Motion constraint parameter updating method and device, motion simulation method and device, equipment and medium

Abstract

The embodiment of the invention provides a motion constraint parameter updating method and device, a motion simulation method and device, equipment and a medium. The updating method comprises the steps that it is detected that a conveying object in a kinematic model of the conveying belt-conveying object mechanism collides with a rotating baffle, and the conveying object is provided with a rigid body and a kinematic pair; reading the current state position of the rotating baffle plate; according to the read current status bit of the rotating baffle, determining a new motion constraint parameter of the conveying object; and updating the new motion constraint parameter to the kinematic pair. The simulation method comprises the following steps: obtaining a three-dimensional model of a conveyor belt-object conveying mechanism; splitting the three-dimensional model to obtain each conveyor belt part and each conveying object part; configuring a rigid body and a kinematic pair for each conveying object part to obtain a kinematic model of the conveying belt-conveying object mechanism; and in response to updating of the new motion constraint parameters in the kinematic pair, driving the kinematic model to execute simulation motion based on the new motion constraint parameters updated by the updating method.

Description

Technical Field

[0001] The present disclosure relates to the technical field of conveyor belt-conveyed object mechanisms and their motion simulation technologies, and in particular, to a method, device, equipment, and medium for updating motion constraint parameters and motion simulation. Background Art

[0002] In the existing NX-MCD software system, it is necessary to configure rigid bodies and collision bodies for the conveyed object and collision bodies and transmission surfaces for the conveyor belt, and the motion simulation of the conveyor belt-conveyed object mechanism is realized based on the physical engine. The problem is that if the number of conveyed objects in the mechanism is large, the physical engine may be frequently called during simulation, consuming computing resources, which may lead to system lag. Summary of the Invention

[0003] In view of this, the present disclosure provides a method, device, equipment, and medium for updating motion constraint parameters and motion simulation, which are used to at least partially solve the above technical problems.

[0004] In a first aspect, the present disclosure provides a method for updating motion constraint parameters for the motion simulation of a conveyor belt-conveyed object mechanism, the method including: detecting that a conveyed object in the kinematic model of the conveyor belt-conveyed object mechanism collides with a rotating baffle, where the conveyed object is configured with a rigid body and a kinematic pair; reading the current status bit of the rotating baffle; determining new motion constraint parameters of the conveyed object according to the read current status bit of the rotating baffle; and updating the new motion constraint parameters to the kinematic pair corresponding to the conveyed object.

[0005] In a second aspect, the present disclosure provides a method for motion simulation of a conveyor belt-conveyed object mechanism, the method including: obtaining a three-dimensional model of the conveyor belt-conveyed object mechanism; splitting the three-dimensional model to obtain each conveyor belt component and each conveyed object component; configuring a rigid body and a kinematic pair for each conveyed object component to obtain a kinematic model of the conveyor belt-conveyed object mechanism; and in response to the update of new motion constraint parameters in the kinematic pair, driving the kinematic model to perform a simulation motion based on the motion constraint parameters updated by the method as described in the first aspect.

[0006] In a third aspect, the present disclosure provides a device for updating motion constraint parameters for kinematic simulation of a conveyor belt-conveyed object mechanism. The device includes: a detection module for detecting whether a conveyed object in a kinematic model of the conveyor belt-conveyed object mechanism collides with a rotating baffle, where the conveyed object is configured with a rigid body and a kinematic pair; a reading module for reading a current status bit of the rotating baffle when it is detected that the conveyed object collides with the rotating baffle; a determination module for determining new motion constraint parameters of the conveyed object according to the read current status bit of the rotating baffle; and an update module for updating the new motion constraint parameters to the kinematic pair corresponding to the conveyed object.

[0007] In a fourth aspect, the present disclosure provides a kinematic simulation device for a conveyor belt-conveyed object mechanism. The device includes: an acquisition module for acquiring a three-dimensional model of the conveyor belt-conveyed object mechanism; a splitting module for splitting the three-dimensional model to obtain each conveyor belt component and each conveyed object component; a configuration module for configuring a rigid body and a kinematic pair for each conveyed object component to obtain a kinematic model of the conveyor belt-conveyed object mechanism; and a driving module for driving the kinematic model to perform a simulation motion in response to the update of new motion constraint parameters in the kinematic pair based on the new motion constraint parameters updated according to the method described in the first aspect.

[0008] In a fifth aspect, the present disclosure provides an electronic device. The electronic device includes: a processor, a communication interface, a memory, and a bus. The processor, the communication interface, and the memory complete communication with each other through the bus; the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to perform operations corresponding to the method described in the first aspect or the second aspect.

[0009] In a sixth aspect, a computer-readable storage medium is provided. A computer instruction is stored on the computer-readable storage medium, and when the computer instruction is executed by a processor, the processor is caused to perform the method described in the first aspect or the second aspect.

[0010] In an embodiment of the present disclosure, by detecting that a conveyed object collides with a rotating baffle, reading the current status bit of the rotating baffle, determining new motion constraint parameters of the conveyed object according to the read current status bit of the rotating baffle, and updating the new motion constraint parameters to the kinematic pair corresponding to the conveyed object, kinematic simulation of the conveyor belt-conveyed object mechanism is realized. There is no need to configure collision bodies for the conveyed object and the conveyor belt, thereby avoiding frequent calls to the physics engine, saving the computing resources of the system, and improving the system performance. At the same time, in an embodiment of the present disclosure, in the absence of an actual conveyor belt-conveyed object mechanism, a simulation motion of complex conveyor belt path switching is realized in a pure software environment, and the reliability is high. Description of the Drawings

[0011] Figure 1 is a flowchart of a method for updating motion constraint parameters according to an embodiment of the present disclosure.

[0012] Figure 2 shows a structural diagram of an exemplary conveyor belt-conveyed object mechanism.

[0013] Figure 3 is a structural diagram of a device for updating motion constraint parameters according to an embodiment of the present disclosure.

[0014] Figure 4 is a flowchart of a motion simulation method for a conveyor belt-conveyed object mechanism according to an embodiment of the present disclosure.

[0015] Figure 5 is a structural diagram of a motion simulation device for a conveyor belt-conveyed object mechanism according to an embodiment of the present disclosure.

[0016] Figure 6 is a structural diagram of an electronic device according to an embodiment of the present disclosure.

[0017] List of Reference Numerals:

[0018] Conveyor belt-conveyed object mechanism 200; Conveyor belt 201;

[0019] Main path conveyor belt 2011; Bypass conveyor belt 2012;

[0020] Conveyed object 202; Rotating baffle 203;

[0021] Device 300 for updating motion constraint parameters; Detection module 310;

[0022] Reading module 320; Determination module 330;

[0023] Updating module 340; Motion simulation device 500;

[0024] Obtaining module 510; Splitting module 520;

[0025] Configuration module 530; Driving module 540;

[0026] Electronic device 600; Processor 602;

[0027] Communication interface 604; Memory 606;

[0028] Bus 608; Program 610. Detailed Description of the Embodiments

[0029] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the following further describes the present disclosure in detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. All other technical solutions obtained by those of ordinary skill in the art based on the embodiments in the present disclosure fall within the scope of protection of the present disclosure.

[0030] Figure 1 The flowchart of the method for updating the motion constraint parameters of the embodiment of the present disclosure is shown. This method is applied, for example but not limited to, Figure 2 the motion simulation of the exemplary conveyor belt-conveyed object mechanism 200 shown. As Figure 2 shown, in the conveyor belt-conveyed object mechanism 200, the conveyor belt 201 includes a main path conveyor belt 2011 and a bypass conveyor belt 2012, which provide the power for the forward and backward movement of a plurality of conveyed objects 202. The motion path constraint provided by the conveyor belt 201 enables the conveyed objects 202 to move along the center trajectory of the conveyor belt in a stable posture; the rotating baffle 203 changes its state by swinging and is used to block the movement of the conveyed object 202, switch the walking path of the conveyed object 202, etc. It should be noted that Figure 2 this is only exemplary and cannot be used as a limitation on the scope of protection of the present disclosure.

[0031] As Figure 1 shown, the method for updating the motion constraint parameters includes: in S110, it is detected that a conveyed object 202 in the kinematic model of the conveyor belt-conveyed object mechanism 200 collides with a rotating baffle 203, wherein each conveyed object 202 in the kinematic model is configured with a rigid body and a kinematic pair; in step S120, the current state bit of the rotating baffle 203 is read; in S130, according to the currently read state bit of the rotating baffle 203, the new motion constraint parameters of the conveyed object 202 are determined; in S140, the determined new motion constraint parameters are updated to the kinematic pair corresponding to the conveyed object 202.

[0032] In this embodiment, optionally, the foregoing step S110 may include the following steps: detecting whether a conveyed object 202 in the kinematic model of the conveyor belt-conveyed object mechanism 200 collides with a rotating baffle 203. The conveyed objects 202 in the kinematic model of the conveyor belt-conveyed object mechanism 200 include, for example but not limited to, materials, trays, etc. Optionally, the motion constraint parameters include one or both of a motion speed constraint and a motion direction constraint.

[0033] In this embodiment, the state bits of the rotating baffle 203 in the kinematic model of the conveyor belt-conveyed object mechanism 200 may include one or more of a fully open state bit, a switching state bit, and a fully closed state bit. Further, S130 may alternatively be implemented as one or more of the following S130a, S130b, and S130c. In S130a, if the currently read state bit of the rotating baffle 203 is the fully open state bit, then determine that the new motion direction constraint of the conveyed object 202 is the direction indicated by the current conveyor belt and the new motion speed constraint is the speed of the current conveyor belt. In S130b, if the currently read state bit of the rotating baffle 203 is the switching state bit, then determine that the new motion direction constraint of the conveyed object 202 is the direction indicated by the conveyor belt after switching and the new motion speed constraint is the speed of the conveyor belt after switching. In S130c, if the currently read state bit of the rotating baffle 203 is the fully closed state bit, then determine that the new motion direction constraint of the conveyed object 202 is the direction indicated by the current conveyor belt and the new motion speed constraint is to only accept the reverse speed and the forward speed is 0.

[0034] In addition, in this embodiment, the motion constraint parameter updating method may alternatively include the following steps a) and b): a) Detect that a conveyed object 202 in the kinematic model collides with other conveyed objects 202, where each conveyed object 202 in the kinematic model is configured with a rigid body and a kinematic pair; b) Determine that the new motion direction constraint of the conveyed object 202 that collides with the other conveyed object 202 is the direction indicated by the current conveyor belt, and determine the new motion speed constraint of the conveyed object 202 according to the conveyed object 202 that collides with the other conveyed object 202 and the other conveyed object 202. For step b), for example but not limited to, further determine that the new motion speed constraint of the conveyed object 202 is the average value of the speed of the conveyed object 202 and the speed of the other conveyed object 202.

[0035] In this embodiment, before "detecting that a transfer object 202 in the kinematic model of the conveyor belt-transfer object mechanism 200 collides with the rotating baffle 203 or another transfer object 202", on the one hand, the following steps may further be included: periodically determining that the new motion direction constraint of the transfer object 202 in the kinematic model is the direction indicated by the current conveyor belt and the new motion speed constraint is the speed of the current conveyor belt; updating the determined new motion direction constraint and the new motion speed constraint (i.e., the new motion constraint parameters) to the kinematic pair corresponding to the transfer object 202. Alternatively, before "detecting that the transfer object 202 in the kinematic model of the conveyor belt-transfer object mechanism 200 collides with the rotating baffle 203 or the other transfer object 202", on the other hand, the following steps may further be included: when it is recognized that the transfer object 202 reaches the position of a path key point of the conveyor belt 201 (the conveyor belt 201 has several path key points along the path extension direction), determining that the new motion direction constraint of the transfer object 202 in the kinematic model is the direction indicated by the current conveyor belt and the new motion speed constraint is the speed of the current conveyor belt; updating the determined new motion direction constraint and the new motion speed constraint (i.e., the new motion constraint parameters) to the kinematic pair corresponding to the transfer object 202.

[0036] In this embodiment, the method may further optionally include the following steps: detecting, by using a collision sensor arranged on the transfer object 202, that the transfer object 202 in the kinematic model of the conveyor belt-transfer object mechanism 200 collides with the rotating baffle 203 or the transfer object 202 collides with another transfer object 202.

[0037] To implement the motion constraint parameter update method of the above embodiment, go to Figure 3 , which shows the structural diagram of a motion constraint parameter update device 300 according to an embodiment. As Figure 3 shown, the device 300 includes a detection module 310, a reading module 320, a determination module 330, and an update module 340. It should be noted that since the following embodiments are for implementing the embodiments of the foregoing method, each module in the device 300 is provided for implementing each step of the motion constraint parameter update method of the foregoing embodiment. Therefore, the present disclosure is not limited to the following embodiments, and any module that can implement the motion constraint parameter update method of the foregoing embodiment should be included within the protection scope of the present disclosure.

[0038] Specifically, the detection module 310 is configured to detect whether a transfer object 202 and a rotating baffle 203 in the kinematic model of the conveyor belt-transfer object mechanism 200 collide, where each transfer object 202 in the kinematic model is configured with a rigid body and a kinematic pair; the reading module 320 is configured to read the current status bit of the rotating baffle 203 when it is detected that the transfer object 202 collides with the rotating baffle 203; the determination module 330 is configured to determine new motion constraint parameters of the transfer object 202 according to the read current status bit of the rotating baffle 203; and the update module 340 is configured to update the new motion constraint parameters to the kinematic pair corresponding to the transfer object 202.

[0039] It should be noted that the method for updating the motion constraint parameters in the foregoing embodiment is a method embodiment corresponding to the apparatus 300 in this embodiment, and the apparatus 300 in this embodiment can be implemented in cooperation with the method for updating the motion constraint parameters in the foregoing embodiment. The relevant technical details mentioned in the method for updating the motion constraint parameters in the foregoing embodiment are still valid in the apparatus 300 in this embodiment. To avoid repetition, they will not be elaborated here.

[0040] Go to Figure 4 , Figure 4 shows a flowchart of a motion simulation method according to an embodiment of the present disclosure, which is mainly applied to a conveyor belt-transfer object mechanism to Figure 2 take the illustrated example conveyor belt-transfer object mechanism 200 as an example. The method includes: in S410, obtaining a three-dimensional model of the conveyor belt-transfer object mechanism 200; in S420, splitting the three-dimensional model to obtain each conveyor belt component and each transfer object 202 component; in S430, configuring a rigid body and a kinematic pair for each transfer object 202 component to obtain the kinematic model of the conveyor belt-transfer object mechanism 200; in S440, in response to the update of the new motion constraint parameters in the kinematic pair, driving the kinematic model to perform a simulation motion based on the updated new motion constraint parameters, where the updated new motion constraint parameters are updated according to the method for updating the motion constraint parameters in the foregoing embodiment.

[0041] Similarly, to implement the motion simulation method of the conveyor belt-transfer object mechanism in the foregoing embodiment, another embodiment of the present disclosure further provides a motion simulation apparatus 500 for a conveyor belt-transfer object mechanism. Figure 5 shows a structural diagram of the motion simulation apparatus 500 for a conveyor belt-transfer object mechanism according to the embodiment, as Figure 5As shown in the figure, the device includes an acquisition module 510, a splitting module 520, a configuration module 530, and a driving module 540. It should be noted that since the following embodiments are for implementing the embodiments of the foregoing method, each module in the motion constraint parameter update device 300 is provided for implementing each step of the foregoing motion constraint parameter update method. Therefore, the present disclosure is not limited to the following embodiments, and any module that can implement the above motion constraint parameter update method should be included within the protection scope of the present disclosure.

[0042] Continuing to apply to the example of the conveyor belt-conveyed object mechanism 200 shown in Figure 2 Taking the conveyor belt-conveyed object mechanism 200 shown in the figure as an example, the acquisition module 510 is used to acquire the three-dimensional model of the conveyor belt-conveyed object mechanism 200; the splitting module 520 is used to split the three-dimensional model to obtain each conveyor belt component and each conveyed object 202 component; the configuration module 530 is used to configure rigid bodies and kinematic pairs for each conveyed object 202 component to obtain the kinematic model of the conveyor belt-conveyed object mechanism 200; the driving module 540 is used to respond to the update of the new motion constraint parameters in the kinematic pair and drive the kinematic model to execute a simulation motion based on the new motion constraint parameters updated by the motion constraint parameter update method as described in the foregoing embodiments.

[0043] It should be noted that the motion simulation method of the conveyor belt-conveyed object mechanism in the foregoing embodiments is a method embodiment corresponding to the device 500 in this embodiment, and the device 500 in this embodiment can be implemented in cooperation with the motion simulation method of the conveyor belt-conveyed object mechanism in the foregoing embodiments. The relevant technical details mentioned in the motion simulation method of the conveyor belt-conveyed object mechanism in the foregoing embodiments are still valid in the device 500 in this embodiment. To avoid repetition, they will not be elaborated here.

[0044] It can be understood that the code of the motion constraint parameter update method in the foregoing embodiments can be written, for example, in RuntimeBehavior; the motion simulation method and device of the conveyor belt-conveyed object mechanism in the foregoing embodiments are configured in the NX-MCD software system, and the NX-MCD software system further includes a calling module, which is configured to periodically or based on a trigger event call and execute the code of the motion constraint parameter update method from Runtime Behavior to obtain the updated new motion constraint parameters. NX-MCD can configure physical attributes and motion constraints for mechanical digital models, and combine signal adapters to implement motion simulation of mechanical parts and feedback of information such as speed and position. The built-in Runtime Behavior (runtime behavior) of the NX-MCD software system allows users to write advanced behavior logic.

[0045] Furthermore, the visualization of the entire motion process of the conveyor belt-transport object mechanism can be achieved through the following aspects: configuring the spatial three-dimensional layout of the conveyor belt-transport object mechanism in the NX-MCD software system; configuring the gravity acceleration and direction, friction and other parameters of the environment in the NX-MCD software system; configuring the kinematic model of the pallet in the NX-MCD software system, applying rigid body and signal adapter properties, etc.

[0046] In addition, the embodiments of the present disclosure can realize the simulation of PLC programs under virtual conditions by integrating NXMCD and PLCSIM ADVANCED. NXMCD supports signal interaction with external controllers, such as standard TCPIP, API, etc. PLC hardware supports standard communication protocols, such as TCPIP, OPC UA, etc., and can interact with NX-MCD signals. Applying PLCSIM ADVANCED to realize the simulation of PLC programs under virtual conditions includes the following aspects: establishing an instance of PLC; configuring the network card, assigning the address AssignIP; starting the PLC instance Start PLC Simulation Instance. Based on the technical characteristics of PLCSIM ADVANCED and NX-MCD, the present invention uses the built-in API to open up the data channel between the two and build a virtual integrated debugging platform.

[0047] Go to Figure 6 , Figure 6 Schematic diagram of an electronic device according to an embodiment of the present disclosure. The specific embodiment of the present disclosure does not limit the specific implementation of the electronic device. Figure 6 The electronic device 600 provided in the embodiment of the present disclosure includes: a processor (processor) 602, a communication interface (Communications Interface) 604, a memory (memory) 606, and a bus 608.

[0048] in:

[0049] The processor 602 , the communication interface 604 , and the memory 606 communicate with each other via a bus 608 .

[0050] The communication interface 604 is used to communicate with other electronic devices or servers.

[0051] The processor 602 is used to execute the program 610, and specifically can execute the relevant steps in the above method embodiment.

[0052] Specifically, the program 610 may include program codes, which include computer operation instructions.

[0053] The processor 602 may be a central processing unit (CPU), or a specific application integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure. One or more processors included in the intelligent device may be of the same type, such as one or more CPUs; or may be of different types, such as one or more CPUs and one or more ASICs.

[0054] A memory 606 for storing a program 610. The memory 606 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0055] The program 610 may specifically be used to cause the processor 602 to execute the method in any of the foregoing embodiments.

[0056] For the specific implementation of each step in the program 610, reference may be made to the corresponding steps and the corresponding descriptions in the units in the foregoing method embodiments, which will not be elaborated herein. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the devices and modules described above may refer to the corresponding process descriptions in the foregoing method embodiments, which will not be repeated herein.

[0057] The present disclosure also provides a computer-readable storage medium storing instructions for causing a machine to execute the methods as described herein. Specifically, a system or device equipped with a storage medium may be provided, on which software program code for implementing the functions in any of the foregoing embodiments is stored, and the computer (or CPU or MPU) of the system or device is caused to read and execute the program code stored in the storage medium.

[0058] In this case, the program code read from the storage medium itself can implement the functions in any of the foregoing embodiments. Therefore, the program code and the storage medium storing the program code constitute a part of the present disclosure.

[0059] Embodiments of the storage medium for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer via a communication network.

[0060] Embodiments of the present disclosure also provide a computer program product including computer instructions that direct a computing device to perform any corresponding operations in the foregoing multiple method embodiments.

[0061] It should be noted that according to the needs of implementation, each component / step described in the embodiments of the present disclosure can be split into more components / steps, or two or more components / steps or partial operations of the components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present disclosure.

[0062] The methods according to the embodiments of the present disclosure can be implemented in hardware, firmware, or be implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or be implemented as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and downloaded through a network and to be stored in a local recording medium, so that the methods described herein can be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (such as RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods described herein are implemented. In addition, when a general-purpose computer accesses the code for implementing the methods shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0063] It should be noted that not all steps and modules in the above-mentioned process flows and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted according to needs. The system structures described in the above-mentioned embodiments can be physical structures or logical structures, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities separately, or some components in multiple independent devices can be jointly implemented.

[0064] The term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one" does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0065] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as dedicated processors, FPGAs, or ASICs) to perform corresponding operations. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to perform corresponding operations. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0066] The present disclosure has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present disclosure is not limited to these disclosed embodiments. Based on the above-mentioned multiple embodiments, those skilled in the art can know that the code review means in the above different embodiments can be combined to obtain more embodiments of the present disclosure, and these embodiments are also within the protection scope of the present disclosure.

Claims

1. A method for updating motion constraint parameters, which is used for the motion simulation of a conveyor belt-conveyed object mechanism, characterized in that The method includes: detecting that a transfer object in the kinematic model of the conveyor belt-transfer object mechanism collides with a rotating baffle, where the transfer object is configured with a rigid body and kinematic pairs; reading the current status bit of the rotating baffle; determining new motion constraint parameters of the transfer object according to the read current status bit of the rotating baffle; updating the new motion constraint parameters to the kinematic pairs corresponding to the transfer object.

2. The method according to claim 1, wherein The motion constraint parameters include a motion speed constraint and a motion direction constraint.

3. The method according to claim 2, characterized in that, The status bits of the rotating baffle include a fully open status bit, a switching status bit, and a fully closed status bit.

4. The method according to claim 3, characterized in that, The determining of the new motion constraint parameters of the transfer object according to the read current status bit of the rotating baffle further includes: if the read current status bit of the rotating baffle is the fully open status bit, determining that the new motion direction constraint of the transfer object is the direction indicated by the current conveyor belt and the new motion speed constraint is the speed of the current conveyor belt.

5. The method according to claim 3, wherein The determining of the new motion constraint parameters of the transfer object according to the read current status bit of the rotating baffle further includes: if the read current status bit of the rotating baffle is the switching status bit, determining that the new motion direction constraint of the transfer object is the direction indicated by the switched conveyor belt and the new motion speed constraint is the speed of the switched conveyor belt.

6. The method according to claim 3, characterized in that, The determining of the new motion constraint parameters of the transfer object according to the read current status bit of the rotating baffle further includes: if the read current status bit of the rotating baffle is the fully closed status bit, determining that the new motion direction constraint of the transfer object is the direction indicated by the current conveyor belt and the new motion speed constraint is to only accept a reverse speed and the forward speed is 0.

7. The method according to claim 2, wherein The method further includes: detecting that a transfer object in the kinematic model collides with other transfer objects, where the transfer object is configured with a rigid body and kinematic pairs; determining that the new motion direction constraint of the transfer object that collides with other transfer objects is the direction indicated by the current conveyor belt, and determining the new motion speed constraint of the transfer object that collides with other transfer objects according to the transfer object that collides with other transfer objects and the other transfer objects.

8. The method according to any one of claims 1-7, characterized in that Before detecting that the transfer object in the kinematic model of the conveyor belt-transfer object mechanism collides with the rotating baffle or the other transfer objects, it further includes: when identifying that the transfer object reaches the position of the path key point of the conveyor belt, determining that the new motion direction constraint of the transfer object in the kinematic model is the direction indicated by the current conveyor belt and the new motion speed constraint is the speed of the current conveyor belt; updating the determined new motion direction constraint and new motion speed constraint to the kinematic pairs corresponding to the transfer object.

9. The method according to any one of claims 1-7, characterized in that, The method further includes: detecting that the transfer object in the kinematic model of the conveyor belt-transfer object mechanism collides with the rotating baffle or the transfer object collides with the other transfer objects by using a collision sensor arranged on the transfer object.

10. A motion simulation method for a conveyor belt-conveyed object mechanism, characterized in that, The method includes: Obtain a three-dimensional model of the conveyor belt-conveyed object mechanism; Split the three-dimensional model to obtain each conveyor belt component and each conveyed object component; Configure rigid bodies and kinematic pairs for each of the conveyed object components to obtain a kinematic model of the conveyor belt-conveyed object mechanism; In response to the update of new motion constraint parameters in the kinematic pair, drive the kinematic model to perform a simulation motion based on the updated motion constraint parameters according to any one of claims 1-9.

11. A motion constraint parameter updating device (300) for the motion simulation of a conveyor belt-conveyed object mechanism, characterized in that, The device (300) includes: A detection module (310) for detecting whether a conveyed object in the kinematic model of the conveyor belt-conveyed object mechanism collides with a rotating baffle, wherein the conveyed object is configured with a rigid body and a kinematic pair; A reading module (320) for reading the current status bit of the rotating baffle when it is detected that the conveyed object collides with the rotating baffle; A determination module (330) for determining new motion constraint parameters of the conveyed object according to the read current status bit of the rotating baffle; An update module (340) for updating the new motion constraint parameters to the kinematic pair corresponding to the conveyed object.

12. A motion simulation device (500) for a conveyor belt-conveyed object mechanism, characterized in that The device (500) includes: An obtaining module (510) for obtaining a three-dimensional model of the conveyor belt-conveyed object mechanism; A splitting module (520) for splitting the three-dimensional model to obtain each conveyor belt component and each conveyed object component; A configuration module (530) for configuring rigid bodies and kinematic pairs for each of the conveyed object components to obtain a kinematic model of the conveyor belt-conveyed object mechanism; A driving module (540) for, in response to the update of new motion constraint parameters in the kinematic pair, driving the kinematic model to perform a simulation motion based on the updated new motion constraint parameters according to any one of claims 1-9.

13. An electronic device (600), the electronic device (600) comprising: A processor (602), a communication interface (604), a memory (606) and a bus (608), the processor (602), the communication interface (604) and the memory (606) complete mutual communication through the bus (608); The memory (606) is used to store at least one executable instruction, and the executable instruction causes the processor (602) to perform the operations corresponding to the method according to any one of claims 1-10.

14. A determination machine-readable storage medium, on which determination machine instructions are stored, and when the determination machine instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1-10.

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