CN111739127A - Method and device for simulating associated motion in mechanical linkage process - Google Patents
Method and device for simulating associated motion in mechanical linkage process Download PDFInfo
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Abstract
The invention provides a method and a device for simulating associated motion in a mechanical linkage process, and a method and a device for editing associated motion simulation animation. The simulation method comprises the following steps: acquiring force application equipment for executing linkage action and at least one stressed object; establishing an association between the force application device and the at least one force-bearing object; determining key frames of the force application device and the at least one stressed object at different moments based on the association relationship; and when the force-bearing object reaches the target position, deleting the association relationship between the force application equipment and the at least one force-bearing object. The invention simulates the correlation motion process between the force application equipment and the stressed object by establishing the correlation relationship, accords with the actual operation scene of equipment hoisting, is easy to understand by users and has lower learning cost. By simulating the dynamic motion process in advance, the actual construction efficiency can be effectively improved.
Description
Technical Field
The invention relates to the technical field of simulated imaging, in particular to a method and a device for simulating associated motion in a mechanical linkage process.
Background
In the mechanical linkage process of building construction, the mechanical linkage device comprises a force application device and a force-bearing object, wherein the force-bearing object generates a linkage motion based on power provided by the force application device. Taking the hoisting process as an example, in the prior art, there are hoisting scenes of large machines such as truck cranes, crawler cranes and the like, and also hoisting scenes of chain blocks, windlasses and fixed pulleys or movable pulleys.
The existing simulation imaging software has single function, can only support hoisting scenes of a part of large machines such as a truck crane, a crawler crane and the like, and can only follow the motion between a mechanical lifting hook and a stressed object in a hoisting simulation process in a mode of aligning geometric centers, so that the motion track of one of the two machines is difficult to accurately and quickly correlate with the motion track of the other machine according to the motion track of the other machine, the animation production process is complex, and the real hoisting effect cannot be reflected. In addition, for the hoisting scene of the chain block or the winch, the prior art cannot simulate the dynamic change process of non-rigid bodies such as chains or steel wire ropes. Because the dynamic motion of the construction process cannot be truly and reasonably simulated in advance, unexpected conditions are frequently generated in the actual construction site, and the construction progress is seriously influenced.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects in the prior art, and provide an associated motion simulation scheme which is easy to master and can accurately simulate various equipment hoisting scenes, thereby effectively improving the building construction efficiency.
According to one aspect of the invention, a method for simulating associated motion in a mechanical linkage process is provided, which comprises the following steps:
acquiring force application equipment for executing linkage action and at least one stressed object;
establishing an association between the force application device and the at least one force-bearing object;
determining key frames of the force application device and the at least one stressed object at different moments based on the association relationship;
and when the force-bearing object reaches the target position, deleting the association relationship between the force application equipment and the at least one force-bearing object.
Illustratively, the step of determining key frames of the force application device and the at least one force-receiving object at different times based on the correlation comprises:
respectively adding associated state key frames corresponding to the force application equipment and the stressed object at the starting time and the ending time of the association relationship;
determining the position information of the force application equipment according to preset equipment parameters of the force application equipment;
calculating the position information of the at least one stressed object according to the position information of the force application equipment and the association relationship, wherein the association relationship is a forward association relationship between the force application equipment and the at least one stressed object, and the forward association relationship is used for determining the position of the at least one stressed object based on the position of the force application equipment;
and adding a transformation action key frame of the at least one stressed object based on the position information of the at least one stressed object.
Illustratively, the force application equipment comprises a crane, the equipment parameters comprise an upper vehicle body rotation angle, a suspension arm stretching amount and a rope length, and the position information comprises an X-axis value, a Y-axis value and a Z-axis value in a space coordinate system; the step of determining the position information of the force application device according to the preset device parameters of the force application device comprises the following steps:
determining the X-axis value and the Y-axis value according to the rotation angle of the upper vehicle body and the rotation angle of the suspension arm;
and determining the value of the Z axis according to the telescopic amount of the suspension arm and the length of the rope.
Illustratively, the step of determining key frames of the force application device and the at least one force-receiving object at different times based on the correlation comprises:
respectively adding associated state key frames corresponding to the force application equipment and the stressed object at the starting time and the ending time of the association relationship;
setting position information of the stressed object;
determining the position information of the force application equipment according to the position information of the force-bearing object and the incidence relation, wherein the incidence relation is a reverse incidence relation between the at least one force-bearing object and the force application equipment, and the reverse incidence relation is used for determining the position of the force application equipment based on the position of the at least one force-bearing object;
and adding a transformation action key frame of the force application equipment based on the position information of the stressed object.
Illustratively, the force application device includes a hoist, and the step of determining the position information of the force application device based on the position information of the force-receiving object and the correlation includes:
determining the position information of a rope in the force application equipment according to the position information of the stressed object and the incidence relation;
the step of adding a transformation action key frame of the force application device based on the position information of the force-receiving object includes:
and adding a transformation action key frame of the rope in the force application device based on the position information of the rope in the force application device.
Illustratively, after the step of determining key frames of the force application device and the at least one force-receiving object at different time instants based on the correlation, further comprises:
and adding a self transformation action key frame of the stressed object, wherein the self transformation action key frame is a key frame for representing that the position of the stressed object is unchanged and the posture of the stressed object is changed.
Illustratively, the step of deleting the association between the force application device and the force-receiving object includes:
deleting the association relation between all the stressed objects and the force application equipment by taking the force application equipment as an operation object; or
And deleting the association relation between one of the force-bearing objects and the force application equipment by taking the one of the force-bearing objects as an operation object.
According to a second aspect of the present invention, there is provided an editing method for a correlated motion simulation animation, by which the correlated motion simulation animation is edited.
According to a third aspect of the present invention, there is provided a simulation apparatus for correlated movement during hoisting, comprising:
the mechanical equipment acquisition module is suitable for acquiring force application equipment for executing actions and at least one stressed object;
the association establishing module is suitable for establishing an association relationship between the force application equipment and the at least one stressed object;
a key frame determination module, adapted to determine key frames of the force application device and the at least one stressed object at different moments based on the association relationship;
and the association deleting module is suitable for deleting the association relation between the force application equipment and the at least one stressed object when the stressed object reaches the target position.
According to a fourth aspect of the present invention, there is provided an editing apparatus for associated motion simulation animation, which edits the associated motion simulation animation by the above-described simulation method.
According to a fifth aspect of the present invention, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
According to a sixth aspect of the invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the above-mentioned method.
Compared with the prior art, the invention has the following beneficial effects:
(1) the incidence relation is established to simulate the incidence movement process between the force application equipment and the stressed object, the practical operation scene of equipment lifting is met, users can understand easily, and the learning cost is low. By simulating the dynamic motion process in advance, the actual construction efficiency can be effectively improved.
(2) Besides the simulation of the hoisting scene of the crane, the invention can also simulate the hoisting scene of the chain block, the winch and the like through the rope, so that the hoisting simulation has wider application range.
(3) The rapid animation production is realized through actions of automatic creation, associated updating, editing linkage and the like, and meanwhile, corresponding parameters can be modified according to needs to adjust the animation content in real time, so that the animation production and editing efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a specific example of a method for simulating a correlation motion in a mechanical linkage process according to embodiment 1 of the present invention;
FIG. 2 is a Gantt chart including key frames of association relationships according to embodiment 1 of the present invention;
fig. 3 is a flowchart of a specific example of establishing an association relationship in embodiment 1 of the present invention;
fig. 4 is a schematic diagram illustrating a specific example of establishing an association relationship in embodiment 1 of the present invention;
FIG. 5 is a Gantt chart showing an addition of an association key frame according to embodiment 1 of the present invention;
fig. 6 is a schematic flow chart showing an example of determining key frames at different time instants based on association relations in embodiment 1 of the present invention;
fig. 7 shows a schematic view of a lifting point and a lifting lug in embodiment 1 of the present invention.
Fig. 8 is a schematic flow chart showing another example of determining key frames at different time instants based on association relations in embodiment 1 of the present invention;
FIG. 9 is a schematic diagram showing the effect of two force application devices on hoisting a stressed object according to embodiment 1 of the invention;
fig. 10 is a schematic flow chart showing still another example of determining key frames at different time instants based on association relations in embodiment 1 of the present invention;
FIG. 11 shows a Gantt chart with added rope keyframes according to example 1 of the present invention;
fig. 12 is a schematic diagram showing the effect of adding rope keyframes according to embodiment 1 of the present invention;
fig. 13 is a schematic block diagram of a specific example of a motion correlation simulation apparatus according to embodiment 3 of the present invention;
fig. 14 is a hardware configuration diagram of a motion-related simulation apparatus according to embodiment 3 of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
In this embodiment, a hoisting scene is taken as an example, and a method for simulating associated motion in a mechanical linkage process is provided, as shown in fig. 1, including the following steps:
and S100, acquiring a force application device for executing the action and at least one stressed object.
The force application device in this embodiment includes a mechanical device that actively generates power, such as a crane, a hoist, a chain block, etc. The hoist and the chain block realize the hoisting process of the stressed object by adjusting the telescopic length and the rope length of the suspension arm, and the hoist and the chain block realize the hoisting process of the stressed object by the fixed pulley or the movable pulley arranged at a fixed position and the rope length connected with the fixed pulley or the movable pulley. The force-bearing object in the embodiment includes a device which generates passive motion under the power of the force application device, and may include a fixed part in various shapes, such as a cement column, a cement pipe, a steel pipe, various boxes, and the like.
In a hoisting scenario, the force application device may comprise one or more of a main crane and an auxiliary crane, and the force-receiving object may comprise one or more of a lock, a box, and the like.
And S200, establishing an incidence relation between the force application equipment and the stressed object.
The association relationship in this embodiment refers to a relationship of relative movement between the force application device and the force receiving object. It can be understood that in the hoisting process of the crane, along with the increasing of the elevation angle of the suspension arm, the position of the lifting hook is correspondingly and continuously lifted, so that the position of the stressed object is driven to be continuously lifted; in the hoisting process of the winch, the position of the stressed object is driven to be continuously lifted along with the continuous shortening of the length of the rope between the fixed pulley and the stressed object. Therefore, the position of the force-bearing object and the position of the force application equipment have a certain mapping relation, or the position of the force-bearing object and the length of the rope have a certain mapping relation.
It can be understood that the same force application device can hoist a plurality of stressed objects as long as the lifting capacity is enough. Therefore, in this embodiment, one force application device may also establish an association relationship with a plurality of force-receiving objects at the same time, for example, in a scenario where a crane hoists a device through a lock, an association relationship between the crane and the lock and an association relationship between the crane and the device may be established at the same time.
And S300, determining key frames of the force application equipment and the force-bearing object at different moments based on the incidence relation.
It can be understood that the key frames reflect the state information of different moments in the animation production process, and a coherent animation effect can be formed by continuously playing the key frames at different moments. Fig. 2 shows a gantt chart containing association key frames according to an embodiment of the invention. As can be seen in the left column of fig. 2, the force application device comprises a crane and the force-bearing object comprises a lock and a device, wherein the pull-down lists of the lock and the device each comprise an association status sub-action, respectively representing the association between the crane and the lock, and the association between the crane and the device. The right portion of fig. 2 is a timing diagram of key frames, where each diamond represents a key frame added at a corresponding time.
And S400, deleting the association relation between the force application equipment and the force object when the force object reaches the target position.
When the stressed object reaches the target position, the hoisting process is finished, and the stressed object does not need to move continuously. At this time, the incidence relation between the force application equipment and the stressed object is deleted, and the stressed object can not move along with the force application equipment. The force application device can independently execute actions of rope length shortening, boom rotation, vehicle body rotation and the like to return to an initial position.
It should be noted that, deleting the association relationship between the force application device and the force-receiving object in this step refers to deleting the association relationship after the time when the force-receiving object reaches the target position, but does not delete the association relationship before the time when the force-receiving object reaches the target position. The keyframes added before the moment when the force-bearing object reaches the target position are still saved in the Gantt chart. Therefore, when the simulated scheme is changed and the mechanical state of the association process needs to be readjusted, the established association relationship does not need to be deleted, but the association relationship between the force application device and the force-bearing object can be edited again, and the key frames of the force application device and the force-bearing object at different moments are determined again based on the edited association relationship. Therefore, the state of the stressed object can be automatically updated in a mode of directly updating the equipment parameters, and the scheme can be rapidly adjusted.
In the embodiment, the association relation is established to simulate the association motion process between the force application equipment and the stressed object in various scenes, so that the practical operation scene of equipment hoisting is met, the user can understand easily, and the learning cost is low. Through actions such as automatic creation, associated updating and editing linkage, the embodiment can realize rapid animation production, and meanwhile, corresponding parameters can be modified according to needs to adjust animation content in real time, so that the animation production and editing efficiency can be improved.
Fig. 3 is a flowchart showing a specific example of establishing an association relationship in embodiment 1 of the present invention. As shown in fig. 3, the step S200 of establishing the association relationship between the force application device and the force-receiving object includes:
s210, establishing a forward incidence relation between the force application equipment and the force-bearing object and a reverse incidence relation between the force-bearing object and the force application equipment. The positive incidence relation is used for determining the position of the force-bearing object based on the position of the force application device, and the negative incidence relation is used for determining the position of the force application device based on the position of the force-bearing object.
The association between the force application device and the force-receiving object is actually a mapping relationship between the positional information of the force application device and the positional information of the force-receiving object, as shown in fig. 4. The incidence relation object records a mapping relation between the force application equipment and the force-bearing object, such as a corresponding mathematical expression. By calling the incidence relation object, the motion trail of the force application device can be determined based on the motion trail of the force application device, or the motion trail of the force application device can be determined through the motion trail of the force application device. In one example, the association may be established by the unique identification number ID of the force application device and the unique identification number ID of the force receiving object.
The association relationship in this embodiment includes a symbolic association relationship and a reverse association relationship. Wherein the positive correlation is used for determining the position of the force-receiving object based on the position of the force-receiving device, and the negative correlation is used for determining the position of the force-receiving device based on the position of the force-receiving object. For example, in the forward correlation, assume that the position of the force application device is PmThe positions of n stressed objects are respectively Pi(i-1 … n), and the association relationship object between the force application device and each force-receiving object is Ri. The force applying device and the force-receiving object will always maintain P throughout the forward correlation processi＝Pm–RiThe positional relationship of (a). Also, during the reverse correlation, the force applying device and the force receiving object will always maintain Pm＝Pi+RiThe positional relationship of (a).
And S220, recording the first time when the association relation starts to be established.
Fig. 5 shows a gantt chart of adding an association key frame according to embodiment 1 of the invention. Wherein the force application device is a crane and the stressed objects are locks and devices, as shown in the left side column of fig. 5. The first time in this embodiment is the time when the force-receiving object starts to follow the force application device for the correlated movement, for example, the 4 th second in fig. 5.
And S230, adding the associated state key frames corresponding to the force application equipment and the force-bearing object at the first moment respectively.
The key frame is a diamond shaped block in the right timing column of FIG. 5. As can be seen in fig. 5, for the lock and device, an association status key frame is added at second 4, as shown by the diamond shaped box in fig. 5 that coincides with the first dashed line. It can be understood that the association state in the hoisting process generally refers to the association of the position, and therefore, corresponding to the association state key frame, key frames of the transformation action are also added to the lock and the equipment respectively in the 4 th second, wherein the transformation action refers to the current position information of the lock and the equipment. Of course, in some special scenarios, there may be other associated states besides the associated state of the mobile position, such as the associated state of the shape color change, and then the key frame of the display pattern needs to be added. In short, the invention is not limited to which sub-action key frames need to be added while adding the associated status key frame. Any scheme in which the association status key frame is added is within the protection scope of the present invention.
And S240, recording the second moment when the association relation is ended.
The second moment when the association ends may be a moment when the force-receiving object has reached the target position and is not following the movement of the force application device. Such as second 9 in fig. 5.
And S250, adding the associated state key frames corresponding to the force application equipment and the stressed object at the second moment respectively.
As can be seen in fig. 5, for the lock and device, an associated status key frame is added at second 9, as shown by the diamond shaped box in fig. 5 that coincides with the second dashed line.
Through the steps, the specific time for establishing the association between the force application equipment and the stressed object and the specific time for deleting the association can be clearly seen. By adding the associated state key frame at the corresponding moment, the position information of the force application equipment and the stressed object in the initial state and the final state of the hoisting process can be accurately reflected, so that the hoisting animation process can be accurately simulated.
Fig. 6 is a schematic flowchart showing an example of determining key frames at different time instants based on association relations in embodiment 1 of the present invention. In the example of fig. 6, the force application device is a crane, and the step of determining key frames of the force application device and the force-receiving object at different time points based on the association relationship in step S300 includes:
and S610, adding a device parameter key frame of the force application device from the first moment by setting device parameters of the force application device, wherein the device parameters comprise one or more of an upper vehicle body rotation angle, a suspension arm stretching amount and a rope length.
The device parameter key frame is used to define device parameters of the force application device at different times, and it can be understood that different device parameters correspond to different hoisting point positions. In the case of a crane, the point location is usually located at the center of the hook and can be represented by a spatial coordinate system (x, y, z). It can be understood that the projection of the upper vehicle body rotation angle and the suspension arm rotation angle on the horizontal plane determines the values of x and y in a space coordinate system, and the extension and retraction amount of the suspension arm and the length of the rope determine the value of z in the space coordinate system. The higher the suspension point position when the rope length is shorter, or the higher the suspension point position when the boom elevation angle is larger. The corresponding hanger point position can thus be obtained from the respective device parameters relating to the force application device.
And S620, determining the position of a lifting point on the hoisting equipment, such as the central position of a lifting hook in a crane, based on the equipment parameter key frame.
And S630, calculating the object position of the stressed object from the first moment based on the lifting point position and the forward incidence relation. The object position may be a position in the force-bearing object to which the hook is attached, such as a lifting lug. Fig. 7 shows a schematic view of a lifting point and a lifting lug in embodiment 1 of the present invention. As shown in fig. 7, the lifting point of the force application device is located at the center of the lifting hook, and the lifting lug of the force-bearing object is located at the top end of the lock. During the hoisting movement, the hoisting point position and the lifting lug position usually coincide.
And S640, automatically adding a transformation action key frame of the stressed object based on the position of the object, wherein the transformation action key frame in the embodiment is a key frame representing the position information of the object.
Through the steps, the position information of the stressed object can be calculated and the transformation action key frame can be automatically added only by setting the equipment parameters of the force application equipment at different moments, so that the animation simulation program is effectively simplified, and the accuracy of the position information can be ensured.
Fig. 8 is a schematic flowchart showing another example of determining key frames at different time instants based on association relations in embodiment 1 of the present invention. In the example of fig. 8, the force application device is a crane, and the step of determining key frames of the force application device and the force-receiving object at different time points based on the association relationship in step S300 includes:
and S810, setting time sequence arrangement of equipment parameters of the force application equipment, wherein the equipment parameters comprise one or more of an upper vehicle body rotation angle, a suspension arm stretching amount and a rope length.
This step is only used to set the time sequence order of the equipment parameters, but does not need to set the specific values of the equipment parameters. For example, the upper body rotation sub-motion is executed between 0 th second and 1 st second, the boom rotation sub-motion is executed between 1 st second and 2 nd second, the boom length sub-motion is executed between 2 nd second and 3 rd second, and the like, and each specific parameter corresponding to the automatic operation is obtained through subsequent automatic calculation.
And S820, adding a transformation action key frame corresponding to the middle moment and the finishing moment of the hoisting process of the stressed object.
The transformation action key frame of the force-receiving object, which may be acquired by the example of fig. 7, is used to represent the position information of the force-receiving object.
And S830, calculating the mechanical hoisting point position of the hoisting equipment based on the transformation action key frame of the stressed object and the reverse incidence relation.
And S840, automatically creating an equipment parameter key frame of the force application equipment according to the calculated mechanical hoisting point position and the time sequence arrangement of the equipment parameters of the force application equipment.
It can be seen that the position of the force application device is calculated in the example of fig. 8 by reversing the position of the force-receiving object. Indeed, the invention of the example of FIG. 8 may be applied simultaneously in conjunction with the example of FIG. 7. For example, the force application device in fig. 7 is a crane 1, the example machine in fig. 8 is a crane 2, and the force receiving object in fig. 7 and 8 is the same device 1, as shown in fig. 9. As can be seen from fig. 9, the left crane 1 and the right crane 2 hoist a load-bearing object such as a cement pipe at the same time. In this case, it is only necessary to set the equipment parameter sub-actions of the crane 1 at various times to automatically create the transformation action key frame of the cement pipe according to the steps in fig. 7, and after obtaining the transformation action key frame of the cement pipe, the equipment parameter key frame of the crane 2 is automatically created according to the steps in fig. 8. Therefore, the complex hoisting process simulation can be completed only by setting few parameters, and the efficiency and the accuracy of the hoisting process simulation are effectively improved.
Illustratively, the force application device is a hoisting machine containing a rope, such as a winch, a chain block, and the like. Fig. 10 is a schematic flowchart showing still another example of determining key frames at different time instants based on association relations in embodiment 1 of the present invention. As shown in fig. 10, the step of determining key frames of the force application device and the force-receiving object at different time points based on the association relationship in step S300 further includes:
and S1010, adding a plurality of transformation action key frames of the stressed object from the first moment by setting the position parameters of the stressed object.
And S1020, calculating the rope state corresponding to each transformation action key frame based on the reverse association relation.
And S1030, automatically creating a rope key frame corresponding to each transformation action key frame based on the rope state.
Fig. 11 shows a gantt chart of adding a key frame of a rope in embodiment 1 according to the present invention, and fig. 12 shows an animation effect chart of adding a key frame of a rope in embodiment 1 according to the present invention. As can be seen in the left column on the side of fig. 11, a wire rope action is added for describing the rope change process. The device in the left side column is the stressed object described in this embodiment, and the position information of the device can be obtained by adding the transformation action key frames at the 2 nd and 4 th seconds. The force applying device in this example is a fixed pulley. Based on the inverse correlation between the force-receiving object and the force-applying device, the state information of the rope, such as the length, can be automatically calculated, thereby automatically creating a rope keyframe.
The rope change process in the hoisting process can be truly simulated by the aid of the example, so that the hoisting simulation animation is more vivid, and user experience is improved.
Exemplarily, the step of determining key frames of the force application device and the force-receiving object at different time points based on the association relationship in step S300 further includes:
and adding a self transformation action key frame of the stressed object between the first moment and the second moment, wherein the self transformation action key frame is a key frame representing that the position of the stressed object is unchanged and the posture of the stressed object is changed.
The keyframe in which the position of the stressed object is unchanged and the posture of the stressed object is changed can be a keyframe in which the stressed object rotates in the hoisting process, for example, the keyframes corresponding to the lockset and the equipment in fig. 2 at the 7 th second and the 8 th second respectively. By adding the self-transformation action key frame, different poses of the stressed object in the motion process can be accurately reflected, so that the hoisting simulation process is more real and vivid.
Illustratively, the step S400 of deleting the association relationship between the force application device and the force-receiving object includes:
deleting the association relation between all the stressed objects and the force application equipment by taking the force application equipment as an operation object; or one of the force-receiving objects is taken as an operation object, and the association relation between the one of the force-receiving objects and the force application equipment is deleted.
The example supports two interactive behaviors for deleting the association relationship, and can meet different scenes. When all the association relations related to the force application equipment are deleted, the association relations can be directly deleted based on the force application equipment, so that the efficiency can be effectively improved when a large number of associated stressed objects exist. If only one of the association relations needs to be deleted, the association can be deleted based on one of the stressed objects, so that the association relations of other stressed objects are not influenced, and confusion caused by deleting the association relations is avoided. For example, the force application device comprises a device 1, the force-bearing object comprises an object 1 and an object 2, the device 1 simultaneously hoists the object 1 and the object 2, and an association relationship 1 and an association relationship 2 are respectively established between the device 1 and the object 1 and between the device 1 and the object 2. When the association relation needs to be deleted, if the device 1 is taken as an operation object, the device 1 is selected, and after a delete button is clicked, the association relation 1 and the association relation 2 are deleted at the same time, that is, all the association relations related to the device 1 are deleted. If the object 1 is taken as an operation object, the object 1 is selected, and after the delete button is clicked, the association relation 1 is deleted, and the association relation 2 still exists. Thus, the association can be deleted based on one of the force-receiving objects, so that the association relationship of other force-receiving objects is not influenced.
Example 2
The present embodiment provides an editing method for a correlated motion simulation animation, which edits the correlated motion simulation animation by the simulation method of embodiment 1.
It will be appreciated that after the simulation animation is completed, the parameters often need to be changed to accommodate the different simulated scenes. The embodiment is used for editing the already-produced simulated animation, for example, on the basis of the produced simulated animation, a new association relationship between the force application device and the force-receiving object is established, a corresponding key frame is added on the basis of the new association relationship, or one or more key frames are changed on the basis of the existing association relationship, and the like. In short, any simulation animation that needs to be edited again can be edited again according to the simulation method provided in embodiment 1 of the present invention, so that the utilization rate of the simulation animation is increased, and the production cycle of the simulation animation is shortened.
Example 3
The present embodiment provides a simulation apparatus 1300 for correlated movement during mechanical linkage, as shown in fig. 13, including:
a mechanical device acquisition module 1310 adapted to acquire a force application device performing an action and at least one force-bearing object;
an association establishing module 1320 adapted to establish an association between the force application device and the at least one force-bearing object;
a key frame determining module 1330 adapted to determine key frames of the force applying device and the at least one stressed object at different moments based on the association relationship;
the association deleting module 1340 is adapted to delete the association relationship between the force application device and the at least one force-receiving object when the force-receiving object reaches the target position.
Example 4
This embodiment provides an editing apparatus for associated motion simulation animation, which edits the associated motion simulation animation by the simulation method described in embodiment 1.
Example 5
The embodiment also provides a computer device, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server or a rack server (including an independent server or a server cluster composed of a plurality of servers) capable of executing programs, and the like. The computer device 140 of the present embodiment includes at least, but is not limited to: a memory 141 and a processor 142 communicatively connected to each other via a system bus, as shown in fig. 14. It is noted that FIG. 14 only shows the computer device 140 having components 141 and 142, but it is understood that not all of the shown components are required and that more or fewer components may be implemented instead.
In this embodiment, the memory 141 (i.e., a readable storage medium) includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the storage 141 may be an internal storage unit of the computer device 140, such as a hard disk or a memory of the computer device 140. In other embodiments, the memory 141 may also be an external storage device of the computer device 140, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the computer device 140. Of course, the memory 141 may also include both internal and external storage devices for the computer device 140. In this embodiment, the memory 141 is generally used for storing an operating system and various application software installed on the computer device 140, such as the program code of the simulation apparatus 1300 in the third embodiment. Further, the memory 141 may also be used to temporarily store various types of data that have been output or are to be output.
Example 6
The present embodiment also provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application mall, etc., on which a computer program is stored, which when executed by a processor implements corresponding functions. The computer-readable storage medium of this embodiment is used for storing a simulation apparatus 1300 for associated motion, and when executed by a processor, the simulation apparatus for associated motion of this embodiment implements the simulation method for associated motion of the first embodiment.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (12)
1. A method of correlating motion, comprising the steps of:
acquiring force application equipment for executing linkage action and at least one stressed object;
establishing an association between the force application device and the at least one force-bearing object;
determining key frames of the force application device and the at least one stressed object at different moments based on the association relationship;
and when the force-bearing object reaches the target position, deleting the association relationship between the force application equipment and the at least one force-bearing object.
2. The simulation method of claim 1, wherein the step of determining key frames of the force application device and the at least one force-bearing object at different times based on the correlation comprises:
respectively adding associated state key frames corresponding to the force application equipment and the stressed object at the starting time and the ending time of the association relationship;
determining the position information of the force application equipment according to preset equipment parameters of the force application equipment;
calculating the position information of the at least one stressed object according to the position information of the force application equipment and the association relationship, wherein the association relationship is a forward association relationship between the force application equipment and the at least one stressed object, and the forward association relationship is used for determining the position of the at least one stressed object based on the position of the force application equipment;
and adding a transformation action key frame of the at least one stressed object based on the position information of the at least one stressed object.
3. The simulation method of claim 2, wherein the force application device comprises a crane, the device parameters comprise an upper body rotation angle, a boom extension and retraction amount, and a rope length, and the position information comprises an X-axis value, a Y-axis value, and a Z-axis value in a spatial coordinate system; the step of determining the position information of the force application device according to the preset device parameters of the force application device comprises the following steps:
determining the X-axis value and the Y-axis value according to the rotation angle of the upper vehicle body and the rotation angle of the suspension arm;
and determining the value of the Z axis according to the telescopic amount of the suspension arm and the length of the rope.
4. The simulation method of claim 1, wherein the step of determining key frames of the force application device and the at least one force-bearing object at different times based on the correlation comprises:
respectively adding associated state key frames corresponding to the force application equipment and the stressed object at the starting time and the ending time of the association relationship;
setting position information of the stressed object;
determining the position information of the force application equipment according to the position information of the force-bearing object and the incidence relation, wherein the incidence relation is a reverse incidence relation between the at least one force-bearing object and the force application equipment, and the reverse incidence relation is used for determining the position of the force application equipment based on the position of the at least one force-bearing object;
and adding a transformation action key frame of the force application equipment based on the position information of the stressed object.
5. The simulation method according to claim 4, wherein the force application device includes a hoist, and the step of determining the position information of the force application device based on the position information of the force-receiving object and the correlation includes:
determining the position information of a rope in the force application equipment according to the position information of the stressed object and the incidence relation;
the step of adding a transformation action key frame of the force application device based on the position information of the force-receiving object includes:
and adding a transformation action key frame of the rope in the force application device based on the position information of the rope in the force application device.
6. The simulation method of claim 1, further comprising, after the step of determining keyframes for the force application device and the at least one force-receiving object at different times based on the correlations:
and adding a self transformation action key frame of the stressed object, wherein the self transformation action key frame is a key frame for representing that the position of the stressed object is unchanged and the posture of the stressed object is changed.
7. The simulation method of any one of claims 1 to 6, wherein the step of deleting the association between the force application device and the force-receiving object comprises:
deleting the association relation between all the stressed objects and the force application equipment by taking the force application equipment as an operation object; or
And deleting the association relation between at least one force-bearing object and the force application equipment by taking the at least one force-bearing object as an operation object.
8. A method of editing a relational motion simulation animation, wherein the relational motion simulation animation is edited by the simulation method according to any one of claims 1 to 7.
9. A simulation device for correlated movement in a hoisting process is characterized by comprising:
the mechanical equipment acquisition module is suitable for acquiring force application equipment for executing actions and at least one stressed object;
the association establishing module is suitable for establishing an association relationship between the force application equipment and the at least one stressed object;
a key frame determination module, adapted to determine key frames of the force application device and the at least one stressed object at different moments based on the association relationship;
and the association deleting module is suitable for deleting the association relation between the force application equipment and the at least one stressed object when the stressed object reaches the target position.
10. An editing apparatus for a correlated motion simulation animation, wherein the editing apparatus edits the correlated motion simulation animation by the simulation method according to any one of claims 1 to 7.
11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 8 are implemented by the processor when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
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