A method and device for interaction between a virtual controller and a physical controller

Abstract

The present invention belongs to the technical field of computer software engineering, and discloses an interaction method and device for a virtual controller and a physical controller, the method comprising: creating a virtual controller in a configuration platform; binding the virtual controller and the physical controller through a predetermined communication interface, and mapping the device parameters of the physical controller to the virtual controller; interconnecting the virtual controller and the physical controller through a communication bus of the configuration platform; wherein the virtual controller and the physical controller exchange states and data according to a predetermined communication protocol; synchronizing the states of the virtual controller and the physical controller according to a preset state synchronization mechanism, and recording a synchronization log; the present invention ensures the consistency of data and states between the virtual and physical controllers through binding, interconnection and state synchronization of the virtual controller and the physical controller, avoids the lag of control commands, and ensures the response speed and performance of the system.

Description

Technical Field

[0001] The present invention belongs to the technical field of computer software engineering, and in particular relates to a method and device for interaction between a virtual controller and a physical controller. Background Art

[0002] A control system is a system composed of a controlled object, sensors, actuators, controllers, and control algorithms, which enables the controlled object to operate in the desired state. Traditional control systems mainly rely on physical controllers to control equipment and processes, but the deployment and maintenance costs of physical controllers are high, and they are not convenient for development, testing, and simulation. With the development of industrial automation and Internet of Things technologies, the demand for control systems is becoming increasingly diversified. Among them, the application of virtual controllers in control systems is becoming more and more extensive. Virtual controllers can simulate the functions of real controllers, allowing users to perform system debugging, process simulation, and parameter optimization before actual deployment.

[0003] However, the existing virtual controllers and physical controllers lack an effective interconnection and binding mechanism, making it difficult to achieve state synchronization and data sharing, resulting in delayed execution of control commands and affecting the system's response speed and performance. Secondly, since data cannot be shared, developers may need to manually synchronize data between virtual and real controllers, which not only increases the workload but also easily introduces errors. Summary of the invention

[0004] In response to the technical problems existing in the prior art, the present invention provides a method and device for interaction between a virtual controller and a physical controller to solve the technical problems that the existing virtual controller and the physical controller lack an effective interconnection and binding mechanism, making it difficult to achieve state synchronization and data sharing, resulting in delayed execution of control commands and affecting the response speed and performance of the system.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] The present invention provides an interaction method between a virtual controller and a physical controller, comprising:

[0007] Create a virtual controller in the configuration platform;

[0008] Binding the virtual controller to the physical controller through a predetermined communication interface, and mapping device parameters of the physical controller to the virtual controller;

[0009] The virtual controller is interconnected with the physical controller through the communication bus of the configuration platform; wherein the virtual controller and the physical controller exchange states and data according to a predetermined communication protocol;

[0010] According to the preset state synchronization mechanism, the states of the virtual controller and the physical controller are synchronized, and the synchronization log is recorded.

[0011] Furthermore, the device parameters of the physical controller include the model, communication protocol and control logic of the physical controller.

[0012] Further, the predetermined communication interface includes a Modbus TCP interface or an OPC UA interface.

[0013] Furthermore, the predetermined communication protocol adopts a standard industrial protocol; during the process of exchanging states and data between the virtual controller and the physical controller according to the predetermined communication protocol, data sharing is achieved through a message queue, shared memory or a network protocol.

[0014] Furthermore, the preset state synchronization mechanism includes a real-time synchronization mechanism, a timed synchronization mechanism and an on-demand synchronization mechanism.

[0015] Furthermore, the method further includes a virtual-real controller switching step; the virtual-real controller switching step includes:

[0016] Monitor the status of the entity controller;

[0017] If the status of the physical controller is detected as failure or maintenance, control is switched to the virtual controller;

[0018] When the virtual controller takes over control, if it detects that the status of the physical controller is normal, it switches control back to the physical controller.

[0019] The present invention also provides an interactive system between a virtual controller and a physical controller, comprising:

[0020] A controller creation module is used to create a virtual controller in the configuration platform;

[0021] A binding module, used to bind the virtual controller to the physical controller through a predetermined communication interface, and map the device parameters of the physical controller to the virtual controller;

[0022] The interconnection module is used to interconnect the virtual controller with the physical controller through the communication bus of the configuration platform; wherein the virtual controller and the physical controller exchange states and data according to a predetermined communication protocol;

[0023] The synchronization module is used to synchronize the states of the virtual controller and the physical controller according to a preset state synchronization mechanism and record a synchronization log.

[0024] The present invention also provides an interactive device between a virtual controller and a physical controller, comprising:

[0025] a processor suitable for executing a computer program;

[0026] A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the method for interacting between the virtual controller and the physical controller is executed.

[0027] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for interacting between the virtual controller and the physical controller is implemented.

[0028] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method for interacting between the virtual controller and the physical controller is implemented.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The interactive method between the virtual controller and the physical controller provided by the present invention enables the control system to flexibly switch between debugging and actual deployment through binding, interconnection and state synchronization of the virtual controller and the physical controller, thereby ensuring the consistency of data and state between the virtual and physical controllers, avoiding the lag of control commands, and ensuring the response speed and performance of the system; specifically, by creating a virtual controller in a configuration platform and binding the created virtual controller to the physical controller through a predetermined communication interface, a close association between the virtual controller and the physical controller is achieved, so that the system can flexibly configure the number and type of virtual controllers and physical controllers according to actual needs, thereby improving the flexibility and configurability of the system; mapping the device parameters of the physical controller to the virtual controller enables the virtual controller to accurately reflect the state of the physical controller and data, laying the foundation for data sharing and status synchronization; through the communication bus of the configuration platform, the virtual controller and the physical controller exchange status and data according to the predetermined communication protocol, ensuring the flow and real-time nature of information between the two, providing support for the precise control and decision-making of the system, and ensuring the response speed and performance of the system; according to the preset status synchronization mechanism, the status of the virtual controller and the physical controller are synchronized, and the synchronization log is recorded, which helps to ensure the consistency of the status between the two and improve the stability and reliability of the system. There is no need to synchronize data manually, which reduces the workload and can reduce the introduction of errors; secondly, creating a virtual controller in the configuration platform and testing and debugging it in a virtual environment can greatly reduce the dependence on the physical controller, help to quickly discover and solve problems, and improve the efficiency of system development and deployment.

[0031] Furthermore, by monitoring the status of the physical controller, when a fault or maintenance need is detected, control is automatically switched to the virtual controller, ensuring that the system can quickly take over the control task when a problem occurs with the physical controller, avoiding system downtime or escalation of the fault; secondly, after the virtual controller takes over control, if the status of the physical controller returns to normal, the system can switch control back to the physical controller, realizing system fault recovery and automatic switching, and improving the system's fault tolerance and availability; through the effective interconnection and switching mechanism between the virtual controller and the physical controller, the need for on-site maintenance of the physical controller can be reduced, reducing maintenance costs and time, and improving the system's operating efficiency.

[0032] The interactive system between a virtual controller and a physical controller, the interactive device between a virtual controller and a physical controller, the computer-readable storage medium and the computer program product provided by the present invention have all the advantages of the interactive method between a virtual controller and a physical controller described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A flowchart of the method for interaction between a virtual controller and a physical controller provided in Example 1;

[0035] Figure 2 A structural block diagram of the interactive system between the virtual controller and the physical controller provided in Example 2;

[0036] Figure 3 This is a structural block diagram of the interaction device between the virtual controller and the physical controller provided in Example 3. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects solved by this application clearer, the technical solutions in the embodiments of this application will be described clearly and completely in combination with the drawings in the embodiments of this application; obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] Example 1

[0039] As attached Figure 1As shown, this embodiment 1 provides an interaction method between a virtual controller and a physical controller, comprising the following steps:

[0040] Step 1: Create a virtual controller in the configuration platform. Specifically, the process of creating a virtual controller includes:

[0041] Step 11: Create a new project in the configuration software of the configuration platform for storing the virtual controller to be created and the configuration.

[0042] Step 12. In the project view of the configuration software, find the option for adding a new device, select Add Virtual Controller or similar option, and select the required virtual controller model from the device library of the configuration software and add it to the new project.

[0043] Step 13: Configure the newly added virtual controller, including setting its name, address, and communication parameters.

[0044] Step 2: Bind the virtual controller to the physical controller through a predetermined communication interface, and map the device parameters of the physical controller to the virtual controller. The predetermined communication interface includes a Modbus TCP interface or an OPC UA interface; the device parameters of the physical controller include the model, communication protocol and control logic of the physical controller; it should be noted that after binding the virtual controller to the physical controller, the input and output configuration of the virtual controller is consistent with the input and output configuration of the physical controller, that is, the virtual controller and the physical controller can back up each other.

[0045] Specifically, the process of binding the virtual controller to the physical controller through a predetermined communication interface and mapping the device parameters of the physical controller to the virtual controller is as follows:

[0046] Call the setLinkedPhysicalController method of virtualController to bind the physical controller to the virtual controller; call the synchronizeControllerStates method to achieve initial state synchronization between the virtual controller and the physical controller; obtain the current state of the physical controller by calling the getState method of physicalController, and then use the setState method of virtualController to set the obtained state to the virtual controller to achieve state synchronization.

[0047] It should be noted that the program code bound to the virtual controller and the physical controller is specifically shown in Table 1 below.

[0048] Table 1 Program code for binding virtual controller to physical controller

[0049]

[0050] Table 1 above shows how to bind a virtual controller to a physical controller and synchronize the initial states of the two to ensure that the states are consistent during binding; at the same time, the state of the physical controller is synchronized to the virtual controller to ensure that the states of the two are consistent.

[0051] Step 3: interconnect the virtual controller and the physical controller via the communication bus of the configuration platform; wherein the virtual controller and the physical controller exchange states and data according to a predetermined communication protocol.

[0052] The predetermined communication protocol adopts standard industrial protocols, such as Modbus, OPC UA, and EtherCAT, to ensure efficient and stable data transmission. In the process of exchanging states and data between the virtual controller and the physical controller according to the predetermined communication protocol, data sharing is achieved through message queues, shared memory, or network protocols.

[0053] It should be noted that, in the process of exchanging status and data between the virtual controller and the physical controller according to a predetermined communication protocol, the current status is obtained from the physical controller and sent to the virtual controller through the message queue; virtualController.getId() is used as the target identifier of the message; data related to the virtual controller is received from the message queue, and virtualController.getId() is also used to identify the message to be received. The program code for exchanging status and data between the virtual controller and the physical controller is shown in Table 2 below.

[0054] Table 2 Program code for status and data exchange between virtual controller and physical controller

[0055]

[0056] The virtual controller and the physical controller exchange status and data through message queues or shared memory; whenever the status of the physical controller changes, the system will pass the changed information to the virtual controller to ensure the consistency of the two; when an operation needs to be performed, the virtual controller can also pass the control signal to the physical controller to enable the two to work together.

[0057] Step 4: Synchronize the states of the virtual controller and the physical controller according to the preset state synchronization mechanism, and record the synchronization log. The preset state synchronization mechanism includes real-time synchronization mechanism, timed synchronization mechanism and on-demand synchronization mechanism. By presetting multiple state synchronization mechanisms, it is possible to adapt to the needs of different application scenarios. During the synchronization process, by recording the synchronization log, it is ensured that the state change and control signal transmission process can be traced in the event of a failure, ensuring the consistency and traceability of the state.

[0058] Specifically, the real-time synchronization mechanism refers to the synchronization of the states of the virtual controller and the physical controller in each control cycle to ensure that the states of the two are consistent; the scheduled synchronization mechanism refers to the synchronization of the states of the virtual controller and the physical controller at set time intervals, which is suitable for scenarios with low real-time requirements; the on-demand synchronization mechanism refers to the synchronization operation triggered when the user or system detects a change in the control state to achieve resource optimization.

[0059] Taking the process of synchronizing the states of the virtual controller and the physical controller according to the real-time synchronization mechanism as an example, in the real-time synchronization process, the synchronization operation is performed periodically through an infinite loop and a fixed time interval (CONTROL_CYCLE_TIME); among them, the program code for synchronizing the real-time states of the virtual controller and the physical controller is specifically shown in Table 3 below.

[0060] Table 3 Program code for real-time state synchronization between virtual controller and physical controller

[0061]

[0062]

[0063] Step 5: Switching between virtual and real controllers. Specifically, the process of switching between virtual and real controllers includes:

[0064] Step 51: Monitor the state of the physical controller through a preset controller state listener.

[0065] Step 52: If it is detected that the state of the physical controller is failure or maintenance, control is switched to the virtual controller.

[0066] Step 52: When the virtual controller takes over control and detects that the state of the physical controller is normal, control is switched back to the physical controller.

[0067] In this embodiment 1, real-time switching of virtual controllers and physical controllers is supported; specifically, when a physical controller is detected to have a fault or requires maintenance, control is automatically switched to the virtual controller to ensure continuous operation of the system; the user can also manually switch control from the physical controller to the virtual controller for debugging, or from the virtual controller to the physical controller for actual control deployment; after maintenance is completed, control is switched back to the physical controller; the program code for switching between the virtual and real controllers is specifically shown in Table 4 below.

[0068] Table 4 Program code for switching between virtual and real controllers

[0069]

[0070]

[0071] The method for interaction between the virtual controller and the physical controller described in this embodiment 1 binds, interconnects and synchronizes the virtual controller and the physical controller through a configuration platform, supports seamless switching between the virtual controller and the physical controller, realizes the collaborative work of the virtual controller and the physical controller, and ensures data consistency and state synchronization between the two. Through this method, users can debug and test in a virtual environment, and quickly deploy to the physical controller to achieve a smooth transition between virtual and reality.

[0072] In this embodiment 1, a two-way binding mechanism is used to realize state synchronization and control signal transmission between the virtual controller and the physical controller; the virtual-real interconnection architecture based on the configuration platform supports data exchange between the virtual controller and the physical controller; and real-time switching between the virtual controller and the physical controller is realized to ensure that the virtual controller can be switched to the physical controller in time when the system is abnormal, or vice versa.

[0073] As attached Figure 2 As shown, this embodiment 2 provides an interactive system between a virtual controller and a physical controller, including a controller creation module, a binding module, an interconnection module and a synchronization module.

[0074] A controller creation module is used to create a virtual controller in the configuration platform; a binding module is used to bind the virtual controller to the physical controller through a predetermined communication interface, and map the device parameters of the physical controller to the virtual controller; an interconnection module is used to interconnect the virtual controller with the physical controller through the communication bus of the configuration platform; wherein the virtual controller and the physical controller exchange status and data according to a predetermined communication protocol; a synchronization module is used to synchronize the status of the virtual controller and the physical controller according to a preset status synchronization mechanism, and record a synchronization log.

[0075] Preferably, the interactive system of the virtual controller and the physical controller further includes a switching module, and the switching module is used for switching between the virtual and real controllers; specifically, the process of switching between the virtual and real controllers is as follows:

[0076] Monitor the status of the physical controller; if the physical controller is detected to be faulty or under maintenance, switch control to the virtual controller; when the virtual controller takes over control and the physical controller is detected to be normal, switch control back to the physical controller.

[0077] Example 3

[0078] As attached Figure 3 As shown, this embodiment 3 provides an interactive device between a virtual controller and a physical controller, including: a memory for storing a computer program; and a processor for implementing the steps of the interactive method between the virtual controller and the physical controller when executing the computer program.

[0079] Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned interactive system between the virtual controller and the physical controller are implemented.

[0080] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of completing preset functions, and the instruction segments are used to describe the execution process of the computer program in the interactive device between the virtual controller and the physical controller.

[0081] The interactive device between the virtual controller and the physical controller may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The interactive device between the virtual controller and the physical controller may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the above are examples of interactive devices between the virtual controller and the physical controller, and do not constitute a limitation on the interactive device between the virtual controller and the physical controller, and may include more components than the above, or a combination of certain components, or different components. For example, the interactive device between the virtual controller and the physical controller may also include input and output devices, network access devices, buses, etc.

[0082] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The processor is the control center of the interactive device between the virtual controller and the physical controller, and uses various interfaces and lines to connect the various parts of the interactive device between the entire virtual controller and the physical controller.

[0083] The memory can be used to store the computer program and / or module, and the processor implements various functions of the interaction device between the virtual controller and the physical controller by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory.

[0084] The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0085] Example 4

[0086] This embodiment 4 also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the method for interaction between a virtual controller and a physical controller.

[0087] The module / unit of the interactive system integration of the virtual controller and the physical controller, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium.

[0088] Based on such understanding, the present invention implements all or part of the processes in the above-mentioned method for interacting with a virtual controller and a physical controller, and can also be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned method for interacting with a virtual controller and a physical controller can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or preset intermediate form, etc.

[0089] The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0090] It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electrical carrier signals and telecommunication signals.

[0091] Example 5

[0092] This embodiment 5 provides a computer product, which computer program product includes a computer program, which is stored in a computer-readable storage medium; the processor of the interaction device of the virtual controller and the physical controller reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the interaction device of the virtual controller and the physical controller can execute the interaction method of the virtual controller and the physical controller described in embodiment 1, which will not be repeated here.

[0093] It should be noted that a person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0094] The interaction method between the virtual controller and the physical controller described in the present invention realizes the combination of virtual and real controllers by bidirectional binding and interconnection of the virtual controller and the physical controller, so that the control system can flexibly switch between debugging and actual deployment; through multiple state synchronization modes, it can adapt to the needs of different scenarios and ensure data consistency between the virtual and physical controllers; when the physical controller fails, it can seamlessly switch to the virtual controller to ensure the continuous operation of the system; through the virtual controller, the user can debug and test before actual deployment, reduce the error rate and improve development efficiency.

[0095] The interactive method described in the present invention binds, interconnects and synchronizes the states of virtual controllers and physical controllers, providing a safe, flexible and efficient solution for control systems in multiple fields such as industry, manufacturing, and smart cities. In industrial production, virtual controllers are used to simulate and debug processes, and high availability of the system is ensured through virtual-real switching. In the manufacturing industry, virtual controllers can be used to simulate the control logic of production lines, optimize production processes, and work in conjunction with physical controllers during the deployment phase. When equipment fails, remote debugging and repair can be achieved by switching to virtual controllers, reducing equipment downtime. In urban management, virtual controllers can be used to simulate response plans for various emergencies, and work in conjunction with physical controllers to address actual problems.

[0096] The above embodiment is only one of the implementation methods that can realize the technical solution of the present invention. The scope of protection claimed by the present invention is not limited only to this embodiment, but also includes changes, replacements and other implementation methods that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention.

Claims

1. A method for interaction between a virtual controller and a physical controller, characterized in that: include: Create a virtual controller in the configuration platform; Binding the virtual controller to the physical controller through a predetermined communication interface, and mapping device parameters of the physical controller to the virtual controller; The virtual controller is interconnected with the physical controller through the communication bus of the configuration platform; wherein the virtual controller and the physical controller exchange states and data according to a predetermined communication protocol; According to the preset state synchronization mechanism, the states of the virtual controller and the physical controller are synchronized, and the synchronization log is recorded.

2. The method for interaction between a virtual controller and a physical controller according to claim 1, characterized in that: The device parameters of the physical controller include the model, communication protocol and control logic of the physical controller.

3. The method for interaction between a virtual controller and a physical controller according to claim 1, characterized in that: Predetermined communication interfaces include a Modbus TCP interface or an OPC UA interface.

4. The method for interaction between a virtual controller and a physical controller according to claim 1, characterized in that: The predetermined communication protocol adopts a standard industrial protocol; in the process of exchanging states and data between the virtual controller and the physical controller according to the predetermined communication protocol, data sharing is achieved through a message queue, shared memory or a network protocol.

5. The method for interaction between a virtual controller and a physical controller according to claim 1, characterized in that: The preset state synchronization mechanism includes real-time synchronization mechanism, scheduled synchronization mechanism and on-demand synchronization mechanism.

6. The method for interaction between a virtual controller and a physical controller according to claim 1, characterized in that: The method also includes a virtual-real controller switching step; the virtual-real controller switching step includes: Monitor the status of the entity controller; If the status of the physical controller is detected as failure or maintenance, control is switched to the virtual controller; When the virtual controller takes over control, if it detects that the status of the physical controller is normal, it switches control back to the physical controller.

7. An interactive system between a virtual controller and a physical controller, characterized in that: include: A controller creation module is used to create a virtual controller in the configuration platform; A binding module, used to bind the virtual controller to the physical controller through a predetermined communication interface, and map the device parameters of the physical controller to the virtual controller; The interconnection module is used to interconnect the virtual controller with the physical controller through the communication bus of the configuration platform; wherein the virtual controller and the physical controller exchange states and data according to a predetermined communication protocol; The synchronization module is used to synchronize the states of the virtual controller and the physical controller according to a preset state synchronization mechanism and record a synchronization log.

8. An interactive device for a virtual controller and a physical controller, characterized in that: include: a processor suitable for executing a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the method for interaction between a virtual controller and a physical controller as described in any one of claims 1 to 6 is executed.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for interaction between a virtual controller and a physical controller as described in any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method for interacting between a virtual controller and a physical controller as described in any one of claims 1 to 6 is implemented.

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