Intelligent mining simulation test system and simulation method

Abstract

The invention provides an intelligent mining simulation test system and simulation method, and the system comprises a simulation platform which is used for constructing and updating a three-dimensional scene image in a test scene; the three-dimensional simulation client is used for receiving and displaying the three-dimensional scene picture constructed or updated by the simulation platform; and the simulation calculation service is used for receiving a control instruction of the tested intelligent mining control system, driving a virtual device corresponding to the tested intelligent mining control system to act according to the control instruction, performing space calculation according to an action result, outputting pose calculation data of the virtual device, and sending the pose calculation data to the tested intelligent mining control system. The intelligent mining control system to be tested is subjected to simulation testing according to the pose resolving data of the virtual device, the accurate pose of the device to be tested can be simulated, accurate data are provided for device function testing, a testing environment is rapidly constructed, and the requirement that multiple persons synchronously execute testing work tasks is met.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mining, and in particular to an intelligent mining simulation test system and a simulation method. Background Art

[0002] The hydraulic support controller of the fully-mechanized working face is the basic unit for controlling the hydraulic support to perform supporting and protective actions during underground coal mining. After the software in the controller is updated, the controller needs to be functionally tested. If the test is performed according to the actual application scenario, it is necessary to perform the test underground, which is time-consuming and laborious. In the related technology, simulation testing of the controller is implemented through simulation to verify whether the controller meets the preset target requirements. Traditional simulation test software obtains instructions, designs animation models to simulate the action and status of the hydraulic support, and judges whether the controller function is complete according to the action and status of the hydraulic support. However, the hydraulic support posture simulated by this simulation method is not accurate enough, which affects the test effect. Summary of the invention

[0003] The present invention provides an intelligent mining simulation test system and a simulation method, which are used to solve the defect that the hydraulic support posture simulated by the traditional simulation test software through the simulation method of simulating the action and state of the hydraulic support by designing an animation model is not accurate enough, thus affecting the test effect.

[0004] The present invention provides an intelligent mining simulation test system, comprising: A simulation platform, used to construct and update the three-dimensional scene images in the test scene; A three-dimensional simulation client, used for receiving and displaying the three-dimensional scene images constructed or updated by the simulation platform; The simulation computing service is used to receive control instructions of the intelligent mining control system under test, drive the virtual device actions corresponding to the intelligent mining control system under test according to the control instructions, perform spatial calculations according to the action results, and output the posture solution data of the virtual device, so as to simulate and test the intelligent mining control system under test according to the posture solution data of the virtual device.

[0005] The intelligent mining simulation test system provided by the present invention also includes: The simulation test management system is used to configure test scenarios and allocate test resources according to the test requirements of each test project; the virtual devices in each test project are uniformly managed and scheduled by calling the management interface of the container orchestration engine; The three-dimensional simulation client is also used to obtain the test scene configuration and test resource allocation from the simulation test management system, and construct an initial three-dimensional scene picture according to the test scene configuration and test resource allocation.

[0006] According to the intelligent mining simulation test system provided by the present invention, the simulation test management system includes: a working face template and a project template; The working face template is used to describe the equipment supporting information of a working face, including at least one of the coal seam geological model, coal mining machine model, scraper model, hydraulic support model, hydraulic support quantity and working face layout; The project template is associated with the work surface template and is used to define instantiation information of the test project, wherein the instantiation information includes at least one of a source code repository version address, a project file address, a communication address, a simulation computing server version, a configuration file, and a virtual device server version.

[0007] According to the intelligent mining simulation test system provided by the present invention, the simulation computing service includes a posture data processing submodule and a virtual sensor conversion submodule; The virtual sensor conversion submodule is used to obtain the mechanical structure parameters of the simulated hydraulic support and the current posture data of the virtual device; The posture data processing submodule is used to combine the control instructions with the mechanical structure parameters of the simulated hydraulic support and the current posture data of the virtual device to calculate the new position and posture of the hydraulic support based on the kinematic equation.

[0008] According to the intelligent mining simulation test system provided by the present invention, the intelligent mining control system under test sends instructions through MQTT messages and subscribes to the posture solution data published by the simulation computing service; The simulation computing service receives control instructions sent by the intelligent mining control system under test by subscribing to MQTT messages and publishes real-time position data and virtual sensor data of virtual devices through the MQTT service.

[0009] According to the intelligent mining simulation test system provided by the present invention, the simulation platform is also used for: Subscribe to the real-time position and posture data of the virtual device published by the simulation computing service, and drive the update of the three-dimensional scene screen according to the real-time position and posture data.

[0010] The present invention also provides an intelligent mining simulation test method, which is applicable to the intelligent mining simulation test system as described in any one of the above items, comprising: Construct an initial 3D scene image through a 3D simulation client and update the 3D scene image; Receive and execute control instructions through simulation computing services, drive the virtual device actions corresponding to the intelligent mining control system under test, calculate the position and posture of the virtual device after the action is executed, and publish the virtual device position and posture solution data; The intelligent mining control system under test is tested according to the posture solution data of the virtual device.

[0011] According to the present invention, the intelligent mining simulation test method further includes: The selection, quantity and layout information of the working face equipment are described through the working face template in the simulation test management system, one or more project templates are defined based on at least one working face template, one or more test projects are created based on one or more project modules, resources are dynamically allocated according to the requirements of each test project, and project instantiation is completed.

[0012] According to the present invention, the intelligent mining simulation test method further includes: The project information is obtained from the simulation test management system through the 3D simulation client, the 3D model is downloaded according to the project requirements and the initial 3D scene screen is constructed. After the initialization is completed, the 3D scene screen is updated by subscribing to the real-time pose solution data from the simulation calculation service of the target test project.

[0013] According to the present invention, the intelligent mining simulation test method further includes: Collecting state information of the virtual device, wherein the state information includes at least one of position, posture, and sensor data; Add a timestamp to each state information and store it in the playback file; Build a playback control interface to receive the playback time period selected by the user; The state information within the playback time period is obtained from the playback file, and the three-dimensional scene image is rendered based on the three-dimensional simulation client and the state information within the playback time period.

[0014] The present invention provides an intelligent mining simulation test system and a simulation method. The intelligent mining simulation test system includes a simulation platform for constructing and updating a three-dimensional scene image in a test scene; a three-dimensional simulation client for receiving and displaying the three-dimensional scene image constructed or updated by the simulation platform; and a simulation computing service for receiving control instructions of a tested intelligent mining control system, driving the actions of a virtual device corresponding to the tested intelligent mining control system according to the control instructions, performing spatial calculations according to the action results, and outputting the posture solution data of the virtual device, so as to simulate and test the tested intelligent mining control system according to the posture solution data of the virtual device, thereby simulating the precise posture of the tested device, providing accurate data for device function testing, and quickly constructing a test environment to meet the needs of multiple personnel to perform test work tasks simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is one of the functional structure diagrams of the intelligent mining simulation test system provided by an embodiment of the present invention; Figure 2 This is the second functional structure diagram of the intelligent mining simulation test system provided by the embodiment of the present invention; Figure 3 It is a schematic diagram of the interaction between various modules of the intelligent mining simulation test system provided by an embodiment of the present invention; Figure 4 It is a flow chart of the intelligent mining simulation test method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0018] Figure 1 The functional structure diagram of the intelligent mining simulation test system provided by the embodiment of the present invention includes: The simulation platform 101 is used to construct and update the three-dimensional scene picture in the test scene; A 3D simulation client 102, used for receiving and displaying a 3D scene image constructed or updated by the simulation platform; The simulation computing service 103 is used to receive control instructions of the intelligent mining control system under test, drive the virtual device corresponding to the intelligent mining control system under test according to the control instructions, perform spatial calculations according to the action results, and output the posture solution data of the virtual device, so as to simulate and test the intelligent mining control system under test according to the posture solution data of the virtual device.

[0019] Traditional simulation test software obtains instructions, designs animation models to simulate the action and status of hydraulic supports, and judges whether the controller function is complete based on the action and status of the hydraulic supports. However, the hydraulic support posture simulated by this simulation method is not accurate enough, which affects the test effect.

[0020] The intelligent mining simulation test system provided by the embodiment of the present invention includes a simulation platform for constructing and updating a three-dimensional scene image in a test scene; a three-dimensional simulation client for receiving and displaying the three-dimensional scene image constructed or updated by the simulation platform; a simulation computing service for receiving control instructions of the intelligent mining control system under test, driving the virtual device actions corresponding to the intelligent mining control system under test according to the control instructions, performing spatial calculations according to the action results, and outputting the posture solution data of the virtual device, so as to simulate and test the intelligent mining control system under test according to the posture solution data of the virtual device, thereby simulating the precise posture of the device under test and providing accurate data for device function testing.

[0021] Based on any of the above embodiments, Figure 2 As shown, the intelligent mining simulation test system also includes: The simulation test management system is used to configure test scenarios and allocate test resources according to the test requirements of each test project; the virtual devices in each test project are uniformly managed and scheduled by calling the management interface of the container orchestration engine; The three-dimensional simulation client is also used to obtain the test scene configuration and test resource allocation from the simulation test management system, and construct an initial three-dimensional scene picture according to the test scene configuration and test resource allocation.

[0022] In the embodiment of the present invention, the container orchestration engine can support automated deployment, large-scale scalability, and application container management. When deploying an application in a production environment, multiple instances of the application are usually deployed to load balance application requests. By creating multiple containers, each container runs an application instance, and then through the built-in load balancing strategy, the management, discovery, and access of this group of application instances are achieved, and these details do not require the operation and maintenance personnel to perform complex manual configuration and processing.

[0023] In an embodiment of the present invention, the intelligent mining control system and simulation computing service are virtualized and deployed by container orchestration (K8S), and the simulation test management system realizes unified management and scheduling of virtual resources by calling the management interface of the K8S cluster. The three-dimensional simulation client obtains project information from the simulation test management system, builds a three-dimensional scene according to the project information, and receives simulation calculation data of the corresponding project. The container orchestration engine (K8S) is used to cluster the simulation test system, and the test resources are uniformly managed, scheduled, and monitored through the simulation test management system to realize the automated deployment and configuration of the simulation test project. Testers can fully share simulation test resources, quickly build a test environment, and meet the simultaneous execution of test tasks by multiple personnel.

[0024] In an embodiment of the present invention, the simulation test management system includes: a work surface template and a project template; The working face template is used to describe the equipment supporting information of a working face, including at least one of the coal seam geological model, coal mining machine model, scraper model, hydraulic support model, hydraulic support quantity and working face layout; The project template is associated with the work surface template and is used to define instantiation information of the test project, wherein the instantiation information includes at least one of a source code repository version address, a project file address, a communication address, a simulation computing server version, a configuration file, and a virtual device server version.

[0025] In the embodiment of the present invention, in order to realize the automatic configuration and multi-instance scheduling management of the project, a work surface template and a project template are defined in the project management module of the simulation test management system.

[0026] The working surface template is used to describe the equipment matching of a working surface. The 3D client will load the corresponding 3D model according to the working surface template information of the project to build a virtual working surface scene, as shown in Table 1.

[0027] Table 1 Working surface template

[0028] In the embodiment of the present invention, the project template needs to be associated with the work surface template and define the instantiation information of the project. When a user creates a project, the project template is used to create the project and the instantiation of the project is completed, as shown in Table 2.

[0029] Table 2 Project template

[0030] In the embodiment of the present invention, the work surface module and project template are the key foundation for the rapid and automated construction of the test environment. The work surface template is used to describe the work surface equipment selection, quantity, layout and other information, and the project template is defined based on the work surface template. On this basis, the information required for the instantiation of the business system is defined, including the source code warehouse version address, project file address, virtual host network address, etc. When creating a project, resources are dynamically allocated according to project requirements and the project instantiation is completed.

[0031] Based on any of the above embodiments, the simulation computing service includes a posture data processing submodule and a virtual sensor conversion submodule; The virtual sensor conversion submodule is used to obtain the mechanical structure parameters of the simulated hydraulic support and the current posture data of the virtual device; The posture data processing submodule is used to combine the control instructions with the mechanical structure parameters of the simulated hydraulic support and the current posture data of the virtual device to calculate the new position and posture of the hydraulic support based on the kinematic equation.

[0032] like Figure 3 As shown in the figure, the simulation test management system includes a project management module for managing project lists and related configuration information, and a 3D model library for storing and managing 3D model files. The simulation computing service includes a posture data processing module, a virtual sensor module, a mechanism model computing module, and a control instruction execution module. The MQTT message system is used to publish and subscribe to messages. The intelligent mining control system is used to send control instructions.

[0033] The execution process of the 3D client includes: Software startup: Start the simulation client.

[0034] Request project list and related configuration information: Request a project list and related configuration information from the project management module.

[0035] Display project information list: Display the project information list obtained from the project management module.

[0036] Select a specified project and request model download based on the configuration information: Select a specified project and request model download from the 3D model library based on the configuration information.

[0037] Display black screen interface (initialization): Display a black screen interface for initialization.

[0038] Model and virtual scene loading: Load downloaded models and virtual scenes.

[0039] Drive 3D scene changes based on real-time pose data: Drive 3D scene changes based on real-time pose data.

[0040] The 3D client first obtains the project list and related configuration information through the project management module of the simulation test management system, downloads the model file and initializes the scene according to the project information selected by the user, subscribes to the real-time posture data of the equipment after the initialization is completed, and drives the 3D scene changes according to the real-time posture data. The simulation computing service receives and executes the control instructions to complete the position and posture solution of the equipment through the mechanism model module, and publishes the equipment posture data in real time through the posture data module, and converts it into the virtual sensor data required by the intelligent mining control system according to the agreed rules through the virtual sensor module.

[0041] In an embodiment of the present invention, the simulation computing service architecture includes a control instruction execution module, a mechanism model calculation module, and a data processing conversion module (posture data processing submodule, virtual sensor conversion submodule). The control instruction execution module subscribes to real-time control instruction messages from the intelligent mining control system, and calculates the position and posture of the equipment through the instruction-driven mechanism model calculation module. On the one hand, the calculation results are published to the outside through the posture data processing submodule in the data processing conversion module. On the other hand, they are converted into sensor values ​​required by the intelligent mining control system according to agreed rules through the virtual sensor conversion submodule and the data messages are published to the outside.

[0042] Based on any of the above embodiments, the intelligent mining control system under test sends instructions through MQTT messages and subscribes to the posture solution data published by the simulation computing service; The simulation computing service receives control instructions sent by the intelligent mining control system under test by subscribing to MQTT messages and publishes real-time position data and virtual sensor data of virtual devices through the MQTT service.

[0043] In an embodiment of the present invention, the simulation platform is also used for: Subscribe to the real-time position and posture data of the virtual device published by the simulation computing service, and drive the update of the three-dimensional scene screen according to the real-time position and posture data.

[0044] In an embodiment of the present invention, MQTT is a machine-to-machine (M2M) / Internet of Things (IoT) connection protocol, which is an extremely lightweight publish / subscribe message transmission protocol. It is very useful for remote connections that require a small code footprint and / or where network bandwidth is very valuable. It is designed for constrained devices and low-bandwidth, high-latency or unreliable networks. These principles also make the protocol an ideal choice for connected devices in the emerging "machine-to-machine" or Internet of Things world, as well as mobile applications where bandwidth and battery power are very high. Because it is small, low power, has a minimum data packet, and can efficiently distribute information to one or more receivers.

[0045] In an embodiment of the present invention, data interaction is completed between various modules of the system through MQTT messages, wherein the intelligent mining control system sends instructions through MQTT messages and subscribes to sensor data published by the simulation computing service; the simulation computing service receives control instructions by subscribing to MQTT messages and publishes real-time posture data and virtual sensor data of the device through the MQTT service; and the three-dimensional simulation client obtains real-time posture data by subscribing to MQTT messages.

[0046] The intelligent mining simulation test system provided by the present invention uses the intelligent mining control system as the tested object; the three-dimensional simulation client updates the three-dimensional scene screen by receiving data from the back-end simulation system, and presents the intelligent mining three-dimensional scene to the tester, and the tester can observe the working status of the virtual equipment, the process execution status, etc. through the three-dimensional scene; the back-end simulation computing service is used to receive control instructions from the mining control system, drive the virtual equipment actions (including: hydraulic supports, coal mining machines, scrapers, etc.) according to the control instructions, perform spatial calculations on the movement of the equipment through the mechanism model algorithm, and output the position and posture data of the equipment; the simulation test management system is used for the unified management and scheduling of test resources and test tasks, and configures the test scene and allocates test resources according to the test requirements.

[0047] Figure 4 A flowchart of an intelligent mining simulation test method provided in an embodiment of the present invention, which is applicable to the intelligent mining simulation test system as described in the above embodiment, includes: Step 401: construct an initial 3D scene image through a 3D simulation client and update the 3D scene image; Step 402: Receive and execute control instructions through the simulation computing service, drive the virtual device corresponding to the tested intelligent mining control system to act, calculate the position and posture of the virtual device after the action is executed, and publish the virtual device position and posture solution data; Step 403: testing the intelligent mining control system under test according to the posture solution data of the virtual device.

[0048] In an embodiment of the present invention, the intelligent mining simulation test method further includes: The selection, quantity and layout information of the working face equipment are described through the working face template in the simulation test management system, one or more project templates are defined based on at least one working face template, one or more test projects are created based on one or more project modules, resources are dynamically allocated according to the requirements of each test project, and project instantiation is completed.

[0049] In an embodiment of the present invention, the intelligent mining simulation test method further includes: The project information is obtained from the simulation test management system through the 3D simulation client, the 3D model is downloaded according to the project requirements and the initial 3D scene screen is constructed. After the initialization is completed, the 3D scene screen is updated by subscribing to the real-time pose solution data from the simulation calculation service of the target test project.

[0050] In an embodiment of the present invention, the intelligent mining simulation test method further includes: Collecting state information of the virtual device, wherein the state information includes at least one of position, posture, and sensor data; Add a timestamp to each state information and store it in the playback file; Build a playback control interface to receive the playback time period selected by the user; The state information within the playback time period is obtained from the playback file, and the three-dimensional scene image is rendered based on the three-dimensional simulation client and the state information within the playback time period.

[0051] The intelligent mining simulation test method provided by the embodiment of the present invention enables testers to select different test items according to test requirements, dynamically load the real-time equipment posture data of the target test item, and present a three-dimensional visualization scene of the target test item. The three-dimensional simulation client first obtains project information from the simulation test management system, then downloads the three-dimensional model and builds the initial three-dimensional scene according to the project requirements. After the initialization is completed, the three-dimensional model action is driven by subscribing to the real-time posture data from the simulation computing service of the target test project, presenting a real-time changing three-dimensional test scene to the tester. In addition, the container orchestration engine is used as the basis to realize the automatic deployment and centralized management of multiple projects, but the interaction logic between the business systems of the running projects is not defined, especially how the simulation computing service provides simulation data support for the system to be tested, as well as the scene playback function, etc. It focuses on virtual simulation test methods and simulation computing data services to provide a basis for equipment testing.

[0052] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0053] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for 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 embodiment.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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 invention.

Claims

1. An intelligent mining simulation test system, characterized in that: include: A simulation platform, used to construct and update the three-dimensional scene images in the test scene; A three-dimensional simulation client, used for receiving and displaying the three-dimensional scene images constructed or updated by the simulation platform; The simulation computing service is used to receive control instructions of the intelligent mining control system under test, drive the virtual device actions corresponding to the intelligent mining control system under test according to the control instructions, perform spatial calculations according to the action results, and output the posture solution data of the virtual device, so as to simulate and test the intelligent mining control system under test according to the posture solution data of the virtual device.

2. The intelligent mining simulation test system according to claim 1, characterized in that: Also includes: Simulation test management system, used to configure test scenarios and allocate test resources according to the test requirements of each test project; The virtual devices in each test project are managed and scheduled uniformly by calling the management interface of the container orchestration engine; The three-dimensional simulation client is also used to obtain the test scene configuration and test resource allocation from the simulation test management system, and construct an initial three-dimensional scene picture according to the test scene configuration and test resource allocation.

3. The intelligent mining simulation test system according to claim 2 is characterized in that: The simulation test management system includes: a work surface template and a project template; The working face template is used to describe the equipment supporting information of a working face, including at least one of the coal seam geological model, coal mining machine model, scraper model, hydraulic support model, hydraulic support quantity and working face layout; The project template is associated with the work surface template and is used to define instantiation information of the test project, wherein the instantiation information includes at least one of a source code repository version address, a project file address, a communication address, a simulation computing server version, a configuration file, and a virtual device server version.

4. The intelligent mining simulation test system according to claim 1, characterized in that: The simulation computing service includes a posture data processing submodule and a virtual sensor conversion submodule; The virtual sensor conversion submodule is used to obtain the mechanical structure parameters of the simulated hydraulic support and the current posture data of the virtual device; The posture data processing submodule is used to combine the control instructions with the mechanical structure parameters of the simulated hydraulic support and the current posture data of the virtual device to calculate the new position and posture of the hydraulic support based on the kinematic equation.

5. The intelligent mining simulation test system according to claim 1, characterized in that: The intelligent mining control system under test sends instructions through MQTT messages and subscribes to the posture solution data published by the simulation computing service; The simulation computing service receives control instructions sent by the intelligent mining control system under test by subscribing to MQTT messages and publishes real-time position data and virtual sensor data of virtual devices through the MQTT service.

6. The intelligent mining simulation test system according to claim 5, characterized in that: The simulation platform is also used for: Subscribe to the real-time position and posture data of the virtual device published by the simulation computing service, and drive the update of the three-dimensional scene screen according to the real-time position and posture data.

7. An intelligent mining simulation test method, characterized in that: The intelligent mining simulation test system according to any one of claims 1 to 6 comprises: Construct an initial 3D scene image through a 3D simulation client and update the 3D scene image; Receive and execute control instructions through simulation computing services, drive the virtual device actions corresponding to the intelligent mining control system under test, calculate the position and posture of the virtual device after the action is executed, and publish the virtual device position and posture solution data; The intelligent mining control system under test is tested according to the posture solution data of the virtual device.

8. The intelligent mining simulation test method according to claim 7, characterized in that: Also includes: The work face template in the simulation test management system is used to describe the work face equipment selection, quantity and layout information. One or more project templates are defined based on at least one work face template. One or more test projects are created based on one or more project modules. Resources are dynamically allocated according to the requirements of each test project and project instantiation is completed.

9. The intelligent mining simulation test method according to claim 7, characterized in that: Also includes: The project information is obtained from the simulation test management system through the 3D simulation client, the 3D model is downloaded according to the project requirements and the initial 3D scene screen is constructed. After the initialization is completed, the 3D scene screen is updated by subscribing to the real-time pose solution data from the simulation calculation service of the target test project.

10. The intelligent mining simulation test method according to claim 8, characterized in that: Also includes: Collecting state information of the virtual device, wherein the state information includes at least one of position, posture, and sensor data; Add a timestamp to each state information and store it in the playback file; Build a playback control interface to receive the playback time period selected by the user; The state information within the playback time period is obtained from the playback file, and the three-dimensional scene image is rendered based on the three-dimensional simulation client and the state information within the playback time period.

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