A UAV model matching method, device, equipment and storage medium

Abstract

This article provides a drone model matching method, device, equipment and storage medium. The method includes: converting the mechanical model and behavioral model of the drone to be matched into a first format file and a second format file recognized by the system model of the drone to be matched, the first format file including the mechanical structure information of the drone components to be matched, and the second format file including the logical behavior information of the drone components to be matched; determining the component information in the system model according to the system model of the drone to be matched; and loading the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model according to the component information, so as to complete model matching in a simulation platform equipped with the system model. This article can quickly realize the combination of static models in the mechanical field and dynamic models in the behavioral field, thereby improving the efficiency of model matching.

Description

Technical Field

[0001] This article belongs to the field of aviation technology, and specifically relates to a drone model matching method, device, equipment and storage medium. Background Art

[0002] As a product of the deep integration of new-generation information technology and manufacturing, the Industrial Internet builds a new production and service system that is fully connected with all factors, the entire industrial chain, and the entire value chain through the comprehensive interconnection of people, machines, and materials. It is a way to achieve digital transformation and a key force in realizing the conversion of new and old kinetic energy.

[0003] As a crucial component of the Industrial Internet, the organic integration of mechanical manufacturing at the physical layer and behavioral modeling at the logical layer is crucial to its robust capabilities. For example, in the field of aviation technology, the current design and implementation of drones suffer from a disconnect between the two stages. Manual conversion is required to connect the mechanical model of the drone with its logical behavioral model, resulting in low engineering efficiency and accuracy. Summary of the Invention

[0004] In response to the above-mentioned problems in the prior art, the purpose of this article is to provide a drone model matching method, device, equipment and storage medium to improve the efficiency of matching the drone mechanical model and behavior model.

[0005] In order to solve the above technical problems, the specific technical solutions of this article are as follows:

[0006] In one aspect, this article provides a drone model matching method, the method comprising:

[0007] Converting the mechanical model of the to-be-matched UAV into a first format file recognized by the system model of the to-be-matched UAV, wherein the first format file includes mechanical structure information of the to-be-matched UAV components;

[0008] Converting the behavior model of the to-be-matched drone into a second format file recognized by the system model of the to-be-matched drone, wherein the second format file includes logical behavior information of components of the to-be-matched drone;

[0009] Determining component information in the system model according to the system model of the drone to be matched;

[0010] According to the component information, the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file are loaded into the system model, so as to complete model matching in the simulation platform equipped with the system model.

[0011] Furthermore, converting the mechanical model of the to-be-matched UAV into a first format file that is recognized by the system model of the to-be-matched UAV includes:

[0012] Converting the initial file of the mechanical model into a first format file using a first conversion function;

[0013] The process of determining the first conversion function includes:

[0014] determining, from the file formats identified by the system model of the drone, a plurality of file format types into which the mechanical model is to be converted;

[0015] Searching a preset function library for a plurality of conversion functions corresponding to a plurality of file format types for converting the mechanical model of the to-be-matched drone;

[0016] According to the complexity of the conversion functions, a conversion function with the minimum complexity is determined as the first conversion function.

[0017] Furthermore, the behavior model includes a control system model, an autopilot model, a landing gear model, a dynamics and kinematics model, a power system model, a sensor system model and an actuator system model.

[0018] Furthermore, converting the behavior model of the to-be-matched drone into a second format file recognized by the system model of the to-be-matched drone includes:

[0019] Converting the initial file of the behavior model into a file in a second format using a second conversion function;

[0020] Wherein, the second conversion function includes a header file function, a target language compilation function and a compiler;

[0021] The converting the initial file of the behavior model into a file in a second format by using a second conversion function includes:

[0022] Using the header file function and the target language compilation function to process the initial file of the behavior model of the drone to be matched, to obtain a header file and a character file;

[0023] Generate a compilation instruction file from the initial file format of the behavior model to a format corresponding to the second format file using the target language compilation function;

[0024] The compiler is used to compile the header file and the character file using the compilation instruction file to obtain a second format file.

[0025] Furthermore, determining component information in the system model according to the system model of the drone to be matched includes:

[0026] Extracting to-be-identified field files from the system model in sequence, wherein the starting position of each to-be-identified field file is a specified field;

[0027] For each to-be-identified field file, obtain attribute information of fields at different levels of each to-be-identified field file, wherein the attribute information includes view type, view name, element type, and element name;

[0028] Determine the target field values ​​corresponding to the attribute information in the fields at different levels;

[0029] The component information of the drone to be matched is determined according to the target field values ​​corresponding to different attribute information.

[0030] Furthermore, the step of loading the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model based on the component information, so as to complete model matching in the simulation platform equipped with the system model, includes:

[0031] extracting, based on the component information, mechanical structure information corresponding to the component information from the first format file, and logical behavior information corresponding to the component information from the second format file;

[0032] Binding the mechanical structure information and the logical behavior information to obtain bound file information;

[0033] Acquire a preset matching position of the component information in the system model, where the preset matching position is a preset spatial position where the component information is displayed;

[0034] The data corresponding to the bound file information is loaded into the preset matching position, so as to complete the model matching in the simulation platform equipped with the system model.

[0035] Furthermore, the step of loading the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model based on the component information, so as to complete model matching in the simulation platform equipped with the system model, includes:

[0036] extracting, based on the component information, mechanical structure information corresponding to the component information from the first format file, and logical behavior information corresponding to the component information from the second format file;

[0037] Acquire a preset matching position of the component information in the system model, where the preset matching position is a preset spatial position where the component information is displayed;

[0038] The mechanical structure information and the logical behavior information are loaded into the preset matching positions respectively, so as to complete the model matching in the simulation platform equipped with the system model.

[0039] On the other hand, this article also provides a drone model matching device, the device comprising:

[0040] A first conversion module is configured to convert a mechanical model of the to-be-matched UAV into a first format file recognized by the system model of the to-be-matched UAV, wherein the first format file includes mechanical structure information of components of the to-be-matched UAV;

[0041] A second conversion module is configured to convert the behavior model of the to-be-matched UAV into a second format file recognized by the system model of the to-be-matched UAV, wherein the second format file includes logical behavior information of components of the to-be-matched UAV;

[0042] A component information determination module, configured to determine component information in the system model according to the system model of the drone to be matched;

[0043] A matching module is used to load the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model according to the component information, so as to complete model matching in the simulation platform equipped with the system model.

[0044] On the other hand, this document also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described above when executing the computer program.

[0045] Finally, this document also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method described above.

[0046] By adopting the above-mentioned technical solution, a drone model matching method, device, equipment and storage medium described in this article converts the mechanical model and behavioral model of the drone to be matched into a first format file and a second format file respectively recognized by the system model of the drone to be matched, wherein the first format file includes the mechanical structure information of the drone components to be matched, and the second format file includes the logical behavior information of the drone components to be matched, and then extracts the component information in the system model, and then loads the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model, so as to complete the model matching in the simulation platform equipped with the system model. This article converts both the mechanical model and the behavioral model of the drone into format files that can be recognized by the system model, thereby realizing the combination of the static model in the mechanical field and the dynamic model in the behavioral field, thereby improving the efficiency of model matching.

[0047] In order to make the above and other purposes, features and advantages of this article more obvious and easy to understand, the following specifically cites preferred embodiments and provides detailed descriptions in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of this article or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of this article. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 A schematic diagram showing the steps of a drone model matching method provided in an embodiment of this invention is shown;

[0050] Figure 2 A schematic diagram of an implementation environment of a drone model matching method in an embodiment of this invention is shown;

[0051] Figure 3 Schematic diagram of the three-dimensional structure of the UAV in the embodiment of this article is shown;

[0052] Figure 4 Schematic diagram showing the steps of determining the first conversion function in the embodiment of this article;

[0053] Figure 5 The figure shows a schematic diagram of the composition of the behavior model of the UAV in the embodiment of this article;

[0054] Figure 6 A schematic diagram of the steps of obtaining a second format file in the embodiment of this document is shown;

[0055] Figure 7A schematic diagram of the steps for determining component information in the system model in the embodiment of this article is shown;

[0056] Figure 8 A schematic diagram showing component information in one embodiment of the present invention is shown;

[0057] Figure 9 A schematic diagram of the model matching steps in the embodiment of this article is shown;

[0058] Figure 10 A schematic structural diagram of a drone model matching device provided in an embodiment of this invention is shown;

[0059] Figure 11 A schematic diagram of the computer structure provided in the embodiments of this article is shown.

[0060] Description of the accompanying symbols:

[0061] 10. Mechanical model;

[0062] 20. Behavioral model;

[0063] 30. System model;

[0064] 40. Simulation platform;

[0065] 210. Control system model;

[0066] 220, autopilot model;

[0067] 230, landing gear model;

[0068] 240. Dynamics and kinematic models;

[0069] 250. Power system model;

[0070] 260, sensor system model;

[0071] 270. Actuator system model;

[0072] 100. A first conversion module;

[0073] 200, second conversion module;

[0074] 300. Component information determination module;

[0075] 400, matching module;

[0076] 1102. Computer equipment;

[0077] 1104, processor;

[0078] 1106. Memory;

[0079] 1108, driving mechanism;

[0080] 1110, input / output module;

[0081] 1112. Input device;

[0082] 1114. Output device;

[0083] 1116. Presentation equipment;

[0084] 1118. Graphical User Interface;

[0085] 1120, network interface;

[0086] 1122, communication link;

[0087] 1124. Communication bus. DETAILED DESCRIPTION

[0088] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of this document. Obviously, the embodiments described are only part of the embodiments of this document, not all of the embodiments. Based on the embodiments of this document, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this document.

[0089] It should be noted that the terms "first," "second," and the like in the specification and claims herein and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or devices.

[0090] In the existing technology, in the field of industrial Internet technology, the organic combination of mechanical manufacturing at the physical layer and behavioral modeling at the logical layer is a key part of realizing the development of the Industrial Internet. For example, in the field of aviation technology, there is currently a problem of poor connection between the two stages of drone design and implementation. When connecting the drone mechanical model and its logical behavioral model, manual conversion is required, resulting in problems such as low engineering efficiency and low accuracy.

[0091] In order to solve the above problems, the embodiments of this specification provide a UAV model matching method, which can improve the efficiency of matching the mechanical model and behavioral model of the UAV. Figure 1This is a schematic diagram of the steps of a drone model matching method provided in the embodiment of this article. This specification provides the method operation steps described in the embodiment or flowchart, but based on conventional or non-creative labor, more or fewer operation steps may be included. The order of steps listed in the embodiment is only one way of executing the steps among many steps, and does not represent the only execution order. When the actual system or device product is executed, it can be executed in the order or in parallel according to the method shown in the embodiment or the accompanying drawings. Specifically, Figure 1 As shown, the method may include:

[0092] S101: Converting a mechanical model of a to-be-matched UAV into a first format file recognized by a system model of the to-be-matched UAV, wherein the first format file includes mechanical structure information of components of the to-be-matched UAV;

[0093] S102: Converting the behavior model of the to-be-matched drone into a second format file recognized by the system model of the to-be-matched drone, wherein the second format file includes logical behavior information of components of the to-be-matched drone;

[0094] S103: Determine component information in the system model according to the system model of the drone to be matched;

[0095] S104: Loading the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model according to the component information, so as to complete model matching in the simulation platform equipped with the system model.

[0096] It can be understood that since the mechanical model and behavioral model of the drone to be matched are isolated information sources, they cannot be read and matched by the drone's system model in practical applications. Therefore, this paper converts the mechanical model and behavioral model into a format file that can be recognized by the system model. In this way, the information of the corresponding components can be extracted from the converted file through partial information of different components in the system model, thereby realizing model matching. This paper improves the efficiency of model matching, solves the problem of connecting and matching isolated information sources that can only be solved manually, and ensures the accuracy of matching.

[0097] like Figure 2 As shown, it is a schematic diagram of the implementation environment of the model matching method provided above, wherein the mechanical model 10 and the behavioral model 20 serve as isolated information sources, and the system model 30 runs on the simulation platform 40. After format conversion, it can be recognized by the system model 30, and then the mechanical model 10 and the behavioral model 20 can be matched in the system model 30, thereby realizing the simulation of the UAV on the simulation platform 40 loaded with the system model 30.

[0098] The system model 30 can be a UAV system architecture model, enabling trade-off analysis of UAV solutions and completing the UAV's architectural design, thereby achieving top-level design of the UAV. Furthermore, the system model 30 can provide a three-dimensional model visualization to facilitate UAV simulation experiments. For example, the system model 30 can be a SysML model. SysML (Systems Modeling Language), a modeling language for model-based systems engineering (MBSE), defines the semantics of the UAV's structural model (i.e., mechanical model 10), behavioral model 20, requirements model, and parametric model. The structural model (i.e., mechanical model 10) represents the UAV's hierarchy and the interconnections between objects (i.e., components), including classes and assemblies. The behavioral model 20 represents the behavior of objects within the UAV, including their activities, interactions, and state history. The requirements model emphasizes the traceability between requirements and the design's fulfillment of those requirements. The parametric model emphasizes the constraints between the properties of a system or component. SysML provides a complete semantic representation for the model.

[0099] The mechanical model 10 may be a three-dimensional mechanical model of a drone, such as Figure 3 As shown, it is a schematic diagram of the mechanical structure of a UAV, which can be drawn by three-dimensional model building software, such as CAD, SolidWorks, etc. The UAV mechanical model 10 designed by different software corresponds to different formats. Generally, the format corresponding to the mechanical model 10 cannot be read and recognized by the system model 30.

[0100] Accordingly, the behavior model 20 can be the logical control rules between the components in the drone. For example, the behavior model 20 can be represented by a Simulink tool. The Simulink tool has a rich and expandable predefined module library, and can combine and manage intuitive module diagrams through an interactive graphical editor.

[0101] It should be noted that, in the embodiments of this specification, loading the first format file and the second format file into the system model 30 actually means loading the first format file and the second format file into the simulation platform 40, wherein the system model 30 is running in the simulation platform 40, and the matching model can be displayed in the system model 30.

[0102] In the embodiment of this specification, converting the mechanical model 10 of the to-be-matched drone into a first format file recognized by the system model 30 of the to-be-matched drone includes:

[0103] Converting the initial file of the mechanical model 10 into a first format file using a first conversion function;

[0104] Among them, Figure 4 As shown, the process of determining the first conversion function includes:

[0105] S201: Determining, from the file formats identified by the system model of the UAV, a plurality of file format types into which the mechanical model is to be converted;

[0106] S202: searching a preset function library for a plurality of conversion functions corresponding to a plurality of file format types for converting the mechanical model of the drone to be matched;

[0107] S203: According to the complexity of the conversion functions, determine a conversion function with the minimum complexity as a first conversion function.

[0108] It can be understood that since the initial file of the mechanical model 10 of the drone to be matched cannot be recognized by the system model 30, the format conversion can be performed through the first conversion function to obtain a first format file that can be recognized by the system model 30. In fact, there can be multiple file format types that the system model 30 can recognize, that is, there can be multiple file formats that can be converted from the initial file of the mechanical model 10 of the drone to be matched into file formats that can be recognized by the system model 30, thereby obtaining multiple conversion functions. Therefore, the preset function library can be a set of functions obtained by converting file format types into each other.

[0109] The complexity of the conversion function can be measured as its conversion efficiency, for example, by the number of parameters involved in the conversion process, the amount of conversion logic involved, and the complexity of the formulas involved. Therefore, a conversion function with lower complexity has higher efficiency and a higher success rate during the conversion process. In this paper, selecting the conversion function with the lowest complexity as the first conversion function can improve the conversion success rate, thereby increasing the efficiency and accuracy of model matching.

[0110] For example, the initial file of the mechanical model 10 of the drone to be matched can be an STP file (i.e., the format extension of CAD drawing software), and the system model 30 can be a SysML model. The SysML model is loaded on the simulation platform 40. The Unreal Engine on the simulation platform 40 cannot directly read the model information in the recognition file, so it needs to be converted into a format file that can be directly recognized by the Unreal Engine to achieve three-dimensional display. For example, an OBJ format file can be recognized by the Unreal Engine of the system model 30, and the STP format file can be converted into an OBJ format file, wherein the first conversion function can exist in the form of an external plug-in. The specific conversion steps can be: locally install the FreeCAD tool, call the model export function of the FreeCAD tool through a Python script according to the interface provided by the FreeCAD tool, give the model path and name to be converted into OBJ format as input to the model export function, input the STP format file of the mechanical model 10 of the drone into the FreeCAD tool, and the output of the model export function is the converted OBJ format file. As a universal three-dimensional data file, the OBJ format file can be read and identified by the Unreal Engine of the simulation platform 40, and loaded and displayed in the corresponding three-dimensional scene, thereby obtaining the three-dimensional structure information of the model.

[0111] It should be noted that the first format file includes the mechanical structure information of the drone components to be matched, such as the drone's body, wings, transmitter, etc.

[0112] In the embodiments of this specification, Figure 5 As shown, the behavior model 20 includes a control system model 210, an autopilot model 220, a landing gear model 230, a dynamics and kinematics model 240, a power system model 250, a sensor system model 260, and an actuator system model 270. Different models correspond to different logical behavior dimensions.

[0113] Furthermore, converting the behavior model of the to-be-matched drone into a second format file recognized by the system model of the to-be-matched drone includes:

[0114] Converting the initial file of the behavior model into a file in a second format using a second conversion function;

[0115] Wherein, the second conversion function includes a header file function, a target language compilation function and a compiler;

[0116] like Figure 6 As shown, the converting of the initial file of the behavior model into a second format file using a second conversion function includes:

[0117] S301: Processing the initial file of the behavior model of the drone to be matched using the header file function and the target language compilation function to obtain a header file and a character file;

[0118] S302: Generate a compilation instruction file from the initial file format of the behavior model to a format corresponding to the second format file using the target language compilation function;

[0119] S303: Using the compiler to compile the header file and the character file using the compilation instruction file to obtain a second format file.

[0120] It can be understood that since the initial file of the behavior model 20 of the drone to be matched cannot be recognized by the system model 30, a format conversion can be performed through a second conversion function to obtain a second format file that can be recognized by the system model 30.

[0121] For example, the behavior model 20 may be a Simulink model, and the corresponding initial file format is SLX format. Then, the SLX format of the behavior model 20 may be converted into an FMU model of the unified interface FMI through a second conversion function. The FMI interface may enable interaction between different simulation programs or software. The header file function may be an Include function, the target language compilation function may be a Grtfmi function, the compiler may be a compiler, and the format conversion steps may be:

[0122] Step 1: Process the SLX file through Simulink by calling the Include function and the Grtfmi function to obtain the *.trw file.

[0123] Step 2: Use the RTW tool (a tool that comes with Simulink) to call the target editing file Grtfmi.tlc in the Grtfmi function to compile the processed file to obtain the *.c file and *.h file of the model.

[0124] Step 3: Call the Grtfmi.tmf file through the RTW tool (the tool that comes with Simulink) to generate the makefile file *.mk.

[0125] Step 4: Finally, Simulink calls the Cmake compiler to compile the .c file and .h file obtained in the second step and the mk file generated in the third step to obtain the component model .fmu file.

[0126] Through the above steps, the second format file obtained by converting the behavior models 20 corresponding to different components can be obtained.

[0127] It should be noted that the second conversion function may also be composed in other ways, and the specific content is not limited in the embodiments of this specification.

[0128] After the mechanical model 10 and the behavioral model 20 of the drone to be matched are converted into different formats, they can be matched by component information. For example, the information [body.obj] in the mechanical model 10 and the information [body.fmu] in the behavioral model 20 can be bound to achieve the binding of the mechanical model 10 and the behavioral model 20. In order to ensure that the mechanical model 10 and the behavioral model 20 are matched and displayed in the system model 30, it is necessary to determine the information of each component in the system model 30. As an option, Figure 7 As shown, the determining of component information in the system model 30 according to the system model 30 of the drone to be matched includes:

[0129] S401: extracting to-be-identified field files from the system model in sequence, with each to-be-identified field file starting at a designated field;

[0130] S402: For each to-be-identified field file, obtain attribute information of fields at different levels of each to-be-identified field file, where the attribute information includes view type, view name, element type, and element name;

[0131] S403: Determine the target field value corresponding to the attribute information in the fields at different levels;

[0132] S404: Determine component information of the drone to be matched based on target field values ​​corresponding to different attribute information.

[0133] It can be understood that since the system model 30 serves as the UAV system architecture model, in order to accurately and reliably load the mechanical model 10 and behavioral model 20 of the UAV into the system model 30, it is necessary to accurately and reliably extract the component information in the system model 30. Therefore, the file of the system model 30 can be divided into multiple field files to be identified according to the field information, and then the attribute information of the different levels of fields in each field file to be identified is determined, and the component information of the UAV to be matched is determined according to the field value corresponding to the attribute information.

[0134] The to-be-identified field file may be a subfile of the description file of the system model 30. Each subfile may correspond to at least one component information and the dependency relationship between components. Specifically, it may be divided according to specified fields in the description file. For example, when the description file of the system model 30 is an XML file, different subfiles may be divided according to the "owned Diagram" field to obtain multiple to-be-identified field files, and the files between the "owned Diagram" fields are regarded as a to-be-identified field file.

[0135] Different levels of fields in the field file to be identified represent different attribute information, the view type can be the type of the model corresponding to the current field file to be identified, the view name can be the file content of the current field file to be identified, the element type can be the existence form of the component in the current field file to be identified (such as block form), and the element name can be the name of the description component of the current field file to be identified, such as type, used Elements, ownedDiagram, etc., which can respectively represent the view type, element name and view name, where the "name" value of the field is the target field value corresponding to the attribute information, such as the view type is the model definition diagram (Block Definition Diagram, BDD), the element name can be Sky One, and the view name can be Sky One structure description. In some other embodiments, the element name can also be obtained by querying the outsourced field of the field file to be identified, such as Block represents the element type, such as Figure 8 FIG. 1 is a schematic diagram of component information in the system model 30 .

[0136] For example, the file format of the system model 30 is an XML description file, and the XML description file can be parsed by the blueprint function of Unreal Engine 4 (UE4) software to obtain the position information of the drone. The specific extraction steps can be:

[0137] Step 1: Search for the "owned Diagram" field, split the XML description file into multiple sub-description files, and record the value of the "name" field. Jump to step 2;

[0138] Step 2: Check whether there is a "used Elements" field in the sub-description file. If not, delete the "name" value of the record and return to step 1. Otherwise, jump to step 3.

[0139] Step 3: The value of "name" here is the view name in the child description file; check the outsourced fields of the "owned Diagram" until the level with the "name" field. The value of this "name" is the name of the element represented by the view; check the nested fields of the "owned Diagram" until the specified field level (for example, "diagram: DiagramRepresentation Object"), and search for the "type" field in this level. Its value is the view type.

[0140] After obtaining the information of different components in the system model 30, the matching of the mechanical model 10 and the behavioral model 20 can be achieved. As an option, Figure 9 As shown, the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file are loaded into the system model 30 according to the component information, so as to complete model matching in the simulation platform 40 equipped with the system model 30, including:

[0141] S501: extracting mechanical structure information corresponding to the component information from the first format file, and extracting logical behavior information corresponding to the component information from the second format file according to the component information;

[0142] S502: Binding the mechanical structure information and the logical behavior information to obtain bound file information;

[0143] S503: Acquire a preset matching position of the component information in the system model, where the preset matching position is a preset spatial position where the component information is displayed;

[0144] S504: Loading data corresponding to the bound file information into the preset matching position, so as to complete model matching in the simulation platform equipped with the system model.

[0145] It can be understood that the embodiment of this specification constrains the mechanical model 10 and the behavioral model 20 of the drone through the top-level system model 30, so that matching processing can be performed on the simulation platform 40, thereby improving the matching efficiency and thus improving the efficiency of the drone simulation. For example, the component information in the system model 30 (such as the mid-section of the fuselage, the landing gear, and the wing) can be used to extract the mechanical structure information corresponding to the component information from the first format file, and the logical behavior information corresponding to the component information can be extracted from the second format file. For example, for [wing], the corresponding files [wing.obj] and [wing.fmu] can be queried from the first format file and the second format file to obtain [wing]. [wing.obj] and [wing.fmu] are bound to obtain the bound files, and then the bound files are loaded into the corresponding preset matching position, thereby achieving the matching processing of the drone mechanical model 10 and the behavioral model 20 on the simulation platform 40.

[0146] The preset matching position is the spatial location where different component information needs to be displayed. In actual work, the data in each preset matching position is the initial value or default value. After obtaining the bound file information, it is only necessary to assign the data in the file information to the preset matching position, that is, to realize the display of the three-dimensional model corresponding to the component information at the preset matching position, and then, according to the user's simulation instructions, the corresponding behavior logic of the component (that is, the mode and degree of behavior) is enabled to the three-dimensional model, thereby realizing the simulation operation of the drone three-dimensional model.

[0147] In some other embodiments of the present specification, loading the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model based on the component information, so as to complete model matching in a simulation platform equipped with the system model, includes:

[0148] extracting, based on the component information, mechanical structure information corresponding to the component information from the first format file, and logical behavior information corresponding to the component information from the second format file;

[0149] Acquire a preset matching position of the component information in the system model, where the preset matching position is a preset spatial position where the component information is displayed;

[0150] The mechanical structure information and the logical behavior information are loaded into the preset matching positions respectively, so as to complete the model matching in the simulation platform equipped with the system model.

[0151] It can be understood that the mechanical structure information corresponding to the component information and the logical behavior information corresponding to the behavior model can be loaded into the preset matching position respectively, and binding and matching are completed at the preset matching position, thereby avoiding the early binding of the mechanical model and the behavior model and improving the efficiency of model matching on the simulation platform.

[0152] Based on the same inventive concept, the embodiment of this specification also provides a drone model matching device, such as Figure 10 As shown, the device includes:

[0153] A first conversion module 100 is configured to convert a mechanical model of a to-be-matched UAV into a first format file recognized by a system model of the to-be-matched UAV, wherein the first format file includes mechanical structure information of components of the to-be-matched UAV;

[0154] A second conversion module 200 is configured to convert the behavior model of the to-be-matched UAV into a second format file recognized by the system model of the to-be-matched UAV, wherein the second format file includes logical behavior information of the components of the to-be-matched UAV;

[0155] A component information determination module 300 is configured to determine component information in the system model based on the system model of the drone to be matched;

[0156] The matching module 400 is used to load the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model according to the component information, so as to complete model matching in the simulation platform equipped with the system model.

[0157] The beneficial effects achieved by the above-mentioned device are consistent with the beneficial effects achieved by the above-mentioned method, and will not be described in detail in the embodiments of this specification.

[0158] like Figure 11 As shown, a computer device provided in an embodiment of this document is provided. The apparatus herein may be a computer device in this embodiment, executing the method described above. The computer device 1102 may include one or more processors 1104, such as one or more central processing units (CPUs), each of which may implement one or more hardware threads. The computer device 1102 may also include any memory 1106 for storing any type of information, such as code, settings, data, etc. For example, without limitation, the memory 1106 may include any one or more combinations of the following: any type of RAM, any type of ROM, a flash memory device, a hard disk, an optical disk, etc. More generally, any memory may use any technology to store information. Furthermore, any memory may provide volatile or non-volatile retention of information. Furthermore, any memory may represent a fixed or removable component of the computer device 1102. In one embodiment, when the processor 1104 executes associated instructions stored in any memory or combination of memories, the computer device 1102 may perform any operation of the associated instructions. The computer device 1102 also includes one or more drive mechanisms 1108 for interacting with any storage, such as a hard disk drive mechanism, an optical disk drive mechanism, and the like.

[0159] The computer device 1102 may also include an input / output module 1110 (I / O) for receiving various inputs (via input devices 1112) and for providing various outputs (via output devices 1114). A specific output mechanism may include a presentation device 1116 and an associated graphical user interface (GUI) 1118. In other embodiments, the input / output module 1110 (I / O), input devices 1112, and output devices 1114 may not be included, and the computer device 1102 may simply be a computer device in a network. The computer device 1102 may also include one or more network interfaces 1120 for exchanging data with other devices via one or more communication links 1122. One or more communication buses 1124 couple the components described above together.

[0160] The communication link 1122 may be implemented in any manner, for example, via a local area network, a wide area network (e.g., the Internet), a point-to-point connection, etc., or any combination thereof. The communication link 1122 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.

[0161] Corresponding to Figure 1 、 Figure 4 、 Figure 6 、 Figure 7 and Figure 9 The embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which executes the steps of the above method when executed by a processor.

[0162] The embodiment of the present invention also provides a computer readable instruction, wherein when the processor executes the instruction, the program causes the processor to execute the following Figure 1 、 Figure 4 、 Figure 6 、 Figure 7 and Figure 9 The method shown.

[0163] It should be understood that in the various embodiments of this document, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0164] It should also be understood that in the embodiments herein, the term "and / or" merely describes an association between associated objects, indicating that three possible relationships exist. For example, "A and / or B" could represent: A alone, A and B simultaneously, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0165] Those skilled in the art will 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 above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this document.

[0166] Those skilled in the art will clearly understand that, for the sake of convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0167] In the several embodiments provided herein, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices, or units, or can be an electrical, mechanical, or other form of connection.

[0168] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments herein.

[0169] In addition, the functional units in the various embodiments herein may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0170] If the integrated unit 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 this article is essentially or the part that contributes to the existing technology, 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, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of this article. The aforementioned storage medium includes: various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0171] This article uses specific embodiments to illustrate the principles and implementation methods of this article. The description of the above embodiments is only used to help understand the methods and core ideas of this article. At the same time, for those skilled in the art, based on the ideas of this article, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation to this article.

Claims

1. A UAV model matching method, characterized in that: The method comprises: Converting the mechanical model of the to-be-matched UAV into a first format file recognized by the system model of the to-be-matched UAV, wherein the first format file includes mechanical structure information of the to-be-matched UAV components; Converting the behavior model of the to-be-matched drone into a second format file recognized by the system model of the to-be-matched drone, wherein the second format file includes logical behavior information of components of the to-be-matched drone; Determining component information in the system model according to the system model of the drone to be matched; According to the component information, the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file are loaded into the system model, so that the logical behavior information corresponding to the drone component to be matched of the mechanical model is determined in the simulation platform equipped with the system model.

2. The method according to claim 1, characterized in that Converting the mechanical model of the to-be-matched UAV into a first format file recognized by the system model of the to-be-matched UAV includes: Converting the initial file of the mechanical model into a first format file using a first conversion function; The process of determining the first conversion function includes: determining, from the file formats identified by the system model of the drone, a plurality of file format types into which the mechanical model is to be converted; Searching a preset function library for a plurality of conversion functions corresponding to a plurality of file format types for converting the mechanical model of the to-be-matched drone; According to the complexity of the conversion functions, a conversion function with the minimum complexity is determined as the first conversion function.

3. The method according to claim 1, characterized in that The behavior model includes a control system model, an autopilot model, a landing gear model, a dynamics and kinematics model, a power system model, a sensor system model and an actuator system model.

4. The method according to claim 1, wherein Converting the behavior model of the to-be-matched UAV into a second format file recognized by the system model of the to-be-matched UAV includes: Converting the initial file of the behavior model into a file in a second format using a second conversion function; Wherein, the second conversion function includes a header file function, a target language compilation function and a compiler; The converting the initial file of the behavior model into a file in a second format by using a second conversion function includes: Using the header file function and the target language compilation function to process the initial file of the behavior model of the drone to be matched, to obtain a header file and a character file; Generate a compilation instruction file from the initial file format of the behavior model to a format corresponding to the second format file using the target language compilation function; The compiler is used to compile the header file and the character file using the compilation instruction file to obtain a second format file.

5. The method according to claim 1, wherein The step of determining component information in the system model according to the system model of the drone to be matched includes: Extracting to-be-identified field files from the system model in sequence, wherein the starting position of each to-be-identified field file is a specified field; For each to-be-identified field file, obtain attribute information of fields at different levels of each to-be-identified field file, wherein the attribute information includes view type, view name, element type, and element name; Determine the target field values ​​corresponding to the attribute information in the fields at different levels; The component information of the drone to be matched is determined according to the target field values ​​corresponding to different attribute information.

6. The method according to claim 1, characterized in that The step of loading the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model according to the component information, so as to determine the logical behavior information corresponding to the to-be-matched UAV component of the mechanical model in the simulation platform equipped with the system model, includes: extracting, based on the component information, mechanical structure information corresponding to the component information from the first format file, and logical behavior information corresponding to the component information from the second format file; Binding the mechanical structure information and the logical behavior information to obtain bound file information; Acquire a preset matching position of the component information in the system model, where the preset matching position is a preset spatial position where the component information is displayed; The data corresponding to the bound file information is loaded into the preset matching position, so that the logical behavior information corresponding to the drone component to be matched of the mechanical model is determined in the simulation platform equipped with the system model.

7. The method according to claim 1, characterized in that The step of loading the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model according to the component information, so as to determine the logical behavior information corresponding to the to-be-matched UAV component of the mechanical model in the simulation platform equipped with the system model, includes: extracting, based on the component information, mechanical structure information corresponding to the component information from the first format file, and logical behavior information corresponding to the component information from the second format file; Acquire a preset matching position of the component information in the system model, where the preset matching position is a preset spatial position where the component information is displayed; The mechanical structure information and the logical behavior information are loaded into the preset matching positions respectively, so that the logical behavior information corresponding to the to-be-matched UAV component of the mechanical model is determined in the simulation platform equipped with the system model.

8. A drone model matching device, characterized in that: The device comprises: A first conversion module is configured to convert a mechanical model of the to-be-matched UAV into a first format file recognized by the system model of the to-be-matched UAV, wherein the first format file includes mechanical structure information of components of the to-be-matched UAV; A second conversion module is configured to convert the behavior model of the to-be-matched UAV into a second format file recognized by the system model of the to-be-matched UAV, wherein the second format file includes logical behavior information of components of the to-be-matched UAV; A component information determination module, configured to determine component information in the system model according to the system model of the drone to be matched; A matching module is used to load the mechanical structure information and logical behavior information corresponding to the component information in the first format file and the second format file into the system model according to the component information, so as to determine the logical behavior information corresponding to the drone component to be matched in the mechanical model in the simulation platform equipped with the system model.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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