CN110753218B - Digital twinning system and method and computer equipment - Google Patents
Digital twinning system and method and computer equipment Download PDFInfo
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Abstract
The embodiment of the application discloses a digital twinning system, a digital twinning method and computer equipment. According to the technical scheme, the multi-channel images acquired by the multi-channel image acquisition system are transmitted back to the video real-time calculation system in real time through the multi-channel image real-time transmission control system and the data synchronization system to be calculated in real time, the calculation result, the three-dimensional scene and the multi-source data are mapped, fused and visually displayed through the virtual three-dimensional rendering system, interactive operation can be conducted on virtual-real interactive middleware in an interactive interface, the entity control system is controlled, and control over field equipment is achieved.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to a digital twinning system, a digital twinning method and computer equipment.
Background
At present, the digital wave mat represented by new technologies such as internet of things, big data, artificial intelligence and the like is global, and the physical world and the corresponding digital world form two major systems for parallel development and interaction. The digital world exists for serving the physical world, the physical world is high-efficient and orderly because the digital world becomes, and the digital twin technology comes with fortune, gradually extends and expands from the manufacturing industry to the urban space, and deeply influences urban planning, construction and development.
The city information model based on multi-source data fusion is a core, intelligent facilities and a perception system deployed in the city universe are a premise, an intelligent private network supporting efficient operation of the twin city is a guarantee, and the digital twin city can provide support in the directions of relatively high digitization level, modeling of an operation mechanism, realization of collaborative optimization of virtual and real spaces, revealing of multi-dimensional intelligent decision support and the like.
At present, a digital twin system only displays a three-dimensional model in a three-dimensional display interface, and cannot control field equipment according to real-time detection conditions.
Disclosure of Invention
The embodiment of the application provides a digital twin system, a digital twin method and computer equipment, so that when a data scene is constructed and displayed, field equipment can be controlled according to a real-time detection condition, and the scene elements can be known, measured and controlled.
In a first aspect, an embodiment of the present application provides a digital twinning system, which includes a scene superposition and analysis system, a video real-time calculation system, a multi-source data acquisition and processing analysis system, a virtual three-dimensional rendering system, and a virtual-real interaction middleware, where:
the scene superposition and analysis system stores a field three-dimensional scene and takes the three-dimensional scene as a base map;
the video real-time calculating system is used for calculating the received video stream in real time to obtain a video frame;
the multi-source data acquisition, processing and analysis system receives and stores multi-source data, performs basic analysis and processing, and converts the multi-source data into a three-dimensional representation format;
the virtual three-dimensional rendering system is used for mapping and fusing the video frame in the three-dimensional scene by taking the three-dimensional scene as a base map, performing position matching and fusing on the multi-source data in the three-dimensional scene, mapping a virtual-real interaction middleware in the three-dimensional scene, rendering and interacting the fused three-dimensional scene, generating an interaction instruction in response to the interaction operation on the virtual-real interaction middleware, and sending the interaction instruction to the virtual-real interaction middleware;
and the virtual-real interaction middleware is used for sending an interaction instruction sent by the virtual three-dimensional rendering system to the outside.
Furthermore, the video stream is generated by acquiring images of a plurality of positions on the site by a multi-path image acquisition system, and the video stream generated by the multi-path image acquisition system is returned by a multi-path image real-time return control system.
Furthermore, the system further comprises a data synchronization system for performing data synchronization on the video streams returned by the multi-channel image real-time return control system, wherein the data synchronization is specifically time synchronization, so that the returned video streams in the same batch are located in the same time slice space.
Further, the video real-time solution system comprises a video frame extraction module and a hardware decoder, wherein:
the video frame extraction module extracts frame data from the video stream by using an FFMPEG library;
and the hardware decoder is used for resolving the frame data to obtain the video frame.
Further, the multi-source data collecting, processing and analyzing system comprises a multi-source data collecting system and a multi-source data analyzing system, wherein:
the multi-source data acquisition system is used for receiving and storing multi-source data returned by the multi-source sensor;
and the multi-source data analysis system is used for carrying out basic analysis processing on the multi-source data and converting the multi-source data into a three-dimensional representation format.
Further, the virtual-real interaction middleware comprises an instruction receiving module and an instruction transmitting module, wherein:
the instruction receiving module is used for receiving an interactive instruction sent by the virtual three-dimensional rendering system;
and the instruction transmission module is used for transmitting the interactive instruction to the entity control system pointed by the interactive instruction.
Furthermore, according to the position corresponding relation between the multi-source sensor for returning the multi-source data and the virtual-real interaction middleware, the rendering position of the multi-source data in the three-dimensional scene corresponds to the position of the virtual-real interaction middleware.
Further, the virtual three-dimensional rendering system also responds to the change of the multi-source data to change the rendering state of the virtual-real interaction middleware in the three-dimensional scene.
In a second aspect, embodiments of the present application provide a digital twinning method, including:
the scene superposition and analysis system stores a field three-dimensional scene and takes the three-dimensional scene as a base map;
the video real-time resolving system performs real-time resolving on the received video stream to obtain a video frame;
the multi-source data acquisition, processing and analysis system receives and stores multi-source data, performs basic analysis and processing, and converts the multi-source data into a three-dimensional representation format;
the virtual three-dimensional rendering system takes a three-dimensional scene as a base map, maps and fuses the video frames in the three-dimensional scene, performs position matching and fusion on the multi-source data in the three-dimensional scene, maps virtual-real interaction middleware in the three-dimensional scene, and renders and interacts the fused three-dimensional scene;
the virtual three-dimensional rendering system responds to the interactive operation on the virtual-real interactive middleware to generate an interactive instruction and send the interactive instruction to the virtual-real interactive middleware;
and the virtual-real interaction middleware sends an interaction instruction sent by the virtual three-dimensional rendering system outwards.
In a third aspect, an embodiment of the present application provides a computer device, including: a display screen, an input device, a memory, and one or more processors;
the display screen is used for displaying a virtual-real interactive interface;
the input device is used for receiving interactive operation;
the memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the digital twinning method of the second aspect.
In a fourth aspect, the present application provides a storage medium containing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are configured to perform the digital twinning method according to the second aspect.
The method comprises the steps that a multi-path image acquisition system acquires multi-path images of a site, a multi-path image real-time feedback control system returns a video stream in real time and synchronizes the time of the video stream, and the synchronized video stream is resolved in real time by a video real-time resolving system to obtain a video frame; the multi-source sensor detects the field environment, generates corresponding multi-source data, transmits the data to the multi-source data acquisition and processing analysis system for analysis and processing, and converts the data into a three-dimensional representation format which can be displayed in a three-dimensional scene; then, the three-dimensional scene of the scene is used as a base map, the virtual three-dimensional rendering system is used for matching, mapping and fusing the video frames and the multi-source data in the three-dimensional scene, rendering the fused three-dimensional scene, simultaneously visually and visually displaying the fused three-dimensional scene, interacting the fused three-dimensional scene through the virtual three-dimensional rendering system, sending an interaction instruction generated by interaction operation to the entity control system through the virtual-real interaction middleware, and the entity control system responds to the interaction instruction to control the field equipment. According to the embodiment of the application, the digital twin system maps, fuses and visually displays the three-dimensional scene, the real-time video frame and the on-site multi-source data, the three-dimensional display interface is more real and comprehensive, meanwhile, the fused three-dimensional scene is interacted through the virtual three-dimensional rendering system, and when the field equipment needs to be controlled, an interaction instruction is sent to an entity control system for controlling the field equipment through the virtual-real interaction middleware, so that the field equipment is controlled, and the scene elements are known, measurable and controllable really.
Drawings
FIG. 1 is a schematic structural diagram of a digital twinning system provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of another digital twinning system provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of another digital twinning system provided in an embodiment of the present application;
FIG. 4 is a flow chart of a digital twinning method provided by an embodiment of the present application;
fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Fig. 1 shows a schematic structural diagram of a digital twinning system provided by an embodiment of the present application. Referring to fig. 1, the digital twin system includes a scene superposition and analysis system 110, a video real-time solution system 140, a multi-source data acquisition and processing analysis system 150, a virtual three-dimensional rendering system 160, and a virtual-real interaction middleware 170. Wherein:
the scene overlaying and analyzing system 110 stores a three-dimensional scene of a scene, and uses the three-dimensional scene as a base map. Specifically, the source of the three-dimensional scene may be obtained by adding from an external server, or may be obtained by performing local three-dimensional modeling, the three-dimensional scene is stored locally after being obtained, the three-dimensional scene is used as a base map, other concerned data is fused on the three-dimensional scene, and the three-dimensional scene is used as a starting point of basic analysis.
And the video real-time calculating system 140 is used for calculating the received video stream in real time to obtain video frames.
The multi-source data acquisition, processing and analysis system 150 receives and stores multi-source data, performs basic analysis processing, and converts the multi-source data into a three-dimensional representation format.
The virtual three-dimensional rendering system 160 takes a three-dimensional scene as a base map, maps and fuses video frames in the three-dimensional scene, performs position matching and fusion on multi-source data in the three-dimensional scene, maps the virtual-real interaction middleware 170 in the three-dimensional scene, renders and interacts with the fused three-dimensional scene, generates an interaction instruction in response to an interaction operation on the virtual-real interaction middleware 170, and sends the interaction instruction to the virtual-real interaction middleware 170.
Specifically, when the video frame is mapped and fused in the three-dimensional scene, the virtual three-dimensional rendering system 160 determines a mapping relationship between a pixel in the video frame and a three-dimensional point in the three-dimensional scene, performs texture mapping on the video frame in the three-dimensional scene according to the mapping relationship, and performs smooth transition processing on an overlapped region of the texture mapping, thereby fusing the video frame in the three-dimensional scene.
Further, when the virtual three-dimensional rendering system 160 performs position matching and fusion on the multi-source data in the three-dimensional scene, the position in the three-dimensional scene corresponding to the multi-source data is determined according to the position corresponding relationship between the multi-source sensor and the virtual-real interaction middleware 170, that is, according to the position information or the device identification number carried in the multi-source data, and the multi-source data is mapped in the three-dimensional scene according to the target representation form, so that the rendering position of the multi-source data in the three-dimensional scene corresponds to the position of the virtual-real interaction middleware 170, thereby completing the position matching and fusion of the multi-source data in the three-dimensional scene.
And the virtual-real interaction middleware 170 is used for sending out interaction instructions sent by the virtual three-dimensional rendering system 160. Wherein the interactive instructions are directed to the device to be controlled and are used to instruct the field devices to perform corresponding actions.
The video real-time calculating system 140 calculates the received video stream in real time to obtain a video frame, the multi-source data collecting, processing and analyzing system 150 processes the received multi-source data and converts the multi-source data into a three-dimensional representation format, the video frame, the multi-source data and the three-dimensional scene are mapped, fused and visually displayed through the virtual three-dimensional rendering system 160, the rendered three-dimensional scene can be interactively operated, an interactive instruction generated by interaction is sent to a control module of the field device through the virtual-real interaction middleware 170, and the field device can respond to the interactive instruction to execute corresponding action, so that the field device can be controlled.
Fig. 2 shows a schematic structural diagram of another digital twinning system provided by an embodiment of the present application. Referring to fig. 2, the digital twin system includes a scene superposition and analysis system 110, a video real-time solution system 140, a multi-source data acquisition and processing analysis system 150, a virtual three-dimensional rendering system 160, and a virtual-real interaction middleware 170. Wherein:
the scene overlaying and analyzing system 110 stores a three-dimensional scene of a scene, and uses the three-dimensional scene as a base map.
And the video real-time calculating system 140 is used for calculating the received video stream in real time to obtain video frames.
Specifically, the video real-time solution system 140 includes a video frame extraction module 141 and a hardware decoder 142, wherein:
the video frame extracting module 141 extracts frame data from the video stream using the FFMPEG library. The FFMPEG library is a set of open source computer programs that can be used to record, convert digital audio, video, and convert them into streams, and can fulfill the requirement of extracting frame data in this embodiment.
And a hardware decoder 142 for resolving the frame data to obtain a video frame. In this embodiment, the hardware decoder 142 is an independent video decoding module built in the NVIDIA graphics card.
Further, the video stream is generated by a multi-channel image capturing system 190 (composed of multiple video capturing devices) capturing images of multiple locations on the scene.
The multi-source data acquisition, processing and analysis system 150 receives and stores multi-source data, performs basic analysis processing, and converts the multi-source data into a three-dimensional representation format.
Specifically, the multi-source data collecting, processing and analyzing system 150 includes a multi-source data collecting system 151 and a multi-source data analyzing system 152, wherein:
and the multi-source data acquisition system 151 is used for receiving and storing multi-source data returned by the multi-source sensor.
The multi-source sensor is selected according to the target, equipment and actual conditions concerned by the field and is arranged at the corresponding position. The multi-source data access switch is installed on site and used for accessing and converging monitoring data of the multi-source sensor and transmitting the monitoring data to the multi-source data access switch arranged on the side of the multi-source data acquisition system 151 in a wired or wireless mode, the multi-source data access switch sends the received multi-source data to the multi-source data acquisition system 151, and the multi-source data acquisition system 151 sends the received multi-source data to the multi-source data analysis system 152.
And the multi-source data analysis system 152 is used for performing basic analysis processing on the multi-source data and converting the multi-source data into a three-dimensional representation format.
Illustratively, after the multi-source data acquisition system 151 outputs multi-source data reflecting the condition of the monitored equipment, the multi-source data analysis system 152 receives the multi-source data according to the requirement and performs basic analysis processing on the multi-source data, such as AD conversion, threshold analysis, trend analysis, early warning analysis, value range, working state, etc., and the three-dimensional representation format thereof is understood as a format corresponding to a target representation form in the virtual three-dimensional rendering system 160, wherein the target representation form may be one or a combination of real-time values, real-time states, data tables, colors, etc. of the monitored data.
The virtual three-dimensional rendering system 160 takes a three-dimensional scene as a base map, maps and fuses video frames in the three-dimensional scene, performs position matching and fusion on multi-source data in the three-dimensional scene, maps the virtual-real interaction middleware 170 in the three-dimensional scene, renders and interacts with the fused three-dimensional scene, generates an interaction instruction in response to an interaction operation on the virtual-real interaction middleware 170, and sends the interaction instruction to the virtual-real interaction middleware 170.
And the virtual-real interaction middleware 170 is used for sending out interaction instructions sent by the virtual three-dimensional rendering system 160.
Specifically, the virtual-real interaction middleware 170 includes an instruction receiving module 171 and an instruction transmitting module 172, where the instruction receiving module 171 is configured to receive an interaction instruction sent by the virtual three-dimensional rendering system 160; and the instruction transmission module 172 is used for transmitting the interactive instruction to the equipment pointed by the interactive instruction.
The video frame is obtained by real-time resolving the received video stream through the video frame extraction module 141 and the hardware decoder 142, meanwhile, the multi-source data acquisition system 151 receives the multi-source data, the multi-source data are processed by the multi-source data analysis system 152 and converted into a three-dimensional representation format, then the video frame, the multi-source data and the three-dimensional scene are mapped, fused and visually displayed through the virtual three-dimensional rendering system 160, the rendered three-dimensional scene can be interactively operated, an interactive instruction generated by interaction is sent to the instruction receiving module 171 and sent to a control module of the field device through the instruction transmission module 172, and the field device can respond to the interactive instruction to execute corresponding action, so that the field device is controlled.
Fig. 3 is a schematic structural diagram of another digital twinning system provided by an embodiment of the present application. Referring to fig. 3, the digital twin system includes a scene superposition and analysis system 110, a data synchronization system 120, a video real-time calculation system 140, a multi-source data acquisition and processing analysis system 150, a virtual three-dimensional rendering system 160, and a virtual-real interaction middleware 170, wherein the data synchronization system 120 is connected to a multi-channel image real-time feedback control system 130, the multi-channel image real-time feedback control system 130 is connected to a multi-channel image acquisition system 190, and the virtual-real interaction middleware 170 is connected to an entity control system 180.
Specifically, the scene overlaying and analyzing system 110 stores a three-dimensional scene of a scene, and uses the three-dimensional scene as a base map. The source of the three-dimensional scene can be obtained by adding from an external server or by performing local three-dimensional modeling, the three-dimensional scene is stored locally after being obtained, the three-dimensional scene is used as a base map, namely, other concerned data is fused on the three-dimensional scene, and the three-dimensional scene is used as a starting point of basic analysis.
Further, the scene superposition and analysis system 110 divides the three-dimensional data of the three-dimensional scene into blocks, and when the three-dimensional scene on the site is updated, the scene superposition and analysis system 110 receives a three-dimensional update data packet corresponding to the blocks, where the three-dimensional update data packet should include the pointed blocks for updating the three-dimensional data, and the scene superposition and analysis system 110 changes the three-dimensional data of the corresponding blocks into the three-dimensional data in the three-dimensional update data packet, so as to ensure timeliness of the three-dimensional scene.
Specifically, the multi-channel image capturing system 190 includes a multi-channel video capturing device for capturing images at a plurality of locations on a site and generating a video stream.
In this embodiment, the multi-channel video capture device should include a video capture device (e.g., a camera) that supports a maximum number of not less than 100. Wherein, every video acquisition device is not less than 200 ten thousand pixels, and the resolution ratio is 1920X1080, still can select following function according to actual need: the integrated ICR double-optical-filter day and night switching has the advantages of fog penetration function, electronic anti-shaking, switching of various white balance modes, automatic video aperture, support of H.264 coding and the like.
Each video acquisition device monitors different areas of a site, and the monitoring range of the multi-channel video acquisition device covers the site range corresponding to the three-dimensional scene, namely the site concerned range is monitored.
Further, the multi-channel image real-time feedback control system 130 is configured to feedback the video stream generated by the multi-channel image capturing system 190.
In this embodiment, the effective transmission distance of the multi-channel image real-time feedback control system 130 should be not less than 3KM, the video code stream should be not less than 8 mbps, and the time delay should be not more than 80ms, so as to ensure the timeliness of the display effect.
Illustratively, an access switch is arranged at the side of the multi-path image acquisition system 190 to collect the video stream generated by the multi-path image acquisition system 190 and to converge the collected video stream into a convergence switch or a middle station, the convergence switch or the middle station preprocesses the video stream and then sends the video stream to the multi-path image real-time backhaul control system 130, and the multi-path image real-time backhaul control system 130 transmits the video stream to the data synchronization system 120 for synchronization processing.
Optionally, the connection between the aggregation switch and the access switches on both sides may be a communication connection in a wired and/or wireless manner. When through wired connection, modes such as accessible RS232, RS458, RJ45, bus are connected, when connecting through wireless, if near field communication modules such as mutual distance is close, accessible WiFi, zigBee, bluetooth carry out wireless communication, when far away from, accessible wireless bridge, 4G module, 5G module etc. carry out long-range wireless communication and connect.
The data synchronization system 120 receives the video streams returned by the multi-channel video real-time return control system 130 and is used for performing data synchronization on the returned video streams. The synchronized video stream is sent to the video real-time calculation system 140 for calculation. The data synchronization is specifically time synchronization, so that the returned video streams of the same batch are located in the same time slice space. In this embodiment, the data synchronization system 120 should support data synchronization of the video streams returned by not less than 100 video capture devices in maximum number. Where the time-sliced space can be understood as a number of real time interval abstractions of fixed size.
Specifically, the video real-time calculation system 140 is configured to perform real-time calculation on the video stream to obtain a video frame.
Further, the video real-time solution system 140 includes a video frame extraction module 141 and a hardware decoder 142, wherein:
the video frame extracting module 141 extracts frame data from the video stream using the FFMPEG library. The FFMPEG library is a set of open source computer programs that can be used to record, convert digital audio, video, and convert them into streams, and can fulfill the requirement of extracting frame data in this embodiment.
And a hardware decoder 142 for resolving the frame data to obtain a video frame. In this embodiment, the hardware decoder 142 is an independent video decoding module built in the NVIDIA graphics card, and supports h.264 and h.265 decoding, with a maximum resolution of 8K.
Specifically, the multi-source data collecting, processing and analyzing system 150 receives and stores the multi-source data returned by the multi-source sensor, performs basic analysis and processing, and converts the multi-source data into a three-dimensional representation format.
Further, the multi-source data collecting and processing analysis system 150 includes a multi-source data collecting system 151 and a multi-source data analysis system 152, wherein:
and the multi-source data acquisition system 151 is used for receiving and storing multi-source data returned by the multi-source sensor.
Illustratively, the multi-source sensors include at least one or more of resistive sensors, capacitive sensors, inductive sensors, voltage sensors, pyroelectric sensors, impedance sensors, magnetoelectric sensors, photoelectric sensors, resonant sensors, hall sensors, ultrasonic sensors, isotopic sensors, electrochemical sensors, microwave sensors, and the like.
The multi-source sensor is selected according to the target, equipment and actual conditions concerned by the field and is arranged at the corresponding position. The multi-source data access switch is installed on site and used for accessing and converging monitoring data of the multi-source sensor and transmitting the monitoring data to the multi-source data access switch arranged on the side of the multi-source data acquisition system 151 in a wired or wireless mode, the multi-source data access switch sends the received multi-source data to the multi-source data acquisition system 151, and the multi-source data acquisition system 151 sends the received multi-source data to the multi-source data analysis system 152.
Specifically, the multi-source data analysis system 152 is configured to perform basic analysis processing on the multi-source data and convert the multi-source data into a three-dimensional representation format.
Illustratively, after the multi-source data acquisition system 151 outputs multi-source data reflecting the condition of the monitored equipment, the multi-source data analysis system 152 receives the multi-source data according to the requirement and performs basic analysis processing on the multi-source data, such as AD conversion, threshold analysis, trend analysis, early warning analysis, value range, working state, etc., and the three-dimensional representation format thereof is understood as a format corresponding to a target representation form in the virtual three-dimensional rendering system 160, wherein the target representation form may be one or a combination of real-time values, real-time states, data tables, colors, etc. of the monitored data.
Specifically, the virtual three-dimensional rendering system 160 maps and fuses video frames in a three-dimensional scene with the three-dimensional scene as a base map, performs position matching and fusion on multi-source data in the three-dimensional scene, maps the virtual-real interaction middleware 170 in the three-dimensional scene, renders and interacts with the fused three-dimensional scene, generates an interaction instruction in response to an interaction operation on the virtual-real interaction middleware 170, and sends the interaction instruction to the virtual-real interaction middleware 170.
Specifically, when mapping and fusing a video frame in a three-dimensional scene, determining a mapping relationship between pixels in the video frame and three-dimensional points in the three-dimensional scene, performing texture mapping on the video frame in the three-dimensional scene according to the mapping relationship, and performing smooth transition processing on a superposition region of the texture mapping, so as to fuse the video frame in the three-dimensional scene.
Further, when the multi-source data is subjected to position matching and fusion in the three-dimensional scene, the position of the multi-source data in the three-dimensional scene is determined according to the position corresponding relation between the multi-source sensor and the virtual-real interaction middleware 170, namely according to position information or equipment identification number carried in the multi-source data, and the multi-source data is mapped in the three-dimensional scene according to the target expression form, so that the position of the multi-source data rendered in the three-dimensional scene corresponds to the position of the virtual-real interaction middleware 170, and the position matching and fusion of the multi-source data in the three-dimensional scene is completed.
Further, the virtual three-dimensional rendering system 160 also changes the rendering state of the virtual-real interaction middleware 170 in the three-dimensional scene in response to the change of the multi-source data. For example, the color or the representation state of the virtual-real interaction middleware 170 in the three-dimensional scene may be correspondingly changed according to the numerical range or the working state of the multi-source data of the corresponding device, such as distinguishing different numerical ranges with different colors, and representing different working states with the form of on-off states.
Specifically, the virtual-real interaction middleware 170 is configured to implement transmission of an interaction instruction between the virtual three-dimensional rendering system 160 and the entity control system 180.
Specifically, the entity control system 180 receives the interactive command from the virtual-real interactive middleware 170, and performs corresponding control on the field device in response to the interactive command.
Specifically, the virtual-real interaction middleware 170 includes an instruction receiving module 171 and an instruction transmitting module 172, where the instruction receiving module 171 is configured to receive an interaction instruction sent by the virtual three-dimensional rendering system 160; the command transmission module 172 is configured to transmit the interactive command to the entity control system 180 to which the interactive command is directed.
Illustratively, according to the requirement of multi-source data interaction in the three-dimensional scene, the instruction receiving module 171 of the virtual-real interaction middleware 170 may be displayed at a position corresponding to the multi-source data in the three-dimensional scene, and the representation form of the instruction receiving module 171 may be in the form of a physical button three-dimensional model or a three-dimensional model of a corresponding device.
Further, the entity control system 180 includes a controller for controlling the devices, which is provided in the field, and the controller can control the devices in response to the interactive instructions. The command transmission module 172 and the controller may be connected in a wired and/or wireless manner. When the controller is connected in a wired mode, the controller can be connected in modes of RS232, RS458, RJ45, a bus and the like, when the controller is connected in a wireless mode, the controller can be connected in a wireless communication mode through WiFi, ZigBee, Bluetooth, a wireless bridge, a 4G module, a 5G module and the like, and when the number of the controllers is large, data can be collected and distributed through the switch.
When a user selects the instruction receiving module 171 in the three-dimensional scene for interactive operation, the virtual three-dimensional rendering system 160 generates a corresponding interactive instruction according to the multi-source data of the corresponding device and a preset interactive response mode, and sends the interactive instruction to the instruction receiving module 171, where the interactive instruction includes a control instruction and position information or a device identification number for the device. The command transmission module 172 transmits the interactive command to the corresponding controller according to the location information or the device identification number, and the controller controls the field device in response to the control command.
As described above, the multi-channel images collected by the multi-channel image collection system 190 are fed back in real time to the data synchronization system 120 for time synchronization through the multi-channel image real-time feedback control system 130, the video real-time calculation system 140 calculates the synchronized video stream in real time to obtain video frames, the multi-source data collection system 151 receives the multi-source data, processes the multi-source data by the multi-source data analysis system 152 and converts the multi-source data into a three-dimensional representation format, then the video frames, the multi-source data and the three-dimensional scenes are mapped, fused and visually displayed by the virtual three-dimensional rendering system 160, the interaction commands generated by interaction are sent to the command receiving module 171 in the virtual interaction middleware and sent to the entity control system 180 by the command transmission module 172, the controller in the entity control system 180 executes corresponding actions according to the position information of the device pointed by the interaction commands and the control command control device, thereby enabling control of the field device.
Fig. 4 is a schematic flow chart of a digital twinning method provided by an embodiment of the present application, which may be performed by a digital twinning system, which may be implemented by hardware and/or software and integrated in a computer. Referring to fig. 4, the digital twinning method includes:
s201: the scene superposition and analysis system stores the three-dimensional scene of the scene and takes the three-dimensional scene as a base map.
Specifically, the source of the three-dimensional scene may be obtained by adding from an external server, or by performing local three-dimensional modeling, and the three-dimensional scene is stored locally after being obtained, and is used as a base map, that is, other concerned data is fused on the three-dimensional scene, and the three-dimensional scene is used as a starting point of basic analysis.
Furthermore, the scene superposition and analysis system divides the three-dimensional data of the three-dimensional scene into blocks, and when the three-dimensional scene on site is updated, the scene superposition and analysis system receives a three-dimensional update data packet corresponding to the blocks, the three-dimensional update data packet should include the pointed blocks for updating the three-dimensional data, and the scene superposition and analysis system replaces the three-dimensional data of the corresponding blocks with the three-dimensional data in the three-dimensional update data packet, so that the timeliness of the three-dimensional scene is guaranteed.
S202: and the video real-time calculating system carries out real-time calculation on the received video stream to obtain a video frame.
Specifically, further, the video real-time solution system includes a video frame extraction module and a hardware decoder, wherein:
and the video frame extraction module is used for extracting frame data from the video stream by using the FFMPEG library. The FFMPEG library is a set of open source computer programs that can be used to record, convert digital audio, video, and convert them into streams, and can fulfill the requirement of extracting frame data in this embodiment.
And the hardware decoder is used for resolving the frame data to obtain the video frame. In this embodiment, the hardware decoder is an independent video decoding module built in the NVIDIA graphics card.
S203: the multi-source data acquisition, processing and analysis system receives and stores multi-source data, performs basic analysis and processing, and converts the multi-source data into a three-dimensional representation format.
Specifically, the multi-source data acquisition and processing analysis system comprises a multi-source data acquisition system and a multi-source data analysis system, wherein:
and the multi-source data acquisition system is used for receiving and storing multi-source data returned by the multi-source sensor.
The multi-source sensor is selected according to the target, equipment and actual conditions concerned by the field and is arranged at the corresponding position. The multi-source data access switch is installed on site and used for accessing and converging monitoring data of the multi-source sensor and transmitting the monitoring data to the multi-source data access switch arranged on the side of the multi-source data acquisition system in a wired or wireless mode, the communication mode of the multi-source data access switch is similar to that of the data return system, the multi-source data access switch transmits the received multi-source data to the multi-source data acquisition system, and the multi-source data acquisition system transmits the received multi-source data to the multi-source data analysis system.
The multi-source data analysis system is used for carrying out basic analysis processing on multi-source data and converting the multi-source data into a three-dimensional representation format.
Illustratively, after the multi-source data acquisition system outputs multi-source data reflecting the condition of the monitored equipment, the multi-source data analysis system receives the multi-source data according to requirements and performs basic analysis processing on the multi-source data, such as AD conversion, threshold analysis, trend analysis, early warning analysis, numerical range, working state and the like, wherein the three-dimensional representation format is understood as a format corresponding to a target representation form in the virtual three-dimensional rendering system, and the target representation form can be one or a combination of a plurality of forms of real-time numerical values, real-time states, data tables, colors and the like of the monitored data.
S204: the virtual three-dimensional rendering system takes a three-dimensional scene as a base map, maps and fuses the video frames in the three-dimensional scene, performs position matching and fusion on the multi-source data in the three-dimensional scene, maps virtual-real interaction middleware in the three-dimensional scene, and renders and interacts the fused three-dimensional scene.
S205: and the virtual three-dimensional rendering system responds to the interactive operation on the virtual-real interactive middleware to generate an interactive instruction and send the interactive instruction to the virtual-real interactive middleware.
Specifically, when mapping and fusing a video frame in a three-dimensional scene, determining a mapping relationship between pixels in the video frame and three-dimensional points in the three-dimensional scene, performing texture mapping on the video frame in the three-dimensional scene according to the mapping relationship, and performing smooth transition processing on a superposition region of the texture mapping, so as to fuse the video frame in the three-dimensional scene.
Specifically, when the position matching and fusion of the multi-source data are carried out in the three-dimensional scene, the position of the multi-source data in the three-dimensional scene is determined according to the position corresponding relation between the multi-source sensor and the virtual-real interaction middleware, namely according to position information or equipment identification number carried in the multi-source data, and the multi-source data are mapped in the three-dimensional scene according to the target expression form, so that the rendering position of the multi-source data in the three-dimensional scene corresponds to the position of the virtual-real interaction middleware, and the position matching and fusion of the multi-source data in the three-dimensional scene are completed.
Further, the virtual three-dimensional rendering system also responds to the change of the multi-source data to change the rendering state of the virtual-real interaction middleware in the three-dimensional scene. For example, the color or the expression state of the virtual-real interaction middleware in the three-dimensional scene may be correspondingly changed according to the numerical range or the working state of the multi-source data of the corresponding device, for example, different color is used for distinguishing different numerical ranges, and different working states are represented in the form of on-off states.
S206: and the virtual-real interaction middleware sends an interaction instruction sent by the virtual three-dimensional rendering system outwards.
Specifically, the virtual-real interaction middleware is used for realizing transmission of an interaction instruction between the virtual three-dimensional rendering system and the entity control system, and the entity control system receives the interaction instruction from the virtual-real interaction middleware and correspondingly controls the field device in response to the interaction instruction.
Further, the virtual-real interaction middleware comprises an instruction receiving module and an instruction transmission module, wherein the instruction receiving module is used for receiving an interaction instruction sent by the virtual three-dimensional rendering system; and the instruction transmission module is used for transmitting the interactive instruction to the entity control system pointed by the interactive instruction.
The received video stream is resolved in real time through the video real-time resolving system, a video frame obtained by a resolving result is resolved, meanwhile, the multi-source data acquisition and processing analysis system processes the received multi-source data and converts the multi-source data into a three-dimensional representation format, then the video frame, the multi-source data and a three-dimensional scene are mapped, fused and visually displayed through the virtual three-dimensional rendering system, interactive operation can be carried out on the rendered three-dimensional scene, an interactive instruction generated by interaction is sent to a control module of the field equipment through the virtual-real interaction middleware, and the field equipment can respond to the interactive instruction to execute corresponding action, so that the field equipment is controlled.
On the basis of the foregoing embodiments, fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present application. Referring to fig. 5, the present embodiment provides a computer device including: a display screen 24, an input device 25, a memory 22, a communication module 23, and one or more processors 21; the communication module 23 is configured to communicate with the outside; the display screen 24 is used for displaying virtual and real interactive interfaces; the input device 25 is used for receiving interactive operation; the memory 22 for storing one or more programs; when executed by the one or more processors 21, cause the one or more processors 21 to implement the digital twinning method and system functions as provided by embodiments of the present application.
The memory 22 is provided as a computer readable storage medium that may be used to store software programs, computer executable programs, and modules, such as the digital twinning method and system functions described in any of the embodiments of the present application. The memory 22 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 22 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 22 may further include memory located remotely from the processor, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Further, the computer device further includes a communication module 23, and the communication module 23 is configured to establish a wired and/or wireless connection with other devices and perform data transmission.
The processor 21 executes various functional applications of the device and data processing, i.e. implements the above-described digital twin method and system functions, by running software programs, instructions and modules stored in the memory 22.
The digital twinning system and the computer device provided by the above can be used for executing the digital twinning method provided by the above embodiments, and have corresponding functions and beneficial effects.
Embodiments of the present application also provide a storage medium containing computer executable instructions, which when executed by a computer processor, are used to perform the digital twinning method provided by the embodiments of the present application, and implement the functions of the digital twinning system provided by the embodiments of the present application.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors 21.
Of course, the storage medium provided by the embodiments of the present application contains computer executable instructions, and the computer executable instructions are not limited to the digital twinning method described above, and may also execute the relevant operations in the digital twinning method provided by any embodiments of the present application, so as to implement the functions of the digital twinning system provided by any embodiments of the present application.
The digital twinning system and the computer device provided in the above embodiments can perform the digital twinning method provided in any embodiments of the present application, and the technical details not described in the above embodiments can be referred to the digital twinning system and method provided in any embodiments of the present application.
The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. The present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.
Claims (7)
1. The digital twin system is characterized by comprising a scene superposition and analysis system, a video real-time calculation system, a multi-source data acquisition and processing analysis system, a virtual three-dimensional rendering system and a virtual-real interaction middleware, wherein:
the scene superposition and analysis system stores a field three-dimensional scene and takes the three-dimensional scene as a base map;
the video real-time calculating system is used for calculating the received video stream in real time to obtain a video frame;
the multi-source data acquisition, processing and analysis system receives and stores multi-source data, performs basic analysis and processing, and converts the multi-source data into a three-dimensional representation format;
the virtual three-dimensional rendering system is used for mapping and fusing the video frame in the three-dimensional scene by taking the three-dimensional scene as a base map, performing position matching and fusing on the multi-source data in the three-dimensional scene, mapping a virtual-real interaction middleware in the three-dimensional scene, rendering and interacting the fused three-dimensional scene, generating an interaction instruction in response to the interaction operation on the virtual-real interaction middleware, and sending the interaction instruction to the virtual-real interaction middleware; according to the position corresponding relation between a multi-source sensor for returning multi-source data and a virtual-real interaction middleware, enabling the rendering position of the multi-source data in a three-dimensional scene to correspond to the position of the virtual-real interaction middleware; the virtual three-dimensional rendering system also responds to the change of the multi-source data and changes the rendering state of the virtual-real interaction middleware in the three-dimensional scene;
the virtual-real interaction middleware is used for sending an interaction instruction sent by the virtual three-dimensional rendering system to the outside; the virtual-real interaction middleware comprises an instruction receiving module and an instruction transmitting module, wherein:
the instruction receiving module is used for receiving an interactive instruction sent by the virtual three-dimensional rendering system;
and the instruction transmission module is used for transmitting the interactive instruction to the entity control system pointed by the interactive instruction.
2. The digital twinning system of claim 1, wherein the video stream is generated by a multi-path image capturing system capturing images of a plurality of locations on site, and the video stream generated by the multi-path image capturing system is transmitted back by a multi-path image real-time transmission control system.
3. The digital twin system according to claim 2, further comprising a data synchronization system for performing data synchronization, specifically time synchronization, on the video streams returned by the multi-channel real-time return control system, so that the returned video streams of the same batch are located in the same time slice space.
4. The digital twinning system of claim 1, wherein the video real-time solution system includes a video frame extraction module and a hardware decoder, wherein:
the video frame extraction module extracts frame data from the video stream by using an FFMPEG library;
and the hardware decoder is used for resolving the frame data to obtain the video frame.
5. The digital twinning system of claim 1, wherein the multi-source data collection and processing analysis system includes a multi-source data collection system and a multi-source data analysis system, wherein:
the multi-source data acquisition system is used for receiving and storing multi-source data returned by the multi-source sensor;
and the multi-source data analysis system is used for carrying out basic analysis processing on the multi-source data and converting the multi-source data into a three-dimensional representation format.
6. A digital twinning method, comprising:
the scene superposition and analysis system stores a field three-dimensional scene and takes the three-dimensional scene as a base map;
the video real-time resolving system performs real-time resolving on the received video stream to obtain a video frame;
the multi-source data acquisition, processing and analysis system receives and stores multi-source data, performs basic analysis and processing, and converts the multi-source data into a three-dimensional representation format;
the virtual three-dimensional rendering system takes a three-dimensional scene as a base map, maps and fuses the video frames in the three-dimensional scene, performs position matching and fusion on the multi-source data in the three-dimensional scene, maps virtual-real interaction middleware in the three-dimensional scene, and renders and interacts the fused three-dimensional scene;
the virtual three-dimensional rendering system responds to the interactive operation on the virtual-real interactive middleware to generate an interactive instruction and send the interactive instruction to the virtual-real interactive middleware; according to the position corresponding relation between a multi-source sensor for returning multi-source data and a virtual-real interaction middleware, enabling the rendering position of the multi-source data in a three-dimensional scene to correspond to the position of the virtual-real interaction middleware; the virtual three-dimensional rendering system also responds to the change of the multi-source data and changes the rendering state of the virtual-real interaction middleware in the three-dimensional scene;
the virtual-real interaction middleware sends an interaction instruction sent by the virtual three-dimensional rendering system outwards; the virtual-real interaction middleware comprises an instruction receiving module and an instruction transmitting module, wherein:
the instruction receiving module is used for receiving an interactive instruction sent by the virtual three-dimensional rendering system;
and the instruction transmission module is used for transmitting the interactive instruction to the entity control system pointed by the interactive instruction.
7. A computer device, comprising: a display screen, an input device, a memory, and one or more processors;
the display screen is used for displaying a virtual-real interactive interface;
the input device is used for receiving interactive operation;
the memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the digital twinning method of claim 6.
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| CN101908232A (en) * | 2010-07-30 | 2010-12-08 | 重庆埃默科技有限责任公司 | Interactive scene simulation system and scene virtual simulation method |
| CN108040081A (en) * | 2017-11-02 | 2018-05-15 | 同济大学 | A kind of twin monitoring operational system of subway station numeral |
| CN109819233A (en) * | 2019-01-21 | 2019-05-28 | 哈工大机器人（合肥）国际创新研究院 | A kind of digital twinned system based on virtual image technology |
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