Simulation method, device, electronic device and mechanical device

Abstract

This application relates to the field of simulation, and particularly to a simulation method, device, electronic device, and mechanical device. The method includes simulating and outputting the motion process of a target operation object according to the operation parameters of a device model and the attribute parameters of a virtual operation scenario. The target operation object includes the operation object corresponding to the current operation parameters of the device model in the virtual operation scenario, and the current operation parameters include the area of the current operation. Based on this, this application only performs dynamic simulation on the area where the device model is currently operating, with a small amount of calculation, thereby achieving the purpose of improving the calculation speed and construction efficiency.

Description

Technical Field

[0001] This application relates to the field of simulation, and particularly to a simulation method, device, electronic device, and mechanical device. Background Art

[0002] With the continuous progress of virtual reality technology, constructing a virtual construction scene and construction equipment model, simulating the construction process to determine the construction route, is a common construction route planning method at present. By simulating the construction process, a better construction route can be determined, so as to construct according to the better construction route and improve construction efficiency. However, the current simulation method has low simulation efficiency, resulting in low construction efficiency.

[0003] Therefore, how to provide an efficient simulation method to improve construction efficiency is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0004] Based on the above requirements, this application proposes a simulation method, device, electronic device, and mechanical device, which can provide an efficient simulation method to improve construction efficiency.

[0005] The technical solution proposed by this application is as follows:

[0006] On the one hand, this application provides a simulation method, including:

[0007] Obtain the current operation parameters of the equipment model;

[0008] According to the current operation parameters of the equipment model and the attribute parameters of the pre-constructed virtual operation scene, simulate and output the movement process of the target operation object;

[0009] Wherein, the target operation object includes the operation object corresponding to the current operation parameters of the equipment model in the virtual operation scene; the current operation parameters include the area of the current operation.

[0010] Further, the above method further includes:

[0011] Obtain the point cloud information and / or image information of the operation scene;

[0012] Based on the point cloud information and / or image information of the operation scene, construct the virtual operation scene corresponding to the operation scene.

[0013] Further, the above method further includes:

[0014] Adjust the attribute parameters of the virtual operation scene to make the virtual operation scene match the actual operation scene.

[0015] Further, in the method described above, adjusting the attribute parameters of the virtual operation scenario includes:

[0016] Obtaining the simulated state parameters output by the equipment model during operation in the virtual operation scenario;

[0017] Determining whether the deviation value between the simulated state parameters and the actual state parameters is greater than a preset deviation threshold; the actual state parameters include the state parameters output by the equipment entity corresponding to the equipment model under the same working conditions;

[0018] If the deviation value between the simulated state parameters and the actual state parameters is greater than the preset deviation threshold, adjust the attribute parameters of the current virtual operation scenario, and continue to execute the step of obtaining the simulated state parameters output by the equipment model during operation in the virtual operation scenario until the deviation value is less than the preset deviation threshold.

[0019] Further, in the method described above, simulating and outputting the motion process of the target operation object according to the current operation parameters of the equipment model and the attribute parameters of the pre-constructed virtual operation scenario includes:

[0020] Determining, according to the current operation parameters of the equipment model and the attribute parameters of the virtual operation scenario, a moving object that follows the movement of the equipment model and a falling object that meets the falling conditions among the moving objects from the stationary operation objects;

[0021] Controlling the falling of the falling object;

[0022] Among them, the operation parameters of the equipment model at least include the shape parameters, operation angles, and operation points of the operation structure in the equipment model; the attribute parameters of the virtual operation scenario at least include the Poisson's ratio, density, viscosity, shear modulus, and angle of repose of the operation object.

[0023] Further, in the method described above, determining the falling objects that meet the falling conditions among the moving objects includes:

[0024] Determining the falling area according to the angle of repose and the shape parameters of the operation structure;

[0025] Determining the moving objects in the falling area as falling objects.

[0026] Further, in the method described above, it further includes:

[0027] Obtaining operation route control information;

[0028] Generating multiple operation routes in the virtual operation scenario according to the operation route control information;

[0029] Output the target operation route; wherein, the target operation route includes the routes that meet the preset requirements among the multiple operation routes.

[0030] Further, in the above method, the equipment model includes an excavator model;

[0031] The operation object includes deformable soil.

[0032] On the other hand, the present application also provides a simulation device, including:

[0033] An acquisition module, configured to acquire the current operation parameters of the equipment model;

[0034] A simulation module, configured to simulate and output the movement process of the target operation object according to the current operation parameters of the equipment model and the attribute parameters of the pre-constructed virtual operation scenario;

[0035] Wherein, the target operation object includes the operation object corresponding to the current operation parameters of the equipment model in the virtual operation scenario; the current operation parameters include the area of the current operation.

[0036] On the other hand, the present application also provides an electronic device, including:

[0037] A memory and a processor;

[0038] Wherein, the memory is used to store programs;

[0039] The processor is configured to implement the simulation method described in any one of the above by running the programs in the memory.

[0040] On the other hand, the present application also provides a mechanical equipment, including the electronic device described in any one of the above.

[0041] The simulation method, device, electronic device and mechanical equipment of the present application. The method includes simulating and outputting the movement process of the target operation object according to the operation parameters of the equipment model and the attribute parameters of the virtual operation scenario. Wherein, the target operation object includes the operation object corresponding to the current operation parameters of the equipment model in the virtual operation scenario, and the current operation parameters include the area of the current operation. Based on this, the present application only performs dynamic simulation for the area where the equipment model is currently operating, with a small amount of calculation, thereby achieving the purpose of improving the calculation speed and construction efficiency. Description of the Drawings

[0042] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0043] Figure 1 It is a schematic flowchart of a simulation method provided by an embodiment of the present application.

[0044] Figure 2 It is a schematic structural diagram of the bucket part of an excavator model provided by an embodiment of the present application.

[0045] Figure 3 It is a schematic flowchart of constructing a virtual operation scenario provided by an embodiment of the present application.

[0046] Figure 4 It is a schematic flowchart of adjusting the attribute parameters of a virtual operation scenario provided by an embodiment of the present application.

[0047] Figure 5 It is a schematic flowchart of simulating the movement process of a target operation object provided by an embodiment of the present application.

[0048] Figure 6 It is a display schematic diagram when the bucket of the excavator model provided by an embodiment of the present application performs earth excavation operations.

[0049] Figure 7 It is a schematic diagram of a dropping area provided by an embodiment of the present application.

[0050] Figure 8 It is a schematic flowchart of determining a target operation route that meets preset requirements provided by an embodiment of the present application.

[0051] Figure 9 It is a schematic structural diagram of a simulation device provided by an embodiment of the present application.

[0052] Figure 10 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0053] Figure 11 It is a schematic structural diagram of a mechanical device provided by an embodiment of the present application. Detailed implementation manners

[0054] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0055] In the existing construction operation scenarios, before the formal construction, the construction personnel will first plan the construction path and select the optimal construction route in the construction site to reduce the loss of mechanical equipment while ensuring the construction efficiency. In the context of the development of intelligence, with the continuous progress of virtual reality technology, it is a common method for construction route planning to construct a virtual construction scenario and a construction equipment model, and conduct a simulation to determine the construction route.

[0056] The currently common simulation methods include: simulating the construction with the construction equipment model in the no-load mode; or, interacting with a high-precision discrete element model. However, the simulation method of simulating the construction with the construction equipment model in the no-load mode cannot simulate the real operation scenario, resulting in low reliability of the obtained optimal construction route; although the interaction with the high-precision discrete element model can simulate the real operation scenario, the simulation speed is slow and the simulation efficiency is low, resulting in low construction efficiency.

[0057] Based on this, the present application provides a simulation method, device, electronic device and mechanical equipment, which can improve the simulation speed and ensure the construction efficiency on the premise of simulating the real operation scenario.

[0058] Figure 1 It is a schematic flow chart of a simulation method provided by an embodiment of the present application. As Figure 1 shown, the simulation method of this embodiment includes the following steps:

[0059] S101. Obtain the current operation parameters of the equipment model.

[0060] The above-mentioned equipment model refers to a pre-constructed virtual model, and the structural member parameters of the equipment model are the same as those of the equipment entity in the current actual construction operation scenario. Exemplarily, if the equipment entity is an excavator, the equipment model is an excavator model pre-constructed with the same structural member parameters as the excavator; if the equipment entity is a bulldozer, the equipment model is a bulldozer model pre-constructed with the same structural member parameters as the bulldozer.

[0061] The current operation parameters of the above-mentioned equipment model include the current operation area, operation angle, operation point of the equipment model, and the shape parameters of the operation structure of the equipment model in the pre-constructed virtual operation scenario.

[0062] A virtual operation scenario refers to a pre - constructed virtual scenario that is consistent with the current actual construction operation scenario. Optionally, the virtual operation scenario can be constructed based on a virtual reality engine in the prior art. For example, a visual virtual operation scenario can be constructed based on the Unity engine.

[0063] Among the current operation parameters, the current operation area, operation angle, and operation point of the equipment model are input by the user. By inputting information such as the current operation area, operation angle, and operation point, the user controls the working state of the equipment model in the virtual operation scenario. Exemplarily, the user can write C# control code to input information such as the current operation area, operation angle, and operation point of the equipment model to control the working state of the equipment model in the virtual operation scenario.

[0064] Exemplarily, if the equipment model is an excavator model, the pre - constructed virtual operation scenario is an excavator digging scenario, the operation area is the digging area of the excavator model's bucket, the operation angle is the digging angle of the excavator model's bucket, and the operation point is the digging point of the excavator model's bucket. Another exemplarily, if the equipment model is a bulldozer model, then the pre - constructed virtual operation scenario is a bulldozer pushing scenario, the operation area is the pushing area of the bulldozer model's blade, the operation angle is the pushing angle of the excavator model's blade, and the operation point is the starting point where the excavator model starts to push.

[0065] Among the current operation parameters, the operation structure of the equipment model is the structure in the entire equipment model that performs operations. For example, the operation structure of an excavator model is a bucket, and the operation structure of a bulldozer model is a blade, etc. The shape parameters of the operation structure of the equipment model include various parameters that can characterize the shape of the operation structure.

[0066] Exemplarily, as Figure 2 shown is a schematic diagram of the bucket part of an excavator model. Among them, the first connection line l1 coincides with the cutting edge of the bucket, the second connection line l2 coincides with the top edge of the bucket. The lengths of the first connection line l1 and the second connection line l2 can be detected. Since the bucket part of the excavator model is a rigid structure, based on the first connection line l1 and the second connection line l2, the third connection line l3 and the fourth connection line l4 that coincide with the two side edges of the bucket of the excavator model can be determined respectively. The first connection line l1, the second connection line l2, the third connection line l3, and the fourth connection line l4 form the boundary of the bucket, and thus the shape parameters of the bucket part of the excavator model can be obtained.

[0067] In the embodiments of the present application, the current operation parameters of the equipment model are obtained to facilitate the simulation of the operation situation of the equipment model.

[0068] S102. Simulate and output the motion process of the target operation object according to the current operation parameters of the equipment model and the attribute parameters of the pre - constructed virtual operation scenario.

[0069] There is a job object set in the above virtual job scenario. The job object in this embodiment has the characteristic of being deformable and can achieve dynamic interaction with the equipment model. Exemplarily, if the equipment model is an excavator model, then the virtual job scenario is a virtual excavation scenario, and the job object set therein is deformable soil; if the equipment model is a bulldozer model, then the virtual job scenario is a virtual pushing scenario, and the job object set therein is also deformable soil.

[0070] The attribute parameters of the virtual job scenario mainly include the attribute parameters of the job object, including attribute parameters such as Poisson's ratio, density, viscosity, shear modulus, and angle of repose. Attribute parameters such as Poisson's ratio, density, viscosity, shear modulus, and angle of repose will affect the state parameters such as cylinder pressure, full bucket rate, and fuel consumption output by the equipment model, which characterize the state of the equipment model. By setting the attribute parameters such as Poisson's ratio, density, viscosity, shear modulus, and angle of repose, the physical properties simulated by the job object in the virtual job scenario are made consistent with the real physical properties of the job object in the actual job scenario. Furthermore, when the equipment model performs job simulation in the virtual job scenario, the movement process of the job object in the virtual job scenario is the same as the movement process of the job object when the equipment entity performs operations under the same working conditions, and the state parameters output by the equipment model are the same as the state parameters output by the equipment entity, achieving the purpose of simulating the real job process.

[0071] As recorded in the above embodiments, the current job parameters include the area of the current job. In this embodiment, according to the current job parameters of the equipment model and the attribute parameters of the pre-constructed virtual job scenario, the job object in the current job area is simulated, including simulating the job process of the job object in the current job area under the influence of the equipment model, such as the job object following the equipment model or falling from the equipment model.

[0072] Exemplarily, if the equipment model is an excavator model, the virtual job scenario is a virtual excavation scenario, and the job object is deformable soil, then in this embodiment, only the movement process of the deformable soil in the area where the excavator model is currently operating is simulated, including a part of the deformable soil shoveled by the bucket of the excavator model, moving along with the bucket, and the soil falling from the bucket returning to rest after falling to the ground.

[0073] Another exemplarily, if the equipment model is a bulldozer model, the virtual job scenario is a virtual pushing scenario, and the job object is deformable soil, then in this embodiment, only the movement process of the deformable soil in the area where the bulldozer model is currently operating is simulated, including a part of the deformable soil pushed by the bulldozer blade of the bulldozer model, advancing along with the bulldozer blade, and the soil falling from the bulldozer blade returning to rest after falling to the ground.

[0074] The simulation method of this embodiment can not only simulate real operation scenarios, but also perform dynamic simulation only for the area where the device model is currently operating, with a small amount of calculation, thereby achieving the purpose of improving the calculation speed and construction efficiency.

[0075] Optionally, as Figure 3 shown, in another embodiment of the present application, the above embodiment further includes the following steps:

[0076] S301. Obtain the point cloud information and / or image information of the operation scenario.

[0077] Obtain the scenario information of the actual operation scenario to facilitate the construction of a corresponding virtual operation scenario based on the actual operation scenario.

[0078] Specifically, the scenario information of the actual operation scenario includes the point cloud information and / or image information of the operation scenario. A lidar can be set on the device entity corresponding to the device model to obtain the point cloud information of the actual operation scenario as the scenario information. A camera can also be set on the device entity corresponding to the device model to obtain the image information of the actual operation scenario as the scenario information. Further, a lidar and a camera can be set on the device entity corresponding to the device model at the same time to obtain the point cloud information and the image information, so as to combine the point cloud information and the image information to construct a corresponding virtual operation scenario for the actual operation scenario.

[0079] In addition, in addition to obtaining the scenario information of the actual operation scenario from the lidar and / or camera devices set on the device entity corresponding to the device model, devices such as drones can also be used to obtain the scenario information of the actual operation scenario by setting lidar and / or camera devices on the drones.

[0080] S302. Based on the point cloud information and / or image information of the operation scenario, construct a virtual operation scenario corresponding to the operation scenario.

[0081] In the embodiment of the present application, the point cloud information and / or image information of the operation scenario are analyzed, and then a virtual operation scenario consistent with the actual operation scenario is constructed.

[0082] Specifically, a grid-based operation object can be constructed first based on the point cloud information and / or image information of the operation scenario, and then the grid-based operation object can be rendered through the rendering function of the virtual reality engine. For example, if the operation object is soil, a grid-based soil can be constructed first based on the point cloud information and / or image information of the operation scenario. Each grid can include one or more soil particles, and then the grid-based soil can be rendered through the rendering function of the virtual reality engine to obtain deformable soil. If the operation object is sand and gravel, a grid-based sand and gravel can be constructed first based on the point cloud information and / or image information of the operation scenario. Each grid can include one or more sand and gravel particles, and then the grid-based sand and gravel can be rendered through the rendering function of the virtual reality engine to obtain deformable sand and gravel.

[0083] In addition, after constructing the virtual operation scenario, the device model needs to be imported into the virtual operation scenario. The name of the device model can be determined, and the shape parameters of the operation structure of the device model can also be determined, so that the device model can be recognized during the simulation operation process.

[0084] In this embodiment, a virtual operation scenario corresponding to the operation scenario is constructed based on the point cloud information and / or image information of the operation scenario, so that the virtual operation scenario is consistent with the actual operation scenario, ensuring the authenticity of the simulation.

[0085] Optionally, in another embodiment of the present application, the following steps may further be included:

[0086] Adjust the attribute parameters of the virtual operation scenario to make the virtual operation scenario match the actual operation scenario.

[0087] Specifically, after constructing the virtual operation scenario corresponding to the operation scenario, since the attribute parameters of the virtual operation scenario, including the Poisson's ratio, density, viscosity, shear modulus, and angle of repose of the operation object, are all initial values or preset values, the physical properties simulated by the operation object in the virtual operation scenario may not be consistent with the real physical properties of the operation object in the actual operation scenario. Therefore, it is necessary to adjust the attribute parameters of the virtual operation scenario so that the physical properties simulated by the operation object in the virtual operation scenario are consistent with the real physical properties of the operation object in the actual operation scenario, and the virtual operation scenario matches the actual operation scenario, achieving the purpose of simulating the real operation process.

[0088] Exemplarily, if the Unity engine is used to create the virtual operation scenario, the attribute parameters of the virtual operation scenario are visible in the background, facilitating adjustment by the user.

[0089] Further, as Figure 4 shown, the steps of the above embodiments adjust the attribute parameters of the virtual operation scenario, specifically including the following steps:

[0090] S401. Obtain the simulated state parameters output by the equipment model during operation in the virtual operation scenario.

[0091] When this application adjusts the attribute parameters of the virtual operation scenario, it controls the equipment model and the equipment entity with the same structure to perform the same operation under the same working conditions. The above-mentioned same structure means that the structural component parameters of the equipment model and the equipment entity are exactly the same. If the structural component parameters of the equipment model and the equipment entity are different, the structural component parameters of the equipment model need to be adjusted accordingly according to the structural component parameters of the equipment entity.

[0092] In this embodiment, the equipment model and the equipment entity with the same structure are controlled to perform the same operation under the same working conditions, and the simulated state parameters output by the equipment model and the actual state parameters output by the equipment entity are obtained. The simulated state parameters are used to characterize the working state of the equipment model, including simulated cylinder pressure, simulated full bucket rate, simulated fuel consumption, etc.; the actual state parameters are used to characterize the working state of the equipment entity, including actual cylinder pressure, actual full bucket rate, actual fuel consumption, etc.

[0093] For example, if the equipment model is an excavator model and the equipment entity is an excavator entity, control the cylinder working states of the equipment entity and the equipment model to be the same, and perform excavation according to the same operation angle and operation point, and obtain the simulated state parameters output by the equipment model, including simulated excavation force, simulated cylinder pressure, simulated full bucket rate, simulated fuel consumption, simulated excavation depth, etc. Exemplarily, the simulated excavation force, simulated cylinder pressure, simulated full bucket rate, simulated fuel consumption, simulated excavation depth and other parameters can be obtained through C# code and with the help of Phyton cloud server to transmit data; obtain the actual state parameters output by the equipment entity type, including actual excavation force, actual cylinder pressure, actual full bucket rate, actual fuel consumption, actual excavation depth, etc. Exemplarily, sensors can be set at the corresponding positions of the equipment entity to detect the actual excavation force, actual cylinder pressure, actual full bucket rate, actual fuel consumption, actual excavation depth and other parameters.

[0094] S402. Judge whether the deviation value between the simulated state parameters and the actual state parameters is greater than a preset deviation threshold. If so, execute S403; if not, execute S404.

[0095] Compare the simulated state parameters with the actual state parameters to judge whether the deviation value between the simulated state parameters and the actual state parameters is greater than the preset deviation threshold.

[0096] The above deviation threshold can be set according to actual situations such as construction equipment types and construction scenarios. For example, the deviation threshold between the simulated state parameters and the actual state parameters is set to not exceed 10% of the actual state parameters, which is not limited in the embodiments of this application.

[0097] If, after judgment, it is determined that the deviation value between the simulated state parameters and the actual state parameters is greater than the deviation threshold, then S403 is executed; if, after judgment, it is determined that the deviation value between the simulated state parameters and the actual state parameters is less than or equal to the deviation threshold, then S404 is executed.

[0098] S403. Adjust the attribute parameters of the current virtual operation scenario, and continue to execute S401 until the deviation value is less than the preset value.

[0099] If, after judgment, it is determined that the deviation value between the simulated state parameters and the actual state parameters is greater than the deviation threshold, it means that the attribute parameters of the current virtual operation scenario do not meet the requirements, and the attribute parameters of the current virtual operation scenario need to be adjusted, including adjusting one or more of the attribute parameters such as the Poisson's ratio, density, viscosity, shear modulus, and angle of repose of the operation object. One or more of the attribute parameters such as the Poisson's ratio, density, viscosity, shear modulus, and angle of repose of the operation object should be adjusted with the aim of reducing the deviation value between the simulated state parameters and the actual state parameters.

[0100] After the adjustment is completed, continue to execute S401 and the subsequent steps, control the equipment model operation based on the adjusted attribute parameters of the virtual operation scenario, and control the equipment entity to operate in the actual scenario, obtain the simulated state parameters output by the equipment model and the actual operation parameters output by the equipment entity, determine the deviation value between the simulated state parameters and the actual parameters. If, after judgment, it is determined that the deviation value between the simulated state parameters and the actual state parameters is greater than the deviation threshold, further adjust the attribute parameters of the adjusted virtual operation scenario, and so on, until the deviation value is less than or equal to the preset deviation threshold.

[0101] S404. Use the attribute parameters of the current virtual operation scenario as the attribute parameters of the virtual operation scenario.

[0102] If the deviation value between the simulated state parameters and the actual state parameters is less than or equal to the preset deviation threshold, then determine the attribute parameters of the current virtual operation scenario as the attribute parameters of the virtual operation scenario.

[0103] In this embodiment, the equipment model and the equipment entity with the same control structure are controlled to perform the same operation under the same working conditions, and the attribute parameters of the virtual operation scenario are adjusted according to the deviation between the actual operation parameters of the equipment entity and the simulated operation parameters of the equipment model, so that the physical properties simulated by the operation object in the virtual operation scenario are consistent with the real physical properties of the operation object in the actual operation scenario, the virtual operation scenario matches the actual operation scenario, and the purpose of simulating the real operation process is achieved.

[0104] Optionally, such as Figure 5As shown, in another embodiment of the present application, the steps of the above embodiment simulate and output the motion process of the target operation object according to the current operation parameters of the device model and the attribute parameters of the pre-constructed virtual operation scenario, specifically including the steps:

[0105] S501. Determine the moving object that follows the movement of the device model and the dropping object that meets the dropping condition among the moving objects from the stationary operation object according to the current operation parameters of the device model and the attribute parameters of the virtual operation scenario.

[0106] As described in the above embodiment, the operation parameters of the device model at least include the shape parameters, operation angles, and operation points of the operation structure in the device model; the attribute parameters of the virtual operation scenario at least include the Poisson's ratio, density, viscosity, shear modulus, and angle of repose of the operation object.

[0107] Based on the current operation parameters of the device model and the attribute parameters of the virtual operation scenario, when the device model performs an operation, it is possible to determine the moving object that follows the movement of the device model and, moreover, determine the dropping object that meets the dropping condition among the moving objects.

[0108] The attribute parameters of the virtual operation scenario include the viscosity of the operation object. Due to the existence of viscosity between the operation objects, there is an attractive force between the operation objects; the attribute parameters of the virtual operation scenario include the Poisson's ratio, so that while the operation object produces elongation or shortening deformation along the load direction, there will be corresponding shortening or elongation deformation in the direction perpendicular to the load; the attribute parameters of the virtual operation scenario include the density, so that the operation object per unit volume has weight; the attribute parameters of the virtual operation scenario include the shear modulus, which can characterize the ability of the operation object to resist shear strain; the attribute parameters of the virtual operation scenario also include the angle of repose. Based on this angle of repose, it is possible to determine the part that slides down when the operation objects are stacked.

[0109] In addition, the attribute parameters of the virtual operation scenario also include the friction coefficient that affects the frictional force of the operation object, etc.

[0110] Specifically, before the device model performs construction, the operation object is a stationary network system. When the device model operates on the target operation object according to the operation angle and operation point, the same as the actual operation process, due to the combined action of several forces such as the frictional force between the operation object and the operation mechanism, the frictional force between the operation objects, the attractive force between the operation objects, and the operation force of the operation mechanism during the feeding process, the operation objects near the operation mechanism are switched from the stationary state to the moving state, and some operation objects follow the movement of the operation mechanism of the device model. Based on the preset Poisson's ratio, the operation objects near the operation mechanism may undergo certain deformation.

[0111] It should be noted that the working object following the movement of the working mechanism of the equipment model is determined according to the shape parameters of the working structure in the equipment model. Among them, the working object within the boundary of the working structure will move along with the working structure.

[0112] Exemplarily, if the equipment model is an excavator and the virtual working scenario is a virtual excavation scenario, when the bucket excavates according to the working angle and working point, it is the same as the actual excavation process. Under the combined action of several forces such as the frictional force between the bucket and the deformable soil, the frictional force between the deformable soil and the deformable soil, the attractive force between the soils, and the excavation force of the bucket, the deformable soil near the bucket changes from a static state to a moving state. Moreover, the deformable soil within the bucket boundary is dug up by the bucket and moves along with the bucket, as Figure 6 shown by the soil in the area Q.

[0113] Another exemplarily, if the equipment model is a bulldozer and the virtual working scenario is a virtual pushing scenario, when the bulldozer blade pushes according to the working angle and working point, it is the same as the actual pushing process. Under the combined action of several forces such as the frictional force between the bulldozer blade and the deformable soil, the frictional force between the deformable soil and the deformable soil, the attractive force between the soils, and the pushing force of the bulldozer blade, the deformable soil near the bulldozer blade changes from a static state to a moving state. And the deformable soil within the bulldozer blade boundary moves along with the bulldozer blade under the action of the bulldozer blade.

[0114] Furthermore, in the virtual working scenario, during the movement of the working mechanism, affected by the gravity of the working object, the angle of repose, and the shape parameters of the working structure, some of the working objects following the movement of the working mechanism will fall. In the embodiments of the present application, the falling objects that meet the falling conditions are determined.

[0115] S502. Control the falling objects to fall.

[0116] After determining the falling objects that meet the falling conditions, control the falling objects to fall. Specifically, it can be controlled that the falling objects fall to the corresponding position on the ground and then return to a static state, as Figure 6 shown by the soil in the first area R1, the second area R2, and the third area R3.

[0117] In the embodiments of the present application, the movement state of the working object is simulated according to the current working parameters of the equipment model and the attribute parameters of the virtual working scenario, so that the physical properties simulated by the working object in the virtual working scenario are consistent with the real physical properties of the working object in the actual working scenario, and the virtual working scenario matches the actual working scenario, achieving the purpose of simulating the real working process.

[0118] Further, the steps of the above embodiments for determining the dropping objects that meet the dropping conditions among the moving objects specifically include the following steps:

[0119] Determine the dropping area according to the stacking angle and the shape parameters of the operation structure; the moving objects in the dropping area are the dropping objects.

[0120] In the virtual operation scenario, under the action of gravity, the operation objects are affected by the stacking angle and the shape parameters of the operation structure, and some of the operation objects following the operation mechanism will drop.

[0121] According to the shape parameters of the operation structure and the stacking angle, the dropping area can be determined. Specifically, the boundary of the operation structure can be determined according to the shape parameters of the operation structure, and based on the boundary of the operation structure and the stacking angle, the dropping area can be determined. As Figure 7 shown, the boundary L is one of the boundary lines of the operation structure, and the angle θ is the stacking angle, then Figure 7 in, the areas X and Y are the dropping areas.

[0122] In the embodiments of the present application, it is only necessary to determine the moving objects in the dropping area as dropping objects and control their dropping.

[0123] In the embodiments of the present application, the process of the dropping of the operation objects can be simulated, so that the virtual operation scenario matches the actual operation scenario, and the purpose of simulating the real operation process is achieved.

[0124] Optionally, as Figure 8 shown, in another embodiment of the present application, the simulation of the above embodiments further includes the following steps:

[0125] S801. Obtain the operation route control information.

[0126] In the embodiments of the present application, the operation route control information can be obtained. The operation route control information is used to control the working path of the equipment model. The operation route control information can be implemented based on C# control code.

[0127] S802. Generate multiple operation routes in the virtual operation scenario according to the operation route control information.

[0128] Based on the operation route control information, the equipment model can perform simulated operations in the virtual operation scenario and generate multiple operation routes.

[0129] S803. Output the target operation route.

[0130] The above target operation route includes the routes that meet the preset requirements among the multiple operation routes. Specifically, the target operation routes that meet the preset requirements can be selected from the above multiple operation routes for operation and output, so as to be able to control the equipment entity to operate according to the target operation route.

[0131] Exemplarily, the virtual state parameters output by the virtual devices in each operation route can be obtained, and combined with the virtual state parameters and the operation time of each operation route, the optimal target operation route can be comprehensively selected and output, so as to control the device entity to operate according to the target operation route. For example, the virtual state parameters can be evaluated, and the route with the minimum loss of the device model can be selected as the target operation route, thereby reducing the loss when the device entity actually operates according to the target operation route; or the route with the shortest time can be selected as the target operation route to shorten the operation time when the device entity actually operates according to the target operation route.

[0132] In the embodiments of the present application, the optimal construction route can be determined based on the virtual working scenario, thereby improving the construction efficiency.

[0133] Corresponding to the above simulation method, an embodiment of the present application also discloses a simulation device, see Figure 9 as shown, the device includes:

[0134] An acquisition module 100, configured to acquire the current operation parameters of the device model;

[0135] A simulation module 110, configured to simulate and output the motion process of the target operation object according to the current operation parameters of the device model and the attribute parameters of the pre-constructed virtual operation scenario;

[0136] Wherein, the target operation object includes the operation object corresponding to the current operation parameters of the device model in the virtual operation scenario; the current operation parameters include the area of the current operation.

[0137] In the simulation device of this embodiment, the acquisition module 100 acquires the operation parameters of the device model and the attribute parameters of the virtual operation scenario, and the simulation module 110 simulates and outputs the motion process of the target operation object. Wherein, the target operation object includes the operation object corresponding to the current operation parameters of the device model in the virtual operation scenario, and the current operation parameters include the area of the current operation. Based on this, the present application only performs dynamic simulation on the area where the device model is currently operating, with a small amount of calculation, thereby achieving the purpose of improving the calculation speed and construction efficiency.

[0138] Optionally, in another embodiment of the present application, the simulation device of the above embodiment further includes:

[0139] A scene information acquisition module, configured to acquire the point cloud information and / or image information of the operation scene;

[0140] A construction module, configured to construct a virtual operation scenario corresponding to the operation scene based on the point cloud information and / or image information of the operation scene.

[0141] Optionally, in another embodiment of the present application, the simulation device in the above embodiment further includes:

[0142] An adjustment module, configured to adjust the attribute parameters of the virtual operation scenario so that the virtual operation scenario matches the actual operation scenario.

[0143] Optionally, in another embodiment of the present application, the adjustment module in the above embodiment includes:

[0144] An acquisition unit, configured to acquire the simulated state parameters output by the device model during operation in the virtual operation scenario;

[0145] A judgment unit, configured to judge whether the deviation value between the simulated state parameters and the actual state parameters is greater than a preset deviation threshold; the actual state parameters include the state parameters output by the device entity corresponding to the device model under the same working conditions;

[0146] An adjustment unit, configured to, if the deviation value between the simulated state parameters and the actual state parameters is greater than the preset deviation threshold, adjust the attribute parameters of the current virtual operation scenario, and continue to execute the step of acquiring the simulated state parameters output by the device model during operation in the virtual operation scenario until the deviation value is less than the preset deviation threshold.

[0147] Optionally, in another embodiment of the present application, the simulation module 110 in the above embodiment includes:

[0148] A determination unit, configured to determine, according to the current operation parameters of the device model and the attribute parameters of the virtual operation scenario, a moving object that follows the device model from the stationary operation objects and a dropping object that meets the dropping conditions among the moving objects;

[0149] A control unit, configured to control the dropping object to drop;

[0150] Wherein, the operation parameters of the device model at least include the shape parameters, operation angle, and operation point of the operation structure in the device model; the attribute parameters of the virtual operation scenario at least include the Poisson's ratio, density, viscosity, shear modulus, and angle of repose of the operation objects.

[0151] Optionally, in another embodiment of the present application, the determination unit in the above embodiment includes:

[0152] A first determination subunit, configured to determine the dropping area according to the angle of repose and the shape parameters of the operation structure;

[0153] A second determination subunit, configured to determine the moving objects in the dropping area as the dropping objects.

[0154] Optionally, in another embodiment of the present application, the simulation device in the above embodiment further includes:

[0155] A route acquisition module, configured to acquire job route control information;

[0156] A generation module, configured to generate multiple job routes in a virtual job scenario according to the job route control information;

[0157] A job module, configured to output a target job route; wherein, the target job route includes the routes that meet the preset requirements among the multiple job routes.

[0158] Specifically, for the specific working contents of each unit of the above simulation device, please refer to the content of the above method embodiment, which will not be elaborated here.

[0159] Another embodiment of the present application further provides an electronic device. Refer to Figure 10 as shown, this device includes:

[0160] A memory 200 and a processor 210;

[0161] Wherein, the memory 200 is connected to the processor 210 and is used to store programs;

[0162] The processor 210 is configured to implement the simulation method disclosed in any of the above embodiments by running the programs stored in the memory 200.

[0163] Specifically, the above electronic device may further include: a bus, a communication interface 220, an input device 230, and an output device 240.

[0164] The processor 210, the memory 200, the communication interface 220, the input device 230, and the output device 240 are interconnected through the bus. Among them:

[0165] The bus may include a path for transmitting information between various components of the computer system.

[0166] The processor 210 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application solution. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0167] The processor 210 may include a main processor, and may also include a baseband chip, a modem, etc.

[0168] The program for implementing the technical solution of this application is stored in the memory 200. The operating system and other key services can also be stored. Specifically, the program can include program code, and the program code includes computer operation instructions. More specifically, the memory 200 can include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk memory, a flash memory, etc.

[0169] The input device 230 can include devices for receiving data and information input by the user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor, etc.

[0170] The output device 240 can include devices for allowing information to be output to the user, such as a display screen, a printer, a speaker, etc.

[0171] The communication interface 220 can include devices of any transceiver type for communicating with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0172] The processor 210 executes the program stored in the memory 200 and calls other devices, and can be used to implement the various steps of the simulation method provided in the above embodiments of this application.

[0173] Another embodiment of this application also provides a mechanical device, including the electronic device 300 of the above embodiment.

[0174] Furthermore, the mechanical device of the above embodiment can also include a working device 320, and the working device 320 is electrically connected to the electronic device 300.

[0175] Furthermore, the mechanical device of the above embodiment can also include devices such as a lidar and / or a camera as the environment sensing device 310. The environment sensing device 310 is electrically connected to the electronic device 300.

[0176] In an alternative embodiment, before construction, the mechanical device can obtain scene information through the environment sensing device 310, and the electronic device 300 generates a simulation operation scene based on the scene information obtained by the environment sensing device 310.

[0177] Moreover, the electronic device 300 can also control the working device 320 of the mechanical equipment to perform operations, so as to correct the attribute information of the virtual operation scenario before the formal construction, and further make the physical properties simulated by the operation objects in the virtual operation scenario consistent with the real physical properties of the operation objects in the actual operation scenario, and the virtual operation scenario matches the actual operation scenario, so as to achieve the purpose of simulating the real operation process.

[0178] After the attribute information of the virtual operation scenario is adjusted, the electronic device 300 can control the virtual device to simulate multiple operation routes, and control the working device 320 to operate according to the target operation route that meets the preset requirements among the multiple operation routes.

[0179] Furthermore, in addition to planning the operation of the target operation route, the mechanical equipment in this embodiment can be used for aspects such as perception fusion, ROS, and AR, with strong scalability.

[0180] Another embodiment of the present application also provides a storage medium, on which a computer program is stored. When the computer program is run by a processor, it implements the steps of the simulation method provided in any of the above embodiments.

[0181] Specifically, for the specific working content of the above-mentioned electronic device and the specific processing content when the computer program on the above-mentioned storage medium is run by a processor, reference can be made to the content of each embodiment of the above-mentioned simulation method, which will not be elaborated here.

[0182] For the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0183] It should be noted that each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0184] The steps in the methods of the embodiments of the present application can be adjusted, combined, and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0185] The modules and sub-modules in the devices and terminals in the embodiments of the present application can be combined, divided, and deleted according to actual needs.

[0186] In several embodiments provided by the present application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or sub-modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple sub-modules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices, or modules, and can be in electrical, mechanical, or other forms.

[0187] The modules or sub-modules described as separate components may or may not be physically separated. The components as modules or sub-modules may or may not be physical modules or sub-modules, that is, they can be located in one place, or can be distributed to multiple network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0188] In addition, each functional module or sub-module in various embodiments of the present application can be integrated in a processing module, or each module or sub-module can exist physically alone, or two or more modules or sub-modules can be integrated in one module. The above-mentioned integrated modules or sub-modules can be implemented in the form of hardware or in the form of software functional modules or sub-modules.

[0189] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present application.

[0190] The steps of the method or algorithm described in combination with the embodiments disclosed in this article can be directly implemented by hardware, software units executed by a processor, or a combination of the two. The software units can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0191] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0192] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A simulation method, characterized in that, Including: Obtain the current operation parameters of the equipment model; Simulate and output the motion process of the target operation object according to the current operation parameters of the equipment model and the attribute parameters of the pre-constructed virtual operation scenario; Wherein, the attribute parameters of the virtual operation scenario include the attribute parameters of the operation object in the virtual operation scenario, and by setting the attribute parameters, the physical properties of the operation object in the virtual operation scenario are made consistent with the physical properties of the operation object in the actual operation scenario; the target operation object includes the operation object corresponding to the current operation parameters of the equipment model in the virtual operation scenario; the current operation parameters include the area of the current operation; The simulating and outputting the motion process of the target operation object according to the current operation parameters of the equipment model and the attribute parameters of the pre-constructed virtual operation scenario includes: Determine the moving object that follows the movement of the equipment model and the dropping object that meets the dropping condition among the moving objects from the stationary operation object according to the current operation parameters of the equipment model and the attribute parameters of the virtual operation scenario; Control the dropping object to drop; Wherein, the operation parameters of the equipment model at least include the shape parameters, operation angles and operation points of the operation structure in the equipment model; the attribute parameters of the virtual operation scenario at least include the Poisson's ratio, density, viscosity, shear modulus and angle of repose of the operation object; Wherein, determining the dropping object that meets the dropping condition among the moving objects includes: Determine the dropping area according to the angle of repose and the shape parameters of the operation structure; Determine the moving object in the dropping area as the dropping object.

2. The method according to claim 1, wherein Also including: Obtain the point cloud information and / or image information of the operation scenario; Construct the virtual operation scenario corresponding to the operation scenario based on the point cloud information and / or image information of the operation scenario.

3. The method according to claim 2, wherein Also including: Adjust the attribute parameters of the virtual operation scenario to make the virtual operation scenario match the actual operation scenario.

4. The method according to claim 3, characterized in that The adjusting the attribute parameters of the virtual operation scenario includes: Obtain the simulated state parameters output by the equipment model when operating in the virtual operation scenario; Judge whether the deviation value between the simulated state parameters and the actual state parameters is greater than a preset deviation threshold; the actual state parameters include the state parameters output by the equipment entity corresponding to the equipment model under the same working conditions; If the deviation value between the simulated state parameters and the actual state parameters is greater than the preset deviation threshold, adjust the attribute parameters of the current virtual operation scenario, and continue to execute the step of obtaining the simulated state parameters output by the equipment model when operating in the virtual operation scenario until the deviation value is less than the preset deviation threshold.

5. The method according to claim 1, characterized in that, Also including: Obtain the operation route control information; Generate multiple operation routes in the virtual operation scenario according to the operation route control information; Output the target operation route; wherein, the target operation route includes the routes that meet the preset requirements among the multiple operation routes.

6. The method according to claim 1, wherein The equipment model includes an excavator model; The operation object includes deformable soil.

7. A simulation device, characterized in that, Including: An acquisition module for acquiring the current operation parameters of the equipment model; A simulation module, configured to simulate and output the motion process of a target operation object according to the current operation parameters of the device model and the attribute parameters of a pre-constructed virtual operation scenario; Wherein, the attribute parameters of the virtual operation scenario include the attribute parameters of the operation object in the virtual operation scenario, and by setting the attribute parameters, the physical properties of the operation object in the virtual operation scenario are made consistent with the physical properties of the operation object in the actual operation scenario; the target operation object includes the operation object corresponding to the current operation parameters of the device model in the virtual operation scenario; the current operation parameters include the area of the current operation; The simulation module includes: A determination unit, configured to determine, according to the current operation parameters of the device model and the attribute parameters of the virtual operation scenario, a moving object that follows the movement of the device model from the stationary operation objects and a dropping object that meets the dropping conditions among the moving objects; A control unit, configured to control the dropping of the dropping object; wherein, the operation parameters of the device model at least include the shape parameters, operation angle, and operation point of the operation structure in the device model; the attribute parameters of the virtual operation scenario at least include the Poisson's ratio, density, viscosity, shear modulus, and angle of repose of the operation object; The determination unit includes: A first determination subunit, configured to determine a dropping area according to the angle of repose and the shape parameters of the operation structure; A second determination subunit, configured to determine the moving objects in the dropping area as dropping objects.

8. An electronic device, characterized in that, It includes: A memory and a processor; Wherein, the memory is used to store programs; The processor is configured to implement the simulation method according to any one of claims 1 to 6 by running the programs in the memory.

9. A mechanical device, characterized in that, An electronic device including the electronic device according to claim 8.

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