Equipment control system and method based on virtual reality, equipment and medium

Abstract

The invention belongs to the technical field of control, and discloses an equipment control system and method based on virtual reality, equipment and a medium, the system comprises a VR unit, an equipment control unit, a data acquisition unit and a control center; the data acquisition unit is used for acquiring field operation data of target equipment and uploading the field operation data to the control center; the control center is used for performing three-dimensional modeling and rendering according to the received field operation data to obtain a real-time virtual model of the target equipment, and sending the real-time virtual model to the VR unit for visual display; the VR unit is used for collecting an interactive operation instruction of a user and the real-time virtual model and sending the interactive operation instruction to the control center; the control center is used for interacting the operation instruction to generate a control instruction and sending the control instruction to the equipment control unit; the device control unit is used for controlling the target device to execute the interaction operation action based on the control instruction. According to the invention, the user is more personally on the scene, and the working efficiency of operation can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of control technology, and in particular relates to a device control system, method, device and medium based on virtual reality. Background Art

[0002] In the field of industrial control, many front-line operators / drivers are in harsh environments such as high altitude, high corrosion, high radiation, high temperature, high pressure, and hypoxia, with high work safety risks. This is the direct cause of the increase in labor costs for such positions and the frequent occurrence of serious accidents.

[0003] To address this problem, experts and engineers in the field suggest using remote control technology to help operators avoid environmental risks. Remote control refers to the monitoring and control of remote devices by a local computer through a network system.

[0004] However, the existing remote control method is implemented by a simple two-dimensional image method, which will obviously lose the operator's sense of space, resulting in poor remote operation effect. Summary of the invention

[0005] The purpose of the present invention is to provide a device control system, method, device and medium based on virtual reality, so as to solve the problem that the existing remote control method adopts a simple two-dimensional image method, which obviously loses the operator's sense of space and leads to poor remote operation effect.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a device control system based on virtual reality, the system comprising: a VR unit, a device control unit, a data acquisition unit and a control center, wherein the data acquisition unit, the device control unit and the VR unit are all connected to the control center for communication; The data collection unit is used to collect the on-site operation data of the target device and upload the collected on-site operation data to the control center; The control center is used to perform three-dimensional modeling and rendering according to the received on-site operation data, obtain a real-time virtual model of the target device, and send the real-time virtual model to the VR unit for visual display; The VR unit is used to collect interactive operation instructions between the user and the real-time virtual model, and send the interactive operation instructions to the control center; The control center is also used to generate a control instruction according to the interactive operation instruction and send the control instruction to the device control unit; The device control unit is used to control the target device to perform an interactive operation action based on the control instruction.

[0007] Preferably, the data acquisition unit comprises: a processor, a communication module, a multi-channel camera, an audio collector, a device status sensor and a power module, wherein the communication module, the multi-channel camera, the audio collector and the device status sensor are all electrically connected to the processor, and the power module is used to provide working power for the processor, the communication module, the multi-channel camera, the audio collector and the device status sensor; The processor is connected to the control center through a communication module.

[0008] Preferably, the control center includes: A data processing module, used for preprocessing the field operation data to obtain processed field operation data; A model building module, used for building a three-dimensional model of a target device based on geometric design data of the target device; A model rendering module, used to render the three-dimensional model of the target device to obtain a rendered three-dimensional model; The model updating module is used to load the processed field operation data into the rendered three-dimensional model to obtain a real-time virtual model of the target device.

[0009] In a second aspect, the present invention provides a device control method based on virtual reality, the method is implemented based on the above-mentioned device control system based on virtual reality, and the method comprises: Obtaining interactive operation instructions between the user and the pre-built real-time virtual model; Generate a control instruction based on the interactive operation instruction, and send the control instruction to the device control unit, wherein the device control unit controls the target device to perform the interactive operation action in response to the control instruction; Acquire the on-site operation data of the target device when performing interactive operation actions; Update the real-time virtual model based on field operation data; The updated real-time virtual model is synchronized to the VR unit so that the VR unit can visually display the updated real-time virtual model.

[0010] Preferably, before updating the real-time virtual model based on the field operation data, the method further includes: preprocessing the field operation data to obtain processed field operation data, and updating the real-time virtual model with the processed field operation data; wherein the preprocessing includes at least: data cleaning processing and data standardization processing.

[0011] Preferably, the method further comprises: constructing a real-time virtual model, comprising: Obtain geometric design data of the target device; Building a three-dimensional model of the target device based on the geometric design data of the target device; Rendering the three-dimensional model of the target device to obtain a rendered three-dimensional model; The processed field operation data is loaded into the rendered 3D model to obtain a real-time virtual model of the target equipment.

[0012] Preferably, rendering the three-dimensional model of the target device to obtain the rendered three-dimensional model includes: Obtaining a resolution of a display unit used to display a three-dimensional model; Within the resolution range, each pixel is divided into three sub-pixels, and the viewpoint value required for rendering each sub-pixel is determined based on the cylindrical lens viewpoint allocation rule; Based on the viewpoint value required to be rendered for each sub-pixel, the position of the observation point corresponding to each sub-pixel is determined; wherein each sub-pixel is assigned an observation point: Determine the center position of each sub-pixel based on the position of the observation point corresponding to each sub-pixel; Based on the center position of each sub-pixel, determine the light emission point and light direction of each sub-pixel; Based on the light emission point and the light direction of each sub-pixel, ray tracing is performed on each sub-pixel to obtain pixel values ​​of three sub-pixels of each pixel, and based on the pixel values ​​of the three sub-pixels of each pixel, a pixel value of each pixel is determined; A rendered three-dimensional model is generated based on the pixel values ​​of all pixels of the display unit.

[0013] Preferably, the three sub-pixels of each pixel are a red channel sub-pixel, a blue channel sub-pixel and a green channel sub-pixel.

[0014] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned multi-robot task allocation method when executing the computer program.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned multi-robot task allocation method.

[0016] Beneficial effects: The present invention utilizes a data acquisition unit to collect on-site operating data of a target device. The control center can perform three-dimensional modeling and rendering based on the on-site operating data to obtain a real-time virtual model of the target device, and then utilizes a VR unit to visualize the real-time virtual model, thereby improving the operator's visual experience. At the same time, the user operates the VR unit to generate interactive operation instructions with the real-time virtual model, making the user feel more immersive and improving the work efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings: Figure 1 is a block diagram of a virtual reality-based device control system provided by one embodiment of the present invention; Figure 2 It is a flow chart of a device control method based on virtual reality provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0019] Embodiment 1 Figure 1 FIG. 1 is a block diagram of a virtual reality-based device control system provided by an embodiment of the present invention. Figure 1 As shown, this embodiment provides a device control system based on virtual reality, the system includes: a VR unit, a device control unit, a data acquisition unit and a control center, the data acquisition unit, the device control unit and the VR unit are all connected to the control center for communication; The data collection unit is used to collect the on-site operation data of the target device and upload the collected on-site operation data to the control center; The control center is used to perform three-dimensional modeling and rendering according to the received on-site operation data, obtain a real-time virtual model of the target device, and send the real-time virtual model to the VR unit for visual display; The VR unit is used to collect interactive operation instructions between the user and the real-time virtual model, and send the interactive operation instructions to the control center; The control center is also used to generate a control instruction according to the interactive operation instruction and send the control instruction to the device control unit; The device control unit is used to control the target device to perform an interactive operation action based on the control instruction.

[0020] As a further optimization of this embodiment, the data acquisition unit includes: a processor, a communication module, a multi-channel camera, an audio collector, a device status sensor and a power module. The communication module, the multi-channel camera, the audio collector, and the device status sensor are all electrically connected to the processor. The power module is used to provide working power for the processor, the communication module, the multi-channel camera, the audio collector and the device status sensor; the processor is communicated with the control center through the communication module.

[0021] In this embodiment, multiple cameras can use video data and image data of the device at different perspectives to facilitate the later construction of three-dimensional modeling under multiple perspectives; the device status sensor is used to monitor whether the device is in a working state, and the audio collector is used to collect audio information of the environment in which the device is located. The audio information includes the sound generated by the device itself and other sounds in the external environment, so as to truly simulate the environmental state of the device and improve authenticity; therefore, the on-site operation data includes but is not limited to video data, working status data and audio data.

[0022] In this embodiment, the processor adopts a single-chip microcomputer of the STM32 series, and the communication module adopts a multi-channel communication mode. Each channel transmits signals concurrently, which can ensure the reachability of the signal and increase the network bandwidth.

[0023] As a further optimization of this embodiment, the control center includes: a data processing module, a model building module, a model rendering module and a model updating module.

[0024] The data processing module is used to pre-process the field operation data to obtain processed field operation data; wherein, the pre-processing at least includes: data cleaning processing and data standardization processing; wherein, the data cleaning processing is to remove invalid, erroneous or redundant data; wherein, the data standardization processing is to convert the collected data into a format suitable for three-dimensional modeling.

[0025] The model building module is used to build a three-dimensional model of the target device based on the geometric design data of the target device; in this embodiment, the three-dimensional model of the target device can be created by modeling software such as CAD (computer-aided design) and SolidWorks.

[0026] The model rendering module is used to render the three-dimensional model of the target device to obtain a rendered three-dimensional model; in this embodiment, the rendering steps of the three-dimensional model of the target device refer to Embodiment 2, so the rendering steps are not explained one by one in this embodiment.

[0027] The model update module is used to load the processed field operation data into the rendered three-dimensional model to obtain a real-time virtual model of the target equipment.

[0028] In this embodiment, the VR unit includes a display unit and an operating handle, both of which are electrically connected to the control center. The control center synchronizes the real-time virtual model of the target device to the display unit for display. The operating handle can generate interactive operation instructions for the target device. The display unit is mounted on the user's head, that is, a head-mounted display is used to display the real-time virtual model to the user.

[0029] The present invention utilizes a data acquisition unit to collect on-site operating data of a target device. The control center can perform three-dimensional modeling and rendering based on the on-site operating data to obtain a real-time virtual model of the target device, and then utilizes a VR unit to visualize the real-time virtual model, thereby improving the operator's visual experience. At the same time, the user operates the VR unit to generate interactive operation instructions with the real-time virtual model, making the user feel more immersive and improving the work efficiency of the operation.

[0030] Embodiment 2 Figure 2 FIG. 1 is a flow chart of a device control method based on virtual reality provided by an embodiment of the present invention. Figure 2 As shown, this embodiment provides a device control method based on virtual reality, which is implemented based on the device control system based on virtual reality in Embodiment 1. The device control system based on virtual reality includes a VR unit, a device control unit, a data acquisition unit, and a control center. The data acquisition unit, the device control unit, and the VR unit are all connected to the control center in communication. The method of this embodiment runs in the control center, and includes: Step S10: The control center obtains interactive operation instructions between the user and the pre-built real-time virtual model; in this embodiment, the interactive operation instructions are generated by the user operating the operating handle of the VR unit, and the operating handle uploads the interactive operation instructions to the control center to obtain the interactive operation instructions; for example, if the target device is a transport vehicle, the interactive control instructions can be interactive operations such as starting the target device, controlling the forward, backward, and turn signal of the target device.

[0031] Step S20: The control center generates a control instruction based on the interactive operation instruction and sends the control instruction to the device control unit. The device control unit controls the target device to perform the interactive operation action in response to the control instruction. Similarly, assuming that the target device is a transport vehicle, the control instructions include but are not limited to: start instructions, forward instructions, backward instructions and turn instructions.

[0032] Step S30: The control center obtains the on-site operation data of the target device when performing the interactive operation action; in this embodiment, the on-site operation data includes but is not limited to video data, working status data and audio data.

[0033] Step S40: The control center updates the real-time virtual model based on the on-site operation data.

[0034] Step S50: the control center synchronizes the updated real-time virtual model to the VR unit, so that the VR unit can visualize the updated real-time virtual model; that is, visualize the model through the display unit of the VR unit.

[0035] As a further optimization of this embodiment, before updating the real-time virtual model based on the field operation data, the method also includes: preprocessing the field operation data to obtain processed field operation data, and updating the real-time virtual model with the processed field operation data.

[0036] In this embodiment, the preprocessing includes at least: data cleaning processing and data standardization processing; wherein the data cleaning processing is to remove invalid, erroneous or redundant data; wherein the data standardization processing is to convert the collected data into a format suitable for three-dimensional modeling.

[0037] As a further optimization of this embodiment, the method further includes: constructing a real-time virtual model, including: Step a10: Acquire geometric design data of the target device; the geometric design data includes but is not limited to: the size, internal structure, connection relationship and other data of the target device.

[0038] Step a20: Based on the geometric design data of the target device, a three-dimensional model of the target device is constructed. The three-dimensional model of the target device can be created by modeling software such as CAD (computer-aided design) and SolidWorks.

[0039] Step a30: Render the three-dimensional model of the target device to obtain a rendered three-dimensional model.

[0040] Step a40: Load the processed on-site operation data into the rendered three-dimensional model to obtain a real-time virtual model of the target device.

[0041] In this embodiment, after the three-dimensional model of the target device is created, materials and textures are added to the three-dimensional model, and the control center configures the light source of the target device's environment to simulate the real world; then, rendering processes such as shadow generation, texture mapping, and pixel coloring are performed on the three-dimensional model. In order to improve the rendering effect, the prior art uses a forward ray tracing algorithm to simulate the process of light being emitted from a light source and passing through a virtual three-dimensional scene, which can produce a very realistic rendering effect. The processing steps of forward ray tracing in rendering are as follows: 1. Initialization: 1.1. Scene settings: define the geometry, materials, light sources and other information in the scene; 1.1. Camera settings: determine the viewpoint position, viewing angle, projection method, etc.

[0042] 2. Light emission: 2.1. Emit light from the camera position: For each pixel on the screen, emit one or more rays; 2.2. Calculation of intersection between light and scene: Calculate the intersection of these light rays with the geometric objects in the scene.

[0043] 3. Intersection processing: 3.1. Determine the nearest intersection point: For each ray, find the nearest intersection point; 3.2. Material calculation: At the intersection point, the behavior of light (reflection, refraction, absorption, etc.) is calculated based on the material properties of the geometry.

[0044] 4. Light propagation: 4.1. Reflection: If the ray is reflected at the intersection, a new reflected ray is emitted and the intersection processing steps are repeated.

[0045] 4.2. Refraction: If the light passes through a transparent or translucent object, the refracted light is calculated and the tracking continues.

[0046] 4.3. Recursion termination: Set a recursion depth limit to avoid infinite recursion.

[0047] 5. Coloring: 5.1. Direct illumination: Calculate the illumination contribution directly from the light source to the intersection point; 5.2. Indirect lighting: Consider the indirect lighting caused by reflection and refraction; 5.3. Application of shading model: Apply shading model (such as Lambert, Blinn-Phong, Cook-Torrance, etc.) to calculate pixel color.

[0048] 6. Shadow calculation: For each intersection point, emit a shadow ray to each light source and check if there are other objects blocking the light.

[0049] 7. Accumulate the results: Add up the colors of all contributions (direct lighting, reflection, refraction, shadow, etc.) to get the final pixel color.

[0050] 8. Output: Output the calculated pixel color to the frame buffer to form the final rendered image.

[0051] However, forward ray tracing has the following defects in practical applications: Large amount of calculation: Forward ray tracing needs to simulate the process of a large number of rays starting from the light source, passing through various objects in the scene, and finally reaching the camera. This requires tracing a very large number of rays, resulting in a huge amount of calculation and slow rendering speed.

[0052] Shadow calculation is complex: In forward ray tracing, calculating shadows requires determining whether the light is blocked by an object. This requires a lot of geometric calculations, such as intersection detection between light and objects, which further increases the amount of calculations.

[0053] Difficulty in processing reflection and refraction: When forward ray tracing processes reflection and refraction, it is necessary to trace the reflected light and the refracted light, which makes the ray tracing path more complicated and further increases the amount of calculation.

[0054] Susceptible to noise: Forward ray tracing is susceptible to light sampling noise during the rendering process, causing noise in the image and affecting the rendering quality.

[0055] As a further optimization of this embodiment, in step a30, the three-dimensional model of the target device is rendered to obtain a rendered three-dimensional model, including: Step a301: Obtain the resolution of a display unit used to display a three-dimensional model.

[0056] Step a302: Within the resolution range, each pixel is divided into three sub-pixels, and the viewpoint value required for rendering each sub-pixel is determined based on the cylindrical lens viewpoint allocation rule. In this embodiment, for the rendering of the three-dimensional model, this embodiment deploys a number of observation points, and the observation points are evenly spaced within the resolution height range, and each observation point has a virtual camera.

[0057] In this embodiment, the cylindrical lens viewpoint allocation principle is mainly based on the geometric and optical properties of the cylindrical lens, and the allocation of observation points is achieved by controlling the focusing or dispersion of light in a specific direction.

[0058] In this embodiment, the function expression of the viewpoint value required to be rendered for each sub-pixel is: ; In the formula, Indicates the first i , j ) The viewpoint value of the desired rendering of the sub-pixel, is the total number of viewpoints, i =1,2,3,…, H , H is the height of the resolution range of the display unit, j =1,2,3,…, W ,…,3 W , W is the width of the resolution range of the display unit, is the width of the sub-pixel, is the cylindrical lens inclination angle, is the viewpoint multiplication factor, It is the remainder operation.

[0059] Step a303: Based on the viewpoint value required to be rendered for each sub-pixel, determine the position of the observation point corresponding to each sub-pixel.

[0060] In this embodiment, the function expression of the position of the observation point corresponding to each sub-pixel is: ; In the formula, For the first ( i , j ) The position of the observation point corresponding to the sub-pixel, is the position of the first observation point, is the position of the first observation point and the i , j ) The offset position between the positions of the observation points corresponding to the sub-pixels; The position of the first observation point is i , j ) The offset position between the positions of the observation points corresponding to the sub-pixels is: , where d is the distance between two adjacent observation points.

[0061] Step a304: Determine the center position of each sub-pixel based on the position of the observation point corresponding to each sub-pixel.

[0062] In this embodiment, the three sub-pixels of each pixel are respectively a red channel sub-pixel, a blue channel sub-pixel and a green channel sub-pixel; Therefore, the calculation formula for the center positions of the three sub-pixels of each pixel is: ; In the formula, is the center position of the green channel sub-pixel of each pixel, is the width of the pixel, and the width of the pixel is the sum of the widths of the three sub-pixels.

[0063] ; ; In the formula, is the center position of the red channel sub-pixel of each pixel, is the center position of the blue channel sub-pixel of each pixel, is the center position offset, .

[0064] Step a305: Based on the center position of each sub-pixel, determine the light emission point and light direction of each sub-pixel.

[0065] In this embodiment, thei , j ) sub-pixel corresponding to the observation point as the light emission point, with the first ( i , j The position of the observation point corresponding to the sub-pixel is the same as that of the first ( i , j ) sub-pixel center positions as the light direction.

[0066] In this embodiment, after determining the light emission point and light direction of each sub-pixel, ray tracing can be performed to determine the pixel values ​​of the three sub-pixels of each pixel, and the pixel values ​​of the three sub-pixels of each pixel are used as RGB values ​​to synthesize the pixel value of the pixel.

[0067] Step a306: Based on the light emission point and light direction of each sub-pixel, ray tracing is performed on each sub-pixel to obtain pixel values ​​of three sub-pixels of each pixel, and based on the pixel values ​​of the three sub-pixels of each pixel, the pixel value of each pixel is determined.

[0068] Step a307: Generate a rendered three-dimensional model based on the pixel values ​​of all pixels of the display unit.

[0069] Therefore, the present invention can directly synthesize each pixel of the three-dimensional model by simultaneously tracing rays from three different directions on different sub-pixels in the same pixel. By tracing all pixels simultaneously, the image of the three-dimensional model can be directly synthesized to reduce the amount of calculation and achieve efficient and non-redundant rendering at the pixel level, which has the advantage of high rendering efficiency.

[0070] The present invention utilizes a data acquisition unit to collect on-site operating data of a target device. The control center can perform three-dimensional modeling and rendering based on the on-site operating data to obtain a real-time virtual model of the target device, and then utilizes a VR unit to visualize the real-time virtual model, thereby improving the operator's visual experience. At the same time, the user operates the VR unit to generate interactive operation instructions with the real-time virtual model, making the user feel more immersive and improving the work efficiency of the operation.

[0071] Embodiment 3 This embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the device control method based on virtual reality in the second embodiment is implemented.

[0072] This embodiment further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the device control method based on virtual reality in the second embodiment is implemented.

[0073] The present invention utilizes a data acquisition unit to collect on-site operating data of a target device. The control center can perform three-dimensional modeling and rendering based on the on-site operating data to obtain a real-time virtual model of the target device, and then utilizes a VR unit to visualize the real-time virtual model, thereby improving the operator's visual experience. At the same time, the user operates the VR unit to generate interactive operation instructions with the real-time virtual model, making the user feel more immersive and improving the work efficiency of the operation.

[0074] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0075] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0076] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A device control system based on virtual reality, characterized in that: The system comprises: a VR unit, a device control unit, a data acquisition unit and a control center, wherein the data acquisition unit, the device control unit and the VR unit are all connected to the control center for communication; The data collection unit is used to collect the on-site operation data of the target device and upload the collected on-site operation data to the control center; The control center is used to perform three-dimensional modeling and rendering according to the received on-site operation data, obtain a real-time virtual model of the target device, and send the real-time virtual model to the VR unit for visual display; The VR unit is used to collect interactive operation instructions between the user and the real-time virtual model, and send the interactive operation instructions to the control center; The control center is also used to generate a control instruction according to the interactive operation instruction and send the control instruction to the device control unit; The device control unit is used to control the target device to perform an interactive operation action based on the control instruction.

2. The virtual reality-based device control system according to claim 1, characterized in that: The data acquisition unit includes: a processor, a communication module, a multi-channel camera, an audio collector, a device status sensor and a power module, wherein the communication module, the multi-channel camera, the audio collector and the device status sensor are all electrically connected to the processor, and the power module is used to provide working power for the processor, the communication module, the multi-channel camera, the audio collector and the device status sensor; The processor is connected to the control center through a communication module.

3. The virtual reality-based device control system according to claim 1, characterized in that: The control center includes: A data processing module, used for preprocessing the field operation data to obtain processed field operation data; A model building module, used for building a three-dimensional model of a target device based on geometric design data of the target device; A model rendering module, used to render the three-dimensional model of the target device to obtain a rendered three-dimensional model; The model updating module is used to load the processed field operation data into the rendered three-dimensional model to obtain a real-time virtual model of the target device.

4. A device control method based on virtual reality, the method is implemented based on the device control system based on virtual reality according to any one of claims 1 to 3, characterized in that: The method comprises: Obtaining interactive operation instructions between the user and the pre-built real-time virtual model; Generate a control instruction based on the interactive operation instruction, and send the control instruction to the device control unit, wherein the device control unit controls the target device to perform the interactive operation action in response to the control instruction; Acquire the on-site operation data of the target device when performing interactive operation actions; Update the real-time virtual model based on field operation data; The updated real-time virtual model is synchronized to the VR unit so that the VR unit can visually display the updated real-time virtual model.

5. The device control method based on virtual reality according to claim 4, characterized in that: Before updating the real-time virtual model based on the field operation data, the method further includes: preprocessing the field operation data to obtain processed field operation data, and updating the real-time virtual model with the processed field operation data; wherein the preprocessing includes at least: data cleaning processing and data standardization processing.

6. The device control method based on virtual reality according to claim 4, characterized in that: The method further comprises: constructing a real-time virtual model, comprising: Obtain geometric design data of the target device; Building a three-dimensional model of the target device based on the geometric design data of the target device; Rendering the three-dimensional model of the target device to obtain a rendered three-dimensional model; The processed field operation data is loaded into the rendered 3D model to obtain a real-time virtual model of the target equipment.

7. The device control method based on virtual reality according to claim 6, characterized in that: Rendering the three-dimensional model of the target device to obtain a rendered three-dimensional model includes: Obtaining a resolution of a display unit used to display a three-dimensional model; Within the resolution range, each pixel is divided into three sub-pixels, and the viewpoint value required for rendering each sub-pixel is determined based on the cylindrical lens viewpoint allocation rule; Based on the viewpoint value required to be rendered for each sub-pixel, the position of the observation point corresponding to each sub-pixel is determined; wherein each sub-pixel is assigned an observation point: Determine the center position of each sub-pixel based on the position of the observation point corresponding to each sub-pixel; Based on the center position of each sub-pixel, determine the light emission point and light direction of each sub-pixel; Based on the light emission point and the light direction of each sub-pixel, ray tracing is performed on each sub-pixel to obtain pixel values ​​of three sub-pixels of each pixel, and based on the pixel values ​​of the three sub-pixels of each pixel, a pixel value of each pixel is determined; A rendered three-dimensional model is generated based on the pixel values ​​of all pixels of the display unit.

8. The device control method based on virtual reality according to claim 7, characterized in that: The three sub-pixels of each pixel are a red channel sub-pixel, a blue channel sub-pixel and a green channel sub-pixel.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the virtual reality-based device control method described in any one of claims 4 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the device control method based on virtual reality described in any one of claims 4 to 8 is implemented.

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