CN112052345A

CN112052345A - Data storage method, data processing method and device

Info

Publication number: CN112052345A
Application number: CN201910492004.9A
Authority: CN
Inventors: 陆永明; 陈俊鹏; 左昌煜; 金杨解; 温宝军; 鲁雷
Original assignee: Beijing Hezhongdingxin Information Technology Co ltd
Current assignee: Beijing Hezhongdingxin Information Technology Co ltd
Priority date: 2019-06-06
Filing date: 2019-06-06
Publication date: 2020-12-08
Anticipated expiration: 2039-06-06
Also published as: CN112052345B

Abstract

The application discloses a data storage method, which can acquire coordinates of nodes in a three-dimensional body in three-dimensional design data to obtain a node coordinate set; the node coordinate set comprises coordinates of nodes in a plurality of three-dimensional planes; arranging nodes in each three-dimensional plane in the multiple three-dimensional planes according to the coordinates of the nodes and the connection relation between the nodes and a preset sequence to obtain a node sequence corresponding to each three-dimensional plane; acquiring a two-dimensional plane which is obtained by projecting each three-dimensional plane in a plurality of three-dimensional planes onto a preset plane and corresponds to each three-dimensional plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in a plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and saving the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane, wherein the node sequence corresponding to each three-dimensional plane can be used as an index of each three-dimensional plane, and the three-dimensional plane which is relatively close to the mechanical part can be determined in an instant mode.

Description

Data storage method, data processing method and device

Technical Field

The present application relates to the field of earthwork data processing, and in particular, to a data storage method, a data processing method, and an apparatus.

Background

In earthworks, it is often necessary to combine the actual position of a machine component, such as a blade, with three-dimensional design data to determine how to control the movement of the machine component, such as to guide an operator in controlling the movement of the machine component. In particular, a three-dimensional plane may first be determined that is relatively close to the mechanical component, thereby further determining how to control the mechanical component movement.

Currently, three-dimensional planes that are relatively close to mechanical components can be determined in an indexed manner. Specifically, the three-dimensional design data is spatially divided by using a minimum limit box method, a relation is established between a three-dimensional body and the minimum limit box, then a three-dimensional index is established by using the minimum limit box as an index basis according to the mutual inclusion relation, and therefore a three-dimensional plane which is relatively close to a mechanical part is determined by using the three-dimensional index.

However, the aforementioned three-dimensional index is constructed using a three-dimensional body, and when a three-dimensional plane closer to the mechanical component is determined using the three-dimensional index, the amount of calculation is high, and accordingly, the time consumption is long. The main frequency of a microprocessor of embedded hardware equipment for operating a guide control system in the earthwork is generally about 1G, and the time scale measurement of instantaneous action of mechanical parts for operating about 2G of a memory is less than 0.5 second. Therefore, it is meaningful to determine the three-dimensional plane closer to the mechanical component instantaneously, and the current method of determining the three-dimensional plane closer to the mechanical component by using the three-dimensional spatial index is time-consuming and cannot determine the three-dimensional plane closer to the mechanical component instantaneously.

There is a need to propose a solution to the above-mentioned problems.

Disclosure of Invention

The technical problem to be solved by the application is that the time consumption is long and the three-dimensional plane close to the mechanical part cannot be determined instantaneously in a mode of determining the three-dimensional plane close to the mechanical part by using a three-dimensional space index in the traditional technology, and the data storage method, the data processing method and the data processing device are provided.

In a first aspect, an embodiment of the present application provides a data storage method, where the method includes:

obtaining coordinates of nodes in a three-dimensional body in three-dimensional design data to obtain a node coordinate set, wherein the node coordinate set comprises coordinates of the nodes in a plurality of three-dimensional planes;

arranging nodes in each three-dimensional plane in the plurality of three-dimensional planes according to the coordinates of the nodes and the connection relation among the nodes and a preset sequence to obtain a node sequence corresponding to each three-dimensional plane; acquiring a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane;

respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane;

and saving the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane.

Optionally, the method further includes:

obtaining operation states of a plurality of three-dimensional planes of the plurality of three-dimensional planes, wherein the operation states comprise: any one of job not started, job completed, and job in progress;

and storing a corresponding relation between a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes and an operation state corresponding to each three-dimensional plane in the plurality of three-dimensional planes.

Optionally, referring to any one of the three-dimensional planes as a first three-dimensional plane, the acquiring the operation states of the three-dimensional planes includes:

acquiring a first coordinate of a position where an actual mechanical part is located in a world coordinate system;

calculating the distance between the actual mechanical part and the first three-dimensional plane according to the first coordinate;

and determining the working state of the first three-dimensional plane according to the distance between the actual mechanical part and the first three-dimensional plane.

Optionally, the determining the operation state of the first three-dimensional plane according to the distance between the actual mechanical component and the first three-dimensional plane includes:

acquiring at least one projection position obtained by projecting at least one part in the actual mechanical part onto the first three-dimensional plane, and respectively calculating the distance between the at least one part and the projection position corresponding to the at least one part to obtain at least one distance;

if the at least one distance is smaller than or equal to a first distance, determining that the operation state of the first three-dimensional plane is the completed operation; if the distance smaller than or equal to the first distance exists in the at least one distance, determining that the operation state of the first three-dimensional plane is in operation; otherwise, determining that the operation state of the first three-dimensional plane is not started.

Optionally, the coordinates of the nodes in the three-dimensional body are coordinates in a world coordinate system, and the method further includes:

acquiring a first coordinate of a position where an actual mechanical part is located in the world coordinate system;

determining a first node sequence, wherein the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane of which the distance between the first node sequence and the first coordinate is smaller than or equal to a first preset distance;

constructing a three-dimensional plane with a distance from the first coordinate being smaller than or equal to a first preset distance according to the first node sequence and the coordinates of each node in the first node sequence;

acquiring a pre-constructed mechanical part model;

displaying the constructed three-dimensional plane and displaying the mechanical part model according to the first coordinate, so that the displayed mechanical part model embodies the position relation between the position of the actual mechanical part and the three-dimensional plane.

Optionally, the method further includes:

acquiring the operation state of a three-dimensional plane corresponding to the first node sequence;

and correspondingly displaying the operation state of the three-dimensional plane on the constructed three-dimensional plane.

Optionally, the method further includes:

acquiring a first coordinate of the position of an actual mechanical part in the world coordinate system, and acquiring a pre-constructed mechanical part model;

determining a second node sequence, wherein the second node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane of which the distance between the first node sequence and the first coordinate is smaller than or equal to a second preset distance;

constructing a three-dimensional plane with a distance from the first coordinate being smaller than or equal to a second preset distance according to the second node sequence and the coordinates of each node in the second node sequence;

calculating the intersection point of the three-dimensional plane of which the distance between the first plane and the first coordinate is smaller than or equal to a second preset distance to obtain a first intersection point plane; the first plane is a plane formed by at least two points in the operation part of the actual mechanical part and at least two points obtained by projecting the at least two points to the preset plane;

displaying the first intersection plane and displaying the mechanical component model according to the first coordinates.

Optionally, the method further includes:

determining a third node sequence, wherein the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane of which the distance between the first coordinate and the first coordinate is smaller than or equal to a third preset distance;

constructing a three-dimensional plane with a distance from the first coordinate being smaller than or equal to a third preset distance according to the third node sequence and the coordinates of each node in the third node sequence;

calculating the intersection point of the three-dimensional planes of which the distance between the second plane and the first coordinate is less than or equal to a third preset distance to obtain a second intersection point plane; the second plane is a plane formed by at least two points in the moving part of the actual mechanical part and at least two points obtained by projecting the at least two points to the preset plane;

displaying the second intersection plane and displaying the mechanical component model according to the first coordinates.

In a second aspect, an embodiment of the present application provides a data storage device, including:

the first acquisition unit is used for acquiring coordinates of nodes in a three-dimensional body in the three-dimensional design data to obtain a node coordinate set; the set of node coordinates comprises coordinates of nodes in a plurality of three-dimensional planes;

the sorting unit is used for sorting the nodes in each three-dimensional plane in the plurality of three-dimensional planes according to the coordinates of the nodes and the connection relation among the nodes and according to a right preset sequence to obtain a node sequence corresponding to each three-dimensional plane;

a second obtaining unit, configured to obtain a two-dimensional plane obtained by projecting each of the plurality of three-dimensional planes onto a preset plane, where each of the three-dimensional planes corresponds to one of the plurality of three-dimensional planes;

a first determining unit, configured to determine, according to the node sequence of each three-dimensional plane, a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes, respectively;

and the first storage unit is used for storing the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane.

Optionally, the apparatus further comprises:

a third acquiring unit configured to acquire operation states of a plurality of three-dimensional planes of the plurality of three-dimensional planes, the operation states including: any one of job not started, job completed, and job in progress;

and the second storage unit is used for storing the node sequence corresponding to the two-dimensional plane corresponding to each of the plurality of three-dimensional planes and the corresponding relation between the operation states corresponding to each of the plurality of three-dimensional planes.

Optionally, any one of the three-dimensional planes is referred to as a first three-dimensional plane, and the third obtaining unit is specifically configured to:

Optionally, the coordinates of the nodes in the three-dimensional body are coordinates in a world coordinate system, and the apparatus further includes:

a fourth acquisition unit, configured to acquire a first coordinate of a position where an actual mechanical component is located in the world coordinate system;

a second determining unit, configured to determine a first node sequence, where the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane whose distance between the first coordinates is smaller than or equal to a first preset distance;

the first construction unit is used for constructing a three-dimensional plane with a distance from the first coordinate being smaller than or equal to a first preset distance according to the first node sequence and the coordinates of each node in the first node sequence;

a fifth acquiring unit, configured to acquire a pre-constructed mechanical component model;

and the first display unit is used for displaying the constructed three-dimensional plane and displaying the mechanical part model according to the first coordinate, so that the displayed mechanical part model embodies the position relation between the position of the actual mechanical part and the three-dimensional plane.

Optionally, the apparatus further comprises:

a sixth acquiring unit, configured to acquire an operation state of the three-dimensional plane corresponding to the first node sequence;

and the second display unit is used for correspondingly displaying the working state of the three-dimensional plane on the constructed three-dimensional plane.

Optionally, the apparatus further comprises:

a seventh obtaining unit, configured to obtain a first coordinate of a position where an actual mechanical component is located in the world coordinate system, and obtain a mechanical component model that is constructed in advance;

a third determining unit, configured to determine a second node sequence, where the second node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane whose distance between the first coordinates is smaller than or equal to a second preset distance;

a second constructing unit, configured to construct, according to the second node sequence and coordinates of each node in the second node sequence, a three-dimensional plane whose distance from the first coordinate is less than or equal to a second preset distance;

the first calculation unit is used for calculating the intersection point of the three-dimensional plane of which the distance between the first plane and the first coordinate is smaller than or equal to a second preset distance to obtain a first intersection point plane; the first plane is a plane formed by at least two points in the operation part of the actual mechanical part and at least two points obtained by projecting the at least two points to the preset plane;

and the third display unit is used for displaying the first intersection plane and displaying the mechanical part model according to the first coordinate.

Optionally, the apparatus further comprises:

the eighth acquiring unit is used for acquiring a first coordinate of the position of the actual mechanical part in the world coordinate system and acquiring a pre-constructed mechanical part model;

a fourth determining unit, configured to determine a third node sequence, where the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane whose distance from the first coordinate is smaller than or equal to a third preset distance;

a third constructing unit, configured to construct, according to the third node sequence and coordinates of each node in the third node sequence, a three-dimensional plane whose distance from the first coordinate is less than or equal to a third preset distance;

the second calculation unit is used for calculating the intersection point of the three-dimensional plane of which the distance between the second plane and the first coordinate is smaller than or equal to a third preset distance to obtain a second intersection point plane; the second plane is a plane formed by at least two points in the moving part of the actual mechanical part and at least two points obtained by projecting the at least two points to the preset plane;

and the fourth display unit is used for displaying the second intersection plane and displaying the mechanical part model according to the first coordinate.

Compared with the prior art, the embodiment of the application has the following advantages:

the embodiment of the application provides a data storage method, which specifically comprises the steps of obtaining coordinates of nodes in a three-dimensional body in three-dimensional design data to obtain a node coordinate set; the set of node coordinates comprises coordinates of nodes in a plurality of three-dimensional planes; arranging nodes in each three-dimensional plane in the plurality of three-dimensional planes according to the coordinates of the nodes and the connection relation between the nodes and a preset sequence to obtain a node sequence corresponding to each three-dimensional plane; acquiring a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and saving the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane, wherein the node sequence corresponding to each three-dimensional plane can be used as an index of each three-dimensional plane to determine the three-dimensional plane which is closer to the mechanical part. It can be seen that, in the embodiment of the present application, instead of the index based on the three-dimensional space constructed by the three-dimensional body as in the conventional technology, the index constructed by the three-dimensional plane is used for determining the three-dimensional plane closer to the mechanical component, so that the computational complexity for determining the three-dimensional plane closer to the mechanical component can be effectively reduced, the time for determining the three-dimensional plane closer to the mechanical component can be correspondingly shortened, and the three-dimensional plane closer to the mechanical component can be determined in an "instant" manner.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic flowchart of a data storage method according to an embodiment of the present application;

FIG. 2 is a schematic flow chart illustrating a method for displaying a relative relationship between an actual mechanical component and a three-dimensional plane according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a display interface provided in an embodiment of the present application;

fig. 4 is a flowchart illustrating a method for displaying a first plane according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a first plane according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a display interface provided in an embodiment of the present application;

fig. 7 is a flowchart illustrating a method for displaying a first plane according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a second plane provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of a display interface provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of a data storage device according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.

The inventor of the present application has found that, in the prior art, a three-dimensional plane closer to a mechanical component can be determined in an index manner. Specifically, the three-dimensional design data is spatially divided by using a minimum limit box method, a relation is established between a three-dimensional body and the minimum limit box, then a three-dimensional index is established by using the minimum limit box as an index basis according to the mutual inclusion relation, and therefore a three-dimensional plane which is relatively close to a mechanical part is determined by using the three-dimensional index.

However, the aforementioned three-dimensional index is constructed using a three-dimensional body, and when a three-dimensional plane closer to the mechanical component is determined using the three-dimensional index, the amount of calculation is high, and accordingly, the time consumption is long. Since the three-dimensional index is constructed using a three-dimensional body, when a three-dimensional plane closer to the mechanical component is determined, the entire three-dimensional body is traversed to determine the three-dimensional plane closer to the mechanical component. For example, if the three-dimensional design data is design data for a road 1000 km long, the entire three-dimensional body corresponding to the road 1000 km long is traversed when determining a three-dimensional plane closer to the mechanical component, which results in a relatively high calculation amount and a relatively long time consumption.

The main frequency of a microprocessor of embedded hardware equipment for operating a guide control system in the earthwork is generally about 1G, and the time scale measurement of instantaneous action of mechanical parts for operating about 2G of a memory is less than 0.5 second. Therefore, it is meaningful to determine the three-dimensional plane closer to the mechanical component instantaneously, and the current method of determining the three-dimensional plane closer to the mechanical component by using the three-dimensional spatial index is time-consuming and cannot determine the three-dimensional plane closer to the mechanical component instantaneously.

In order to solve the above problem, an embodiment of the present application provides a data storage method, which may obtain coordinates of a node in a three-dimensional body in three-dimensional design data to obtain a node coordinate set; the set of node coordinates comprises coordinates of nodes in a plurality of three-dimensional planes; arranging nodes in each three-dimensional plane in the plurality of three-dimensional planes according to the coordinates of the nodes and the connection relation between the nodes and a preset sequence to obtain a node sequence corresponding to each three-dimensional plane; acquiring a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and saving the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane, wherein the node sequence corresponding to each three-dimensional plane can be used as an index of each three-dimensional plane to determine the three-dimensional plane which is closer to the mechanical part. It follows that, in the embodiment of the present application, not the three-dimensional spatial index constructed based on the three-dimensional body as in the conventional art, but the index constructed based on the three-dimensional plane determines the three-dimensional plane closer to the mechanical component, because the index constructed based on the three-dimensional plane can traverse the three-dimensional plane within a certain range of distance from the mechanical component to determine the mechanical component without traversing all the three-dimensional planes. Thereby effectively reducing the computational complexity of determining a three-dimensional plane that is closer to the mechanical component. The corresponding reduction in time to determine a three-dimensional plane that is closer to the mechanical component allows for a "momentary" determination of a three-dimensional plane that is closer to the mechanical component.

Various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.

Exemplary method

Referring to fig. 1, the figure is a schematic flowchart of a data storage method according to an embodiment of the present application.

The data storage method provided by the embodiment of the application can be realized through the following steps S101 to S105, for example.

S101: acquiring coordinates of nodes in a three-dimensional body in three-dimensional design data to obtain a node coordinate set; the set of node coordinates includes coordinates of nodes in a plurality of three-dimensional planes.

The three-dimensional design data mentioned in the embodiments of the present application refers to a work target in an earth work. For example, if an earthwork contractor needs to build a road, the three-dimensional design data is the design data of the road to be built.

The three-dimensional body mentioned in the embodiment of the present application may be a three-dimensional body made up of part or all of the three-dimensional design data. For example, the road may form a three-dimensional body, and for example, a portion of the road may form a three-dimensional body.

It will be appreciated that the dots constitute lines and the lines constitute planes. The node in the embodiment of the present application may be understood as a unit constituting a line, i.e., "point".

In this embodiment, each node forming the three-dimensional body may correspond to a coordinate, and the coordinate may be a three-dimensional coordinate. In one implementation of the embodiment of the present application, the coordinates may be coordinates in a world coordinate system, which represent the position of the node in the real three-dimensional stereo space.

In the embodiment of the present application, the three-dimensional plane is a plane constituting the three-dimensional body.

S102: and arranging the nodes in each three-dimensional plane in the plurality of three-dimensional planes according to the coordinates of the nodes and the connection relation among the nodes and a preset sequence to obtain a node sequence corresponding to each three-dimensional plane.

In this embodiment of the application, the three-dimensional body may be split into a plurality of three-dimensional planes according to the three-dimensional design data, and which nodes belong to the same three-dimensional plane in the nodes corresponding to the node coordinate set are determined. Then, the nodes in each three-dimensional plane in the multiple three-dimensional planes can be arranged according to the coordinates of the nodes and a preset sequence, so that a node sequence corresponding to each three-dimensional plane is obtained.

The embodiment of the present application does not specifically limit a specific implementation of "arranging nodes in each of the plurality of three-dimensional planes according to a predetermined sequence according to a connection relationship between coordinates of the nodes and the nodes to obtain a node sequence corresponding to each of the three-dimensional planes", and as an example, the nodes in each of the plurality of three-dimensional planes may be ordered according to the connection relationship between the coordinates of the nodes and the nodes in a regular corresponding order ordering manner in a right-handed spiral direction (i.e., counterclockwise when looking down from the sky to the ground) to obtain a node sequence corresponding to each of the three-dimensional planes.

In this embodiment, in order to reduce the data amount corresponding to the node sequence, in this embodiment, the coordinates of the nodes in the three-dimensional body may be numbered, so as to obtain the number of each node. The sequence of nodes may be embodied as a numbered sequence of a plurality of nodes.

In the embodiment of the present application, it is considered that the coordinates of the nodes in the three-dimensional plane need to be used when the three-dimensional plane is subsequently constructed, and therefore, in the embodiment of the present application, the corresponding relationship between the coordinates of each node and the number of the node may also be stored, so as to determine the coordinates of the node through the number of the node.

It is understood that three points may form a plane, and therefore, three nodes in the node sequence may form a three-dimensional plane, in this embodiment, the three-dimensional plane formed by the three nodes is referred to as a triangular patch, and the three-dimensional plane is formed by a plurality of triangular patches. For example, for a sequence of nodes abcde (a, b, c, d, and e all represent the numbers of the nodes), abc constitutes a triangle patch, cde constitutes a triangle patch, ace constitutes a triangle patch, and so on. The triangular patch is the basis for three-dimensional rendering. In the method and the device, the node forming relationship of the triangular patch and the forming relationship between the triangular patch and the three-dimensional plane do not need to be recorded independently, so that the data storage capacity is reduced.

S103: and acquiring a two-dimensional plane corresponding to each three-dimensional plane, which is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane.

The preset plane is not specifically limited in the embodiment of the present application, and the preset plane may be, for example, a plane with an elevation of zero (i.e., a plane with a coordinate of 0 corresponding to the coordinate axis z).

S104: and respectively determining a node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane.

S105: and saving the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane.

In this embodiment, the arrangement order of each node in the node sequence corresponding to the two-dimensional plane corresponding to one three-dimensional plane is consistent with the arrangement order of each node in the node sequence corresponding to the three-dimensional plane obtained in the foregoing S102. For example, all the node orders are determined in a mode of reverse time needle ordering when the ground is overlooked from the sky. For example, if the node sequence corresponding to the three-dimensional plane obtained in S102 is "abcde", the node sequence corresponding to the two-dimensional plane corresponding to the three-dimensional plane may be "abcde", instead of "acbde" or "edcba", for example.

As mentioned above, a three-dimensional plane may correspond to a node sequence, and a three-dimensional plane may correspond to a two-dimensional plane after being projected onto a predetermined plane. In this embodiment, the node sequence corresponding to the two-dimensional plane is determined as an index of the three-dimensional plane.

In this embodiment of the present application, a spatial database spatialite of a file type may be used to store a node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane, and create an R-tree index.

As can be seen from the above description, by using the data storage method provided by the embodiment of the present application, coordinates of nodes in a three-dimensional body in three-dimensional design data can be obtained, so as to obtain a node coordinate set; the set of node coordinates comprises coordinates of nodes in a plurality of three-dimensional planes; arranging nodes in each three-dimensional plane in the plurality of three-dimensional planes according to the coordinates of the nodes and the connection relation between the nodes and a preset sequence to obtain a node sequence corresponding to each three-dimensional plane; acquiring a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and saving the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane, wherein the node sequence corresponding to each three-dimensional plane can be used as an index of each three-dimensional plane to determine the three-dimensional plane which is closer to the mechanical part. It follows that, in the embodiment of the present application, not the three-dimensional spatial index constructed based on the three-dimensional body as in the conventional art, but the index constructed based on the three-dimensional plane determines the three-dimensional plane closer to the mechanical component, because the index constructed based on the three-dimensional plane can traverse the three-dimensional plane within a certain range of distance from the mechanical component to determine the mechanical component without traversing all the three-dimensional planes. Thereby effectively reducing the computational complexity of determining a three-dimensional plane that is closer to the mechanical component. The corresponding reduction in time to determine a three-dimensional plane that is closer to the mechanical component allows for a "momentary" determination of a three-dimensional plane that is closer to the mechanical component.

In an implementation manner of the embodiment of the present application, in addition to the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane, the operation state corresponding to each three-dimensional plane may also be saved.

Specifically, the operation states of a plurality of three-dimensional planes in the plurality of three-dimensional planes may be acquired, and the node sequence corresponding to the two-dimensional plane corresponding to each of the plurality of three-dimensional planes and the correspondence between the operation states corresponding to each of the plurality of three-dimensional planes may be stored.

In an embodiment of the present application, the job status includes: any one of a job not started, a job completed, and a job in progress.

As described above, in the embodiment of the present application, for a three-dimensional plane, a node sequence corresponding to the two-dimensional plane obtained by projecting the design surface onto a preset plane is determined as an index of the three-dimensional plane. Therefore, in this embodiment of the application, after the operation state of the three-dimensional plane is obtained, the node sequence corresponding to the two-dimensional plane corresponding to the three-dimensional plane and the corresponding relationship between the three-dimensional plane corresponding states may be saved, so that the operation state corresponding to the three-dimensional plane may be obtained through the index of the three-dimensional plane.

In the embodiment of the present application, before the earthwork is not started, the operation state of the three-dimensional plane is that the operation is not started. After the earthwork is started, the working state of the three-dimensional plane can be determined according to the position relation between the three-dimensional plane and the actual mechanical part.

For convenience of description, any one of the plurality of three-dimensional planes is referred to as a first three-dimensional plane. In an implementation manner of the embodiment of the present application, first coordinates of a position where an actual mechanical component is located in a world coordinate system may be obtained, distances between the actual mechanical component and the first three-dimensional plane are respectively calculated according to the first coordinates, and an operation state of the first three-dimensional plane is determined according to the distance between the actual mechanical component and the first three-dimensional plane.

It is understood that, in practical applications, when the actual mechanical component is projected onto a three-dimensional plane during operation of the actual mechanical component, at least one portion of the actual mechanical component may correspond to at least one projected position on the three-dimensional plane, for example, when the actual mechanical component is a blade, at least one projected position may be obtained after at least one tooth of the blade is projected onto the three-dimensional plane. One bucket tooth corresponds to one projection position. In this embodiment, the distance between the at least one location and the projection position corresponding to the at least one location may be calculated, respectively, to obtain at least one distance. For example, the distance between each tooth and the projected position of each tooth projected onto the first three-dimensional plane is calculated. And if the at least one distance is smaller than or equal to the first distance, determining that the operation state of the first three-dimensional plane is the completed operation. It is understood that, if the at least one distance is less than or equal to the first distance, it indicates that each part in the actual mechanical component has contacted or is relatively close to the three-dimensional plane, so that it may be determined that the operation state of the first three-dimensional plane is completed. And if the distance smaller than or equal to the first distance exists in the at least one distance, determining that the operation state of the first three-dimensional plane is in operation. It is understood that, if there is a distance corresponding to a distance smaller than or equal to the first distance in the at least one distance, it indicates that there is a portion of the actual machine component that has contacted or is relatively close to the three-dimensional plane, and thus it is possible to determine that the working state of the first three-dimensional plane is in operation. Otherwise, the operation state of the first three-dimensional plane may be determined to be an initial state, that is, the operation is not started. It will be appreciated that in actual use, the actual machine component just touches the three-dimensional plane, indicating that the work is complete, but the earth moving work is carried out with some tolerance to work errors. For example, in the case of a blade or shovel, when the blade or shovel just touches a three-dimensional plane after digging (i.e., the section of the actual digging coincides with the three-dimensional plane), the work is completed, but in practice, a range of "overbreak" and "underbreak" is allowed. The term "overbreak" means that the actually excavated cross section is out of the three-dimensional plane, and the term "underexcavation" means that the actually excavated cross section is in the three-dimensional plane. The first distance may represent a work error that the earthwork allows. The first distance is not particularly limited in the embodiments of the present application, and the first distance may be, for example, 5 cm.

It should be noted that, regarding the description of the first coordinate and the obtaining of the first coordinate, reference may be made to the following description of relevant contents in S201, and details are not described here. It is understood that, in practical applications, a control room, such as a cab of the actual mechanical component, may be provided with a terminal device, and the terminal device may display the relative relationship between the actual mechanical component and the three-dimensional plane according to the movement of the actual mechanical component, so as to guide an operator to control the movement of the actual mechanical component. A flow chart of a method for displaying a relative relationship between an actual mechanical component and a three-dimensional plane according to an embodiment of the present application is described below with reference to fig. 2.

The method shown in fig. 2 can be implemented, for example, by the following steps S201 to S205.

S201: a first coordinate of a location of an actual mechanical part in the world coordinate system is obtained.

The actual mechanical part mentioned in the embodiments of the present application may be, for example, a blade, a scraper, a bucket, or the like.

It should be noted that, in the embodiment of the present application, the first coordinate of the position where the actual mechanical part is located in the world coordinate system may represent the position of the actual mechanical part in the real three-dimensional space.

In an embodiment of the application, the first coordinates may comprise coordinates in a world coordinate system of locations of the plurality of locations in the actual machine part, e.g. if the actual machine part is a blade, the first coordinates may comprise coordinates in the world coordinate system of at least one bucket of the blade.

The embodiment of the present application does not specifically limit the specific implementation manner of obtaining the first coordinate, and as an example, the first coordinate of the position where the actual mechanical part is located in the world coordinate system may be obtained by a positioning device mounted on the actual mechanical part.

S202: and determining a first node sequence, wherein the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane of which the distance between the first coordinates is smaller than or equal to a first preset distance.

It is understood that, in practical applications, the area in which the mechanical component moves within a certain time range is limited, and therefore, in the embodiment of the present application, a three-dimensional plane having a distance from the first coordinate that is less than or equal to a first preset distance may be acquired and displayed, instead of acquiring and displaying all three-dimensional planes, so that the amount of calculation is reduced.

In this embodiment of the application, in a specific implementation, S202 may calculate a distance between the first coordinate and a node in the three-dimensional plane, and determine a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane where a three-dimensional node whose distance is less than or equal to the first preset distance is located as the first node sequence.

The first preset distance is not specifically limited in the embodiments of the present application, and the first preset distance may be determined according to an actual situation, and as an example, the first distance may be 100 meters.

S203: and constructing a three-dimensional plane with a distance from the first coordinate being less than or equal to a first preset distance according to the first node sequence and the coordinates of each node in the first node sequence.

After the first node sequence is obtained, a triangular patch can be formed according to the first node sequence and coordinates of each node in the first node sequence, and then a three-dimensional plane is formed by the triangular patch.

S204: a pre-built mechanical part model is obtained.

In an embodiment of the application, the mechanical component model is a virtual model of said actual mechanical component. In this embodiment, the mechanical component model may be pre-stored in a VBO (Vertex Buffer Object) manner. Thus, a previously stored mechanical component model may be obtained.

S205: displaying the constructed three-dimensional plane and displaying the mechanical part model according to the first coordinate, so that the displayed mechanical part model embodies the position relation between the position of the actual mechanical part and the three-dimensional plane.

After the three-dimensional plane is constructed, the three-dimensional plane can be displayed on a terminal device, and the display position of the mechanical part model is determined according to a first coordinate representing the position of the actual mechanical part in a real three-dimensional space and displayed, so that the displayed mechanical part model represents the position relationship between the position of the actual mechanical part and the three-dimensional plane. For example, as can be understood in conjunction with fig. 3, fig. 3 is a schematic view of a display interface provided in an embodiment of the present application. In fig. 3, 301 is a three-dimensional body formed by a constructed three-dimensional plane, 302 is a mechanical component model, and from fig. 3, the relative position relationship between the three-dimensional plane and the mechanical component model can be seen, accordingly, since the position of the mechanical component model is determined according to the first position, the operator can see the relationship between the three-dimensional plane and the position of the actual mechanical component in the real three-dimensional space.

As described above, in the embodiment of the present application, the operation state corresponding to each three-dimensional plane may also be saved. Therefore, in an implementation manner of the embodiment of the present application, an operation state of a three-dimensional plane corresponding to the first node sequence may also be obtained; and correspondingly displaying the operation state of the three-dimensional plane on the constructed three-dimensional plane. Thereby enabling the operator to determine the operation state of each three-dimensional plane through the content displayed by the terminal device.

As before, the operating state of the three-dimensional plane may include: in an implementation manner of the embodiment of the present application, displaying the operation state of the three-dimensional plane may be implemented by displaying a background with a different color on the three-dimensional plane. For example, an un-started job is displayed with a solid white background, a completed job is displayed with a green background, is being displayed with a yellow background in the job, and so on. So that the operator can determine the working state of the three-dimensional plane by the displayed color.

In the embodiment of the present application, in addition to the content described in fig. 3, other content may be displayed on the terminal device, and two other display methods in the embodiment of the present application are described below with reference to fig. 4 to 9.

Referring to fig. 4, the figure is a schematic flowchart of a method for displaying a first plane according to an embodiment of the present application.

The method shown in fig. 4 can be implemented, for example, by the following steps S401 to S405.

S401: and acquiring a first coordinate of the position of the actual mechanical part in the world coordinate system, and acquiring a pre-constructed mechanical part model.

For the description of the first coordinate and the obtaining of the first coordinate, reference may be made to the description of relevant contents in the foregoing S201, and details are not described here.

For the description of the mechanical component model and the obtaining of the mechanical component model, reference may be made to the description of the related content in the foregoing S204, and details are not described here.

S402: and determining a second node sequence, wherein the second node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane of which the distance between the first coordinates is smaller than or equal to a second preset distance.

Regarding the specific implementation of determining the second node sequence, similar to the specific implementation of determining the first node sequence, reference may be made to the description part of relevant contents in S202, and details are not described here. Only, in S202, the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane whose distance between the first coordinates is less than or equal to a first preset distance, and the second node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane whose distance between the first coordinates is less than or equal to a second preset distance.

The second preset distance is not specifically limited in the embodiments of the present application, and the second preset distance may be determined according to an actual situation, for example, may be determined according to an acting distance of an actual mechanical component. Generally, the second predetermined distance is smaller than the first predetermined distance, and as an example, the second predetermined distance may be 3 meters, for example.

S403: and constructing a three-dimensional plane with a distance from the first coordinate being smaller than or equal to a second preset distance according to the second node sequence and the coordinates of each node in the second node sequence.

After the second node sequence is obtained, a triangular patch can be formed according to the second node sequence and coordinates of each node in the second node sequence, and then a three-dimensional plane is formed by the triangular patch.

S404: calculating the intersection point of the three-dimensional plane of which the distance between the first plane and the first coordinate is smaller than or equal to a second preset distance to obtain a first intersection point plane; the first plane is a plane formed by at least two points in the operation part of the actual mechanical part and at least two points obtained by projecting the at least two points to the preset plane.

It will be appreciated that, in general, actual machine components include a work member and a moving member, such as a bucket where the work member is a blade and a boom where the moving member is a blade.

It is understood that there may be a plurality of three-dimensional planes having a distance from the first coordinate less than or equal to the second predetermined distance, and the plurality of three-dimensional planes constitute a three-dimensional body, and thus, an intersection of the first plane and the three-dimensional body may constitute a first intersection plane.

In an embodiment of the present application, the first plane is a plane formed by at least two points in the working component of the actual machine component and at least two points obtained by projecting the at least two points onto the preset plane. As described with reference to fig. 5, if the first plane is a plane formed by the left point a and the right point B on the bucket of the blade and the points a1 and B1 obtained by projecting the points a and B onto the preset plane 510, the first intersection plane is a cross-sectional view in a direction perpendicular to the working movement direction of the actual machine part, that is, a cross-sectional view of a three-dimensional plane viewed from the front of the operator.

S405: displaying the first intersection plane and displaying the mechanical component model according to the first coordinates.

After the first intersection point plane is determined, the first intersection point plane can be displayed, the display position of the mechanical part model is determined according to the first coordinate representing the position of the actual mechanical part in the real three-dimensional space, and the display position is displayed, so that an operator can visually determine the position relation between the position of the actual mechanical part and the first intersection point plane through the content displayed by the terminal equipment. For example, as can be understood in conjunction with fig. 6, fig. 6 is a schematic view of a display interface provided in an embodiment of the present application. In fig. 6, 601 is a first intersection plane, 602 is a mechanical component model, and from fig. 6, the relative position relationship between the first intersection plane and the mechanical component model can be seen, and accordingly, since the position of the mechanical component model is determined according to the first position, the operator can see the relationship between the first intersection plane and the position of the actual mechanical component in the real three-dimensional space.

Referring to fig. 7, which is a schematic flowchart of a method for displaying a first plane according to an embodiment of the present application.

The method shown in fig. 7 can be implemented, for example, by the following steps S701 to S705.

S701: and acquiring a first coordinate of the position of the actual mechanical part in the world coordinate system, and acquiring a pre-constructed mechanical part model.

S702: and determining a third node sequence, wherein the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane of which the distance between the first coordinate and the first coordinate is smaller than or equal to a third preset distance.

Regarding the specific implementation of determining the third node sequence, similar to the specific implementation of determining the first node sequence, reference may be made to the description part of relevant contents in S202, and details are not described here. Only, in S202, the first node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane whose distance between the first coordinates is less than or equal to a first preset distance, and the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane whose distance between the first coordinates is less than or equal to a third preset distance.

The third preset distance is not specifically limited in the embodiments of the present application, and the third preset distance may be determined according to an actual situation, for example, may be determined according to an acting distance of an actual mechanical component. Generally, the second predetermined distance is smaller than the first predetermined distance, and as an example, the second predetermined distance may be 3 meters, for example. The embodiment of the present application does not specifically limit the magnitude relation between the third preset distance and the second preset distance in S402, the second preset distance may be greater than the third preset distance, the second preset distance may be smaller than the third preset distance, and the second preset distance may also be equal to the third preset distance.

S703: and determining a third node sequence, wherein the third node sequence is a node sequence corresponding to a two-dimensional plane corresponding to a three-dimensional plane of which the distance between the first coordinate and the first coordinate is smaller than or equal to a third preset distance.

After the third node sequence is obtained, a triangular patch can be formed according to the third node sequence and the coordinates of each node in the third node sequence, and then a three-dimensional plane is formed by the triangular patch.

S704: calculating the intersection point of the three-dimensional planes of which the distance between the second plane and the first coordinate is less than or equal to a third preset distance to obtain a second intersection point plane; the second plane is a plane formed by at least two points in the moving part of the actual mechanical part and at least two points obtained by projecting the at least two points to the preset plane.

As above, the actual machine part includes a working part and a moving part, for example, the working part is a bucket of a blade and the moving part is a blade arm of the blade. It is understood that there may be a plurality of three-dimensional planes having a distance from the first coordinate less than or equal to a third predetermined distance, and the plurality of three-dimensional planes constitute a three-dimensional body, and thus, an intersection of the second plane and the three-dimensional body may constitute a second intersection plane.

In an embodiment of the present application, the second plane is a plane formed by at least two points in the moving component of the actual mechanical component and at least two points obtained by projecting the at least two points onto the preset plane. As described with reference to fig. 8, if the second plane is a plane formed by points C and D on the arm of the blade and points C1 and D1 obtained by projecting points C and D onto a preset plane 810, the second plane of intersection is a cross-sectional view in the horizontal direction of the actual machine part working movement direction, that is, a cross-sectional view of a three-dimensional plane seen from the side view of the operator.

S705: displaying the second intersection plane and displaying the mechanical component model according to the first coordinates.

After the second intersection point plane is determined, the second intersection point plane can be displayed, the display position of the mechanical part model is determined according to the first coordinate representing the position of the actual mechanical part in the real three-dimensional space, and the display position is displayed, so that an operator can visually determine the position relation between the position of the actual mechanical part and the second intersection point plane through the content displayed by the terminal equipment. For example, as can be understood in conjunction with fig. 9, fig. 9 is a schematic view of a display interface provided in an embodiment of the present application. Fig. 9 shows 901 a second intersection plane, 902 a mechanical component model, and fig. 9 shows a relative position relationship between the second intersection plane and the mechanical component model, and accordingly, since the position of the mechanical component model is determined according to the second position, an operator can see a relationship between the second intersection plane and the position of the actual mechanical component in the real three-dimensional space.

Exemplary device

Based on the methods provided by the above embodiments, the embodiments of the present application further provide a data storage device, which is described below with reference to the accompanying drawings.

Referring to fig. 10, which is a schematic structural diagram of a data storage device according to an embodiment of the present disclosure, a data storage device 1000 according to an embodiment of the present disclosure may include, for example: a first acquisition unit 1001, a sorting unit 1002, a second acquisition unit 1003, a first determination unit 1004, and a first saving unit 1005.

A first obtaining unit 1001 configured to obtain coordinates of a node in a three-dimensional body in three-dimensional design data to obtain a node coordinate set; the set of node coordinates comprises coordinates of nodes in a plurality of three-dimensional planes;

the sorting unit 1002 is configured to sort nodes in each of the multiple three-dimensional planes according to coordinates of the nodes and a connection relationship between the nodes and according to a preset order, so as to obtain a node sequence corresponding to each three-dimensional plane;

a second obtaining unit 1003, configured to obtain a two-dimensional plane obtained by projecting each three-dimensional plane of the multiple three-dimensional planes onto a preset plane, where the two-dimensional plane corresponds to each three-dimensional plane;

a first determining unit 1004, configured to determine, according to the node sequence of each three-dimensional plane, a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes, respectively;

a first saving unit 1005, configured to save a node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane.

Optionally, the apparatus further comprises:

Since the apparatus 1000 is a device corresponding to the data storage method provided in the above method embodiment, and the specific implementation of each unit of the apparatus 1000 is the same as that of the above method embodiment, for the specific implementation of each unit of the apparatus 1000, reference may be made to the description part of the above method embodiment, and details are not repeated here.

As can be seen from the above description, with the data storage device provided in the embodiments of the present application, coordinates of a node in a three-dimensional body in three-dimensional design data may be obtained, so as to obtain a node coordinate set; the set of node coordinates comprises coordinates of nodes in a plurality of three-dimensional planes; arranging nodes in each three-dimensional plane in the plurality of three-dimensional planes according to coordinates of the nodes and connection relations among the nodes and a preset sequence to obtain a node sequence corresponding to each three-dimensional plane; acquiring a two-dimensional plane corresponding to each three-dimensional plane, wherein the two-dimensional plane is obtained by projecting each three-dimensional plane in the plurality of three-dimensional planes onto a preset plane; respectively determining a node sequence corresponding to a two-dimensional plane corresponding to each three-dimensional plane in the plurality of three-dimensional planes according to the node sequence of each three-dimensional plane; and saving the node sequence corresponding to the two-dimensional plane corresponding to each three-dimensional plane, wherein the node sequence corresponding to each three-dimensional plane can be used as an index of each three-dimensional plane to determine the three-dimensional plane which is closer to the mechanical part. It can be seen that, in the embodiment of the present application, instead of the index based on the three-dimensional space constructed by the three-dimensional body as in the conventional technology, the index constructed by the three-dimensional plane is used for determining the three-dimensional plane closer to the mechanical component, so that the computational complexity for determining the three-dimensional plane closer to the mechanical component can be effectively reduced, the time for determining the three-dimensional plane closer to the mechanical component can be correspondingly shortened, and the three-dimensional plane closer to the mechanical component can be determined in an "instant" manner.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the attached claims

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of data storage, the method comprising:

2. The method of claim 1, further comprising:

3. The method according to claim 2, wherein the obtaining the operation status of the plurality of three-dimensional planes comprises:

4. The method of claim 3, wherein determining the operational state of the first three-dimensional plane based on the distance between the actual machine component and the first three-dimensional plane comprises:

5. The method of any one of claims 2-4, wherein the coordinates of the nodes in the three-dimensional volume are coordinates in a world coordinate system, the method further comprising:

acquiring a pre-constructed mechanical part model;

6. The method of claim 5, further comprising:

7. The method of claim 1, further comprising:

8. The method of claim 1, further comprising:

9. A data storage device, characterized in that the device comprises:

10. The apparatus of claim 9, further comprising:

11. The apparatus according to claim 10, wherein any one of the plurality of three-dimensional planes is referred to as a first three-dimensional plane, and the third obtaining unit is specifically configured to:

12. The apparatus of claim 11, wherein said determining the operational status of the first three-dimensional plane based on the distance between the actual machine component and the first three-dimensional plane comprises:

13. The apparatus of claims 10-12, wherein the coordinates of the nodes in the three-dimensional volume are coordinates in a world coordinate system, the apparatus further comprising:

14. The apparatus of claim 13, further comprising:

15. The apparatus of claim 9, further comprising:

16. The apparatus of claim 9, further comprising: