Inter-component included angle variation calculation method and device, equipment and storage medium

Abstract

The invention discloses an inter-component included angle variable quantity calculation method and device, equipment and a storage medium, and relates to the technical field of intelligent equipment, and the method comprises the steps: determining a node set of to-be-solved included angle change; performing drop analysis on the target intelligent equipment according to the node set; fitting a plane normal vector at each moment according to a drop analysis result and a target decomposition algorithm; according to the plane normal vector at each moment, calculating an included angle variable quantity between the target components of the target intelligent equipment in the falling process; according to the mode, after the node set of the to-be-solved included angle change is determined, the complete machine falling model is used for carrying out falling analysis on the target intelligent equipment according to the node set, the complete machine falling model outputs a final analysis result at the moment, and then the normal vector of the plane where the target assembly is located at each moment is collected by using the target decomposition algorithm; and finally calculating the variable quantity of the included angle between the target components in the falling process of the target intelligent equipment, so that the accuracy and efficiency of calculating the variable quantity of the included angle can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent devices, and particularly relates to a component angle change calculation method and device, equipment and a storage medium. BACKGROUND

[0002] Virtual Reality (VR) and Augmented Reality (AR) products are in a stage of rapid development and have broad application prospects in various fields, such as 3D games, tourism, medical treatment and the like. However, VR / AR products have a situation of falling in actual use, and whether the VR / AR products can continue to be used after a collision in the falling process is a core factor to be considered in design. An evaluation index of the core factor can be a component angle change. At present, a component angle change is determined based on sensor measurement. However, the component angle change is relatively small and difficult to measure by using a sensor, which consumes a large amount of time and finally causes low accuracy and efficiency of determining the component angle change.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a component angle change calculation method, device, equipment and storage medium, and to solve the technical problem of low accuracy and efficiency of determining a component angle change in the prior art.

[0005] To achieve the above purpose, the present application provides a component angle change calculation method, which comprises the following steps:

[0006] determining a node set of a to-be-solved angle change;

[0007] performing falling analysis on a target intelligent device according to the node set;

[0008] fitting a plane normal vector at each moment according to a falling analysis result and a target decomposition algorithm;

[0009] calculating a component angle change of the target intelligent device in a falling process according to the plane normal vector at each moment.

[0010] In an embodiment, the step of fitting the plane normal vector at each moment according to the falling analysis result and the target decomposition algorithm comprises:

[0011] generating a falling analysis file in a target format according to the falling analysis result;

[0012] setting a multi-dimensional component angle change calculation parameter;

[0013] According to the drop analysis file, the target decomposition algorithm and the calculation parameters, the normal vectors of the planes at each time are fitted.

[0014] In an embodiment, the step of fitting the normal vectors of the planes at each time according to the drop analysis file, the target decomposition algorithm and the calculation parameters comprises:

[0015] Obtaining the number of the node set;

[0016] According to the number, the initial coordinates of each node are called;

[0017] According to the drop analysis file, the displacement-time curves of each node are called;

[0018] According to the initial coordinates and the displacement-time curves, the coordinates of each node at different times are determined;

[0019] According to the coordinates of each node at different times, the target decomposition algorithm and the calculation parameters, the normal vectors of the planes at each time are fitted.

[0020] In an embodiment, the step of fitting the normal vectors of the planes at each time according to the coordinates of each node at different times, the target decomposition algorithm and the calculation parameters comprises:

[0021] According to the coordinates of each node at different times, the target plane is fitted;

[0022] According to the coordinates of each node at different times and the target plane, the coordinates of the center point are calculated;

[0023] When it is determined that there is an orthogonality with the center point, the normal vector solving parameter is determined;

[0024] According to the target decomposition algorithm and the normal vector solving parameter, the normal vectors of the planes at each time are fitted.

[0025] In an embodiment, the step of fitting the normal vectors of the planes at each time according to the target decomposition algorithm and the normal vector solving parameter comprises:

[0026] According to the target decomposition algorithm, the normal vector solving parameter is singularly decomposed to obtain a left singular matrix, a right singular matrix and a square root of eigenvalue;

[0027] According to the left singular matrix, the right singular matrix and the square root of eigenvalue, the normal vectors of the planes at each time are fitted.

[0028] In an embodiment, the step of calculating the angle change amount between the target components of the target intelligent device in the drop process according to the normal vectors of the planes at each time comprises:

[0029] acquire actual angle change amount calculation requirement of a user;

[0030] determine whether to start a high-precision mode according to the actual angle change amount calculation requirement;

[0031] if yes, determine a data representation form corresponding to the high-precision mode;

[0032] calculate an angle change amount between target components of a target intelligent device in a falling process according to the plane normal vector at each time and the data representation form.

[0033] In an embodiment, the step of calculating the angle change amount between the target components of the target intelligent device in the falling process according to the plane normal vector at each time includes:

[0034] obtain a first plane normal vector and a second plane normal vector according to the plane normal vector at each time;

[0035] determine an angle solving algorithm;

[0036] calculate an angle between the target components at a current time according to the angle solving algorithm, the first plane normal vector and the second plane normal vector;

[0037] calculate the angle change amount between the target components of the target intelligent device in the falling process according to the angle between the target components at the current time and the angle between the target components at a previous time.

[0038] In addition, to achieve the above object, the present application further provides an angle change amount calculation device between components, which comprises:

[0039] a determination module configured to determine a node set of an angle change to be solved;

[0040] an analysis module configured to perform falling analysis on a target intelligent device according to the node set;

[0041] a fitting module configured to fit a plane normal vector at each time according to a falling analysis result and a target decomposition algorithm;

[0042] a calculation module configured to calculate an angle change amount between target components of the target intelligent device in a falling process according to the plane normal vector at each time.

[0043] In addition, to achieve the above object, the present application further provides an angle change amount calculation device between components, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the angle change amount calculation method between components as described above.

[0044] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the method for calculating the change in the angle between components as described above.

[0045] One or more technical solutions proposed in this application have at least the following technical effects: By determining the set of nodes whose angle changes need to be solved; performing drop analysis on the target intelligent device based on the set of nodes; fitting the plane normal vectors at each moment based on the drop analysis results and the target decomposition algorithm; calculating the angle change between target components of the target intelligent device during the drop process based on the plane normal vectors at each moment; through the above method, after determining the set of nodes whose angle changes need to be solved, the whole-device drop model is used to perform drop analysis on the target intelligent device based on the set of nodes. At this time, the whole-device drop model will output the final analysis results. Then, the target decomposition algorithm is used to extract the normal vectors of the plane where the target components are located at each moment, and finally, the angle change between target components of the target intelligent device during the drop process is calculated, thereby effectively improving the accuracy and efficiency of calculating the angle change. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart illustrating an embodiment of the method for calculating the change in the included angle between components in this application.

[0049] Figure 2 A schematic diagram of the overall structure of the method for calculating the change in the included angle between components provided in Embodiment 1 of this application;

[0050] Figure 3 This is a flowchart illustrating Embodiment 2 of the method for calculating the change in the included angle between components in this application.

[0051] Figure 4 Angle curves at various times for the calculation method of the angle change between components provided in Embodiment 2 of this application;

[0052] Figure 5 This is a schematic diagram of the module structure of the device for calculating the change in the included angle between components in an embodiment of this application;

[0053] Figure 6 This is a schematic diagram of the hardware operating environment involved in the calculation method of the angle change between components in the embodiments of this application.

[0054] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0055] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or angle change calculation device capable of performing the above functions. The following description uses angle change calculation as an example to illustrate this embodiment and the subsequent embodiments.

[0056] Based on this, embodiments of this application provide a method for calculating the change in the included angle between components, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the method for calculating the change in the included angle between components in this application.

[0057] In this embodiment, the method for calculating the change in the included angle between components includes steps S10 to S40:

[0058] Step S10: Determine the set of nodes whose included angle changes are to be solved.

[0059] It should be noted that the node set refers to the set of nodes used to calculate the change in the angle between target components. These nodes can be located on the surfaces of multiple target components on the target smart device, for example, reference... Figure 2 , Figure 2 The diagram shows the overall structure. Specifically, when the target smart device is a smart head-mounted display device, the target component can be a lens. The number of target components can be two. For example, the node set can be named "Camer1" and "Camer2". The target smart device falls downwards. The initial angle between the target components can be represented as α.

[0060] Step S20: Perform drop analysis on the target smart device based on the node set.

[0061] Understandably, after determining the set of nodes, drop analysis is performed on the target smart device based on the overall drop model. Before the analysis, it is necessary to determine the binding relationship, materials, and initial state of each component on the target smart device. The overall drop model can be constructed using the parameters of the target smart device.

[0062] Step S30: Fit the plane normal vector at each moment based on the drop analysis results and the target decomposition algorithm.

[0063] It should be understood that the target decomposition algorithm refers to the algorithm that decomposes and fits the normal vector of the plane where the target component is located at each moment. The target decomposition algorithm can be the Singular Value Decomposition (SVD) algorithm. After obtaining the drop analysis results, the plane normal vector at each moment is fitted by the target decomposition algorithm.

[0064] Further, step S30 includes: generating a drop analysis file in target format based on the drop analysis results; setting calculation parameters for multi-dimensional angle changes; and fitting the plane normal vector at each time step based on the drop analysis file, the target decomposition algorithm, and the calculation parameters.

[0065] Understandably, the target format of the drop analysis file can be .odb, for example, VR_Drop1.odb. This target format drop analysis file can be stored in a specific directory, such as D / Result / . At this time, the finite element analysis software will be launched, which can be Abaqus software. The calculation parameters for the angle change will be set from multiple dimensions. These calculation parameters include, but are not limited to, the component instance, set, solution result name, accuracy level, and number of decimal places in the result. After the above settings are completed, the plane normal vector at each time point is fitted.

[0066] Further, the step of fitting the plane normal vector at each time step based on the drop analysis file, the target decomposition algorithm, and the calculation parameters includes: obtaining the node set number; retrieving the initial coordinates of each node based on the number; retrieving the displacement-time curve of each node based on the drop analysis file; determining the coordinates of each node at different times based on the initial coordinates and the displacement-time curve; and fitting the plane normal vector at each time step based on the coordinates of each node at different times, the target decomposition algorithm, and the calculation parameters.

[0067] It should be understood that the numbering is unique for different node sets. For example, the number of node set Camera1 is 001, and the number of node set Camera2 is 002. The initial coordinates refer to the coordinates of each node at the initial moment. For the main program in the angle change calculation device, after receiving the node set number and precision mode, it will retrieve the initial coordinates of each node. The displacement-time curve represents the curve of each node in the displacement and time dimensions. After retrieving the initial coordinates of each node, the coordinates of each node at different times are determined by combining the displacement-time curve.

[0068] Further, the step of fitting the plane normal vector at each time step based on the drop analysis file, the target decomposition algorithm, and the calculation parameters includes: fitting the target plane based on the coordinates of each node at different times; calculating the coordinates of the center point based on the coordinates of each node at different times and the target plane; determining the normal vector solution parameters when it is determined that there is orthogonality with the center point; and fitting the plane normal vector at each time step based on the target decomposition algorithm and the normal vector solution parameters.

[0069] It is understandable that the target plane refers to a plane in three-dimensional space composed of the coordinates of multiple nodes, with the number of nodes being greater than or equal to 3, and can be represented as: {m1(x1,y1,z1),m2(x2,y2,z2),m3(x3,y3,z3)…m n (x n ,y n ,z n In this case, the target plane for fitting can be represented as ax + by + cz = 0. Additionally, the coordinates of the center point will be calculated, specifically:

[0070]

[0071] Where (x0, y0, z0) represent the coordinates of the center point m0, (x i ,y i ,z i ) represents the coordinates of each node, and p represents the number of nodes.

[0072] It should be understood that the parameters for solving the normal vector refer to the parameters used to fit the plane normal vector at each time step. When it is determined that the above nodes are orthogonal to the center point, m0m i ·n=A·n=0, determine the parameters for solving the normal vector, which can then be expressed as m0m i ·n=A·n=0, further expressed as:

[0073] A = m0m i = [m1-m0m2-m0...m n -m0] T .

[0074] Where A represents the parameters for solving the normal vector, n represents the plane normal vector, m0 represents the center point, and m1, m2, ..., m n Each represents a different node.

[0075] Further, the step of fitting the plane normal vector at each time step according to the target decomposition algorithm and the normal vector solution parameters includes: performing singular decomposition on the normal vector solution parameters according to the target decomposition algorithm to obtain a left singular matrix, a right singular matrix, and the square root of the eigenvalues; and fitting the plane normal vector at each time step according to the left singular matrix, the right singular matrix, and the square root of the eigenvalues.

[0076] It should be understood that, in order to effectively improve the calculation of normal vector solution parameters, a singular decomposition of the normal vector solution parameters is performed using an objective decomposition algorithm, which can be specifically expressed as:

[0077] A=UΣV T .

[0078] Where A represents the normal vector solution parameters, U is the left singular matrix of A, Σ is the singular matrix of A, and V T Let A be a right singular matrix.

[0079] Additionally, U is a left singular matrix of A, i.e., AA T Let Σ be the unit eigenvector of A, and let Σ be the singular matrix of A, i.e., AA T eigenvalue square roots, sorted in descending order, V T Let A be a right singular matrix, i.e., A T The unit eigenvector of A, where V = [v0, v1, v2... v n ], v n If n is the right singular vector corresponding to the minimum singular value, then n = v3.

[0080] Step S40: Calculate the change in the angle between the target components of the target smart device during the fall based on the plane normal vector at each moment.

[0081] It is understandable that the change in included angle refers to the change in the included angle between the target components of the target smart device before and after the fall. When calculating the change in included angle between the target components during the fall, an included angle calculation algorithm is required. After calculating the change in included angle between the target components, the result can be output to a specified storage file, which can be a Result.txt file.

[0082] This embodiment determines the set of nodes whose angle changes need to be solved; performs drop analysis on the target smart device based on the set of nodes; fits the plane normal vectors at each moment based on the drop analysis results and the target decomposition algorithm; and calculates the change in angle between the target components of the target smart device during the drop based on the plane normal vectors at each moment. Through this method, after determining the set of nodes whose angle changes need to be solved, a whole-device drop model is used to perform drop analysis on the target smart device based on the set of nodes. The whole-device drop model outputs the final analysis results. Then, the target decomposition algorithm is used to extract the normal vectors of the planes containing the target components at each moment, and finally, the change in angle between the target components of the target smart device during the drop is calculated, thereby effectively improving the accuracy and efficiency of calculating the angle change.

[0083] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 Step S40 includes steps S401 to S404:

[0084] Step S401: Obtain the user's actual angle change calculation requirements.

[0085] It should be noted that the actual angle change calculation requirement refers to the user's actual requirement to calculate the angle change between target components. For example, the actual angle change calculation requirement may be that the final calculated angle change needs to be represented in double floating-point form.

[0086] Step S402: Determine whether to activate the high-precision mode based on the actual angle change calculation requirements.

[0087] Understandably, after calculating the change in the angle between the target components during the fall of the target smart device and obtaining the actual angle change calculation requirements, it is determined whether to activate the high-precision mode.

[0088] Step S403: If yes, then determine the data representation format corresponding to the high-precision mode.

[0089] It should be understood that when it is determined that high-precision mode needs to be activated, the data representation is determined to be in double floating-point form; conversely, when it is determined that high-precision mode does not need to be activated, the data representation is determined to be in single floating-point form.

[0090] Step S404: Calculate the change in the angle between the target components during the fall of the target smart device based on the plane normal vector at each moment and the data representation.

[0091] Understandably, after determining the data representation format, the change in the angle between the target components of the target smart device during the fall is calculated based on the plane normal vector at each moment. Then, this change in angle can be output to a specified storage file. In addition, a specific number of decimal places can be selected for this change in angle before output.

[0092] Further, step S404 includes: obtaining a first plane normal vector and a second plane normal vector based on the plane normal vectors at each time point; determining an angle calculation algorithm; calculating the angle between the target components at the current time based on the angle calculation algorithm, the first plane normal vector, and the second plane normal vector; and calculating the change in the angle between the target components during the fall of the target smart device based on the angle between the target components at the current time and the angle between the target components at the previous time.

[0093] It should be understood that after obtaining the plane normal vectors at each time step, two plane normal vectors are determined for calculating the change in angle at the current time step, namely plane normal vector n1 and plane normal vector n2. Then, the angle between the target components at the current time step is calculated using the angle calculation algorithm, specifically:

[0094]

[0095] Where θ represents the angle between the target components at the current moment, n1 represents the normal vector of the first plane, and n2 represents the normal vector of the second plane.

[0096] It is understandable that after calculating the angle between the target components at the current moment, the change in the angle between the target components during the fall is calculated by combining the angle between the target components at the previous moment. For example, if the angle between the target components at the current moment is denoted as θ, and the angle between the target components at the previous moment is denoted as α, then the change in angle Δ=|θ-α|.

[0097] It should be understood that, reference Figure 4 , Figure 4 The angle curves at various times are as follows: the horizontal axis represents time (Time / s), and the vertical axis represents angle (Angle). This represents how the angle between the target components changes over time. For example, the angle between the target components is the largest at time 2.0×1.E-3. In addition, the change in the angle between the target components during the fall of the target smart device can be represented by the slope of the angle curve.

[0098] This embodiment obtains the user's actual angle change calculation requirements; determines whether to activate the high-precision mode based on the actual angle change calculation requirements; if so, determines the data representation format corresponding to the high-precision mode; calculates the angle change between target components of the target smart device during the drop process based on the plane normal vector at each moment and the data representation format; through the above method, the user's actual angle change calculation requirements are used to determine whether to activate the precision mode. If so, the data representation format is determined to be a double floating-point number; otherwise, the data representation format is determined to be a single floating-point number. Then, the plane normal vector at each moment is used to calculate the angle, and the data representation format is used for identification, thereby effectively calculating the accuracy of the angle change between target components.

[0099] This application also provides a device for calculating the change in the included angle between components. Please refer to... Figure 5 The device for calculating the change in the included angle between components includes:

[0100] Module 10 is used to determine the set of nodes whose included angle changes to be solved.

[0101] Analysis module 20 is used to perform drop analysis on the target smart device based on the set of nodes.

[0102] The fitting module 30 is used to fit the plane normal vector at each time step based on the drop analysis results and the target decomposition algorithm.

[0103] The calculation module 40 is used to calculate the change in the angle between the target components of the target smart device during the fall based on the plane normal vector at each moment.

[0104] This embodiment determines the set of nodes whose angle changes need to be solved; performs drop analysis on the target smart device based on the set of nodes; fits the plane normal vectors at each moment based on the drop analysis results and the target decomposition algorithm; and calculates the change in angle between the target components of the target smart device during the drop based on the plane normal vectors at each moment. Through this method, after determining the set of nodes whose angle changes need to be solved, a whole-device drop model is used to perform drop analysis on the target smart device based on the set of nodes. The whole-device drop model outputs the final analysis results. Then, the target decomposition algorithm is used to extract the normal vectors of the planes containing the target components at each moment, and finally, the change in angle between the target components of the target smart device during the drop is calculated, thereby effectively improving the accuracy and efficiency of calculating the angle change.

[0105] The component angle change calculation device provided in this application, employing the component angle change calculation method in the above embodiments, can solve the technical problem of low accuracy and efficiency in determining the component angle change in the prior art. Compared with the prior art, the beneficial effects of the component angle change calculation device provided in this application are the same as those of the component angle change calculation method provided in the above embodiments, and other technical features in the component angle change calculation device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0106] In one embodiment, the fitting module 30 is further configured to generate a drop analysis file in target format based on the drop analysis results; set calculation parameters for multi-dimensional angle changes; and fit the plane normal vector at each time step based on the drop analysis file, the target decomposition algorithm, and the calculation parameters.

[0107] In one embodiment, the fitting module 30 is further configured to obtain the node set number; retrieve the initial coordinates of each node according to the number; retrieve the displacement-time curve of each node according to the drop analysis file; determine the coordinates of each node at different times according to the initial coordinates and the displacement-time curve; and fit the plane normal vector at each time according to the coordinates of each node at different times, the target decomposition algorithm, and the calculation parameters.

[0108] In one embodiment, the fitting module 30 is further configured to: fit a target plane based on the coordinates of each node at different times; calculate the coordinates of the center point based on the coordinates of each node at different times and the target plane; determine the normal vector solution parameters when it is determined that there is orthogonality with the center point; and fit the plane normal vector at each time according to the target decomposition algorithm and the normal vector solution parameters.

[0109] In one embodiment, the fitting module 30 is further configured to perform singular decomposition on the normal vector solution parameters according to the target decomposition algorithm to obtain a left singular matrix, a right singular matrix, and eigenvalue square roots; and fit the plane normal vector at each time step according to the left singular matrix, the right singular matrix, and the eigenvalue square roots.

[0110] In one embodiment, the calculation module 40 is further configured to acquire the user's actual angle change calculation requirements; determine whether to activate the high-precision mode based on the actual angle change calculation requirements; if so, determine the data representation form corresponding to the high-precision mode; and calculate the angle change between target components of the target smart device during the fall based on the plane normal vector at each moment and the data representation form.

[0111] In one embodiment, the calculation module 40 is further configured to obtain a first plane normal vector and a second plane normal vector based on the plane normal vectors at each time; determine an angle calculation algorithm; calculate the angle between the target components at the current time based on the angle calculation algorithm, the first plane normal vector, and the second plane normal vector; and calculate the change in the angle between the target components during the fall of the target smart device based on the angle between the target components at the current time and the angle between the target components at the previous time.

[0112] This application provides a device for calculating the change in the angle between components. The device includes: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method for calculating the change in the angle between components in the first embodiment described above.

[0113] The following is for reference. Figure 6 This document illustrates a structural schematic diagram of a component angle change calculation device suitable for implementing embodiments of this application. The component angle change calculation device in embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The device for calculating the change in the included angle between components shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0114] like Figure 6As shown, the inter-component angle change calculation device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the inter-component angle change calculation device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the inter-component angle change calculation device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows an inter-component angle change calculation device with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0115] Specifically, according to the embodiments disclosed in this application, the process described above with reference to the flowcharts can be implemented as a computer software program. This computer program includes program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0116] The component angle change calculation device provided in this application, employing the component angle change calculation method in the above embodiments, can solve the technical problem of low accuracy and efficiency in determining the component angle change in the prior art. Compared with the prior art, the beneficial effects of the component angle change calculation device provided in this application are the same as those of the component angle change calculation method provided in the above embodiments, and other technical features in this component angle change calculation device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0117] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0118] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0119] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the method for calculating the change in the angle between components in the above embodiments.

[0120] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0121] The aforementioned computer-readable storage medium may be included in the inter-component angle change calculation device; or it may exist independently and not be assembled into the inter-component angle change calculation device.

[0122] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0124] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0125] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described method for calculating the change in the angle between components. This solves the technical problem of low accuracy and efficiency in determining the change in the angle between components in the prior art. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the method for calculating the change in the angle between components provided in the above embodiments, and will not be repeated here.

[0126] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method of calculating an inter-assembly included angle variation amount, characterized by, The method comprises: determining a node set of an angle to be solved; performing drop analysis on a target intelligent device according to the node set; fitting a plane normal vector at each time according to a drop analysis result and a target decomposition algorithm; calculating an angle change between target components of the target intelligent device during the drop process according to the plane normal vector at each time.

2. The method of claim 1, wherein, The step of fitting the plane normal vector at each time according to the drop analysis result and the target decomposition algorithm comprises: generating a drop analysis file in a target format according to the drop analysis result; setting a calculation parameter of the angle change in multiple dimensions; fitting the plane normal vector at each time according to the drop analysis file, the target decomposition algorithm, and the calculation parameter.

3. The method of claim 2, wherein, The step of fitting the plane normal vector at each time according to the drop analysis file, the target decomposition algorithm, and the calculation parameter comprises: obtaining a number of the node set; calling initial coordinates of each node according to the number; calling a displacement-time curve of each node according to the drop analysis file; determining coordinates of each node at different times according to the initial coordinates and the displacement-time curve; fitting the plane normal vector at each time according to the coordinates of each node at different times, the target decomposition algorithm, and the calculation parameter.

4. The method of claim 3, wherein, The step of fitting the plane normal vector at each time according to the coordinates of each node at different times, the target decomposition algorithm, and the calculation parameter comprises: fitting a target plane according to the coordinates of each node at different times; calculating a center point coordinate according to the coordinates of each node at different times and the target plane; determining a normal vector solving parameter when there is an orthogonality with the center point; fitting the plane normal vector at each time according to the target decomposition algorithm and the normal vector solving parameter.

5. The method of claim 4, wherein, The step of fitting the plane normal vector at each time according to the target decomposition algorithm and the normal vector solving parameter comprises: performing singular decomposition on the normal vector solving parameter according to the target decomposition algorithm to obtain a left singular matrix, a right singular matrix, and a characteristic value square root; fitting the plane normal vector at each time according to the left singular matrix, the right singular matrix, and the characteristic value square root.

6. The method of any one of claims 1 to 5, wherein, The step of calculating the angle change between target components of the target intelligent device during the drop process according to the plane normal vector at each time comprises: obtaining an actual angle change calculation requirement of a user; determining whether to start a high-precision mode according to the actual angle change calculation requirement; if yes, determining a data representation form corresponding to the high-precision mode; calculating the angle change between target components of the target intelligent device during the drop process according to the plane normal vector at each time and the data representation form.

7. The method of claim 6, wherein, The step of calculating the angle change between target components of the target intelligent device during the drop process according to the plane normal vector at each time and the data representation form comprises: obtaining a first plane normal vector and a second plane normal vector according to the plane normal vector at each time; determining an angle solving algorithm; calculating an angle between target components at a current time according to the angle solving algorithm, the first plane normal vector, and the second plane normal vector. The angle change amount between target components of the target intelligent device during the falling process is calculated according to the angle between the target components at the current time and the angle between the target components at the previous time.

8. An assembly angle variation amount calculating device characterized by comprising: The device comprises: A determination module is configured to determine a node set for which the angle change is to be solved. An analysis module is configured to perform falling analysis on the target intelligent device according to the node set. A fitting module is configured to fit the plane normal vector at each time according to the falling analysis result and a target decomposition algorithm. A calculation module is configured to calculate the angle change amount between target components of the target intelligent device during the falling process according to the plane normal vector at each time.

9. An inter-assembly included angle variation amount calculation device characterized by comprising: The device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the component angle change amount calculation method according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the component angle change amount calculation method according to any one of claims 1 to 7.

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