensional model of a target object and determine a flexible three-dimensional model and a rigid three-dimensional model in the target three-dimensional model; A model conversion module, configured to convert the flexible three-dimensional model into a flexible linear model and determine a connection point between the flexible linear model and the rigid three-dimensional model; a simulation configuration module, configured to mark the flexible linear model into a plurality of segments according to the connection points; create a preset number of connecting rods in each segment, and establish kinematic pairs between adjacent connecting rods; receive input operating parameters, and solve the target three-dimensional model at a current moment according to the operating parameters to generate flexible body folding simulation results; The step of converting the flexible three-dimensional model into a flexible linear model and determining the connection point between the flexible linear model and the rigid three-dimensional model includes: Projecting the flexible three-dimensional model onto a longitudinal plane to generate a flexible linear model; Determining a connector in the rigid three-dimensional model that is connected to the flexible three-dimensional model, and connecting the flexible linear model to the connector to determine a connection point between the flexible linear model and the rigid three-dimensional model; The step of marking the flexible linear model into multiple segments according to the connection points includes: Acquire line segments between adjacent connection points, and filter out non-flexible line segments among the line segments; The filtered line segments are used as segments of the flexible line model.

7. A terminal, characterized in that: The terminal includes a memory, a processor, and a flexible body folding simulation program stored in the memory and executable on the processor, wherein: when the flexible body folding simulation program is executed by the processor, the steps of the flexible body folding simulation method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a flexible body folding simulation program, which, when executed by a processor, implements the steps of the flexible body folding simulation method according to any one of claims 1 to 5.

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