A simulation control method, device, equipment and storage medium for hydraulic rod

Abstract

The present application provides a simulation control method, device, equipment and storage medium for a hydraulic rod, and relates to the technical field of hydraulic rod simulation. The method comprises: determining the tail coordinates of the tail of the hydraulic rod in the simulation environment in the world coordinate system according to the input control instruction; determining the first direction vector in the world coordinate system corresponding to the head and tail of the hydraulic rod according to the head coordinates and tail coordinates of the head of the hydraulic rod in the world coordinate system; obtaining the second direction vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod according to the first direction vector and the conversion relationship between the world coordinate system and the parent object space coordinate system, and obtaining the rotation angle corresponding to the head and tail of the hydraulic rod according to the reference vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod, and then controlling the head and tail of the hydraulic rod to move. In this way, the simulation control movement of the hydraulic rod can be close to the real control movement of the hydraulic rod.

Description

Technical Field

[0001] The present application relates to the technical field of hydraulic rod simulation, and in particular to a simulation control method, device, equipment and storage medium for a hydraulic rod. Background Art

[0002] With the advancement of science and technology and the continuous development of the simulation field, there is an increasing demand for products based on large machine projects in the field of simulation teaching. For example, the simulation control of hydraulic rods in large machine projects has received widespread attention.

[0003] Therefore, how to make the simulated control movement of the hydraulic rod close to the real control movement of the hydraulic rod is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The purpose of the present application is to provide a simulation control method, device, equipment and storage medium for a hydraulic rod in view of the above-mentioned deficiencies in the prior art, which can make the simulation control movement of the hydraulic rod close to the real control movement of the hydraulic rod.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a simulation control method for a hydraulic rod, the method comprising:

[0007] According to the input control instruction, the tail coordinate of the tail of the hydraulic rod in the simulation environment in the world coordinate system is determined;

[0008] Determine a first direction vector in the world coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the head coordinates and the tail coordinates of the head of the hydraulic rod in the world coordinate system;

[0009] According to the first direction vector in the world coordinate system corresponding to the head and the tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system where the hydraulic rod is installed, the second direction vector in the parent object space coordinate system corresponding to the head and the tail of the hydraulic rod is obtained;

[0010] Obtaining a rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the second direction vector and a reference vector in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod;

[0011] The head of the hydraulic rod and the tail of the hydraulic rod are controlled to move in the simulation environment according to the rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod.

[0012] Optionally, determining the tail coordinate of the tail of the hydraulic rod in the simulation environment in the world coordinate system according to the input control instruction includes:

[0013] Determining target position information of a connection structure with a tail portion of the hydraulic rod according to the control instruction;

[0014] According to the target position information, the tail coordinates of the tail of the hydraulic rod in the world coordinate system are determined.

[0015] Optionally, determining the tail coordinates of the tail of the hydraulic rod in a world coordinate system according to the target position information includes:

[0016] The tail coordinates of the tail of the hydraulic rod in the world coordinate system are determined according to the target position information and the positional relationship between the tail of the hydraulic rod and the connecting structure.

[0017] Optionally, determining the first direction vector in the world coordinate system corresponding to the head and the tail of the hydraulic rod according to the head coordinates and the tail coordinates of the head of the hydraulic rod in the world coordinate system comprises:

[0018] Subtract the head coordinate from the tail coordinate to obtain a first direction vector in the world coordinate system corresponding to the head of the hydraulic rod;

[0019] The tail coordinate is subtracted from the head coordinate to obtain a first direction vector in the world coordinate system corresponding to the tail of the hydraulic rod.

[0020] Optionally, the conversion relationship is represented by a conversion matrix;

[0021] The method of obtaining the second direction vector in the parent object space coordinate system corresponding to the head and the tail of the hydraulic rod according to the first direction vector in the world coordinate system corresponding to the head and the tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system on which the hydraulic rod is installed comprises:

[0022] Multiplying the first direction vector corresponding to the head of the hydraulic rod by the transformation matrix to obtain a second direction vector in the parent object space coordinate system corresponding to the head of the hydraulic rod;

[0023] The first direction vector corresponding to the tail of the hydraulic rod is multiplied by the transformation matrix to obtain a second direction vector in the parent object space coordinate system corresponding to the tail of the hydraulic rod.

[0024] Optionally, obtaining the rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the second direction vector and the reference vector in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod comprises:

[0025] Determine first deviation information between a reference vector corresponding to the head of the hydraulic rod and a second direction vector corresponding to the head of the hydraulic rod, and obtain a rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod according to the first deviation information;

[0026] Determine second deviation information between a reference vector corresponding to the tail of the hydraulic rod and a second direction vector corresponding to the tail of the hydraulic rod, and obtain a rotation angle in the parent object space coordinate system corresponding to the tail of the hydraulic rod according to the second deviation information.

[0027] Optionally, the method further comprises:

[0028] The rotation angles in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod are respectively compared with the preset rotation angle, and the operation score is determined according to the comparison result.

[0029] In a second aspect, an embodiment of the present application further provides a simulation control device for a hydraulic rod, the device comprising:

[0030] A first determination module is used to determine the tail coordinates of the tail of the hydraulic rod in the simulation environment in the world coordinate system according to the input control instruction;

[0031] A second determination module is used to determine a first direction vector in the world coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the head coordinates and the tail coordinates of the head of the hydraulic rod in the world coordinate system;

[0032] The second determination module is further used to obtain the second direction vector in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the first direction vector in the world coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system where the hydraulic rod is installed;

[0033] a third determination module, configured to obtain a rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the second direction vector and a reference vector in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod;

[0034] The control module is used to control the head and tail of the hydraulic rod to move in the simulation environment according to the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod.

[0035] Optionally, the first determination module is specifically used to determine the target position information of the connection structure with the tail of the hydraulic rod according to the control instruction; and determine the tail coordinates of the tail of the hydraulic rod in the world coordinate system according to the target position information.

[0036] Optionally, the first determination module is further specifically used to determine the tail coordinates of the tail of the hydraulic rod in the world coordinate system according to the target position information and the positional relationship between the tail of the hydraulic rod and the connecting structure.

[0037] Optionally, the second determination module is specifically used to subtract the head coordinate from the tail coordinate to obtain a first direction vector in the world coordinate system corresponding to the head of the hydraulic rod; and subtract the tail coordinate from the head coordinate to obtain a first direction vector in the world coordinate system corresponding to the tail of the hydraulic rod.

[0038] Optionally, the conversion relationship is represented by a conversion matrix;

[0039] Correspondingly, the second determination module is also specifically used to multiply the first direction vector corresponding to the head of the hydraulic rod by the transformation matrix to obtain the second direction vector in the parent object space coordinate system corresponding to the head of the hydraulic rod; and multiply the first direction vector corresponding to the tail of the hydraulic rod by the transformation matrix to obtain the second direction vector in the parent object space coordinate system corresponding to the tail of the hydraulic rod.

[0040] Optionally, the third determination module is specifically used to determine the first deviation information between the reference vector corresponding to the head of the hydraulic rod and the second direction vector corresponding to the head of the hydraulic rod, and obtain the rotation angle of the head of the hydraulic rod in the parent object space coordinate system according to the first deviation information; determine the second deviation information between the reference vector corresponding to the tail of the hydraulic rod and the second direction vector corresponding to the tail of the hydraulic rod, and obtain the rotation angle of the tail of the hydraulic rod in the parent object space coordinate system according to the second deviation information.

[0041] Optionally, the device further comprises: a comparison module;

[0042] The comparison module is used to compare the rotation angles in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod respectively with the preset rotation angle, and determine the operation score according to the comparison result.

[0043] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the simulation control method of the hydraulic rod in the first aspect above.

[0044] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the simulation control method of the hydraulic rod in the first aspect are executed.

[0045] The beneficial effects of this application are:

[0046] The embodiments of the present application provide a simulation control method, device, equipment and storage medium for a hydraulic rod. According to an input control instruction, the tail coordinates of the tail of the hydraulic rod in the simulation environment in the world coordinate system are determined; according to the head coordinates and tail coordinates of the head of the hydraulic rod in the world coordinate system, the first direction vector in the world coordinate system corresponding to the head and tail of the hydraulic rod is determined; according to the first direction vector in the world coordinate system corresponding to the head and tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system of the hydraulic rod installation, the second direction vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod is obtained; according to the second direction vector and the reference vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod, the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod is obtained; according to the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod, the head and tail of the hydraulic rod are controlled to move in the simulation environment.

[0047] It can be seen that when the present application simulates and controls the movement of the hydraulic rod, the physical connection relationship of the hydraulic rod in the real environment can be represented by the conversion relationship between the head coordinates of the hydraulic rod, the tail coordinates of the hydraulic rod, the world coordinates and the parent object space coordinate system in the present application. Therefore, the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod obtained based on the conversion relationship between the head coordinates of the hydraulic rod, the tail coordinates of the hydraulic rod, the world coordinates and the parent object space coordinate system is close to the rotation angle of the hydraulic rod in the display scene, that is, the simulated control movement of the hydraulic rod can be close to the real control movement of the hydraulic rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A schematic flow chart of a simulation control method for a hydraulic rod provided in an embodiment of the present application;

[0050] Figure 2 A schematic flow chart of another hydraulic rod simulation control method provided in an embodiment of the present application;

[0051] Figure 3 A schematic flow chart of another hydraulic rod simulation control method provided in an embodiment of the present application;

[0052] Figure 4 A schematic flow chart of another hydraulic rod simulation control method provided in an embodiment of the present application;

[0053] Figure 5 A schematic flow chart of another hydraulic rod simulation control method provided in an embodiment of the present application;

[0054] Figure 6 A structural schematic diagram of a simulation control device for a hydraulic rod provided in an embodiment of the present application;

[0055] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0057] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0058] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0059] Before explaining the embodiments of the present application in detail, the application scenario of the present application is first introduced. The application scenario can specifically be a scenario of simulating and controlling the movement of a hydraulic rod in the field of simulation teaching. It is understandable that a device model can be built in advance in the simulation environment of the simulation platform, and the device model includes a hydraulic rod, wherein the device model can specifically be a motor vehicle model, an excavator model, etc. It should be noted that the present application does not limit it.

[0060] The simulation control method of the hydraulic rod mentioned in the following example of this application is applied to the control module of the simulation platform in the simulation teaching system, wherein the simulation teaching system also includes an operating platform, and the operating platform includes a plurality of operating buttons, and each operating button in the operating platform is respectively communicated and connected with the control module in the simulation platform. Exemplarily, the trainee touches the operating button in the operating platform according to the teaching requirements, generates a control instruction, and sends the control instruction to the control module in the simulation platform. The control module simulates the control of the hydraulic rod based on the control instruction, and displays the movement of the hydraulic rod in the simulation control process in real time on the display interface of the simulation platform. It should be noted that the specific content of the simulation control of the hydraulic rod can be referred to the following example description, which will not be described here.

[0061] The simulation control method of the hydraulic rod mentioned in the present application is illustrated as follows with reference to the accompanying drawings. Figure 1 The present invention provides a flow chart of a simulation control method for a hydraulic rod, which is applied to the control module in the above-mentioned simulation platform. Figure 1 As shown, the method may include:

[0062] S101. Determine the tail coordinates of the tail of the hydraulic rod in the simulation environment in the world coordinate system according to the input control instruction.

[0063] It can be understood that the hydraulic rod is composed of two parts, namely a fixed rod and a telescopic rod located inside the fixed rod, wherein one end of the fixed rod is connected to the main frame of the equipment model mentioned above, and one end of the telescopic rod is connected to a certain connecting structure on the equipment model. The end of the fixed rod connected to the main frame of the equipment model can be called the head of the hydraulic rod, and the end of the telescopic rod connected to the connecting structure can be called the tail.

[0064] According to the above description, students can input control instructions through the operation buttons on the operating platform and send the control instructions to the control module in the simulation platform. The control module can then determine the tail coordinates of the tail of the hydraulic rod in the world coordinate system based on the operating parameters of the tail-related structure of the hydraulic rod carried in the control instructions.

[0065] S102, determining a first direction vector in the world coordinate system corresponding to the head and the tail of the hydraulic rod according to the head coordinates and the tail coordinates of the head of the hydraulic rod in the world coordinate system.

[0066] Among them, since the fixed rod in the hydraulic rod is fixed at one end connected to the main body frame of the equipment model, the head coordinates of the head of the hydraulic rod in the world coordinate system are pre-stored in the storage module associated with the control module. Exemplarily, the equipment model may include multiple hydraulic rods, then the head coordinates of the hydraulic rods can be stored in the storage device according to the identification (such as the number) of the hydraulic rods, and after obtaining the tail coordinates of the tail of the hydraulic rod in the world coordinate system, the identification of the hydraulic rod is first determined, and the head coordinates of the corresponding hydraulic rod are searched in the storage device according to the identification of the hydraulic rod.

[0067] For example, after obtaining the head coordinates and tail coordinates corresponding to the hydraulic rod, the first direction vector of the head of the hydraulic rod in the world coordinate system and the first direction vector of the tail of the hydraulic rod in the world coordinate system can be determined according to the relationship between the head coordinates and the tail coordinates and the association between the head of the hydraulic rod, the tail of the hydraulic rod and the self-object. Among them, the association between the head of the hydraulic rod, the tail of the hydraulic rod and the self-object can be understood as taking the head of the hydraulic rod as the self-object and the tail of the hydraulic rod as the self-object.

[0068] S103. Obtain a second direction vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod according to the first direction vector in the world coordinate system corresponding to the head and tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system on which the hydraulic rod is installed.

[0069] Among them, the parent object is equivalent to the main body frame of the equipment model mentioned above. The conversion relationship between the parent object space coordinate system and the world coordinate system can be pre-stored in the storage module. After obtaining the first direction vector of the head of the hydraulic rod and the first direction vector of the tail of the hydraulic rod associated with the world coordinate system, the conversion relationship between the two coordinate systems can be obtained from the storage module. Based on the conversion relationship, the first direction vector of the head of the hydraulic rod is converted into the second direction vector of the head of the hydraulic rod, and the first direction vector of the tail of the hydraulic rod is converted into the second direction vector of the tail of the hydraulic rod.

[0070] S104, obtaining a rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod according to the second direction vector and the reference vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod.

[0071] Wherein, a reference vector located in the parent object space coordinate system is pre-set, and the reference vector may include a reference vector corresponding to the head of the hydraulic rod and a reference vector corresponding to the tail of the hydraulic rod, and the reference vector may be pre-stored in the storage module. Exemplarily, based on the identifier corresponding to the head of the hydraulic rod, the reference vector corresponding to the head of the hydraulic rod may be obtained from the storage module, and the rotation angle of the head of the hydraulic rod in the parent object space coordinate system may be calculated based on the reference vector corresponding to the head of the hydraulic rod and the second direction vector corresponding to the head of the hydraulic rod. Similarly, based on the identifier corresponding to the tail of the hydraulic rod, the reference vector corresponding to the tail of the hydraulic rod may be obtained from the storage module, and the rotation angle of the tail of the hydraulic rod in the parent object space coordinate system may be calculated based on the reference vector corresponding to the tail of the hydraulic rod and the second direction vector corresponding to the tail of the hydraulic rod.

[0072] S105 . Control the head and tail of the hydraulic rod to move in the simulation environment according to the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod.

[0073] It should be understood that the rotation angles in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod are the rotation angles of the fixed rod and the telescopic rod on the hydraulic rod.

[0074] Based on this, the control module in the simulation platform can generate a head movement instruction according to the rotation angle of the head of the hydraulic rod in the parent object space coordinate system, and then the head of the hydraulic rod moves in the simulation environment based on the head movement instruction. Similarly, the control module can generate a tail movement instruction according to the rotation angle of the tail of the hydraulic rod in the parent object space coordinate system, and then the tail of the hydraulic rod moves in the simulation environment based on the tail movement instruction.

[0075] To summarize, in the simulation control method of the hydraulic rod provided in the present application, after obtaining the tail coordinates of the head of the hydraulic rod in the world coordinate system, the first direction vector corresponding to the head of the hydraulic rod and the first direction vector corresponding to the tail of the hydraulic rod in the world coordinate system can be determined according to the head coordinates and tail coordinates corresponding to the hydraulic rod, and based on the conversion relationship between the world coordinates and the parent object space coordinate system, the first direction vector corresponding to the head of the hydraulic rod and the first direction vector corresponding to the tail of the hydraulic rod in the world coordinate system can be converted into the second direction vector of the head of the hydraulic rod in the parent object space coordinate system and the second direction vector of the tail of the hydraulic rod in the parent object space coordinate system, respectively. After obtaining the second direction vectors in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod, respectively, the rotation angles in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod are determined based on the reference vectors in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod, respectively. Then, based on the rotation angles in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod, the head and tail of the hydraulic rod can be controlled to move in the simulation environment.

[0076] It can be seen that when the present application simulates and controls the movement of the hydraulic rod, the physical connection relationship of the hydraulic rod in the real environment can be represented by the conversion relationship between the head coordinates of the hydraulic rod, the tail coordinates of the hydraulic rod, the world coordinates and the parent object space coordinate system in the present application. Therefore, the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod obtained based on the conversion relationship between the head coordinates of the hydraulic rod, the tail coordinates of the hydraulic rod, the world coordinates and the parent object space coordinate system is close to the rotation angle of the hydraulic rod in the display scene, that is, the simulated control movement of the hydraulic rod can be close to the real control movement of the hydraulic rod.

[0077] Figure 2 A schematic flow chart of another hydraulic rod simulation control method provided in an embodiment of the present application. Figure 2 As shown, the above-mentioned determination of the tail coordinates of the tail of the hydraulic rod in the simulation environment in the world coordinate system according to the input control instruction includes:

[0078] S201. Determine target position information of a connection structure with a tail of a hydraulic rod according to a control instruction.

[0079] S202: Determine the tail coordinates of the tail of the hydraulic rod in the world coordinate system according to the target position information.

[0080] The trainee touches the corresponding operation button in the operation platform according to the operation requirements of the connection structure with the tail of the hydraulic rod to generate a control instruction. In other words, the control instruction includes the target position information to which the connection structure will move, and the target position information can be extracted from the control instruction.

[0081] Optionally, after obtaining the target position information to which the connecting structure will move, the tail coordinates of the tail of the hydraulic rod in the world coordinate system can be determined according to the target position information and the positional relationship between the tail of the hydraulic rod and the connecting structure.

[0082] Exemplarily, the positional relationship between the tail of the hydraulic rod and the connecting structure can be characterized by a conversion formula, which can be obtained in advance. The data corresponding to the target position information of the connecting structure is brought into the conversion formula to obtain the tail coordinates of the tail of the hydraulic rod in the world coordinate system.

[0083] It can be seen that the present application can characterize the positional relationship between the tail of the hydraulic rod and the connecting structure in the real scene by the relationship between the target position information and the tail coordinates of the tail of the hydraulic rod in the world coordinate system. This can make the simulated control movement of the hydraulic rod using the tail coordinates of the tail of the hydraulic rod in the world coordinate system closer to the real control movement of the hydraulic rod.

[0084] Figure 3 A flowchart of another simulation control method for a hydraulic rod provided in an embodiment of the present application. Optionally, the first direction vector in the world coordinate system corresponding to the head and tail of the hydraulic rod is determined according to the head coordinates and tail coordinates of the head of the hydraulic rod in the world coordinate system.

[0085] S301. Subtract the head coordinate from the tail coordinate to obtain a first direction vector in the world coordinate system corresponding to the head of the hydraulic rod.

[0086] S302 , subtract the tail coordinate from the head coordinate to obtain a first direction vector in the world coordinate system corresponding to the tail of the hydraulic rod.

[0087] According to the above description, the first direction vector of the head of the hydraulic rod and the first direction vector of the tail of the hydraulic rod in the world coordinate system can be determined according to the relationship between the head coordinates and the tail coordinates and the correlation between the head of the hydraulic rod, the tail of the hydraulic rod and their own objects, wherein the correlation between the head of the hydraulic rod, the tail of the hydraulic rod and their own objects can be understood as taking the head of the hydraulic rod as its own object and the tail of the hydraulic rod as its own object.

[0088] Exemplarily, when the head of the hydraulic rod is regarded as the self-object, the tail of the hydraulic rod can be called the target object, and the first direction vector of the self-object (the head of the hydraulic rod) in the world coordinate system can be obtained by subtracting the head coordinates corresponding to the self-object from the tail coordinates corresponding to the target object; when the tail of the hydraulic rod is regarded as the self-object, the head of the hydraulic rod can be called the target object, and the first direction vector of the self-object (the tail of the hydraulic rod) in the world coordinate system can be obtained by subtracting the tail coordinates corresponding to the self-object from the head coordinates corresponding to the target object.

[0089] Figure 4 A flowchart of another simulation control method for a hydraulic rod provided in an embodiment of the present application. Optionally, the first direction vector in the world coordinate system corresponding to the head and tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system where the hydraulic rod is installed are obtained to obtain the second direction vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod, including:

[0090] S401. Multiply a first direction vector corresponding to the head of the hydraulic rod by a transformation matrix to obtain a second direction vector corresponding to the head of the hydraulic rod in the parent object space coordinate system.

[0091] S402: Multiply the first direction vector corresponding to the tail of the hydraulic rod by the transformation matrix to obtain the second direction vector in the parent object space coordinate system corresponding to the tail of the hydraulic rod.

[0092] Among them, the conversion relationship between the world coordinate system and the parent object space coordinate system where the hydraulic rod is installed can be represented by a conversion matrix. The first direction vector corresponding to the head of the hydraulic rod includes X-axis coordinates, Y-axis coordinates and Z-axis coordinates. The X-axis coordinates, Y-axis coordinates and Z-axis coordinates in the first direction vector corresponding to the head of the hydraulic rod are multiplied by the conversion matrix, and the X-axis coordinates in the first direction vector corresponding to the head of the hydraulic rod can be converted into the X-axis coordinates in the second direction vector corresponding to the head of the hydraulic rod, the Y-axis coordinates in the first direction vector corresponding to the head of the hydraulic rod can be converted into the Y-axis coordinates in the second direction vector corresponding to the head of the hydraulic rod, and the Z-axis coordinates in the first direction vector corresponding to the head of the hydraulic rod can be converted into the Z-axis coordinates in the second direction vector corresponding to the head of the hydraulic rod, that is, the second direction vector in the parent object space coordinate system corresponding to the head of the hydraulic rod is obtained.

[0093] Similarly, the X-axis coordinate in the first direction vector corresponding to the tail of the hydraulic rod can be converted into the X-axis coordinate in the second direction vector corresponding to the tail of the hydraulic rod, the Y-axis coordinate in the first direction vector corresponding to the tail of the hydraulic rod can be converted into the Y-axis coordinate in the second direction vector corresponding to the tail of the hydraulic rod, and the Z-axis coordinate in the first direction vector corresponding to the tail of the hydraulic rod can be converted into the Z-axis coordinate in the second direction vector corresponding to the tail of the hydraulic rod, so as to obtain the second direction vector in the parent object space coordinate system corresponding to the tail of the hydraulic rod.

[0094] Figure 5 A flowchart of another method for simulating and controlling a hydraulic rod provided in an embodiment of the present application. Optionally, the above-mentioned method of obtaining the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod according to the second direction vector and the reference vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod comprises:

[0095] S501, determining first deviation information between a reference vector corresponding to the head of the hydraulic rod and a second direction vector corresponding to the head of the hydraulic rod, and obtaining a rotation angle in a parent object space coordinate system corresponding to the head of the hydraulic rod according to the first deviation information.

[0096] Among them, after obtaining the second direction vector corresponding to the head of the hydraulic rod, the reference vector corresponding to the head of the hydraulic rod can be obtained from the storage module based on the identification of the head of the hydraulic rod, and the first deviation information is obtained according to the three-dimensional coordinates of the second direction vector corresponding to the head of the hydraulic rod and the three-dimensional coordinates of the reference vector corresponding to the head of the hydraulic rod. According to the first deviation information, the angle between the two is calculated, and the angle is the rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod.

[0097] S502, determining second deviation information between a reference vector corresponding to the tail of the hydraulic rod and a second direction vector corresponding to the tail of the hydraulic rod, and obtaining a rotation angle in a parent object space coordinate system corresponding to the tail of the hydraulic rod according to the second deviation information.

[0098] Among them, after obtaining the second direction vector corresponding to the tail of the hydraulic rod, the reference vector corresponding to the tail of the hydraulic rod can be obtained from the storage module based on the identification of the tail of the hydraulic rod, and the second deviation information is obtained according to the three-dimensional coordinates of the second direction vector corresponding to the tail of the hydraulic rod and the three-dimensional coordinates of the reference vector corresponding to the tail of the hydraulic rod. According to the second deviation information, the angle between the two is calculated, and the angle is the rotation angle in the parent object space coordinate system corresponding to the tail of the hydraulic rod.

[0099] Optionally, the method may further include: comparing the rotation angles in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod respectively with a preset rotation angle, and determining the operation score according to the comparison result.

[0100] Exemplarily, the trainee can manipulate the operation button on the operation platform according to the currently selected teaching task to generate a control instruction, and then calculate the rotation angles of the head and tail of the hydraulic rod in the parent object space coordinate system respectively according to the control instruction. It can be understood that the currently selected teaching task corresponds to a preset rotation angle, which includes the preset rotation angle of the head of the hydraulic rod in the parent object space coordinate system and the preset rotation angle of the tail of the hydraulic rod in the parent object space coordinate system. The rotation angle of the head of the hydraulic rod in the parent object space coordinate system is compared with the preset rotation angle of the head of the hydraulic rod in the parent object space coordinate system to obtain a first angle deviation, and the rotation angle of the tail of the hydraulic rod in the parent object space coordinate system is compared with the preset rotation angle of the tail of the hydraulic rod in the parent object space coordinate system to obtain a second angle deviation. Finally, the operation score of the trainee can be determined according to the first angle deviation, the second angle deviation, and the relationship between the angle deviation and the homework score. In this way, the trainee's mastery of teaching knowledge can be accurately measured according to the operation score.

[0101] Figure 6 This is a schematic diagram of the structure of a simulation control device for a hydraulic rod provided in an embodiment of the present application. Figure 6 As shown, the device comprises:

[0102] A first determination module 601 is used to determine the tail coordinates of the tail of the hydraulic rod in the simulation environment in the world coordinate system according to the input control instruction;

[0103] The second determination module 602 is used to determine the first direction vector in the world coordinate system corresponding to the head and the tail of the hydraulic rod according to the head coordinates and the tail coordinates of the head of the hydraulic rod in the world coordinate system;

[0104] The second determination module 602 is further used to obtain the second direction vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod according to the first direction vector in the world coordinate system corresponding to the head and tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system where the hydraulic rod is installed;

[0105] The third determination module 603 is used to obtain the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod according to the second direction vector and the reference vector in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod;

[0106] The control module 604 is used to control the head and tail of the hydraulic rod to move in the simulation environment according to the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod.

[0107] Optionally, the first determination module 601 is specifically configured to determine target position information of a connection structure with the tail of the hydraulic rod according to a control instruction; and determine the tail coordinates of the tail of the hydraulic rod in a world coordinate system according to the target position information.

[0108] Optionally, the first determination module 601 is further specifically configured to determine the tail coordinates of the tail of the hydraulic rod in the world coordinate system according to the target position information and the positional relationship between the tail of the hydraulic rod and the connection structure.

[0109] Optionally, the second determination module 602 is specifically used to subtract the head coordinates from the tail coordinates to obtain a first direction vector in the world coordinate system corresponding to the head of the hydraulic rod; and subtract the tail coordinates from the head coordinates to obtain a first direction vector in the world coordinate system corresponding to the tail of the hydraulic rod.

[0110] Optionally, the transformation relationship is represented by a transformation matrix;

[0111] Correspondingly, the second determination module 602 is also specifically used to multiply the first direction vector corresponding to the head of the hydraulic rod by the transformation matrix to obtain the second direction vector in the parent object space coordinate system corresponding to the head of the hydraulic rod; and multiply the first direction vector corresponding to the tail of the hydraulic rod by the transformation matrix to obtain the second direction vector in the parent object space coordinate system corresponding to the tail of the hydraulic rod.

[0112] Optionally, the third determination module 603 is specifically used to determine the first deviation information between the reference vector corresponding to the head of the hydraulic rod and the second direction vector corresponding to the head of the hydraulic rod, and obtain the rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod based on the first deviation information; determine the second deviation information between the reference vector corresponding to the tail of the hydraulic rod and the second direction vector corresponding to the tail of the hydraulic rod, and obtain the rotation angle in the parent object space coordinate system corresponding to the tail of the hydraulic rod based on the second deviation information.

[0113] Optionally, the device further comprises: a comparison module;

[0114] The comparison module is used to compare the rotation angles in the parent object space coordinate system corresponding to the head and the tail of the hydraulic rod respectively with the preset rotation angle, and determine the operation score according to the comparison result.

[0115] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0116] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0117] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the electronic device may include: a processor 701, a storage medium 702 and a bus 703, the storage medium 702 stores machine-readable instructions executable by the processor 701, when the electronic device is running, the processor 701 and the storage medium 702 communicate through the bus 703, and the processor 701 executes the machine-readable instructions to perform the steps of the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0118] Optionally, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method embodiment are executed.

[0119] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0120] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0122] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

[0123] It should be noted that, in this article, 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 such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0124] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A simulation control method for a hydraulic rod, characterized in that: The method comprises: According to the input control instruction, determine the tail coordinate of the tail of the hydraulic rod in the simulation environment in the world coordinate system; Determine a first direction vector in the world coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the head coordinates and the tail coordinates of the head of the hydraulic rod in the world coordinate system; According to the first direction vector in the world coordinate system corresponding to the head and the tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system where the hydraulic rod is installed, the second direction vector in the parent object space coordinate system corresponding to the head and the tail of the hydraulic rod is obtained; Obtaining a rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the second direction vector and a reference vector in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod; The head of the hydraulic rod and the tail of the hydraulic rod are controlled to move in the simulation environment according to the rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod.

2. The method according to claim 1, characterized in that Determining the tail coordinate of the tail of the hydraulic rod in the simulation environment in the world coordinate system according to the input control instruction includes: Determining target position information of a connection structure with a tail portion of the hydraulic rod according to the control instruction; According to the target position information, the tail coordinates of the tail of the hydraulic rod in the world coordinate system are determined.

3. The method according to claim 2, characterized in that Determining the tail coordinates of the tail of the hydraulic rod in the world coordinate system according to the target position information includes: The tail coordinates of the tail of the hydraulic rod in the world coordinate system are determined according to the target position information and the positional relationship between the tail of the hydraulic rod and the connecting structure.

4. The method according to claim 1, characterized in that: The step of determining the first direction vector in the world coordinate system corresponding to the head portion and the tail portion of the hydraulic rod according to the head coordinate and the tail coordinate of the head portion of the hydraulic rod in the world coordinate system comprises: Subtract the head coordinate from the tail coordinate to obtain a first direction vector in the world coordinate system corresponding to the head of the hydraulic rod; The tail coordinate is subtracted from the head coordinate to obtain a first direction vector in the world coordinate system corresponding to the tail of the hydraulic rod.

5. The method according to claim 1, characterized in that The conversion relationship is represented by a conversion matrix; The method of obtaining the second direction vector in the parent object space coordinate system corresponding to the head and the tail of the hydraulic rod according to the first direction vector in the world coordinate system corresponding to the head and the tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system on which the hydraulic rod is installed comprises: Multiplying the first direction vector corresponding to the head of the hydraulic rod by the transformation matrix to obtain a second direction vector in the parent object space coordinate system corresponding to the head of the hydraulic rod; The first direction vector corresponding to the tail of the hydraulic rod is multiplied by the transformation matrix to obtain a second direction vector in the parent object space coordinate system corresponding to the tail of the hydraulic rod.

6. The method according to claim 1, characterized in that The step of obtaining the rotation angle in the parent object space coordinate system corresponding to the head portion and the tail portion of the hydraulic rod according to the second direction vector and the reference vector in the parent object space coordinate system corresponding to the head portion and the tail portion of the hydraulic rod comprises: Determine first deviation information between a reference vector corresponding to the head of the hydraulic rod and a second direction vector corresponding to the head of the hydraulic rod, and obtain a rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod according to the first deviation information; Determine second deviation information between a reference vector corresponding to the tail of the hydraulic rod and a second direction vector corresponding to the tail of the hydraulic rod, and obtain a rotation angle in the parent object space coordinate system corresponding to the tail of the hydraulic rod according to the second deviation information.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: The rotation angles in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod are respectively compared with the preset rotation angle, and the operation score is determined according to the comparison result.

8. A simulation control device for a hydraulic rod, characterized in that: The device comprises: A first determination module is used to determine the tail coordinates of the tail of the hydraulic rod in the simulation environment in the world coordinate system according to the input control instruction; A second determination module is used to determine a first direction vector in the world coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the head coordinates and the tail coordinates of the head of the hydraulic rod in the world coordinate system; The second determination module is further used to obtain the second direction vector in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the first direction vector in the world coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod and the conversion relationship between the world coordinate system and the parent object space coordinate system where the hydraulic rod is installed; a third determination module, configured to obtain a rotation angle in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod according to the second direction vector and a reference vector in the parent object space coordinate system corresponding to the head of the hydraulic rod and the tail of the hydraulic rod; The control module is used to control the head and tail of the hydraulic rod to move in the simulation environment according to the rotation angle in the parent object space coordinate system corresponding to the head and tail of the hydraulic rod.

9. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the storage medium communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of the simulation control method of the hydraulic rod as described in any one of claims 1-7.

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 steps of the simulation control method of the hydraulic rod according to any one of claims 1 to 7 are executed.

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