Method for limiting object movement in maintenance of special equipment in radiation environment

Abstract

The invention belongs to the technical field of special equipment maintenance analog simulation, and particularly relates to a method for limiting object movement in special equipment maintenance in a radiation environment. Constructing a local coordinate system of a main node model in the target equipment and a sub-node coordinate system of at least one sub-node model which moves relative to the main node model; defining a motion form and a motion range of at least one sub-node model in a local coordinate system of the main node model; and dynamically generating a corresponding limited motion control on the at least one sub-node model according to the motion form and the motion range of the at least one sub-node model. According to the method, when the target equipment is subjected to analog simulation, the motion form and the motion range of at least one sub-node model in the target equipment are subjected to limited motion definition, so that the technical problem that great inconvenience is brought to an analog simulation user due to the fact that the user needs to accurately move and rotate the model in an existing large three-dimensional simulation scene is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of special equipment maintenance simulation, and particularly relates to a method for limiting object movement in special equipment maintenance under a radiation environment. BACKGROUND

[0002] Safety is the most important link in nuclear power production, and safety training and safety production have become prerequisite elements of nuclear power production. The special equipment maintenance simulation system is a multi-dimensional special maintenance simulation system, and realizes interactive bidirectional driving simulation of scheduling data and a three-dimensional model. The scheduling data is used to drive the three-dimensional simulation based on the dimensions of MS Project system progress, resources and constraint conditions.

[0003] In a large three-dimensional simulation scene, a large number of model components are involved. During the animation simulation editing process of many devices, the user needs to accurately move and rotate the model. The accurate positioning of each sub-device in the device and the implementation of the movement mode are very time-consuming. This process is very tedious and needs to be repeatedly adjusted by the user. In different scenes, the device will also be repeatedly used, which brings great inconvenience to the simulation user. How to make this process simple and easy to use is an important problem that needs to be solved in the development of simulation technology. SUMMARY

[0004] Therefore, the application provides a method for limiting object movement in special equipment maintenance under a radiation environment. The movement form and movement range of at least one sub-node model corresponding to a main node model in a target device are defined during simulation of the target device, so as to solve the technical problem that the user needs to accurately move and rotate the model in the existing large three-dimensional simulation scene, which brings great inconvenience to the simulation user.

[0005] The first aspect of the application provides a method for limiting object movement in special equipment maintenance under a radiation environment. The method comprises the following steps: Step S1, during simulation, constructing a local coordinate system of a main node model in a target device and a sub-node coordinate system of at least one sub-node model having relative movement with the main node model. The sub-node coordinate system inherits the local coordinate system of the main node model through a transformation matrix. Step S2, limiting the movement form and movement range of the at least one sub-node model in the local coordinate system of the main node model. Step S3, dynamically generating corresponding limited movement controls on the at least one sub-node model according to the movement form and movement range of the at least one sub-node model.

[0006] In one specific embodiment of the application, step S1 comprises the following steps: Step S11, in the simulation, a tree hierarchy relationship of a main node model in a target device and at least one sub-node model having relative motion with the main node model is constructed; Step S12, attribute information of the main node model is defined, the attribute information of the main node model including a unique identifier, a main node pointer, a sub-node model list, a coordinate system transformation matrix and motion constraint parameters of each sub-node model.

[0007] In one embodiment of the present application, step S2 includes: Step S21, if the constraint type of the sub-node model is a straight line movement constraint, two reference points are set in the local coordinate system of the main node model to define the motion range of the sub-node model, the distance between the two reference points being the distance that the sub-node model can move, and the direction of the two reference points being the direction that the sub-node model can move.

[0008] Step S3 includes: Step S31, a sliding bar is dynamically generated on the sub-node model according to the motion range of the sub-node model.

[0009] In one embodiment of the present application, step S2 includes: Step S22, if the constraint type of the sub-node model is a rotation constraint, one reference point is set in the local coordinate system of the main node model as the rotation center of the sub-node model.

[0010] Step S3 includes: Step S32, a rotation handle is dynamically generated on the sub-node model according to the motion range of the sub-node model.

[0011] In one embodiment of the present application, after step S1, the method for limiting the motion of an object in the repair of special equipment in a radiation environment further includes: Step S4, the motion form and motion range of the main node model are limited in the local coordinate system of the main node model. Step S5, a corresponding limited motion control is dynamically generated on the main node model according to the motion form and motion range of the main node model.

[0012] In one embodiment of the present application, after step S5, the method for limiting the motion of an object in the repair of special equipment in a radiation environment further includes: Step S6, each limited motion is sequentially recorded into the key frame of the main node model according to the user's ordering of each limited motion in the main node model and at least one sub-node model.

[0013] In one embodiment of the present application, after step S5, the method for limiting the motion of an object in the repair of special equipment in a radiation environment further includes: Step S7, obtaining a first motion instruction of dragging the defined motion control on the master node model by the user; Step S8, controlling the master node model to move in the motion range of the master node model according to the first motion instruction.

[0014] In one embodiment of the present application, after step S3, the method for limiting the motion of the object in the maintenance of the special equipment in the radiation environment further comprises: Step S9, obtaining a second motion instruction of dragging the defined motion control on at least one sub-node model by the user; Step S10, controlling at least one sub-node model to move in the motion range of at least one sub-node model according to the second motion instruction.

[0015] The second aspect of the present application provides a computer device comprising a processor and a memory. The processor is configured to execute the method for limiting the motion of the object in the maintenance of the special equipment in the radiation environment according to the first aspect of the present application. The memory is configured to store executable instructions of the processor.

[0016] The third aspect of the present application provides a computer readable storage medium having computer executable instructions stored thereon. The executable instructions are executed by the processor to implement the method for limiting the motion of the object in the maintenance of the special equipment in the radiation environment according to the first aspect of the present application.

[0017] The technical scheme of the present application has the following beneficial effects: by limiting the motion form and motion range of at least one sub-node model corresponding to the master node model in the target equipment during simulation and emulation of the target equipment, the sub-node models can always maintain correct motion trajectories during simulation and emulation of the target equipment, and the target equipment can correctly simulate the function of the target equipment. Therefore, even if a non-equipment professional user makes the simulation scene, the user can also ensure that no incorrect motion mode and motion trajectory are generated. In addition, the method for limiting the motion of the object in the maintenance of the special equipment in the radiation environment can support the limitation of linear or rotational motion of any equipment, can limit the motion range of the equipment, and is convenient for editing of three-dimensional simulation animation. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Fig. 1 shows a flowchart of a method for limiting the motion of an object in the maintenance of special equipment in a radiation environment according to an embodiment of the present application.

[0019] Figure 2 Fig. 2 shows a schematic diagram of a ring crane according to an embodiment of the present application.

[0020] Figure 3 Fig. 3 shows an operation logic example of a ring crane according to an embodiment of the present application.

[0021] Figure 4An operation logic example of the ring hoist provided by another embodiment of the application is shown. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the protection scope of the application.

[0023] To ensure the correctness of the movement mode and the movement range of special equipment, at least one embodiment of the application provides a method for limiting the movement of an object in the maintenance of special equipment in a radiation environment, which comprises the following steps S1 to S3. Figure 1 The method for limiting the movement of an object in the maintenance of special equipment in a radiation environment comprises the following steps S1 to S3.

[0024] In step S1, during simulation, a local coordinate system of a master node model of a target device and a sub-node coordinate system of at least one sub-node model having relative movement with the master node model are constructed. The sub-node coordinate system inherits the local coordinate system of the master node model through a transformation matrix.

[0025] It should be noted that the master node model maintains the local coordinate system, the at least one sub-node model inherits the coordinate system of the master node model through a transformation matrix, and all movement constraints are calculated based on the local coordinate system of the master node model. Both the master node model and the at least one sub-node model can be rendered through an OpenGL three-dimensional engine.

[0026] For example, the master node model is A, and the at least one sub-node model having relative movement with the master node model A includes a sub-node model a1 and a sub-node model a2. The master node model of the target device is set as the master node of the limited object (the sub-node model a1 and the sub-node model a2). The sub-node model a1 and the sub-node model a2 are limited movement editing nodes. The sub-node model a1 and the sub-node model a2 can be at the same level and are both leaf nodes of the master node model A.

[0027] In step S2, the movement form and the movement range of the at least one sub-node model are limited in the local coordinate system of the master node model.

[0028] In step S3, corresponding limited movement controls are dynamically generated on the at least one sub-node model according to the movement form and the movement range of the at least one sub-node model.

[0029] Specifically, the positions of the limited movement controls are bound to the local coordinate system of the sub-node model, so as to ensure synchronization with the master node model.

[0030] It's important to note that this technology isn't limited to a specific device model; it's applicable to any sub-device where movement, rotation, or other motion occurs. In some embodiments, 3D interactions with motion-controlled controls utilize raycasting technology, enabling precise picking.

[0031] According to the technical solution provided by the embodiment of the present application, by limiting the motion form and range of motion of at least one sub-node model corresponding to the main node model in the target device during the simulation of the target device, each sub-node model can always maintain the correct motion trajectory during the simulation of the target device, and can correctly simulate the function of the target device. Then, even if non-equipment professional users are creating simulation scenes, they can ensure that no incorrect motion mode and motion trajectory are generated. In addition, the method of limiting the motion of objects in the maintenance of special equipment under radiation environment can support the limitation of linear or rotational motion of any device, and can limit the motion range of the device, which is convenient for the editing of three-dimensional simulation animation.

[0032] In at least one embodiment of the present application, step S1 includes the following steps S11 and S12.

[0033] Step S11: During simulation, a tree-like hierarchical structure relationship is constructed between a main node model in a target device and at least one sub-node model that moves relative to the main node model.

[0034] Specifically, a tree-like hierarchical structure relationship between the target device main node model and its corresponding sub-node models is constructed to support the subordinate relationship between the main node model A and the corresponding sub-node models (such as a1, a2).

[0035] Step S12: Define the attribute information of the master node model. The attribute information of the master node model includes a unique identifier, a master node pointer, a list of child node models, a coordinate system transformation matrix, and motion constraint parameters of each child node model.

[0036] Specifically, a node class (Node) is defined for the main node model, which includes attribute information: unique identifier, main node pointer, child node list, coordinate system transformation matrix, motion constraint parameters (such as moving range, rotation center, etc.).

[0037] It should be noted that motion constraint parameters can be synchronized with a physics engine (such as Bullet / PhysX) to ensure that motion complies with physical laws and achieve physics engine linkage. In some embodiments, the tree-like hierarchical structure and motion constraint parameters are stored in XML format. Storing the tree-like hierarchical structure and motion constraint parameters in XML format facilitates scene reuse and configuration, and promotes data persistence.

[0038] In the embodiments of the present application, the tree hierarchy structure of the master node model in the target device and at least one slave node model having relative motion with the master node model is constructed, so that the master-slave relationship of the master node model and the at least one slave node model is supported.

[0039] The constraint type of the slave node model can be a linear movement constraint, or a rotation constraint, etc. In step S3, the corresponding limited motion control (such as a sliding bar, a rotating handle, etc.) can be dynamically generated according to the constraint type (movement / rotation) of the slave node model.

[0040] For example, in at least one embodiment of the present application, step S21 is a specific implementation of step S2. Step S31 is a specific implementation of step S3.

[0041] In step S21, if the constraint type of the slave node model is a linear movement constraint, two reference points are set in the local coordinate system of the master node model to define the movement range of the slave node model. The distance between the two reference points is the distance that the slave node model can move, and the direction of the two reference points is the direction that the slave node model can move.

[0042] For example, the slave node model a1 can only move within a certain limited range of the master node model A, so the movement range of the slave node model a1 can only be defined by two reference points (or reference points) on the master node model A. The distance between the two reference points is the distance that the slave node model a1 can move, and the direction of the two reference points is the direction that the slave node model a1 can move. The slave node model a1 is no longer allowed to perform a rotation operation.

[0043] In step S31, a sliding bar is dynamically generated on the slave node model according to the movement range of the slave node model.

[0044] For example, when the mathematical modeling of the linear movement constraint of the slave node model a1 is performed, the input is: two reference points (P1, P2) of the master node model A, which define the movement direction and range. The calculation logic is: 1. The reference point P1 and the reference point P2 are converted to the global coordinate system, and the vector is calculated. 2. The current position Pa of the slave node model a1 needs to satisfy: the parameter t projected onto the vector satisfies 0≤t≤1, that is, 3. When the user drags the control, the t value is calculated in real time and the position of a1 is updated, and the range is automatically clamped when it is exceeded.

[0045] For example, in at least one embodiment of the present application, step S22 is a specific implementation of step S2. Step S32 is a specific implementation of step S3.

[0046] Step S22, if the constraint type of the child node model is a rotation constraint, a reference point in the local coordinate system of the parent node model is set as the rotation center of the child node model.

[0047] For example, if the child node model a2 needs to make a circular motion according to the parent node model A, the child node model a2 is selected as the node for rotation limitation, and then a reference point on the parent node model A is selected as the rotation center of the child node model a2, so that the child node model a2 can only rotate around the reference point on the parent node model A as the center, and the child node model a2 is no longer allowed to move.

[0048] It should be noted that the rotation constraint can be realized by a hinge joint.

[0049] Step S32, according to the motion range of the child node model, a rotation handle is dynamically generated on the child node model.

[0050] For example, when the mathematical modeling of the rotation constraint of the child node model a2 is performed, the input includes: the rotation center point O of the parent node A, the maximum rotation angle θ max .

[0051] Calculation logic: 1. Convert O to the global coordinate system, calculate the vector from the current position of the child node model a2 to O . 2. According to the user input angle θ, generate a rotation matrix R(θ), and update the position of the child node model a2 to . 3. Limit θ in the range of [0, θ max ].

[0052] In the above embodiment, through the above steps S21 and S31, the control (i.e. the sliding bar) for limiting the motion of the child node model a1 is displayed on the child node model a1, and through the steps S22 and S32, the control (i.e. the rotation handle) for limiting the motion of the child node model a2 is displayed on the child node model a2, so that the user can conveniently and quickly adjust the motion form of each child node model by operating the two controls respectively, and accurate positioning is achieved.

[0053] In at least one embodiment of the present application, the method for limiting the motion of the object in the radiation environment during the maintenance of the special equipment further includes the following steps S4 and S5.

[0054] Step S4, limit the motion form and the motion range of the parent node model in the local coordinate system of the parent node model.

[0055] Step S5, dynamically generate the corresponding limited motion control on the parent node model according to the motion form and the motion range of the parent node model.

[0056] In at least one embodiment of the present application, the method for limiting the movement of objects in the maintenance of special equipment in a radiation environment further comprises step S6.

[0057] Step S6, according to the user's order of each limited movement in the main node model and at least one sub-node model, record the order of each limited movement in the key frame of the main node model.

[0058] For example, when creating a key frame for the main node model A, the system automatically displays the limited information of the main node model A, and the user orders each limited movement and records the order of each limited movement in the key frame.

[0059] Key frame generation logic: 1. When the user clicks "create key frame", traverse the current node level, capture all the motion constraint parameters (such as t, θ) of the sub-node model. 2. Serialize the parameters and store them as key frame objects, associate the timestamp with the main node model identifier.

[0060] Motion sequence control: 1. The user selects multiple constraints (such as rotating A first and then moving a1) through the right-click menu to generate a priority queue. 2. The animation engine calculates each motion constraint parameter frame by frame in the order of the queue to generate a smooth animation. 3. Interpolation algorithm: linear interpolation is used to ensure the continuity of the motion.

[0061] In the above embodiment, by recording the order of each limited movement in the key frame of the main node model, the order of each limited movement can be flexibly adjusted by the user according to the actual project needs, realizing the rapid and accurate positioning of the model.

[0062] In at least one embodiment of the present application, the method for limiting the movement of objects in the maintenance of special equipment in a radiation environment further comprises steps S7 and S8.

[0063] Step S7, obtain the first motion instruction of the user dragging the limited movement control on the main node model.

[0064] Step S8, control the main node model to move in the motion range of the main node model according to the first motion instruction.

[0065] In at least one embodiment of the present application, the method for limiting the movement of objects in the maintenance of special equipment in a radiation environment further comprises steps S9 and S10.

[0066] Step S9, obtain the second motion instruction of the user dragging the limited movement control on at least one sub-node model.

[0067] It should be noted that the event-driven logic can be: when the user operates the limited motion control, trigger the callback function, convert the input value of the limited motion control (such as the proportion of the sliding bar, the rotation angle) into the motion constraint parameter (t or θ); call the motion constraint calculation module to update the position of the sub-node, and trigger the view layer to redraw. Real-time guarantee: use spatial division algorithm (such as BVH tree) to accelerate collision detection; GPU acceleration coordinate transformation calculation (such as matrix operation through Shader). Constraint violation processing: when the user operation is out of bounds, trigger the "elastic backoff" effect, and visually prompt the out-of-bounds area. Log the illegal operation, support subsequent analysis and rule optimization.

[0068] Step S10, controlling at least one sub-node model to move in the motion range of at least one sub-node model according to the second motion instruction.

[0069] For example, the target device is a ring sling shown in Figure 2 and Figure 3 , the main node model of the ring sling is the ring sling device body 1, and the at least one sub-node model corresponding to the main node model is the trolley assembly 2 on the ring sling. Through the above steps S1 to S3, the running form of the trolley assembly 2 on the ring sling can be limited to moving within a certain range along the X axis. Figure 2 The trolley assembly 2 on the ring sling moves a certain distance along the X axis through the operation of steps S9 and S10, and moves to the position shown in Figure 3 .

[0070] For another example, the target device is a ring sling shown in Figure 2 and Figure 4 , the main node model of the ring sling is the ring sling device body 1, and the at least one sub-node model corresponding to the main node model is the trolley assembly 2 on the ring sling. Through the above steps S1 to S3, the running form of the trolley assembly 2 on the ring sling can be limited to moving within a certain range along the X axis, and through steps S4 and S5, the running form of the ring sling device body 1 can be limited to rotation. Figure 2 The ring sling device body 1 rotates to the position shown in Figure 4 through the operation of steps S7 and S8. Figure 2 The trolley assembly 2 on the ring sling rotates to the position shown in Figure 4 through the operation of steps S9 and S10. It should be noted that after the ring sling device body 1 rotates, the motion range of the trolley assembly 2 on the ring sling will rotate with the ring sling device body 1, and the motion range of the trolley assembly 2 on the ring sling is always guaranteed to conform to the actual range.

[0071] In the above embodiments of the present application, the motion definition of the motion form and the motion range of the master node model and the at least one sub-node model in the target device is limited when the target device is simulated, so that a user who is not familiar with the motion mode (or the operation mode) of each sub-device in the target device only needs to operate directly through the limited motion control according to the limited constraint set by the previous person, so as to avoid the situation that each sub-device in the target device does not move along the correct trajectory, greatly reduces the time cost of the user in editing the simulation animation, ensures the correctness and effectiveness of the simulation, and realizes the rapid and accurate adjustment and positioning of the model state of the special device when participating in the simulation of the maintenance scheme.

[0072] The computer device includes a processor and a memory. The processor is configured to execute the method for limiting the motion of an object in the maintenance of a special device in a radiation environment according to any one of the above embodiments of the present application. The memory is configured to store executable instructions of the processor, such as an application program. The number of processors can be one or more. The application program stored in the memory can include one or more than one module corresponding to a set of instructions. In addition, the processor is configured to execute the instructions to execute the method for limiting the motion of an object in the maintenance of a special device in a radiation environment.

[0073] The computer device can further include a power supply component configured to manage the power supply of the computer device, a wired or wireless network interface configured to connect the computer device to a network, and an input / output (I / O) interface. The computer device can operate based on an operating system stored in the memory, such as Windows Server TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or the like.

[0074] The computer device can further include a power supply component configured to manage the power supply of the computer device, a wired or wireless network interface configured to connect the computer device to a network, and an input / output (I / O) interface. The computer device can operate based on an operating system stored in the memory, such as Windows Server TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or the like.

[0075] A non-transitory computer readable storage medium, when the instructions in the storage medium are executed by the processor of the above computer device, enable the above computer device to execute the method for limiting the motion of an object in the maintenance of a special device in a radiation environment. The method for limiting the motion of an object in the maintenance of a special device in a radiation environment is executed by an agent program.

[0076] Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the examples disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. The various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality, without limitation. Depending upon the implementation, the techniques illustrated can be implemented in hardware or software, including both artificial intelligence and rule-based techniques. Skilled persons can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0077] The above functions, if implemented in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the part of the technical solutions can be embodied in the form of a computer program product stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method for limiting the movement of an object in the maintenance of special equipment in a radiation environment according to the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0078] It should be noted that the combination of the technical features in the embodiments of the present application is not limited to the combination described in the embodiments of the present application or the combination described in the specific embodiments. All the technical features described in the present application can be freely combined or combined, unless contradictory.

[0079] As shown in the present application and claims, unless the context clearly indicates otherwise, "one", "a", and / or "the" do not refer to the singular, but can also include the plural. Generally, the term "comprising" only indicates including the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements.

[0080] The terms "first", "second", and the like are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second", etc. can explicitly or implicitly include one or more features.

[0081] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for limiting the movement of objects during maintenance of special equipment in a radiation environment, characterized in that: include: Step S1: During simulation, construct a local coordinate system of a main node model in a target device and a sub-node coordinate system of at least one sub-node model that moves relative to the main node model. The sub-node coordinate system inherits the local coordinate system of the main node model through a transformation matrix. Step S2: defining the motion form and motion range of at least one child node model in the local coordinate system of the main node model; Step S3: Dynamically generate a corresponding limited motion control on at least one child node model according to the motion form and motion range of at least one child node model.

2. The method for limiting the movement of objects during maintenance of special equipment in a radiation environment according to claim 1, characterized in that: Step S1 includes: Step S11: during simulation, constructing a tree-like hierarchical structure relationship between a main node model in a target device and at least one sub-node model that moves relative to the main node model; Step S12: define the attribute information of the main node model. The attribute information of the main node model includes a unique identifier, a main node pointer, a list of sub-node models, a coordinate system transformation matrix, and motion constraint parameters of each sub-node model.

3. The method for limiting the movement of objects during maintenance of special equipment in a radiation environment according to claim 1, characterized in that: Step S2 includes: Step S21: If the constraint type of the child node model is a linear movement constraint, two reference points are set in the local coordinate system of the main node model to define the motion range of the child node model. The distance between the two reference points is the movable distance of the child node model, and the direction of the two reference points is the movable direction of the child node model. Wherein, step S3 includes: Step S31: Dynamically generate a sliding bar on the child node model according to the motion range of the child node model.

4. The method for limiting the movement of objects during maintenance of special equipment in a radiation environment according to claim 1, characterized in that: Step S2 includes: Step S22: If the constraint type of the child node model is a rotation constraint, a reference point is set in the local coordinate system of the main node model as the rotation center of the child node model; Wherein, step S3 includes: Step S32: Dynamically generate a rotation handle on the child node model according to the motion range of the child node model.

5. The method for limiting the movement of objects during maintenance of special equipment in a radiation environment according to claim 1, characterized in that: After step S1, the method further includes: Step S4: limiting the motion form and motion range of the master node model in the local coordinate system of the master node model; Step S5: Dynamically generate corresponding limited motion controls on the main node model according to the motion form and motion range of the main node model.

6. The method for limiting the movement of objects during maintenance of special equipment in a radiation environment according to claim 5, characterized in that: After step S5, the method further includes: Step S6: Based on the user's ordering of the restricted motions in the main node model and at least one sub-node model, the restricted motions are sequentially recorded into the key frame of the main node model.

7. The method for limiting the movement of objects during maintenance of special equipment in a radiation environment according to claim 5, characterized in that: After step S5, the method further includes: Step S7: obtaining a first motion instruction of the user dragging the limited motion control on the main node model; Step S8: Control the main node model to move within the movement range of the main node model according to the first movement instruction.

8. A method for limiting the movement of objects during maintenance of special equipment in a radiation environment according to any one of claims 1 to 7, characterized in that: After step S3, the method further includes: Step S9: obtaining a second motion instruction of the user dragging the limited motion control on at least one child node model; Step S10: Control at least one child node model to move within a movement range of at least one child node model according to a second movement instruction.

9. A computer device, characterized in that: include: A processor, configured to execute a method for limiting the movement of an object in the maintenance of special equipment in a radiation environment according to any one of claims 1 to 8; as well as A memory is used to store executable instructions of the processor.

10. A computer-readable storage medium having computer-executable instructions stored thereon, characterized in that: When the executable instructions are executed by the processor, the method for limiting the movement of objects in the maintenance of special equipment in a radiation environment according to any one of claims 1 to 8 is implemented.

Images