Distributed virtual-real combination design method

Abstract

The invention discloses a distributed virtual-real combination design method, which relates to the technical field of virtual-real combination, including: obtaining equipment for simulation; recording a project simulated by using simulation equipment in a simulation system as a simulation project, and building a physical engine; building a simulation environment based on the simulation project using a simulation building method, and updating the simulation environment in real time based on received simulation data, and performing simulation simulation based on the obtained simulation environment; the invention is used to solve the problem that in the existing design method for virtual-real combination, when the number of simulation equipment is large, if there is an error in the data of one simulation equipment, all simulation equipment will be affected to varying degrees, thereby affecting the quality and efficiency of the actual virtual-real combination.

Description

Technical Field

[0001] The present invention relates to the field of virtual-real integration technology, and in particular to a distributed virtual-real integration design method. Background Art

[0002] Virtual-reality design is a creative technique that cleverly combines real and virtual elements to jointly construct a display space or visual effect with rich layers and three-dimensionality. This design technique is used in many fields, including exhibition hall design, photography art, and stage design, each of which has its own specific expression methods and techniques; it combines real and virtual elements to create a visual or display space with rich layers and three-dimensionality, thereby enhancing the appreciation, expression, and experience of the work.

[0003] The existing methods for combining virtual and real design usually use VR to build a simulated training space, thereby combining virtual and real while saving space, so that the simulated training space can meet the actual training needs while reducing the space occupation problem of traditional simulation training. Although this improvement can effectively reduce the space occupation when combining virtual and real, there is a risk of data distortion when only using VR for simulation. When the number of simulated equipment is large, if all simulated equipment are simulated using VR, when the data of one simulated equipment has an error, all simulated equipment will be affected to varying degrees, thereby affecting the quality and efficiency of the actual combination of virtual and real. For example, in the public number The patent application CN116522436A discloses a training space design method under the guidance of virtual simulation. The solution is to create a virtual simulation training room based on VR, so that the traditional training space combines theory with reality, virtuality with reality, improves the quality of training, enriches the training functions, and saves training space. Other improvements in the design of combining virtuality with reality are usually improvements in smart homes. This improvement method still has the problem that when an error occurs in the data of a simulation equipment, all simulation equipment will be affected to varying degrees, thereby affecting the quality and efficiency of the actual combination of virtuality and reality. In view of this, it is necessary to improve the existing methods for the design of combining virtuality with reality. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the prior art to at least a certain extent. By proposing a distributed virtual-reality integration design method, it is used to solve the problem that when the number of simulation equipment is large, if there is an error in the data of one simulation equipment, all simulation equipment will be affected to varying degrees, thereby affecting the actual quality and efficiency of the virtual-reality integration.

[0005] To achieve the above objectives, the present application provides a distributed virtual-real combination design method, comprising the following steps:

[0006] Acquire equipment used for simulation, record it as simulation equipment, record the real object in the simulation equipment as simulation real object, record the simulation equipment other than the simulation real object in the simulation equipment as simulation virtual object; use DDS to communicate between the simulation real object and the simulation virtual object;

[0007] Record the project simulated by the simulation equipment in the simulation system as a simulation project, build a physical engine, and the physical engine is used to receive the DDS data generated by the simulation equipment, convert the DDS data into simulation data, and transmit it to the simulation system;

[0008] A simulation environment is built based on the simulation project using a simulation building method, and the simulation environment is updated in real time based on the received simulation data, and simulation is performed based on the obtained simulation environment.

[0009] Further, receiving DDS data generated by the simulation equipment, converting the DDS data into simulation data and transmitting the data to the simulation system includes:

[0010] The physical engine communicates with all simulation equipment using DDS. Before the simulation equipment starts to operate, the number of simulated physical objects is recorded as k and all simulated physical objects are recorded as simulated physical objects FS1 to simulated physical objects FS k , the number of simulated virtual objects is recorded as j and all simulated virtual objects are recorded as simulated virtual objects FX1 to simulated virtual objects FX j ; Establish physical database SK1 to physical database SK k and virtual object database SX1 to virtual object database SX j .

[0011] Furthermore, receiving the DDS data generated by the simulation equipment, converting the DDS data into simulation data and transmitting the data to the simulation system further includes:

[0012] When the simulation equipment starts to operate, the data of all simulation equipment is obtained in real time. k1 Based on the received data of the simulated object FSk1, the simulated object FS k1 The data are sequentially put into the physical database SK k1 and record the acquisition time of each data; for any simulated virtual object FX j1 , based on the received simulated virtual object FX j1 The data will be used to simulate virtual objects FX j1 The data is sequentially put into the virtual object database SX j1 and record the time when each data was obtained.

[0013] Furthermore, receiving the DDS data generated by the simulation equipment, converting the DDS data into simulation data and transmitting the data to the simulation system further includes:

[0014] Establish a plane rectangular coordinate system, recorded as the object motion analysis coordinate system, where the unit of the X-axis of the object motion analysis coordinate system is time, and the coordinate points on the Y-axis from the coordinate origin upward are the simulated object FS1 to the simulated object FS k And simulation virtual object FX1 to simulation virtual object FX j .

[0015] Furthermore, receiving the DDS data generated by the simulation equipment, converting the DDS data into simulation data and transmitting the data to the simulation system further includes:

[0016] Based on physical database SK1 to physical database SK k and virtual object database SX1 to virtual object database SX j The data recorded in and the data acquisition time are punctuated for each simulated physical object FS and simulated virtual object FX corresponding to the data and the data acquisition time in the object motion analysis coordinate system.

[0017] Furthermore, the simulation construction method includes:

[0018] A three-dimensional rectangular coordinate system is established, in which the units of the X-axis, Y-axis and Z-axis of the three-dimensional rectangular coordinate system are all meters. Based on the positional relationship of the simulation equipment in the simulation project, the simulation objects FS1 to FS k And simulation virtual object FX1 to simulation virtual object FX j The positions of all simulated physical objects FS and all simulated virtual objects FX are marked, and the three-dimensional rectangular coordinate system at this time is recorded as the simulation environment, and the positions of all simulated equipment in the simulation environment at this time are recorded as the initial positions of the simulation equipment.

[0019] Furthermore, the simulation construction method also includes:

[0020] Get the time corresponding to one cycle of the simulation project, recorded as T;

[0021] When the simulation equipment starts to operate, in the object motion analysis coordinate system, the straight line X=1×T is recorded as the periodic line ZQ1. When there is a punctuation point on the right side of the first periodic line, the straight line X=2×T is recorded as the periodic line ZQ2, and so on until the simulation equipment ends its operation.

[0022] Furthermore, the simulation construction method also includes:

[0023] Whenever a new cycle line ZQ is obtained, the newly obtained cycle line ZQ is recorded as the real-time cycle line. When there is no cycle line ZQ on the left side of the real-time cycle line, the area between the real-time cycle line and the Y axis is recorded as the real-time cycle area; when there is a cycle line ZQ on the left side of the real-time cycle line, the area between the real-time cycle line and the nearest cycle line ZQ on the left is recorded as the real-time cycle area.

[0024] Furthermore, the simulation construction method also includes:

[0025] For any newly acquired real-time cycle area, the punctuation points in the implementation cycle area are recorded from left to right as simulation sequence points FD1 to simulation sequence points FD q ; Use the simulation method to process all simulation sequence points FD in turn. The simulation method is: record the device corresponding to the vertical coordinate of the simulation sequence point FD as the simulation device, and perform corresponding processing on the simulation device in the simulation environment based on the data corresponding to the simulation sequence point FD.

[0026] Furthermore, the simulation construction method also includes:

[0027] When the simulation sequence point FD q After processing, all simulation equipment in the simulation environment is used for simulation, and the positions of all simulation equipment in the simulation environment are reset after the simulation, wherein the reset position is the initial position of the simulation equipment; after each reset, the reset coefficient is obtained using the reset calibration algorithm, and when the reset coefficient is greater than or equal to 1, the initial position of each simulation equipment is obtained again, and the reset calibration algorithm is: , where F is the reset factor, x i is the difference between the horizontal coordinate of the i-th simulated object FS after reset and the horizontal coordinate of its initial position, y i is the difference between the ordinate of the i-th simulated object FS after reset and the ordinate of its initial position, z i is the difference between the z-axis coordinate of the i-th simulated object FS after reset and the z-axis coordinate of its initial position, x r is the difference between the horizontal coordinate of the rth simulated virtual object FX after reset and the horizontal coordinate of its initial position, y r is the difference between the ordinate of the i-th simulated virtual object FX after reset and the ordinate of its initial position, z r It is the difference between the z-axis coordinate of the i-th simulated virtual object FX after reset and the z-axis coordinate of its initial position.

[0028] The beneficial effects of the present invention are as follows: the present invention first records the simulation equipment other than the simulated physical objects in the simulation equipment as simulated virtual objects; the simulated physical objects and the simulated virtual objects communicate with each other using DDS; then the projects simulated by the simulation equipment in the simulation system are recorded as simulation projects, and a physical engine is built. The physical engine is used to receive the DDS data generated by the simulation equipment, and convert the DDS data into simulation data and transmit it to the simulation system. The advantage of this is that by using the physical engine built between the simulation system and the simulation equipment, it can help to convert the DDS into data that can be received by the simulation system, and at the same time, organize the received data of the simulation equipment to prevent the data of the simulation equipment from being too messy and making it impossible to perform effective virtual-real simulation in the simulation system. At the same time, including the physical object in the simulation equipment can prevent all the simulation equipment from being affected to varying degrees when an error occurs in the data of a simulation equipment due to the absence of actual data of the physical object, thereby affecting the quality and efficiency of the actual combination of virtual and real.

[0029] The present invention also builds a simulation environment by using a simulation building method based on a simulation project, updates the simulation environment in real time based on received simulation data, and performs simulation based on the obtained simulation environment. The advantage of this is that by updating the simulation environment in real time based on simulation data, it is possible to ensure that the simulation is performed within a prescribed period, preventing data from different simulation periods from being simulated simultaneously in one period, causing data clutter. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a flow chart of the steps of the method of the present invention;

[0031] Figure 2 A schematic diagram of the object motion analysis coordinate system of the present invention;

[0032] Figure 3 It is a schematic structural diagram of the electronic device of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example 1, first aspect, please refer to Figure 1 As shown, the present application provides a distributed virtual-real combination design method, comprising the following steps:

[0035] Step S1, obtaining equipment for simulation, recorded as simulated equipment, recording the real objects in the simulated equipment as simulated real objects, and recording the simulated equipment other than the simulated real objects in the simulated equipment as simulated virtual objects; the simulated real objects and the simulated virtual objects communicate with each other using DDS;

[0036] Step S2, recording the project simulated by the simulation equipment in the simulation system as a simulation project, building a physical engine, wherein the physical engine is used to receive the DDS data generated by the simulation equipment, and convert the DDS data into simulation data and transmit it to the simulation system;

[0037] Step S2 includes: Step S201, the physical engine communicates with all simulation equipment using DDS. Before the simulation equipment starts to operate, the number of simulated physical objects is recorded as k and all simulated physical objects are recorded as simulated physical objects FS1 to simulated physical objects FS k , the number of simulated virtual objects is recorded as j and all simulated virtual objects are recorded as simulated virtual objects FX1 to simulated virtual objects FX j ; Establish physical database SK1 to physical database SK k and virtual object database SX1 to virtual object database SX j ;

[0038] Step S202: when the simulation equipment starts to operate, the data of all simulation equipment is obtained in real time. k1 Based on the received data of the simulated object FSk1, the simulated object FS k1 The data are sequentially put into the physical database SK k1 and record the acquisition time of each data; for any simulated virtual object FX j1 , based on the received simulated virtual object FX j1 The data will be used to simulate virtual objects FX j1 The data is sequentially put into the virtual object database SX j1 and record the time when each data was obtained;

[0039] Step S203, establish a plane rectangular coordinate system, recorded as the object motion analysis coordinate system, wherein the unit of the X-axis of the object motion analysis coordinate system is time, and the coordinate points on the Y-axis from the coordinate origin upward are the simulated object FS1 to the simulated object FS k And simulation virtual object FX1 to simulation virtual object FX j ; In the specific implementation process, please refer to Figure 2 As shown, FS1 and FS2 are simulated physical objects FS1 and simulated physical objects FS2, FX1 and FX2 are simulated virtual objects FX1 and simulated virtual objects FX2, and SJ1 to SJ4 are punctuations based on the data corresponding to each simulated physical object FS and simulated virtual object FX and the data acquisition time;

[0040] Step S204, based on the physical database SK1 to the physical database SK k and virtual object database SX1 to virtual object database SX j The data recorded in and the data acquisition time are punctuated for each simulated physical object FS and simulated virtual object FX corresponding to the data and the data acquisition time in the object motion analysis coordinate system.

[0041] Step S3, building a simulation environment based on the simulation project using a simulation building method, and updating the simulation environment in real time based on the received simulation data, and performing simulation simulation based on the obtained simulation environment; the simulation building method includes:

[0042] Step S301, establish a three-dimensional rectangular coordinate system, wherein the units of the X-axis, Y-axis and Z-axis of the three-dimensional rectangular coordinate system are all meters, and based on the positional relationship of the simulation equipment in the simulation project, the simulation objects FS1 to FS k And simulation virtual object FX1 to simulation virtual object FX j The positions of all simulated physical objects FS and all simulated virtual objects FX are marked, and the three-dimensional rectangular coordinate system at this time is recorded as the simulation environment, and the positions of all simulated equipment in the simulation environment at this time are recorded as the initial positions of the simulation equipment;

[0043] Step S302, obtaining the time corresponding to one cycle of the simulation project, recorded as T;

[0044] When the simulation equipment starts to operate, in the object motion analysis coordinate system, the straight line X=1×T is recorded as the periodic line ZQ1. When there is a punctuation point on the right side of the first periodic line, the straight line X=2×T is recorded as the periodic line ZQ2, and so on until the simulation equipment ends its operation;

[0045] Step S303, whenever a new cycle line ZQ is obtained, the newly obtained cycle line ZQ is recorded as the real-time cycle line. When there is no cycle line ZQ on the left side of the real-time cycle line, the area between the real-time cycle line and the Y axis is recorded as the real-time cycle area; when there is a cycle line ZQ on the left side of the real-time cycle line, the area between the real-time cycle line and the cycle line ZQ closest to the left side is recorded as the real-time cycle area;

[0046] Step S304: for any newly acquired real-time period region, the punctuation points in the implementation period region are recorded from left to right as simulation sequence points FD1 to simulation sequence points FD q; Use the simulation method to process all simulation sequence points FD in sequence, the simulation method is: record the device corresponding to the vertical coordinate of the simulation sequence point FD as the simulation device, and perform corresponding processing on the simulation device in the simulation environment based on the data corresponding to the simulation sequence point FD;

[0047] Step S305, when the simulation sequence point FD q After processing, all simulation equipment in the simulation environment is used for simulation, and the positions of all simulation equipment in the simulation environment are reset after the simulation, wherein the reset position is the initial position of the simulation equipment; after each reset, the reset coefficient is obtained using the reset calibration algorithm, and when the reset coefficient is greater than or equal to 1, the initial position of each simulation equipment is obtained again, and the reset calibration algorithm is: , where F is the reset factor, x i is the difference between the horizontal coordinate of the i-th simulated object FS after reset and the horizontal coordinate of its initial position, y i is the difference between the ordinate of the i-th simulated object FS after reset and the ordinate of its initial position, z i is the difference between the z-axis coordinate of the i-th simulated object FS after reset and the z-axis coordinate of its initial position, x r is the difference between the horizontal coordinate of the rth simulated virtual object FX after reset and the horizontal coordinate of its initial position, y r is the difference between the ordinate of the i-th simulated virtual object FX after reset and the ordinate of its initial position, z r is the difference between the z-axis coordinate of the i-th simulated virtual object FX after reset and the z-axis coordinate of its initial position;

[0048] In the specific implementation process, for example, during a data processing, a simulated physical FS is obtained. i The initial position coordinates are (1,1,1), simulating the physical FS i The coordinates after reset are (0,1,1), so in the reset calibration algorithm FS i The corresponding x i +y i +z i is 1.

[0049] Example 2, please refer to Figure 3 As shown, Figure 3The structural schematic diagram of an electronic device is illustrated, and the electronic device may include: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus. The memory stores computer-readable instructions, and the processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, the steps in the distributed virtual-real combination design method are executed to realize the following functions: first, the simulation equipment other than the simulated physical object in the simulation equipment is recorded as a simulated virtual object; the simulated physical object and the simulated virtual object communicate with each other using DDS; then the project simulated by the simulation equipment in the simulation system is recorded as a simulation project, and a physical engine is built, and the physical engine is used to receive the DDS data generated by the simulation equipment, and the DDS data is converted into simulation data and then transmitted to the simulation system, and a simulation environment is built by using a simulation building method based on the simulation project, and the simulation environment is updated in real time based on the received simulation data, and simulation simulation is performed based on the obtained simulation environment.

[0050] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the 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 (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0051] Embodiment 3, the present application also provides a computer program product, the computer program product includes a computer program stored on a computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by the computer, the computer can execute the distributed virtual-reality design method provided by the above methods, the method includes: first, the simulation equipment other than the simulated physical object in the simulation equipment is recorded as a simulated virtual object; the simulated physical object and the simulated virtual object communicate with each other using DDS; then the project simulated by the simulation equipment in the simulation system is recorded as a simulation project, and a physical engine is built, the physical engine is used to receive the DDS data generated by the simulation equipment, and convert the DDS data into simulation data and transmit it to the simulation system, and also build a simulation environment based on the simulation project using the simulation building method, and update the simulation environment in real time based on the received simulation data, and perform simulation simulation based on the obtained simulation environment.

[0052] Embodiment 4, the present application also provides a computer-readable storage medium, the present application provides a storage medium, on which a computer program is stored. When the computer program is executed by the processor, the steps in the above distributed virtual-reality design method are executed to achieve the following functions: first, the simulation equipment other than the simulated physical object in the simulation equipment is recorded as a simulated virtual object; the simulated physical object and the simulated virtual object communicate with each other using DDS; then the project simulated by using the simulation equipment in the simulation system is recorded as a simulation project, and a physical engine is built. The physical engine is used to receive the DDS data generated by the simulation equipment, and convert the DDS data into simulation data and transmit it to the simulation system. A simulation environment is built based on the simulation project using a simulation building method, and the simulation environment is updated in real time based on the received simulation data, and simulation simulation is performed based on the obtained simulation environment.

[0053] Through the description of the above implementation methods, the embodiments of the present invention can be provided as methods, systems or computer program products. Based on such an understanding, the above technical solutions can be essentially or partly contributed to the prior art in the form of software products, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and include several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0054] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units 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 communication interfaces, and the indirect coupling or communication connection of systems, modules and units can be electrical, mechanical or other forms.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A distributed virtual-real combination design method, characterized in that: The steps include: Acquire equipment used for simulation, record it as simulation equipment, record the real objects in the simulation equipment as simulation real objects, and record the simulation equipment other than the simulation real objects in the simulation equipment as simulation virtual objects; DDS is used for communication between simulated physical objects and simulated virtual objects; The project simulated by the simulation equipment in the simulation system is recorded as a simulation project, and a physical engine is built. The physical engine is used to receive the DDS data generated by the simulation equipment, convert the DDS data into simulation data, and transmit it to the simulation system; Building a simulation environment using a simulation building method based on the simulation project, updating the simulation environment in real time based on the received simulation data, and performing simulation simulation based on the obtained simulation environment; After the simulation, the positions of all simulation equipment in the simulation environment are reset, where the reset position is the initial position of the simulation equipment; after each reset, the reset coefficient is obtained using the reset calibration algorithm. When the reset coefficient is greater than or equal to 1, the initial position of each simulation equipment is obtained again. The reset calibration algorithm is: , where F is the reset factor, x i is the difference between the horizontal coordinate of the i-th simulated object FS after reset and the horizontal coordinate of its initial position, y i is the difference between the ordinate of the i-th simulated object FS after reset and the ordinate of its initial position, z i is the difference between the z-axis coordinate of the i-th simulated object FS after reset and the z-axis coordinate of its initial position, x r is the difference between the horizontal coordinate of the rth simulated virtual object FX after reset and the horizontal coordinate of its initial position, y r is the difference between the ordinate of the rth simulated virtual object FX after reset and the ordinate of its initial position, z r It is the difference between the z-axis coordinate of the rth simulated virtual object FX after resetting and the z-axis coordinate of its initial position.

2. The distributed virtual-real combination design method according to claim 1 is characterized in that: Receiving DDS data generated by simulation equipment, converting the DDS data into simulation data and transmitting it to the simulation system includes: The physical engine communicates with all simulation equipment using DDS. Before the simulation equipment starts to operate, the number of simulated objects is recorded as k and all simulated objects are recorded as simulated objects FS1 to FS k , the number of simulated virtual objects is recorded as j and all simulated virtual objects are recorded as simulated virtual objects FX1 to simulated virtual objects FX j ; Establish physical database SK1 to physical database SK k and virtual object database SX1 to virtual object database SX j .

3. The distributed virtual-real combination design method according to claim 2 is characterized in that: Receiving DDS data generated by the simulation equipment, converting the DDS data into simulation data and transmitting it to the simulation system also includes: When the simulation equipment starts to operate, the data of all simulation equipment is obtained in real time. k1 Based on the received data of the simulated object FSk1, the simulated object FS k1 The data are sequentially put into the physical database SK k1 and record the acquisition time of each data; for any simulated virtual object FX j1 , based on the received simulated virtual object FX j1 The data will be used to simulate virtual objects FX j1 The data is sequentially put into the virtual object database SX j1 and record the time when each data was obtained.

4. The distributed virtual-real combination design method according to claim 3 is characterized in that: Receiving DDS data generated by the simulation equipment, converting the DDS data into simulation data and transmitting it to the simulation system also includes: Establish a plane rectangular coordinate system, recorded as the object motion analysis coordinate system, where the unit of the X-axis of the object motion analysis coordinate system is time, and the coordinate points on the Y-axis from the coordinate origin upward are the simulated object FS1 to the simulated object FS k And simulation virtual object FX1 to simulation virtual object FX j .

5. The distributed virtual-real combination design method according to claim 4 is characterized in that: Receiving DDS data generated by the simulation equipment, converting the DDS data into simulation data and transmitting it to the simulation system also includes: Based on physical database SK1 to physical database SK k and virtual object database SX1 to virtual object database SX j The data recorded in and the data acquisition time are punctuated for each simulated physical object FS and simulated virtual object FX corresponding to the data and the data acquisition time in the object motion analysis coordinate system.

6. The distributed virtual-real combination design method according to claim 5 is characterized in that: The simulation construction method includes: A three-dimensional rectangular coordinate system is established, in which the units of the X-axis, Y-axis and Z-axis of the three-dimensional rectangular coordinate system are all meters. Based on the positional relationship of the simulation equipment in the simulation project, the simulation objects FS1 to FS k And simulation virtual object FX1 to simulation virtual object FX j The positions of all simulated physical objects FS and all simulated virtual objects FX are marked, and the three-dimensional rectangular coordinate system at this time is recorded as the simulation environment, and the positions of all simulated equipment in the simulation environment at this time are recorded as the initial positions of the simulation equipment.

7. The distributed virtual-real combination design method according to claim 6 is characterized in that: The simulation construction method also includes: Get the time corresponding to one cycle of the simulation project, recorded as T; When the simulation equipment starts to operate, in the object motion analysis coordinate system, the straight line X=1×T is recorded as the periodic line ZQ1. When there is a punctuation point on the right side of the first periodic line, the straight line X=2×T is recorded as the periodic line ZQ2, and so on until the simulation equipment ends its operation.

8. The distributed virtual-real combination design method according to claim 7 is characterized in that: The simulation construction method also includes: Whenever a new cycle line ZQ is obtained, the newly obtained cycle line ZQ is recorded as the real-time cycle line. When there is no cycle line ZQ on the left side of the real-time cycle line, the area between the real-time cycle line and the Y axis is recorded as the real-time cycle area; when there is a cycle line ZQ on the left side of the real-time cycle line, the area between the real-time cycle line and the nearest cycle line ZQ on the left is recorded as the real-time cycle area.

9. The distributed virtual-real combination design method according to claim 8, characterized in that: The simulation construction method also includes: For any newly acquired real-time cycle area, the punctuation points in the implementation cycle area are recorded from left to right as simulation sequence points FD1 to simulation sequence points FD q ; Use the simulation method to process all simulation sequence points FD in turn. The simulation method is: record the device corresponding to the vertical coordinate of the simulation sequence point FD as the simulation device, and perform corresponding processing on the simulation device in the simulation environment based on the data corresponding to the simulation sequence point FD.

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