Method, device and terminal for virtual remote control of electro-hydraulic push rod equipment

Abstract

The application provides a method, device and terminal for remotely controlling an electric-hydraulic push rod device virtually, which utilizes virtual reality technology to model the electric-hydraulic push rod device and map the stroke data of the key moving components, i.e., the piston rod and the driving part, in the electric-hydraulic push rod device. Specifically, a distance measuring module is arranged at the joint of the piston rod and the driving part in the model, so that the specific action of the piston rod and the driving part in the model is mapped to the actual electric-hydraulic push rod device. In addition, the end control method is adopted to coordinately control other components in the device, so that one or more electric-hydraulic push rod mechanical arm devices in different scenes can be remotely controlled conveniently and accurately, or one or more electric-hydraulic push rod mechanical arm devices can be cooperatively controlled by multiple persons, the execution efficiency is improved, the operation danger is reduced, and the personal safety is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of remote control, in particular to a method and device for virtual remote control of an electro-hydraulic push rod apparatus and a terminal. BACKGROUND

[0002] An electro-hydraulic push rod apparatus is a device that integrates mechanical, electrical or hydraulic components, with characteristics such as compact structure, easy installation, wide driving force range, and smooth operation. It is suitable for applications that require linear reciprocating or rotary motion within a certain angle, and can also achieve centralized or automatic control in dangerous areas at a distance.

[0003] With the rapid development of modern industry, electro-hydraulic push rod apparatuses have been widely used in the field of automation, especially in heavy machinery, automated production lines and other scenarios that require high-precision control. However, in some special industrial environments such as high temperature, high pressure, toxic, harmful and other dangerous environments, direct contact and control of the electro-hydraulic push rod apparatus by operators poses a significant safety risk, and in severe cases can even endanger personal safety.

[0004] The rapid development of virtual reality technology provides a new technical approach to solving the above problems. Through virtual reality technology, operators can simulate and control actual devices in a virtual environment, and with modeling technology and data mapping, precise remote control of electro-hydraulic push rod apparatuses can be achieved. However, there are still many challenges in virtual remote control technology, such as how to accurately simulate the working state of the electro-hydraulic push rod apparatus, how to map the operation of the virtual model to the actual device, and how to coordinate the collaborative operation of multiple devices or multiple operators. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a method, device and terminal for virtual remote control of an electro-hydraulic push rod apparatus, enabling remote control of the electro-hydraulic push rod apparatus in dangerous environments.

[0006] To solve the above technical problems, the technical solution adopted by the present application is as follows:

[0007] A method for virtual remote control of an electro-hydraulic push rod apparatus, comprising the steps of:

[0008] S1, collecting environmental information and device state information of the electro-hydraulic push rod apparatus;

[0009] S2, modeling the electro-hydraulic push rod apparatus based on the device state information and the environmental information, and setting a distance measurement module at the junction of the piston rod and the driving part in the electro-hydraulic push rod model, and establishing a mapping relationship between the stroke data of the piston rod measured by the distance measurement module and the actual piston rod stroke of the electro-hydraulic push rod apparatus;

[0010] S3, controlling the electro-hydraulic push rod device model by using end control, and controlling the electro-hydraulic push rod device to operate according to the stroke data of the piston rod in the model.

[0011] An apparatus for a method of virtual remote control of an electro-hydraulic push rod device, the apparatus comprising an electro-hydraulic push rod device, a virtual control device, and a sensing device, the sensing device being arranged on the electro-hydraulic push rod device, the sensing device comprising a motion sensing part for sensing a motion state of the electro-hydraulic push rod device and receiving a motion instruction of the virtual control device.

[0012] A terminal for a method of virtual remote control of an electro-hydraulic push rod device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to complete the steps in the method of virtual remote control of an electro-hydraulic push rod device.

[0013] The present application has the beneficial effect of providing a method, apparatus and terminal for virtual remote control of an electro-hydraulic push rod device, using virtual reality technology to model the electro-hydraulic push rod device and map the stroke data of the key moving parts, i.e. the piston rod and the driving part, in the model, specifically by arranging a distance measuring module at the junction of the piston rod and the driving part in the model, so as to obtain the mapping of the specific motion of the piston rod and the driving part in the model to the actual electro-hydraulic push rod device, and using end control to coordinate the control of other parts in the device, so as to conveniently and accurately remotely control one or more electro-hydraulic push rod mechanical arm devices in different scenarios, or for multiple people to collaboratively control one or more electro-hydraulic push rod mechanical arm devices, thereby improving execution efficiency, reducing work hazards, and ensuring personal safety. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 A flowchart of a method of virtual remote control of an electro-hydraulic push rod device in an embodiment of the present application;

[0015] Figure 2 A schematic diagram of virtual modeling of an electro-hydraulic push rod device in an embodiment of the present application;

[0016] Figure 3 A schematic diagram of a terminal for virtual remote control of an electro-hydraulic push rod device in an embodiment of the present application;

[0017] REFERENCE NUMERALS:

[0018] 1, piston rod; 2, driving part; 3, parent part; 4, child part; 5, first target point; 6, second target point; 7, third target point; 8, terminal for virtual remote control of an electro-hydraulic push rod device; 9, memory; 10, processor. DETAILED DESCRIPTION

[0019] To describe the technical solutions in the present application in detail, the purposes achieved and the effects, the following will be described in conjunction with the embodiments and the accompanying drawings.

[0020] Please refer to Figure 1 A method for virtually remotely controlling an electro-hydraulic push rod device, comprising the steps of:

[0021] S1, collecting environment information and device state information of the electro-hydraulic push rod device;

[0022] S2, virtually modeling the electro-hydraulic push rod device according to the device state information and the environment information, and setting a distance measuring module at the junction of the piston rod 1 and the driving part 2 in the electro-hydraulic push rod model, and establishing a mapping relationship between the stroke data of the piston rod 1 measured by the distance measuring module and the actual piston rod 1 stroke of the electro-hydraulic push rod device;

[0023] S3, using end control to manipulate the electro-hydraulic push rod device model, and manipulating the electro-hydraulic push rod device to operate according to the stroke data of the piston rod 1 in the model.

[0024] Among them, the environment information is the specific information of the environment where the electro-hydraulic push rod device is located, including but not limited to the following information:

[0025] (1) Spatial position information: the physical location of the device, the azimuth angle, and the relative position relative to other devices or structures.

[0026] (2) Obstacle information: the position and size information of the obstacles or dangerous areas that may exist around the device.

[0027] It can be understood that end control (also known as "end control") generally refers to the direct manipulation or control of the final output or execution component (i.e. "end effector") of a system in engineering and control systems. In the context of electro-hydraulic push rod devices, end control means directly controlling the action of the electro-hydraulic push rod device, especially the movement of the piston rod 1, through virtual or remote means, thereby achieving operation of the entire system. The principle is that the goal of end control is to ensure that the movement of the end effector (such as the piston rod 1) reaches the predetermined target and indirectly guides other components to move in coordination.

[0028] From the above description, the beneficial effects of the present application are that: by using virtual reality technology, the electro-hydraulic push rod equipment is modeled, and the stroke data of the key moving parts, the piston rod 1 and the driving part 2, are mapped, specifically, a distance measuring module is arranged at the joint of the piston rod 1 and the driving part 2 in the model, so that the specific action of the piston rod 1 and the driving part 2 in the model is mapped to the actual electro-hydraulic push rod equipment, and the end control method is used to coordinate and control other parts in the equipment, so that one or more electro-hydraulic push rod mechanical arm devices in different scenes can be remotely controlled conveniently and accurately, or one or more electro-hydraulic push rod mechanical arm devices can be cooperatively controlled by multiple people, the execution efficiency is improved, the operation danger is reduced, and the personal safety is ensured. Specifically, the control process is as follows: the ID of each device or controlled mechanical arm device and the ID information of the control personnel are set, the permission is distributed according to the demand, so that one control personnel ID obtains the control permission of multiple device IDs, multiple control personnel IDs obtain the control permission of one device ID, or multiple control personnel IDs obtain the control permission of multiple device IDs.

[0029] Please refer to Figure 2 In the embodiment of the present application, the virtual modeling of the electro-hydraulic push rod equipment according to the device state information specifically includes the following steps:

[0030] According to the device state information, the electro-hydraulic push rod equipment is decomposed into hierarchical components for virtual modeling, the hierarchical components after modeling include a parent component 3 and at least one child component 4, the component where the driving part 2 in the electro-hydraulic push rod model is located is the parent component 3, and the component driven by the piston rod 1 is the child component 4; the parent component 3 and the child component 4 are action-constrained.

[0031] From the above description, the electro-hydraulic push rod equipment is decomposed into hierarchical components for virtual modeling, that is, the electro-hydraulic push rod equipment is modeled according to the hierarchical control relationship of the electro-hydraulic push rod equipment, the component where the driving part 2 in the electro-hydraulic push rod equipment is located is regarded as the parent component 3 (action source), which is also the core component of the end control, and the equipment controlled by the driving part 2 on the parent component 3 is regarded as the child component 4, the electro-hydraulic push rod equipment is modeled in the virtual space according to the hierarchical relationship, so as to establish the specific implementation logic of the end control in the virtual space, and the hierarchical modeling method makes the virtual model closer to the physical structure and motion logic of the actual equipment, thereby improving the accuracy and simulation effect of the virtual model. By clearly defining the hierarchical relationship between the parent component 3 and the child component 4, the end control can be more effectively performed, and the coordinated action of the entire equipment is ensured.

[0032] In the embodiment of the present application, the parent component 3 and the child component 4 are action-constrained, specifically including the following steps:

[0033] The active connection point between the parent component 3 and the child component 4 is regarded as a first target point 5, and the first target point 5 is subjected to a hinge constraint in the virtual space;

[0034] The active connection point between the driving part 2 and the parent component 3 is regarded as a second target point 6, and the second target point 6 is subjected to a hinge constraint in the virtual space;

[0035] The active connection point between the piston rod 1 and the child component 4 is regarded as a third target point 7, and the second target point 6 is subjected to a hinge constraint in the virtual space;

[0036] A directional active constraint is performed between the piston rod 1 and the driving part 2 in the rod length direction of the piston rod 1.

[0037] As can be known from the above description, since the action between the mechanical arms is common in the electro-hydraulic push rod device, in order to meet the demand of end control, a corresponding motion logical relationship needs to be established in the virtual space, and the specific implementation is as follows: the active connection point of the actual structure corresponding to the parent component 3 and the child component 4 is regarded as a first target point 5 and subjected to a hinge constraint; meanwhile, the connection point between the parent component 3 and the driving part 2 is regarded as a second target point 6 and subjected to a hinge constraint, and the connection point between the child component 4 and the piston rod 1 is regarded as a point target point and subjected to a hinge constraint, so as to meet the physical structure and motion logic of the mechanical arms in the actual device; in addition, the piston rod 1 is only allowed to move in the rod length direction, that is, a directional active constraint is performed, through the accurate action constraint, the motion characteristics in the actual device can be better simulated, and it is ensured that each component in the virtual model moves in coordination according to the predetermined logic, thereby providing a reliable basis for subsequent end control.

[0038] In the embodiment of the present application, the step S2 further includes the following steps:

[0039] The first target point 5, the second target point 6 and the third target point 7 are mapped with the corresponding connection points of the actual electro-hydraulic push rod device.

[0040] As can be known from the above description, through the accurate mapping relationship, the virtual model can reflect the state of the actual device in real time, so that the operation in the virtual space can be directly corresponded to the operation of the actual device, thereby realizing more efficient and more accurate remote control.

[0041] In the embodiment of the present application, the step S3 specifically includes the following steps:

[0042] S31, the parent component 3 and the child component 4 in the virtual space are controlled, and stroke data detected by the distance measuring module is acquired;

[0043] S32, controlling the actual electro-hydraulic push rod device to perform synchronous action according to the parent component 3 and the child component 4 in the virtual space based on the stroke data;

[0044] S33, controlling other components of the electro-hydraulic push rod device in the virtual space to perform action in cooperation with the parent component 3 and the child component 4 in an end control manner, and synchronizing the actual electro-hydraulic push rod device.

[0045] From the above description, it can be seen that the method further comprises obtaining stroke data and controlling the action of the device according to the data. The beneficial effect is that the control is based on the stroke data, which ensures that the actual action of the device is highly consistent with the expected action in the virtual model, and through synchronous operation, coordinated control of multiple devices or components can be achieved, improving the efficiency and reliability of the overall operation.

[0046] In an embodiment of the present application, the step S3 further comprises the steps of:

[0047] When the end control cannot achieve the expected action, the action mapping relationship between other components in the virtual space and the actual electro-hydraulic push rod device is established.

[0048] From the above description, it can be seen that when controlling a multi-joint electro-hydraulic push rod mechanical arm device in an end control manner, because the multi-joint electro-hydraulic push rod mechanical arm device in the real scene encounters obstacles or other reasons, the reverse joint operation result of the electro-hydraulic push rod device model controlled in an end control manner cannot make the multi-level parent joint on the end of the electro-hydraulic push rod mechanical arm in reality bypass the obstacle, at this time the original control logic cannot achieve obstacle avoidance, in order to solve this problem, the mapping action between other components in the virtual space and the actual components is established, so that independent rotation or displacement control actions can be made on each joint of the multi-joint electro-hydraulic push rod mechanical arm device model, then the real-time stroke distance value of the piston rod 1 three-dimensional model making reciprocating motion is obtained according to the rotation degree or displacement value, and the stroke distance value is used to generate a control instruction to drive the controlled electro-hydraulic push rod mechanical arm device to perform an action corresponding to the operation information, achieving more accurate control, so that the controlled multi-joint electro-hydraulic push rod mechanical arm device can bypass obstacles when working in a virtual space controlled in an end control manner, and more accurately and effectively completes the action execution. That is, when the device encounters obstacles or unexpected situations in actual operation, the control strategy can be quickly adjusted to ensure normal operation of the overall system by mapping the action of other components, improving the robustness and adaptability of the system.

[0049] In an embodiment of the present application, the step S2 further comprises the steps of:

[0050] According to the stroke limits of the piston rod 1 and the driving part 2 of the actual electro-hydraulic push rod device, the stroke data in the virtual space is limited.

[0051] From the above description, by limiting the travel data, the device is prevented from exceeding the safety or physical limit during operation, thereby protecting the device from damage and ensuring the safety of operation and the service life of the device.

[0052] An apparatus applying the method for virtual remote control of an electro-hydraulic push rod device, the apparatus comprising an electro-hydraulic push rod device, a virtual control device, and a sensing device, the sensing device being arranged on the electro-hydraulic push rod device, the sensing device comprising a motion sensing part for sensing the motion state of the electro-hydraulic push rod device and receiving the motion instruction of the virtual control device. The above apparatus can integrally realize the function of virtual remote control, the sensing device can feed back the motion state of the device in real time, and the virtual control device can accurately remotely control according to the feedback information, thereby realizing efficient, accurate, and safe control of a complex mechanical arm system.

[0053] In the embodiment of the present application, the sensing device further comprises a visual sensing part for sensing the spatial environment and the state of the electro-hydraulic push rod device and delivering to the virtual control device. The visual sensing part increases the visual sensing capability, so that the device can sense the spatial environment and the state information, thereby providing more comprehensive and accurate data support in virtual modeling and remote control, and improving the operation performance of the device in a complex environment. Specifically, the visual sensing part is a camera and a processor 10 for collecting image information of the environment of the electro-hydraulic push rod mechanical arm device to be controlled.

[0054] Please refer to Figure 3 A terminal 8 for virtual remote control of an electro-hydraulic push rod device, comprising a memory 9, a processor 10, and a computer program stored in the memory 9 and executable on the processor 10, wherein the processor 10 completes the steps in the method for virtual remote control of an electro-hydraulic push rod device when executing the computer program. The execution carrier of the above method is provided to solve the problem of remote construction of the electro-hydraulic push rod device.

[0055] The present application provides a method, apparatus and terminal for virtual remote control of an electro-hydraulic push rod device, which is mainly used for remotely controlling the electro-hydraulic push rod device, and will be specifically described below in combination with embodiments:

[0056] Please refer to Figure 1 and Figure 2 The first embodiment of the present application is:

[0057] The device applies a method for virtual remote control of an electro-hydraulic push rod device, and the device comprises an electro-hydraulic push rod device, a virtual control device, and a sensing device, wherein the sensing device is arranged on the electro-hydraulic push rod device; the sensing device comprises a motion sensing part and a visual sensing part, which are respectively used for collecting state information of the electro-hydraulic push rod device to be controlled and collecting image information of an environment in which the electro-hydraulic push rod device to be controlled is located, and sending the collected data to a remote server.

[0058] The virtual control device is operated, and the virtual control device acquires environment information of a construction site from the server, and simulates a virtual three-dimensional model of the electro-hydraulic push rod device to be controlled and maps the environment in which the electro-hydraulic push rod device to be controlled is located in a virtual space according to the collected information.

[0059] The method for virtual remote control of the electro-hydraulic push rod device comprises the following steps:

[0060] S1, collecting environment information and device state information of the electro-hydraulic push rod device;

[0061] S2, performing virtual modeling on the electro-hydraulic push rod device according to the device state information, setting a distance measuring module at a joint between a piston rod 1 and a driving part 2 in the electro-hydraulic push rod model, and establishing a mapping relationship between stroke data of the piston rod 1 measured by the distance measuring module and actual stroke of the piston rod 1 of the electro-hydraulic push rod device;

[0062] S3, controlling the electro-hydraulic push rod device model by using an end control mode, and controlling operation of the electro-hydraulic push rod device according to the stroke data of the piston rod 1 in the model.

[0063] In order to realize end control of the electro-hydraulic push rod device in a virtual space, a distance measuring module is arranged at a joint between the piston rod 1 and the driving part 2 in the model, so that specific actions of the piston rod 1 and the driving part 2 in the model are mapped to the actual electro-hydraulic push rod device.

[0064] The modeling process in the virtual space is as follows:

[0065] The electro-hydraulic push rod device is decomposed into hierarchical components for virtual modeling according to the device state information, the hierarchical components after modeling comprise a parent component 3 and at least one child component 4, the component in which the driving part 2 in the electro-hydraulic push rod model is located is the parent component 3, and the component driven by the piston rod 1 is the child component 4; a specific implementation logic of end control is established in the virtual space, and the hierarchical modeling mode makes the virtual model closer to the physical structure and motion logic of the actual device, thereby improving the accuracy and simulation effect of the virtual model. By clearly defining the hierarchical relationship between the parent component 3 and the child component 4, end control can be more effectively performed, and coordinated actions of the entire device are ensured.

[0066] Action constraints are performed between the parent component 3 and the child component 4:

[0067] The active connection point between the parent part 3 and the child part 4 is regarded as the first target point 5, and the first target point 5 is subjected to a hinge constraint in the virtual space;

[0068] The active connection point between the driving part 2 and the parent part 3 is regarded as the second target point 6, and the second target point 6 is subjected to a hinge constraint in the virtual space;

[0069] The active connection point between the piston rod 1 and the child part 4 is regarded as the third target point 7, and the second target point 6 is subjected to a hinge constraint in the virtual space;

[0070] With the rod length direction of the piston rod 1 as the reference, a directional active constraint is performed between the piston rod 1 and the driving part 2.

[0071] Specifically, step S2 further includes the following steps:

[0072] The first target point 5, the second target point 6, and the third target point 7 are mapped to the corresponding connection points of the actual electro-hydraulic push rod device. Through the accurate mapping relationship, the virtual model can reflect the state of the actual device in real time, so that the operation in the virtual space can be directly corresponded to the operation of the actual device, thereby realizing more efficient and more accurate remote control.

[0073] According to the stroke limits of the piston rod 1 and the driving part 2 of the actual electro-hydraulic push rod device, the stroke data in the virtual space is limited; avoid improper operation of the user in the virtual space when controlling the electro-hydraulic push rod device, resulting in that the three-dimensional model of the electro-hydraulic push rod mechanical arm device controlled in the virtual space is out of synchronization with the motion trajectory of the actual electro-hydraulic push rod mechanical arm device to be controlled, and operation failure occurs, causing damage to the actual electro-hydraulic push rod mechanical arm device to be controlled.

[0074] Step S3 specifically includes the following steps:

[0075] S31, control the parent part 3 and the child part 4 in the virtual space, and obtain the stroke data detected by the distance measuring module;

[0076] S32, according to the stroke data, control the actual electro-hydraulic push rod device to perform synchronous action according to the parent part 3 and the child part 4 in the virtual space;

[0077] S33, control other parts of the electro-hydraulic push rod device in the virtual space in an end control manner to cooperate with the parent part 3 and the child part 4 to perform action, and synchronize to the actual electro-hydraulic push rod device.

[0078] The control is based on the stroke data, which ensures that the actual action of the device is highly consistent with the expected action in the virtual model, and through synchronous operation, coordinated control of multiple devices or parts can be realized, improving the efficiency and reliability of the overall operation.

[0079] But when the end control process encounters an insurmountable obstacle, the mapping action between other components in the virtual space and the actual components is established, so that independent rotation or displacement control actions can be made on each joint of the multi-joint electro-hydraulic push rod mechanical arm device model, and then the stroke distance value of the piston rod 1 three-dimensional model is obtained according to the rotation degree or displacement value, and the stroke distance value is generated to drive the controlled electro-hydraulic push rod mechanical arm device to execute the action corresponding to the operation information, so as to achieve more accurate control, so as to solve the problem that the controlled multi-joint electro-hydraulic push rod mechanical arm device can bypass obstacles in the virtual space when controlled by the end control method, and more accurately and effectively complete the action execution. That is, when the device encounters obstacles or unexpected situations in actual operation, the control strategy can be quickly adjusted to ensure the normal operation of the whole system by mapping the actions of other components, thereby improving the robustness and adaptability of the system.

[0080] Please refer to Figure 3 Embodiment two of the present application is:

[0081] A terminal 8 of a virtual remote control electro-hydraulic push rod device includes a memory 9, a processor 10, and a computer program stored in the memory 9 and executable on the processor 10. When the processor 10 executes the computer program, the steps in the method of the virtual remote control electro-hydraulic push rod device are completed.

[0082] The above is only an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent transformation or direct or indirect application in related technical fields based on the content of the present application specification and drawings is also included in the patent protection scope of the present application.

Claims

1. A method of virtually remotely controlling an electro-hydraulic pusher device, characterized by: The method comprises the steps of: S1, collecting environment information and equipment state information of the electro-hydraulic push rod equipment; S2, performing virtual modeling on the electro-hydraulic push rod equipment according to the equipment state information and the environment information, setting a distance measuring module at the junction of the piston rod and the driving part in the electro-hydraulic push rod model, and establishing a mapping relationship between the stroke data of the piston rod measured by the distance measuring module and the actual piston rod stroke of the electro-hydraulic push rod equipment; S3, controlling the electro-hydraulic push rod equipment model by using end control, and controlling the electro-hydraulic push rod equipment to operate according to the stroke data of the piston rod in the model; The virtual modeling of the electro-hydraulic push rod equipment according to the equipment state information comprises the steps of: decomposing the electro-hydraulic push rod equipment into hierarchical components for virtual modeling according to the equipment state information, the hierarchical components after modeling comprising a parent component and at least one child component, the component where the driving part in the electro-hydraulic push rod model is located being the parent component, and the component driven by the piston rod being the child component; and performing action constraint between the parent component and the child component.

2. The method of claim 1, wherein: The action constraint between the parent component and the child component comprises the steps of: regarding the active connection point between the parent component and the child component as a first target point, and performing hinge constraint on the first target point in the virtual space; regarding the active connection point between the driving part and the parent component as a second target point, and performing hinge constraint on the second target point in the virtual space; regarding the active connection point between the piston rod and the child component as a third target point, and performing hinge constraint on the second target point in the virtual space; performing directional active constraint between the piston rod and the driving part based on the rod length direction of the piston rod.

3. The method of claim 2, wherein: The step S2 further comprises the step of: establishing a mapping relationship between the first target point, the second target point and the third target point and the corresponding connection points of the actual electro-hydraulic push rod equipment.

4. The method of claim 3, wherein: The step S3 specifically comprises the steps of: S31, controlling the parent component and the child component in the virtual space, and obtaining the stroke data detected by the distance measuring module; S32, controlling the actual electro-hydraulic push rod equipment to perform synchronous action according to the parent component and the child component in the virtual space based on the stroke data; S33, controlling other components of the electro-hydraulic push rod equipment in the virtual space to perform action in cooperation with the parent component and the child component in an end control manner, and synchronizing the actual electro-hydraulic push rod equipment.

5. The method of claim 4, wherein: The step S3 further comprises the step of: when the end control cannot achieve the expected action, establishing an action mapping relationship between other components in the virtual space and the actual electro-hydraulic push rod equipment.

6. The method of claim 1-5, wherein: The step S2 further comprises the step of: limiting the stroke data in the virtual space according to the stroke limits of the piston rod and the driving part of the actual electro-hydraulic push rod equipment.

7. An apparatus, characterized by: The device applies the method of any one of claims 1-6, and the device comprises an electro-hydraulic push rod device, a virtual control device, and a sensing device, the sensing device is arranged on the electro-hydraulic push rod device, and the sensing device comprises a motion sensing part, which is used for sensing the motion state of the electro-hydraulic push rod device and receiving the motion instruction of the virtual control device.

8. The apparatus of claim 7, wherein: The sensing device further comprises a visual sensing part, which is used for sensing the space environment and the device state of the electro-hydraulic push rod device and transmitting to the virtual control device.

9. A terminal for a virtual remote tele- electro-hydraulic pusher device, characterized by: The device comprises a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor completes the steps in the method of any one of claims 1-6 when executing the computer program.

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