Three-dimensional scene building method based on OpenCasCode

Abstract

The invention relates to the technical field of industrial upper computers and three-dimensional simulation, in particular to a three-dimensional scene building method based on OpenCasCode, which comprises the following steps of: (1) importing and creating a model, including importing a conventional format model or creating regular models such as a cube, a sphere and the like; (2) setting a three-dimensional model coordinate system, and configuring, positioning and linking the coordinate system to realize accurate linking; (3) model position adjustment is achieved through manual dragging or parameter setting based on an OpenCASCADE manipulator; (4) creating equipment, and configuring equipment types, links and motion relations; (5) simulation verification: dragging a progress bar to confirm motion data; (6) scene storage and reading are carried out, and version compatibility is supported; and auxiliary tools for template multiplexing, path management and capture, measurement and a free coordinate system are also matched. Third-party software is not needed, developers do not need to modify codes when the scene changes and the axis number is not changed, and the method is suitable for various industrial three-dimensional simulation scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of industrial host computers and three-dimensional simulation technology, and particularly relates to a three-dimensional scene building method based on OpenCasCade. BACKGROUND

[0002] The main process of the existing three-dimensional simulation scene building of the industrial host computer software is as follows: first, a third-party three-dimensional modeling software is used to create models of machine tools, robots, tools, ground rails, fences, and positioners. After the model is created, the model needs to be positioned. All models in the three-dimensional scene have fixed relative positional relationships. There are generally two ways to set such fixed positional relationships. The first way is to set the positions of the parts in a small-scale and integrated scene model, such as a machine table. During the modeling of the machine table, the positions of the parts in the machine table model are set according to the relative positional relationships of the parts in the real world. When the model is exported to the project software, the model position does not need to be adjusted. However, the motion data of the model, such as the motion axis start point, motion type (displacement or rotation), and limit, need to be measured by the developer with the help of a third-party software and written in the code. The second way to set the model position is to set the positions of the parts in a large-scale and integrated scene. When the models are modeled, they are modeled independently. When the models are loaded into the project software, their origins are basically at the 0 point of the three-dimensional world coordinate system. The developer needs to adjust the model positions by rotating and displacing the models according to the relative positional relationships of the parts in the real world. When the relative positions of the models are positioned, the developer needs to measure the data on the models with the help of a third-party software. Meanwhile, the motion data, such as the motion axis start point and direction, limit, also need to be measured and written in the code. If the models have some dynamic parameters, a txt format file needs to be configured to write the model parameters.

[0003] The existing three-dimensional scene building method needs to measure the relative positions of the models and the motion data (motion axis start point, direction, motion type, and limit) of the models with the help of a third-party software. Then, the developer sets the model positions and motion data in the code. The data is written in the code. Once the models are replaced or the motion axis is changed, the developer needs to measure and adjust the code again and release a new version of the software. When there are many customers and the models of the scenes or devices of the customers are frequently replaced, the code needs to be adjusted every time the models are changed.

[0004] Therefore, there is an urgent need for a new technical solution to solve the above technical problems. SUMMARY

[0005] The present application aims to overcome the deficiencies of the prior art, and provides a three-dimensional scene building method based on OpenCasCade, to solve the technical problems of needing to position the model through code, which is very cumbersome and prone to errors; needing to measure related parameters with the help of third-party software, which requires developers to install and use third-party software; and for the same type of scene, once the scene changes, the code needs to be adjusted and the version needs to be released.

[0006] The above-mentioned object is achieved by the following technical solutions: A three-dimensional scene building method based on OpenCasCade, comprising the following steps: Step (1) model import and creation: import a three-dimensional model in a conventional format in the industrial field, or create a regular three-dimensional model of a cuboid, sphere, cylinder, or cone type; Step (2) three-dimensional model coordinate system setting: configure a positioning coordinate system and a linking coordinate system for each three-dimensional model, the positioning coordinate system is used to set the reference datum of the current model position, and the linking coordinate system is used to make the positioning coordinate system of other models or devices coincide with the linking coordinate system of the current model, to realize accurate relative position linking between the two; Step (3) model position adjustment: based on the OpenCASCADE three-dimensional engine manipulator, adjust the displacement and rotation of the model through manual dragging in the three-dimensional display area or parameter setting in the operation panel; Step (4) device creation: create a device composed of multiple models, configure the device type, positioning coordinate system, and linking coordinate system, add multiple links in the device, each link contains at least one model and the models in the link have no relative motion, set the motion relationship between the links, and configure the link motion axis data of the device; Step (5) simulation verification: verify the relative motion relationship between the devices or models and the motion relationship between the links in the device, drive the model or device animation simulation by dragging the progress bar, and confirm the correctness of the motion data; Step (6) scene storage and reading: save the built scene data to a local folder, load the scene file through the scene reading library, and the new version of the scene reading library is compatible with the old version of the scene file and converts it to the latest version.

[0007] As an optimization of the three-dimensional scene building method based on OpenCasCade described in the present application, when creating a regular three-dimensional model in step (1), input the parameters through the operation panel: cuboid input length, width, and height, cylinder input bottom radius and height, sphere input radius, and cone input bottom radius, top radius, and height.

[0008] As the optimization of the three-dimensional scene building method based on OpenCasCade, the three-dimensional model coordinate system setting in step (2) is realized by a coordinate system setting tool, the coordinate system setting tool supports input of position coordinates and axis direction vectors of the coordinate system, and in order to ensure the right-handed coordinate system, when any axis direction changes, the remaining axis directions are automatically adjusted, and the coordinate system direction displayed in the three-dimensional view is used as a reference.

[0009] As the optimization of the three-dimensional scene building method based on OpenCasCade, the OpenCASCADE three-dimensional engine manipulator in step (3) is provided with color identification: red corresponds to the X axis, green corresponds to the Y axis, and blue corresponds to the Z axis; the manipulator includes an axis rotation manipulation ring and an axis displacement manipulation area, the axis rotation manipulation ring is used for selecting and dragging to realize model rotation around the corresponding axis, and the axis displacement manipulation area is used for selecting and dragging to realize model displacement along the corresponding axis.

[0010] As the optimization of the three-dimensional scene building method based on OpenCasCade, the operation panel in step (3) supports setting Euler angles, three-dimensional world coordinate system absolute values, and model initial position relative values, and supports one-key reset to the initial position, movement to the three-dimensional world coordinate system origin, setting of X / Y / Z axis direction offset range and single-step movement distance.

[0011] As the optimization of the three-dimensional scene building method based on OpenCasCade, the device type in step (4) includes robots, tools, ground rails, positioners, and fences; the motion relationship includes motion type, limit, axis starting point, and axis direction, the motion type is divided into displacement and rotation; the linkage is set through a linkage operation panel, the left side of the linkage operation panel displays free models in the scene that are not added to other devices, the right side of the linkage operation panel displays models in the current linkage, and the linkage operation panel supports model transfer between the two lists.

[0012] As the optimization of the three-dimensional scene building method based on OpenCasCade, the progress bar range of the simulation verification in step (5) is bounded by the limit of the motion relationship, and the simulation premise is that the motion axis data is correct and the limit lower limit value is less than the limit upper limit value; when the devices are linked for simulation, the parent linkage is a device containing a linkage motion axis, the child linkage is a device or a model, and the parent linkage and the child linkage are not repeated.

[0013] As the optimization of the three-dimensional scene building method based on OpenCasCade described in the scheme, the template function step is further included: saving the device or model to the local as a device template or a model template, supporting loading the template from the local and being compatible with the old version template; the device template is stored according to the device type, and the model template is uniformly stored to the default model path.

[0014] As the optimization of the three-dimensional scene building method based on OpenCasCade described in the scheme, the path setting step is further included: setting the default storage path and the default loading path of the scene, the model and each type of device, and different types of devices correspond to independent default storage paths and default loading paths; the path setting supports customizing the path and restoring the system default path.

[0015] As the optimization of the three-dimensional scene building method based on OpenCasCade described in the scheme, the auxiliary tool step is further included: the auxiliary tool includes a capture tool, a measurement tool and a free coordinate system tool, wherein: The capture tool supports capturing points and capturing directions, the capturing points include model vertices, face midpoints, circle center points and line midpoints, and the capturing directions include face normal, straight line direction and circle normal; The measurement tool supports linear measurement, angle measurement, radius measurement and curve length measurement; The free coordinate system tool supports creating a free coordinate system, setting the position of the free coordinate system and setting the free coordinate system as the origin of the three-dimensional world coordinate system, when the free coordinate system is set as the origin of the three-dimensional world coordinate system, all models in the scene remain relative positions unchanged and are collectively transformed.

[0016] The three-dimensional scene building method based on OpenCasCade provided by the application can eliminate the dependence on third-party software and does not need to measure parameters by using CAD software; when the scene changes (the number of axes remains unchanged), the developer does not need to modify the code, only the scene folder needs to be replaced, and the version release frequency is reduced; the scene reading library is provided to simplify the development and is compatible with the old version, supports multiple device types, and can also reduce the operation error by using the tool, and is convenient for adapting various industrial three-dimensional simulation scenes. The specific advantages are as follows: 1. Eliminate the dependence on third-party software: integrate model positioning, motion data setting, simulation verification function, do not need third-party CAD software to measure parameters, only need to operate through the scene building tool; 2. Reduce the code adjustment frequency: when the scene changes (the number of axes remains unchanged), the developer does not need to modify the code, only the scene folder needs to be replaced, and the version release frequency is reduced; 3. Simplify the development process: provide a scene reading library, the developer does not need to parse the model / parameter file, directly calls the interface to obtain the data, and supports version compatibility; 4. Strong universality: unified scene data structure, supports multiple device types, and is suitable for various industrial three-dimensional simulation scenes; 5. Convenient operation: reduces manual input through manipulator, capture tool, and template function, and real-time confirmation of data correctness by simulation verification reduces operation errors. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A flowchart of the three-dimensional scene building method based on OpenCasCade according to the present application; Figure 2 A system architecture diagram of scene building in the three-dimensional scene building method based on OpenCasCade according to the present application; Figure 3 A scene usage flowchart in the three-dimensional scene building method based on OpenCasCade according to the present application. DETAILED DESCRIPTION

[0018] The present application will be further described in detail below according to the drawings and embodiments. The described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] As shown in Figure 1 The present application provides a method for intelligently analyzing and updating PLC engineering through a U disk file of an HMI, which integrates model import / creation, coordinate system setting, position adjustment, device creation, simulation verification, template reuse, path management, scene storage reading, and auxiliary tool functions, and the specific steps are as follows: Step (1) model import and creation Step (101) model import: supports importing three-dimensional models in conventional formats in the industrial field, and the imported model is loaded into the three-dimensional scene by default, with the origin initially located at the 0 point of the three-dimensional world coordinate system; Step (102) rule model creation: create a cube, sphere, cylinder, and cone through the "create primitive" operation panel, and input the corresponding parameters during creation: Cube: input length, width, and height; Cylinder: input bottom radius and height; Sphere: input radius; Cone: input bottom radius, top radius, and height; After creation, the rule model automatically generates a default name, supports subsequent renaming, and the name is not repeated.

[0020] Step (2) three-dimensional model coordinate system setting Configure the positioning coordinate system and the linking coordinate system for each model through the "coordinate system setting tool": Positioning coordinate system: reference datum when moving the model or setting the model position, all displacement / rotation operations are based on this coordinate system as the origin; Linking coordinate system: when other models or devices are linked to the current model, the positioning coordinate system of other models or devices needs to be completely coincident with the linking coordinate system of the current model to achieve accurate relative position fixing; The coordinate system setting tool supports inputting coordinate system position coordinates (X / Y / Z axis values) and axis direction vectors, and to ensure the right-handed coordinate system, when adjusting any axis direction, the remaining axis directions are automatically adapted. The coordinate system direction displayed in the three-dimensional view is the reference.

[0021] Step (3) Model position adjustment Model position adjustment is realized based on the OpenCASCADE three-dimensional engine manipulator, supporting two ways: manual dragging and parameter setting: 1. Manipulator operation: The manipulator is color-coded by axis: red for X axis, green for Y axis, and blue for Z axis; Axis rotation: select the rotation manipulator ring corresponding to the axis and drag, the model rotates around the axis in the dragging direction; Axis displacement: select the displacement manipulator area corresponding to the axis and drag, the model moves along the axis in the dragging direction; 2. Operation panel settings: Support setting Euler angles, three-dimensional world coordinate system absolute values, and model initial position relative values; Support one-key reset to the model initial position and one-key move to the three-dimensional world coordinate system origin; You can set the offset range and single-step movement distance of X / Y / Z axis direction. If the offset range or step size does not meet the requirements, you can adjust it through the "reset" function.

[0022] Step (4) Device creation The device is composed of multiple models and the models can have relative motion relationship. The creation steps are as follows: Step (401) Device basic configuration: Select the device type (robot, tool, ground rail, positioner, fence); Input the device name (must not be duplicated with other device names in the scene); Configure the positioning coordinate system (reference for moving the device) and the linking coordinate system (reference for linking other models / devices) of the device through the "coordinate system setting tool"; Step (402) Linking addition: Add links through the "Link Settings" panel, with "Free Model List" (models not added to other devices) on the left and "Current Link Model List" on the right: Import models: select a model on the left and click "Import" to add it to the right and become a current link component; Remove models: select a model on the right and click "Remove" to return it to the left and restore it as a free model; Each link contains at least one model, and the models within the same link have no relative motion; Step (403) Motion Relationship Settings: Set motion relationships between different links of a device. Motion relationships include motion type (displacement / rotation), limits (lower limit value, upper limit value, which must satisfy lower limit value ≤ upper limit value), axis origin, and axis direction; Configure the link motion axis data of the device at the same time, which will be followed by other models or devices when linking.

[0023] Step (5) Simulation Verification Verify the correctness of the motion data through animation simulation, which includes intra-device link motion simulation and inter-device link simulation: Step (501) Intra-Device Link Motion Simulation: Select the intra-device link with set motion relationships, open the "Motion Axis Verification" panel, and drag the progress bar (range: motion axis limits). The three-dimensional view will synchronously display the motion state of the sub-link and dependent links. Confirm that the motion trajectory is consistent with the expected value; Step (502) Inter-Device Link Simulation: Parent Link: Select only the device containing the link motion axis; Sub-link: Select the device or model that needs to be linked to the parent link; Drag the progress bar (range: link motion axis limits of the parent link device) and observe the motion state of the sub-link to confirm whether it moves according to the parent link motion axis data; The simulation premise is that the motion axis data is correct and the lower limit value ≤ upper limit value.

[0024] Step (6) Template Function To achieve parameter reuse of devices or models, support saving devices or models as templates and loading them: Step (601) Template Saving: Device Template: Right-click the device and select "Save as Template" to store it in the corresponding path according to the device type; Model Template: Right-click the model and select "Model Save as" to store it in the default model path; Step (602) Template Loading: Import templates from corresponding path by "Import Template" function, support version compatibility, new version can load old version template, no need to reset parameters.

[0025] Step (7) Path Settings Configure the default storage / load path of scene, model and each device type through "Default Path Settings" panel: Scene Default Path: used to store / load scene files; Model Default Path: used to store / load model templates; Device Default Path: set independent default storage / load path for each device type (robot, tool, ground rail, positioner, fence); Support "Select Path" (custom path) and "Clear Path" (restore system default) operations.

[0026] Step (8) Scene Storage and Reading Step (801) Scene Storage: After the scene is built, save the scene data (including model data, device data, motion data, coordinate system data) to the local folder through "File Menu - Save Scene", support "Save Scene As" to non-default path; Step (802) Scene Reading: Developers load scene files through "Scene Reading Library" without parsing model or parameter files themselves: Call the scene reading library interface to directly get all data in the scene; Convert the data structure output by the reading library into the project software's own data structure, which can display the three-dimensional scene and control the simulation motion; Version compatibility: new version scene reading library can read old version scene files and automatically convert to the latest version format.

[0027] Step (9) Auxiliary Tools Step (901) Capture Tool: Support capturing the key points and directions of the model, including: Capture points: vertex, face midpoint, circle center point, line midpoint; Capture directions: face normal, straight line direction, circle normal; Operation method: click the input box where the data needs to be input, select the capture option, select the graphic element from the three-dimensional view, and the input box will automatically update the value; Step (902) Measurement Tool: Support four types of measurement: Linear measurement: hold down the Ctrl key to select two points / lines / planes, measure the straight-line distance; Angle measurement: Hold Ctrl key to select two lines or two surfaces, measure the included angle; Radius measurement: Select a circular line or arc surface, measure the radius; Curve length: Select a curve, measure the total length; Support "clear all annotations" or "turn off page automatic clearing annotations"; Step (903) free coordinate system tool: Create / delete: created by "create free coordinate system" function, removed by right-click "delete"; Position setting: adjust the position through "coordinate system setting tool"; Set as world origin: right-click "set as world coordinate system origin", all models in the scene keep relative position unchanged and collectively transform.

[0028] As Figure 2 shown, the main function modules of the three-dimensional scene building of the scheme include: model loading, model position adjustment, device creation and setting, simulation verification, template function, path setting, scene storage and reading several main function modules, the implementation steps are as follows: 1, import or create model. Model import supports the format of conventional three-dimensional files. The software supports the creation of conventional graphics elements: such as cube, sphere, cylinder, etc.

[0029] 2, set three-dimensional model coordinate system. Support two coordinate systems of three-dimensional model coordinate system.

[0030] One is the positioning coordinate system, which refers to the reference coordinate system when setting the current model position, used for accurate positioning of the model; The other is the link coordinate system, the role of the link coordinate system is that when other models or devices move to the current model, the positioning coordinate system of other models (together with the model) moves to the position (coincidence) of the link coordinate system of the current model, so as to realize the accurate link of the relative position relationship of two models.

[0031] 3, model position adjustment. Model position setting tool is a model positioning tool based on opencascade three-dimensional engine manipulator.

[0032] Users can manually drag the model displacement and rotation in the three-dimensional display area through the manipulator, or set the Euler angle of the model and the absolute value in the three-dimensional world coordinate system, or the relative value relative to the initial position of the model, to determine the position of the three-dimensional world coordinate system.

[0033] The system also provides one-key reset to the initial position, movement to the origin of the three-dimensional world coordinate system, setting the offset range of the model in the X, Y, Z axis direction of the three-dimensional world coordinate system / the X, Y, Z axis direction of the model coordinate system, and single-step movement distance.

[0034] 4. Device creation. The device is a mechanical equipment composed of multiple models, and the models of the device can be set to have relative motion relationship. The device, like the model, has a positioning coordinate system and a linking coordinate system, but has one more linking motion data. The linking motion axis refers to that if other devices or models are set to be linked to the current device, the linked devices or models will perform displacement or rotation motion according to the linking motion data. The motion data settable by the user includes: motion type (displacement or rotation), limit, displacement axis or rotation axis (origin and direction), etc.

[0035] Multiple models can be added to the device, and the relative motion relationship between the models can be set. The relative motion relationship data includes motion type (displacement or rotation), limit, displacement axis or rotation axis (origin and direction), etc., and the linking motion data of the device.

[0036] For example, a robot is a device, and the robot includes a base and multiple axes, and each axis has a relative motion relationship. The robot needs a positioning coordinate system to position the robot in the three-dimensional world. The robot needs a linking coordinate system to accurately link when a welding gun or other tool is installed at the end axis of the robot. The robot needs to set a motion axis data of the welding gun at the end axis of the robot, and the welding gun performs rotation motion at the end axis of the robot, and has a motion limit, which can all be set through the function of positioning the coordinate system of the robot.

[0037] 5. Simulation verification of motion data. When a device / model A is linked to a device B, that is, a relative motion relationship is established between A and B, or a relative motion relationship is established between two links in the device, the user can verify the correctness of the motion data by dragging the progress bar (within the limit) and the model and the device according to the animation simulation motion state.

[0038] 6. Template function. The user can store different types of devices as templates, or store models as templates, which facilitates the reuse of parameters of similar devices or models in the future.

[0039] 7. Path setting. Template path, scene default path, etc. are supported.

[0040] 8. Scene Saving and Loading. After the scene is built, it is saved to a folder. Software developers can import the scene file into their projects using the scene import library, obtaining all 3D scene information, including model data, model positions, device data, and motion data. They can then display the 3D scene in their software or further manipulate the model data for simulated motion. The system provides version compatibility services; newer versions can read older versions and convert them into the latest version scene files.

[0041] 7. Other auxiliary functions: (1) Snap Function: When setting the coordinate system and the starting point of the axes, it is necessary to snap some key points on the 3D model; when setting the axis direction, it is necessary to set the axis direction. Snap tools are provided: (2) Measurement tools: Provides three-dimensional model measurement tools, including output of selected points, lines and surfaces, length measurement, angle measurement, radius measurement, etc.

[0042] (3) Free coordinate system: Supports the creation of free coordinate systems. Users can set the position of the free coordinate system, use this coordinate system to locate the model, or set this coordinate system as the origin of the three-dimensional world coordinate system.

[0043] like Figure 3 The diagram illustrates the complete usage flow of the above scenario, including: 1. The project team confirms the processing scenario with the client; 2. Project team members create models of the processing scene using third-party 3D CAD software (if the client has a model, they can provide their own model); 3. Project team members use scene building software to build scenes, set the positions of models in the scene, create equipment, set movement relationships, and other scene data; 4. Software developers use scene parsing libraries to read 3D scene data and obtain model and motion data; 5. Software developers display the 3D scene and control the 3D model to simulate movement, realizing 3D functionality.

[0044] The above description is merely illustrative of the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for building a three-dimensional scene based on OpenCasCade, characterized in that, It comprises the following steps: Step (1) model import and creation: import three-dimensional models in conventional formats in the industrial field, or create regular three-dimensional models of the types of cube, sphere, cylinder, and cone; Step (2) three-dimensional model coordinate system setting: configure a positioning coordinate system and a linking coordinate system for each three-dimensional model, the positioning coordinate system is used to set the reference datum of the current model position, and the linking coordinate system is used to make the positioning coordinate systems of other models or devices coincide with the linking coordinate system of the current model, so as to realize accurate relative position linking of the two; Step (3) model position adjustment: based on the OpenCASCADE three-dimensional engine manipulator, the displacement and rotation of the model are adjusted through manual dragging in the three-dimensional display area or parameter setting in the operation panel; Step (4) device creation: create a device composed of multiple models, configure the device type, positioning coordinate system, and linking coordinate system, add multiple links in the device, each link contains at least one model and the models in the link have no relative motion, set the motion relationship between the links, and configure the linking motion axis data of the device; Step (5) simulation verification: verify the relative motion relationship between the devices or models and the motion relationship between the links in the device, drive the model or device animation simulation by dragging the progress bar, and confirm the correctness of the motion data; Step (6) scene storage and reading: save the completed scene data to a local folder, load the scene file through the scene reading library, and the new version of the scene reading library is compatible with the old version of the scene file and converts it to the latest version.

2. The OpenCasCade-based three-dimensional scene building method according to claim 1, wherein, In step (1), when creating a regular three-dimensional model, input the parameters through the operation panel: input the length, width, and height of the cube, the bottom radius and height of the cylinder, the radius of the sphere, and the bottom radius, top radius, and height of the cone.

3. The OpenCasCade-based three-dimensional scene building method according to claim 1, wherein, In step (2), the three-dimensional model coordinate system setting is realized through the coordinate system setting tool, which supports inputting the position coordinates and axis direction vectors of the coordinate system, and to ensure the right-handed coordinate system, when any axis direction changes, the remaining axis directions are automatically adjusted to adapt, and the coordinate system direction displayed in the three-dimensional view is used as a reference.

4. The OpenCasCade-based three-dimensional scene building method according to claim 1, wherein, In step (3), the OpenCASCADE three-dimensional engine manipulator is color-coded: red corresponds to the X-axis, green corresponds to the Y-axis, and blue corresponds to the Z-axis; The manipulator includes an axis rotation manipulator ring and an axis displacement manipulator area, the axis rotation manipulator ring is used to select and drag to realize model rotation around the corresponding axis, and the axis displacement manipulator area is used to select and drag to realize model displacement along the corresponding axis.

5. The OpenCasCade-based three-dimensional scene building method according to claim 1 or 4, characterized in that, In step (3), the operation panel supports setting Euler angles, three-dimensional world coordinate system absolute values, and model initial position relative values, and supports one-key reset to the initial position, moving to the three-dimensional world coordinate system origin, setting the X / Y / Z axis direction offset range, and single-step movement distance.

6. The OpenCasCade-based three-dimensional scene building method according to claim 1, wherein, The device type in step (4) includes robots, tools, ground rails, positioners, and barriers. The motion relationship includes motion type, limit, axis origin, and axis direction. The motion type is classified as displacement and rotation. The linkage is set through a linkage operation panel. The left side of the linkage operation panel displays free models in the scene that are not added to other devices. The right side of the linkage operation panel displays models in the current linkage. The models can be transferred between the two lists.

7. The OpenCasCade-based three-dimensional scene building method according to claim 1, wherein, In step (5), the progress bar range of the simulation verification is bounded by the limits of the motion relationship. The simulation premise is that the motion axis data is correct and the lower limit value of the limit is less than the upper limit value of the limit. When the linkage simulation is performed between devices, the parent linkage is a device containing a linkage motion axis, and the child linkage is a device or a model. The parent linkage and the child linkage are not repeated.

8. The OpenCasCade-based three-dimensional scene building method according to claim 1, wherein, The template function step is also included. The device or model is saved to the local device as a device template or a model template. The template can be loaded from the local device, and the old version of the template is compatible. The device template is stored according to the device type. The model template is stored in the default model path.

9. The OpenCasCade-based three-dimensional scene building method according to claim 1, wherein, The path setting step is also included. The default storage path and the default loading path of the scene, the model, and each type of device are set. Different types of devices correspond to independent default storage paths and default loading paths. The path setting supports custom paths and restoring system default paths.

10. The OpenCasCade-based three-dimensional scene building method according to claim 1, wherein, The auxiliary tool step is also included. The auxiliary tool includes a capture tool, a measurement tool, and a free coordinate system tool. The capture tool supports capturing points and directions. The capturing points include model vertices, face midpoints, circle center points, and line midpoints. The capturing directions include face normals, straight line directions, and circle normals. The measurement tool supports linear measurement, angle measurement, radius measurement, and curve length measurement. The free coordinate system tool supports creating a free coordinate system, setting the free coordinate system position, and setting the free coordinate system as the origin of the three-dimensional world coordinate system. When the free coordinate system is set as the origin of the three-dimensional world coordinate system, all models in the scene remain relative positions unchanged and are collectively transformed.

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