393 results about "Motion simulation" patented technology

The invention discloses a multi-brand AGV same-field mixed operation management and control method and device, electronic equipment and a storage medium, and the method comprises the steps: building a standardized data channel with an original scheduling system of each brand AGV, so as to obtain the real-time operation state data and planning path data of each AGV; based on the real-time operation state data and the planned path data, carrying out space intersection judgment on planned paths of all AGVs, and carrying out collision risk initial judgment on AGV pairs with space intersection based on preset limit operation parameters; motion simulation is carried out on the AGV pair with the collision risk through preliminary judgment in the virtual environment based on the actual operation parameters so as to output a quantized collision risk result; and based on the quantized collision risk result, generating an avoidance strategy for the AGV with the low priority in the AGV pair with the collision risk in combination with a preset dynamic priority rule, and issuing and executing a standardized scheduling instruction generated based on the avoidance strategy. According to the invention, safe and efficient cooperative operation of multiple brands of AGVs in a same-field mixed operation environment can be realized.

The invention discloses a golf motion simulation method and system based on digital twinning, and the method comprises the steps: obtaining an original data set containing a timestamp and a space coordinate from the cooperative motion of a plurality of parts and equipment of an athlete body through a sensor network technology in combination with a high-speed image capture device, and obtaining a preliminary multi-source motion information record; aiming at the initial multi-source motion information record, correcting time synchronization deviation and space matching error by adopting a data preprocessing module, and determining a corrected unified data framework by comparing timestamps and coordinate mapping relationships of data sources; according to the corrected unified data framework, a feature extraction algorithm is used for separating and marking the action analysis details and key parameters at the ball hitting moment, and a feature vector set containing the body posture and the equipment state is obtained. According to the invention, a highly vivid virtual environment support is provided for exercise training and match analysis, and the simulation precision and application value of a virtual exercise scene are effectively improved.

The invention belongs to the field of wind tunnel experiments in a hypersonic flow field environment, and discloses a multi-degree-of-freedom high-frequency motion simulation device for an aircraft dynamic stability test and a calculation method for realizing an actuation angle. According to the technical method, calculation is carried out on the basis of an electromechanical coupling equation, determined by electrical parameters and mechanical parameters, of a piezoelectric material. Modeling can be carried out according to a piezoelectric equation to obtain a calculation method between the voltage applied by the piezoelectric actuator and the pitching and yawing actuation angles of the device, so that the excitation effect of the device in the ground test process can be accurately controlled and predicted. The method is not only suitable for pitching and yawing two-degree-of-freedom actuation calculation, but also can be used for calculating the actuation angle of a three-axis degree-of-freedom experimental device added with rolling drive through coordinate transformation under the condition of adding parameters such as rolling angular velocity and the like in the face of the three-axis degree-of-freedom experimental device added with rolling drive. At present, according to a calculation method based on the device, calculation is carried out only by considering the degree of freedom of the pitching axis and the yawing axis.

A motion simulator system is disclosed that includes a freely rotatable movable frame supported by, but unattached to, a hemispherical base. The movable frame comprises a spherical enclosure constructed from rigid, lightweight materials such as composite materials or interlocking panels, providing unlimited 360-degree rotation in all three rotational degrees of freedom (pitch, roll, and yaw). An internal actuator system coupled to the movable frame controls attitude positioning while the center of rotation remains substantially fixed relative to the base. Low friction engagement between the movable frame and base is achieved through transfer bearings integrated into the base's outer surface or by pressure-vented air cushions. The system enables smooth, continuous rotation of the untethered movable frame for enhanced motion simulation applications.

The invention discloses a method for regulating and controlling residual stress of a metal material, and relates to the field of metal materials, in the method, on one hand, a multi-energy-field coupling simulation system performs simulation based on initial regulation and control parameters, simulates stress distribution of the material under set service conditions, and determines optimal regulation and control parameters through an optimization algorithm; on the other hand, the stress regulation and control digital virtual model plans the path according to the optimal regulation and control parameters, and motion simulation is carried out to verify the feasibility of the path. Only when the simulation result meets the preset regulation and control target, the final regulation and control path and parameters are transmitted to the stress regulation and control execution device for actual operation. The double verification mechanism ensures the accuracy and reliability of stress regulation and control, and effectively avoids regulation and control failure caused by single link error, thereby remarkably improving the effect and efficiency of regulating and controlling the residual stress of the metal material.

The invention discloses an ultra-large-diameter slurry shield deslagging parameter optimization method, system and device and a storage medium. The method comprises the following steps that a three-dimensional model is constructed; establishing a motion simulation model; the motion simulation model solves a flow process equation of a slurry fluid phase and a motion control equation of a rock slag particle phase according to the deslagging parameters, so that flow field distribution characteristics and rock slag migration behaviors in the excavation bin and the air cushion bin are obtained; obtaining an evaluation index of the deslagging performance, and judging whether the evaluation index meets a preset requirement or not. According to the method, a fluid phase flow equation and a particle phase motion control equation are solved by utilizing the simulation model, and an interaction mechanism of the slurry and the rock slag is defined, so that simulation is closer to a real situation; and dynamic adaptation of slag discharge parameters with a complex pipe network system and actual construction working conditions is realized. The probability of detention and accumulation of rock slag at the bottoms of the excavation bin and the air cushion bin is remarkably reduced, equipment abrasion is reduced, abnormal tunneling parameters are avoided, and stability and continuity of shield tunneling are guaranteed.

The invention discloses a large-size spacecraft dynamic six-degree-of-freedom pose high-precision measurement method, solves the problems of shielding failure, low measurement precision and the like in large-size spacecraft dynamic tail end target support measurement, belongs to the technical field of spacecraft dynamic measurement, and is mainly suitable for large-size spacecraft tail end antenna dynamic working conditions. For example, the three laser trackers are adopted for cooperative work, a synchronous trigger sends a unified trigger signal to all the laser trackers, and it is ensured that the three trackers collect three-dimensional coordinate data of a target point at the strict same moment. And finally realizing six-degree-of-freedom pose high-precision measurement of the large-size spacecraft motion tail end target bracket by combining a tracker space station planning strategy of a non-coplanar optimization algorithm of a minimum position precision attenuation factor and utilizing a dynamic six-degree-of-freedom pose resolving algorithm fused with measurement data based on a space target coordinate obtained by synchronous triggering.

The invention provides a design method of a two-wheeled wheel-legged robot, which relates to the field of wheeled robots, and comprises the following steps: determining a machine body of the two-wheeled wheel-legged robot, adopting a leg four-bar mechanism as a leg configuration, and taking the leg four-bar mechanism and the machine body as a five-bar mechanism together, a universal leg rod length parameter calculation method is deduced based on a planar five-connecting-rod model, key geometric parameters are determined, and robot structure design is completed; establishing a wheel type motion dynamical model and a leg type jump phase motion dynamical model, deducing a universal motor model selection method, calculating driving wheel and joint motor parameters, and completing wheel train design and whole machine motion simulation; carrying out finite element analysis and lightweight design on the key parts; and finally, an LQR control strategy is adopted, and cooperative control verification is completed through analysis and simulation software. Wheeled efficient movement and leg type terrain adaptive capacity are fused, limitation of a single movement mode is broken through, and the environment adaptive boundary of the robot is expanded.

The invention relates to the technical field of medical robots, and particularly discloses a complex scene simulation and motion assisting robot which comprises two sets of symmetrically-arranged unilateral training platforms, and each unilateral training platform comprises a supporting base, a front-back displacement platform, a left-right displacement platform, a vertical displacement platform, a rotation driving mechanism and a pedal mechanism. The pedal mechanism at least comprises a bottom plate, a pedal plate and a pedal driving mechanism used for driving the pedal plate to independently move relative to the bottom plate. Two groups of symmetrical unilateral training platforms work cooperatively, each platform is integrated with four-degree-of-freedom basic motion units composed of front-back, left-right and vertical displacement platforms and rotary driving mechanisms, and then is combined with a pedal mechanism with independent active driving capability; various daily and complex exercise scenes such as walking on the flat ground, going up and down stairs, trudge on mountains, surfing and the like can be reproduced, a highly-simulated dynamic environment is provided for rehabilitation training, the exercise simulation dimension is wider, and the precision is higher.

The application discloses a kind of based on the multi-view spine biomechanics dynamic analysis method and system of augmented reality, belong to man-machine interaction and biomechanics field.The system of the application includes central client and augmented reality client.Central client includes spine biomechanics analysis module and visual interactive module, respectively for central client user provides the dynamic evaluation of human lumbar and sacral part stress and visual real-time information feedback.Augmented reality client provides gesture interactive mode for augmented reality client user, realizes corresponding interactive action behavior in augmented reality scene, user is based on interactive system, selects model by gesture and downloads selected model to current environment, and interacts with downloaded model by gesture;By building motion capture environment, the real-time collection of human body posture of augmented reality client user is realized, and the real-time motion simulation of virtual human model is realized.The application can optimize working posture and reduce spinal skeletal muscle disease.

The invention discloses a spring fatigue test device, which belongs to the technical field of mechanical test equipment and comprises a rack, a data acquisition module, an environment simulation integrated cabin, a multi-axis loading module and a micro-motion simulation base. The rack provides a supporting and mounting space for the whole device. Through cooperative work of the main loading unit, the first auxiliary loading unit and the second auxiliary loading unit, axial loads, torsion loads and lateral loads can be applied to the spring at the same time or according to a preset phase relation in a test period, and the tension-compression-torsion-bending composite stress state of the spring under the actual working condition is accurately reproduced. Compared with a traditional uniaxial test, the result is closer to engineering practice, and the authenticity and the severity of the test are greatly improved.

The invention provides a construction safety early warning method for a construction site, a terminal and a storage medium. The method comprises the following steps: constructing a physical model of an obstacle in a construction site based on a physical engine simulation algorithm; based on the physical model of the construction site and the state information of all obstacles in the construction site at the current moment, performing mixed collision detection, determining a target obstacle, screening out obstacles which do not collide, and reducing the calculation amount; physical motion simulation is carried out on the target obstacles to obtain state information of each target obstacle in a future time period; further collision prediction is carried out on the target obstacle based on the state information of the target obstacle in the future period, and a collision detection score is determined; and performing safety early warning on the construction site based on the collision detection scores of any two target obstacles in the future time period. According to the method, early warning can be carried out on possible accidents in advance, so that the occurrence of safety accidents is reduced, and the safety warning effect of a construction site is improved.

The invention belongs to the technical field of spacecraft ground simulation testing, and discloses a high-precision space GNC full-physical simulation test platform which is composed of a three-dimensional motion execution system, a distributed real-time control system, a capture interaction simulation system, a safety protection system and a three-dimensional motion simulation and path planning system. By integrating a three-dimensional track type large-range motion execution system and a double-grating ruler closed-loop detection structure, the simulation motion range is remarkably expanded, the technical bottleneck that an existing platform is limited by a single axis, a two-dimensional sliding rail and limited motion amplitude is broken through, high-precision cooperation of a motion control system and a track system is achieved through the platform, and high-precision cooperation of the motion control system and the track system is achieved. The space high-dynamic motion simulation of a large-size and high-inertia complex target can be met, autonomous tracking of a target flight path, flexible capture of a flying claw and small multi-degree-of-freedom control verification are supported through integrated design of a capture interactive simulation system, and complex tasks such as space rendezvous and docking, target capture and micro-force control can be effectively simulated.

The application belongs to the technical field of motion simulation, and discloses a motion simulation device for electronic games, which comprises a direction control device for controlling the forward-backward and left-right movement of a seat, a binding device comprising a binding belt for binding the body of a user, a moving frame for moving up and down on the surface of the side frame and driving the binding belt to move synchronously, a buffer component comprising a convex rod, which is moved inside an arc-shaped groove by the binding belt moved outward, a first elastic member for driving the outer end of the binding belt to move back into the moving frame, a locking component for locking the moving frame, and a bottom frame for supporting the seat through the direction control device. After the user is bound by the binding device, the swinging seat makes the user sway, the swaying user pulls the buffer component by the binding belt, the buffer effect of the buffer component avoids the user from getting off the seat, reduces the pulling force of the binding belt on the user, and avoids the user's body from being damaged due to the excessive pulling force.

The invention relates to the technical field of computational fluid mechanics, and discloses a wedge-shaped body water entry slamming BEM-SPH coupling numerical method based on an overlapping computational domain idea. According to a specific simulation problem, a corresponding numerical model is established, a water entry slamming BEM model under a full nonlinear boundary condition is adopted to calculate a slamming load in the initial water entry process of the wedge, after high-amplitude transient slamming force capture is completed, internal flow field distribution and control point transmission speed are obtained according to speed potential and free liquid level elevation calculated by the BEM, and the initial water entry process of the wedge is completed. And an SPH calculation model is initialized by taking the result as input, so that wedge-shaped body motion attitude simulation and hydrodynamic force stress analysis after slamming occur are realized. According to the method, high-frequency pressure oscillation errors of a single SPH model in water-entry slamming peak capture are avoided, the defect that motion simulation after slamming cannot be achieved through a single BEM model is overcome, and effective simulation of the whole water-entry slamming process of the wedge is achieved.

The invention discloses a migration distribution analysis method for inclusions in electron beam cold bed furnace smelting, a storage medium and equipment, and belongs to the technical field of metal smelting simulation. Actual working condition data of an electron beam cold bed furnace are obtained, and a cold bed unit model is constructed based on numerical simulation; and then electron beam energy input setting and metal solidification and melting setting are carried out in sequence, and cold bed unit heat exchange setting is carried out based on a convective heat exchange model. Performing steady state simulation on the cold bed unit, and when the field domain of the physical field reaches a steady state, simulating the movement of the inclusion in the melt by adopting a discrete random track model; movement tracks of the inclusions under different operation conditions are simulated, the migration process of the inclusions is tracked, and migration distribution of the inclusions is obtained. Migration behaviors of different types of inclusions in the cold bed unit are accurately simulated through numerical simulation, it is ensured that the inclusions flow into a crystallizer as little as possible, and the overall efficiency of the smelting process and the final product quality are improved.

The invention discloses a parameter identification method for a hydraulic six-degree-of-freedom parallel platform. The parameter identification method comprises the steps of kinematics inverse solution solving; an upper platform pose of the six-degree-of-freedom parallel platform is set, and the expansion amount L of a piston of a hydraulic cylinder is solved through inverse kinematics; a servo motor rotating speed signal is calculated through a controller module for displacement of the hydraulic control single-cylinder system; establishing a flow prediction neural network for predicting the output flow of a hydraulic pump in each single-cylinder system for each single-cylinder system; and establishing a transfer function of the hydraulic cylinder by taking the flow as the input and the displacement of the hydraulic cylinder as the output, and identifying the transfer function of the hydraulic cylinder through a least square method, thereby completing the parameter identification work of the platform. The parameter identification method for the hydraulic six-degree-of-freedom parallel platform has the advantages that the accuracy of identification of the transfer function of the hydraulic cylinder of the platform can be guaranteed, the goodness of fit between a mathematical model and actual dynamic characteristics is improved, the requirement for high-precision motion simulation is met, and the control performance of the platform is improved.

A system for generating motion simulation in gaming may include a haptic engine including a processing unit and a non-transitory computer-readable medium having stored thereon computer instructions which, when executed by the processing unit, cause the processing unit to implement: receiving an input from a game controller, the input from the game controller configured to cause an action in a video game; in response to a receipt of the input, retrieving at least one motion code associated with the input in a database, the motion code being representative of a haptic effect to be performed by a motion platform; and obtaining a motion signal corresponding to the at least one motion code and outputting the motion signal to the motion platform for the haptic effect to be performed at the motion platform in synchronicity with the action occurring in the video game.

Provided is a teaching device whereby it is possible to avoid twisting a fiber connected to a galvano scanner beyond an allowable range. A teaching device for teaching a robot in a laser machining system, wherein the teaching device includes a path determination unit for determining a motion path for a robot on the basis the positions of a plurality of machining points set on an object; a simulation execution unit for executing a robot motion simulation in accordance with the determined motion path; a torsion amount evaluation unit for ascertaining the amount of torsion of an optical fiber by simulating the behavior of the optical fiber in accordance with the movement of the robot according to the motion simulation, and evaluating the torsion amount by comparing the torsion amount and a prescribed allowable range; and a robot orientation changing unit for changing the orientation of the robot so as to reduce the torsion amount for motion of the robot in which the torsion amount exceeds the prescribed allowable range.

The invention designs a digital star simulation detection space target three-dimensional shape recovery verification system and method. A digital star detection space target three-dimensional reconstruction simulation test is realized by reasonably setting the working state of each system unit. Comprising the following steps: a digital star circumference fly-around observation motion simulation unit provides spatial azimuth information such as relative position and attitude of an observation star relative to an observed target star, a sun vector and the like; the image simulation unit is used for carrying out full-link imaging analogue simulation on the geometric structure and surface material characteristics of the space target through relative pose information of the sun, the target and a camera under a J2000 coordinate system provided by the motion simulation unit, and generating a high-precision visible light simulation image of the space target; and the three-dimensional shape recovery unit performs three-dimensional shape recovery processing on the high-precision visible light simulation image of the space target to obtain a complete three-dimensional structure of the space simulation target, and compares a three-dimensional reconstruction result with an input model to realize a three-dimensional reconstruction simulation test of the space target under multiple working conditions.

The invention provides a power transmission tower and wire safety assessment method and system under the action of avalanche-blast, and belongs to the technical field of power transmission engineering. A power transmission tower is equivalent to a multi-degree-of-freedom cantilever beam structure, a wire is equivalent to a catenary structure, and two working conditions of direct disaster of the power transmission tower and disaster of the wire are divided according to a spatial relationship between an avalanche core and an impact blast and a power transmission system; on the basis of power parameters obtained through avalanche-blast motion simulation, under the working condition that the power transmission tower is directly affected, the power parameters serve as loads to be applied to the power transmission tower model for power response analysis so as to evaluate safety; and under the working condition that the lead is affected, applying the lead as excitation to a lead model to solve lead response and tension, and transmitting the tension to the tower body to evaluate the overall safety of the tower line. According to the invention, comprehensive evaluation of the safety state of the power transmission system under the action of avalanche-blast is realized, and technical support is provided for planning, design and protection of a power transmission line in an avalanche-prone area.

The invention relates to an optical load real-installation digital twinning simulation system, which belongs to the technical field of digital twinning and comprises a satellite digital virtual body, an external interface module and an optical load full-digital virtual simulation platform, the simulation platform further comprises an ultra-high-line-frequency low-crosstalk comprehensive electronic module, a mechanism control module, an optical camera imaging simulation module and a focal plane data processing module. The system receives telemetry data and real shot images of an entity satellite, and performs instruction solution, mechanism motion simulation and full-link optical imaging simulation in a simulation platform to generate a virtual degraded image; performing online imaging quality comparison on the virtual degraded image and the real shot image through a focal plane data processing module, and identifying and correcting parameters of the digital twin model according to the online imaging quality comparison; and finally, the corrected model parameters are fed back to the entity satellite, so that the satellite images the ground object target again according to the plan. According to the invention, high-precision virtual-real twinning of the satellite camera is realized, so that the image quality of the satellite camera is higher.

The invention discloses a heterogeneous discrete element particle motion simulation method, system and device based on a graph neural network, a medium and a product, and relates to the field of discrete element particle motion simulation.The method comprises the steps that state information and interaction information of heterogeneous discrete element particles at the current time step are obtained, and a heterogeneous discrete element particle motion simulation model is used for simulating the state information and interaction information of the heterogeneous discrete element particles at the current time step; determining the acceleration of the heterogeneous discrete element particles at the next time step; the heterogeneous discrete element particle motion simulation model is obtained by training an initial model by using a training data set; the initial model comprises a vertex encoder, an edge encoder, a graph neural network and a decoder; and determining the speed and position of each time step in the future set time period by using an explicit Euler integral formula according to the acceleration of each time step in the future set time period, and obtaining the motion trail of the heterogeneous discrete element particles in the future set time period. According to the method, the simulation efficiency and the simulation precision are improved, and accurate prediction of the motion trail of the heterogeneous discrete element particles is realized.

The application relates to a vertical five-axis simulation turntable with a coaxial sleeve structure and belongs to the technical field of semi-physical simulation equipment of inertial navigation and optical guidance systems. The turntable adopts a vertical structure and comprises a base, a two-axis table and a three-axis table. The azimuth, pitch and roll frame assemblies of the three-axis table constitute a frame assembly of three rotary degrees of freedom, so that three-dimensional attitude motion simulation of an aircraft is realized. The pitch and azimuth frame assemblies of the two-axis table constitute a frame assembly of two rotary degrees of freedom, so that starry sky simulation, target vision simulation or infrared target motion simulation on a spherical screen is realized. The external two-axis table is independently sleeved outside the internal three-axis table. The turntable has the characteristics of compact structure, high precision, large azimuth angle range of target motion simulation, large load size, wide bearing range and the like.

A sport simulation device is applied to an external computer device and includes a projection module, a camera module, a transmission module and an operation processor. The projection module projects a projection image containing a command pattern onto a bearing surface. The camera module captures a top view image of a user standing on the bearing surface. The operation processor is electrically connected to the projection module, the camera module and the transmission module. The operation processor can analyze the top view image to contain a predefined feature relevant to the user, acquire a coordinate range of the command pattern within the projection image, and decide whether to transmit a control command of the command pattern to the external computer device via the transmission module in accordance with a comparison of the predefined feature and the coordinate range.

The application discloses a kind of deep average avalanche motion simulation methods, belong to avalanche disaster prevention and mitigation technical field.The method is based on deep average theory, successively constructs mass, momentum, particle random fluctuation energy and heat energy conservation equation, and establishes the dynamic function relationship between motion resistance parameter and particle random fluctuation energy and water content, realizes that resistance parameter is updated with avalanche internal state self-adapting.The application can more completely depict the dynamics of avalanche motion, dynamically reflect its liquidity change, significantly improve the accuracy and engineering applicability of avalanche motion simulation, and can provide reliable basis for disaster risk assessment and protection design.

This invention discloses a method and apparatus for evaluating the mechanical properties of high-voltage wiring harnesses. The method includes: constructing a rigid-flexible coupling model of the entire vehicle, comprising a rigid body model of the vehicle and a flexible cable model of the high-voltage wiring harness within the vehicle; performing a driving simulation on the rigid-flexible coupling model of the entire vehicle under target operating conditions to obtain a first motion simulation result of the high-voltage wiring harness, and then determining a first mechanical property evaluation result based on this result; performing a stress simulation on the flexible cable model based on the first motion simulation result to obtain a second motion simulation result for each fixed clip node; and performing a mechanical property simulation on each fixed clip node based on the second motion simulation result to obtain the corresponding second mechanical property evaluation result. This invention solves the technical problem that related technologies, which use a decentralized and static approach, cannot accurately evaluate the mechanical properties of high-voltage wiring harnesses, thus hindering the accurate analysis of failure modes of high-voltage wiring harnesses during long-term service.

The invention relates to a joint simulation method for ship navigation control strategy verification based on computational fluid mechanics. The joint simulation method comprises the following steps: step 1, establishing a ship model numerical simulation environment under STAR-CCM +; step 2, establishing a ship horizontal plane track course controller module based on SIMULINK; step 3, establishing a ship horizontal plane track control model based on AMEsim; and step 4, completing an intelligent ship joint motion simulation test based on the STAR-CCM + lower ship model numerical simulation environment established in the step 1 and the AMEsim-based ship horizontal plane track control model established in the step 3. According to the invention, the problems of inaccurate controlled object model and single simulation verification means are effectively solved.

The invention provides a children hand-held motion omnibearing simulation micro control ring, and relates to the technical field of motion simulation, the control ring comprises a hand-held control ring main body and a motion simulation data monitoring module; the handheld control ring body is of an annular structure, and a miniature handheld control ring is formed. The motion simulation data monitoring module is detachably embedded in the handheld control ring main body and is electrically connected with the gyroscope data monitoring module, the pressure sensor monitoring module and the wireless transmission module which are arranged in the handheld control ring main body; at least three handheld positions are arranged on the circumference of the handheld control ring body, and each handheld position is provided with a touch sensor connected with the pressure sensor monitoring module. The annular controller is used for monitoring acceleration, angular velocity and pressure to recognize various physical exercises of children, so that a convenient and natural operation mode is provided for children, and the children can easily control equipment.

The invention relates to a self-learning method of a robot with a body based on a pseudo tag and a robot with a body system. The method comprises the steps of generating a state pseudo tag and a component pseudo tag about a to-be-learned object based on interactive multimedia data between a robot with a body and the to-be-learned object; generating a cross-view pseudo-tag about the to-be-learned object based on the state pseudo-tag, the component pseudo-tag and the interactive multimedia data; performing motion simulation on the to-be-learned object based on the interactive multimedia data to obtain simulation multimedia data of the to-be-learned object, and generating an enhanced pseudo tag about the to-be-learned object based on the simulation multimedia data; and verifying the state false label, the component false label, the cross-view false label and the enhanced false label, and training the robot with the body based on the false labels passing the verification. By adopting the method, the richness of the pseudo labels can be improved, and the success rate of interaction tasks of the robot with the body is further improved.