CN115797608B - Building block building method and intelligent terminal - Google Patents
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Abstract
The invention provides a building block building method and an intelligent terminal, wherein the building block building method comprises the following steps: s101: detecting picked building blocks, and controlling the picked building blocks to move along with a mouse; s102: and acquiring a target building block overlapped with the picked building block, and building the building block according to the building information of the feature points in the target building block and the building block. According to the invention, the building blocks can be automatically built according to the characteristic points of the building blocks, manual operation is not needed, the possibility of misoperation is reduced, the requirements on assembly points, operation precision and visual angles are low, the operation is simple, the simulation effect is good, the simulation effect is high, and the use experience is improved.
Description
Technical Field
The invention relates to the field of virtual simulation application of educational robots, in particular to a building block building method and an intelligent terminal.
Background
In the current virtual simulation products of educational robots in the market, most of products with the virtual assembly function of the robots adopt a point-to-point construction mode, namely, one construction point on a construction object is clicked by a mouse, and the other construction point on the construction object is moved until the two construction points coincide by coordinate calculation.
The above construction mode has two problems, firstly, if the number of the assembly points on the construction object body is very large, the operation is easy to be carried out by mistake when the mouse is operated, and the requirements on the operation precision and the visual angle are relatively high for the selection of the assembly points. And secondly, the operation mode of selecting the splicing points is too different from the operation experience of splicing the physical robot, so that the method is only suitable for virtual quick construction, and the simulation effect of operation is insufficient.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a building block building method, an intelligent terminal and a storage medium, which are used for detecting a building block picked up by a user, controlling the building block to move along with a mouse, acquiring a target building block overlapped with the picked building block when building the building block, building the building block according to building information of feature points on the building block, automatically building the building block according to the feature points of the building block, without manual operation, reducing the possibility of misoperation, and having low requirements on assembly points, operation precision and visual angles, simple operation, more similar to manual operation, high similarity, good simulation effect and improving the use experience.
In order to solve the problems, the invention adopts a technical scheme that: a building block construction method, the building block construction method comprising: s101: detecting picked building blocks, and controlling the picked building blocks to move along with a mouse; s102: and acquiring a target building block overlapped with the picked building block, and building the building block according to the building information of the feature points in the target building block and the building block.
Further, the step of detecting the picked-up building blocks further comprises: and acquiring information of feature points and bounding boxes of each building block, wherein the information of the feature points comprises feature types, feature directions, feature positions and feature lengths corresponding to the constructable structures.
Further, the step of detecting the picked-up building blocks specifically includes: and sending out a ray from the origin of the camera, wherein the ray points to the coordinates in the three-dimensional space where the current clicking position of the mouse is located, and determining to pick up the building blocks when the ray collides with the building blocks and the mouse is pressed and dragged at the moment.
Further, the step of controlling the picked building blocks to move along with the mouse specifically includes: and acquiring a geometric intersection point of the mouse ray on the base plane of the construction space, and controlling the picked building blocks to move along with the mouse according to the geometric intersection point.
Further, the step of acquiring the target building block overlapped with the picked building block specifically includes: and acquiring screen coordinates of a top point set of the bounding box of each building block, and acquiring a target building block which is visually overlapped with the picked building block according to the screen coordinates.
Further, the step of obtaining the target building block visually overlapped with the picked building block according to the screen coordinates specifically includes: and carrying out rapid elimination method on the vertex set of the picked building blocks and the vertex set of the building blocks to be built based on the screen coordinates, combining separation theorem detection, and acquiring the target building blocks according to detection results.
Further, the building block building step according to the building information of the feature points in the target building block and the building block specifically includes: traversing characteristic points of the picked building blocks and the target building blocks, taking the characteristic points matched between the picked building blocks and the target building blocks, acquiring building information of the picked building blocks and the target building blocks according to building structures corresponding to the matched characteristic points, and building the building blocks and the target building blocks based on the building information, wherein the building information comprises the characteristic points matched between the building blocks and the target building blocks and the building structures corresponding to the matched characteristic points.
Further, the building blocks and the target building blocks based on the building information specifically comprise the following steps: if the construction structure corresponding to the matched feature points is a pin hole structure, judging whether the screen coordinate distance between the feature points is consistent with the direction vector of the feature points; if not, discarding the feature points; if yes, the characteristic points are overlapped.
Further, the building blocks and the target building blocks based on the building information specifically comprise the following steps: if the construction structure corresponding to the matched characteristic points is a shaft hole structure, judging whether the characteristic points meet construction conditions corresponding to the shaft hole structure or not; if not, discarding the feature points; if yes, acquiring coordinates of projection foot hanging of the characteristic points of the picked building blocks in the characteristic points on the target building blocks, and overlapping the coordinates of the characteristic points of the picked building blocks with the coordinates of the projection foot hanging.
Based on the same inventive concept, the invention also provides an intelligent terminal, which comprises a processor and a memory, wherein the memory stores a computer program, and the computer program is used for executing the building block building method according to the embodiment.
Compared with the prior art, the invention has the beneficial effects that: detect the building blocks that the user picked up, control building blocks follow the mouse and remove to when building the building blocks, acquire the target building blocks that coincide with the building blocks that pick up, build the building blocks according to the building information of feature point on the building blocks, can build the building blocks according to the feature point of building blocks automatically, need not manual operation, reduced the possibility of maloperation, and the requirement to assembling point, operating accuracy and visual angle is low, easy operation, and more be close manual operation, the similarity is high, simulation effect is good, has promoted the use experience.
Drawings
FIG. 1 is a flow chart of an embodiment of a building block construction method of the present invention;
FIG. 2 is a schematic view of an embodiment of a pin hole structure in the building block construction method of the present invention;
FIG. 3 is a schematic view of an embodiment of a shaft hole structure in the building block construction method of the present invention;
FIG. 4 is a block diagram of one embodiment of the intelligent terminal of the present invention.
Detailed Description
Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It is noted that the various embodiments of the present disclosure, which are generally described and illustrated in the figures herein, may be combined with one another without conflict, wherein structural components or functional modules may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
Referring to fig. 1,2 and 3, fig. 1 is a flowchart of an embodiment of a building block construction method according to the present invention; FIG. 2 is a schematic view of an embodiment of a pin hole structure in the building block construction method of the present invention; FIG. 3 is a schematic view of an embodiment of a shaft hole structure in the building block construction method of the present invention. The building block construction method of the present invention will be described in detail with reference to fig. 1,2 and 3.
In this embodiment, the device for executing the building block construction method is an intelligent terminal, where the intelligent terminal may be a mobile phone, a tablet computer, a server, a desktop computer, or other intelligent terminals capable of loading virtual simulation products of the educational robot.
The building block building method comprises the following steps:
s101: detecting picked building blocks, and controlling the picked building blocks to move along with a mouse.
In this embodiment, the step of detecting the picked-up building blocks further includes, before: and acquiring information of feature points and bounding boxes of each building block, wherein the information of the feature points comprises feature types, feature directions, feature positions and feature lengths corresponding to the constructable structure. The characteristic points are points used for building blocks, and relevant building information of each building block is described through information of the characteristic points.
In a specific embodiment, the building block has two basic building structures: pin hole structure and shaft hole structure. In the pin hole structure, a pin type is defined as F1, and a hole type is defined as F2. In the construction of the pin hole structure, F1 and F2 are point-to-point construction, i.e. two feature points should be completely coincident in the state of finishing construction. In the shaft hole structure, a shaft type is defined as F3, and a shaft hole type is defined as F4. In the construction of the shaft hole structure, F3 and F4 are constructed by wires and lines, and the axes of the two characteristic points are parallel and intersected in the state of finishing construction, and can slide to the overlapping position of the end points at most. With the definition, the constructable structures on all building blocks are defined by F1-F4, and each building block is provided with a piece of characteristic point data, wherein the characteristic point data structure comprises: information such as feature type, feature direction, feature position, feature length and the like.
In a specific embodiment, the information of the feature points is stored in the intelligent terminal in the form of a code by which the information of the feature points is described.
In this embodiment, the bounding box is an external cube of the building blocks, and the bounding box is used for detecting the coincidence between the building blocks.
In this embodiment, the user selects the building blocks to be built through the mouse, and drives the selected building blocks to move in a mode of moving the mouse. Wherein, the step of detecting the building blocks that pick up specifically includes: and sending out a ray from the origin of the camera, wherein the ray points to the coordinates in the three-dimensional space where the current clicking position of the mouse is located, and determining to pick up the building blocks when the ray collides with the building blocks and the mouse is pressed and dragged at the moment.
In a specific embodiment, the building block movement adopts a mode of mouse following, a user selects a building block through a left button of the mouse, in a click event, two-dimensional coordinates of a position of the mouse on a screen are converted into three-dimensional coordinates of a three-dimensional space, a ray is emitted along the camera viewpoint direction of the virtual engine based on the three-dimensional coordinates, the ray picks up a first crashed building block model through collision detection, and the building block model is determined to be the picked building block.
In this embodiment, the step of controlling the picked-up building blocks to move along with the mouse specifically includes: and acquiring a geometric intersection point of the mouse ray on the base plane of the construction space, and controlling the picked building blocks to move along with the mouse according to the geometric intersection point.
In a specific embodiment, after the picked-up building blocks are obtained, collision detection is kept, the geometric intersection point of the rays of the mouse on the building space base plane of the building blocks is obtained through the collision detection, the coordinate position of the geometric intersection point is determined, and the coordinates of the picked-up building blocks are set as the coordinates, so that the building blocks move along with the mouse.
In this embodiment, the intelligent terminal detects the building blocks picked up by the user by detecting that the user clicks the left button of the mouse, and cancels the building block pickup state after detecting that the user clicks the left button of the mouse again, and the building blocks stop following the movement of the mouse, so that all logic of putting down and stopping building is realized.
In other embodiments, the picked-up building blocks can be driven to move along with the mouse when the user continuously presses the left button of the mouse, and the picking-up state of the building blocks is canceled when the user releases the building blocks, so that the building blocks stop moving along with the mouse.
S102: and acquiring a target building block overlapped with the picked building block, and building the building block according to the building information of the feature points in the target building block and the building block.
The function of translating the picked building blocks on the construction platform is achieved through the mode of picking and moving of the base plane. The core thought of intelligent building is to compare the picked building blocks in the translation process with other building blocks on a building platform, if two building blocks coincide on a screen, the building intention of a user is judged to be to build the two building blocks, and intelligent building processing is carried out.
In this embodiment, in order to improve accuracy of building blocks, before obtaining a target building block overlapped with a picked building block, whether a building instruction input by a user is received may be further determined, if yes, the target building block overlapped with the picked building block is obtained, and if not, the picked building block is controlled to move along with a mouse. The building instruction can be input through a keyboard, a mouse click and the like.
In other embodiments, after detecting the target building block overlapped with the picked building block, the target building block may be prompted, for example, the target building block is identified or enlarged, and whether the picked building block is built together with the target building block by the user is judged according to the operation of the user. The user may click a mouse button, stop the movement of the mouse for more than a preset value, input a preset command from the keyboard, etc.
In this embodiment, the step of acquiring the target building block overlapped with the picked building block specifically includes: and acquiring screen coordinates of a top point set of the bounding box of each building block, and acquiring a target building block which is visually overlapped with the picked building block according to the screen coordinates.
The step of obtaining the target building blocks which are visually overlapped with the picked building blocks according to the screen coordinates specifically comprises the following steps: and carrying out rapid elimination method on the vertex set of the picked building blocks and the vertex set of the building blocks to be built based on screen coordinates, combining separation theorem detection, and acquiring the target building blocks according to detection results.
In a specific embodiment, in the process of translating and picking up the building blocks, firstly converting the space coordinates of 8 vertexes of a bounding box of the picked building blocks into screen coordinates in real time, traversing all the building blocks in a scene to obtain the screen coordinates of a bounding box vertex set of each building block, carrying out rapid elimination method on the bounding box vertex set of the picked building blocks and the vertex set of each detection building block to detect by combining separation theorem, completing convex polygon intersection judgment, and determining the intersected building blocks as target building blocks once the intersection judgment is established. The step can be used for quickly screening out which building blocks in the screen are visually overlapped with the picked building blocks.
After the target building block which is visually overlapped with the target building block is determined, traversing all feature points of the picked building block and the target building block is started, judging whether the feature points are matched in pairs, if P1 is the feature points, P2 is required to be matched, and if P4 is the feature points, P3 is required to be matched. Therefore, the building block building step according to the building information of the feature points in the target building block and the building block specifically comprises the following steps: traversing characteristic points of the picked building blocks and the target building blocks, acquiring matched characteristic points between the picked building blocks and the target building blocks, acquiring construction information of the picked building blocks and the target building blocks according to construction structures corresponding to the matched characteristic points, and constructing the building blocks and the target building blocks based on the construction information, wherein the construction information comprises the matched characteristic points between the building blocks and the target building blocks and construction structures corresponding to the matched characteristic points.
In this embodiment, the steps of building the building blocks and the target building blocks based on the building information specifically include: if the construction structure corresponding to the matched feature points is a pin hole structure, judging whether the screen coordinate distance between the feature points is consistent with the direction vector of the feature points; if not, giving up the feature points; if yes, the characteristic points are overlapped.
In a specific embodiment, if two feature points matched to the pin hole structure are adopted, firstly, the geometric coordinates of the two feature points are converted into screen coordinates, the distance between the two screen coordinates is calculated, if the distance is smaller than a threshold value, the two screen coordinates pass through, and otherwise, the two screen coordinates are discarded. After the distance is passed, judging whether the direction vectors of the feature points are consistent, if so, passing, otherwise, discarding. And after the intelligent pin hole building method is adopted, the coordinates of the picked building blocks are directly set to the geometric coordinates enabling the two characteristic points to coincide, so that the intelligent pin hole building is completed.
In this embodiment, if the building structure is a shaft hole structure, the steps of building the building block and the target building block based on the building information specifically include: if the construction structure corresponding to the matched characteristic points is the shaft hole structure, judging whether the characteristic points meet construction conditions corresponding to the shaft hole structure; if not, giving up the feature points; if yes, acquiring the coordinates of the projection foot of the characteristic points of the picked building blocks in the characteristic points on the target building blocks, and overlapping the coordinates of the characteristic points of the picked building blocks with the coordinates of the projection foot.
Specifically, if two feature points matched to the shaft hole structure are parallel, the geometric directions of the two feature points are firstly parallel, and if the geometric directions are parallel, the two feature points pass through, otherwise, the two feature points are discarded. After the parallel pass, the geometric coordinates of the two feature points are converted into screen coordinates, the geometric direction of the feature points of the target building blocks is converted into screen vectors, the projection distance of the screen coordinates of the feature points of the picked building blocks on the screen direction vectors of the feature points of the target building blocks is calculated, if the distance is smaller than a threshold value, the projection distance passes, otherwise, the projection distance is discarded. And judging whether the distance from the vertical point of the projection distance to the screen coordinates of the target feature points is less than half of the length projection of the two feature points after the distance is passed, if so, passing, otherwise, discarding. After the building block is passed, the two building blocks can be set up, the geometric coordinates of the characteristic points of the picked building blocks are projected onto the geometric direction vectors of the characteristic points of the target building blocks, the geometric coordinates of the projected drop foot are obtained, and the coordinates of the picked building blocks are set to the coordinates which enable the characteristic points of the picked building blocks to coincide with the drop foot coordinates, so that the shaft hole structure intelligent setting up is completed.
According to the invention, the building characteristic points are defined and built for all building block models, and the building block models move along with a mouse in a mouse pickup mode. The visual coincidence state of the building block model and other building blocks in the moving process is detected in real time, so that primary screening is carried out, and a building target is screened out. The second-level screening is judged through the building characteristic points on the two building blocks, and the two visually closer characteristic points are considered as actual building intentions of the user. Wherein each feature point represents only one construction structure, if there are a plurality of different types of construction means for a location, it should be that there are a plurality of different types of feature points for that location.
Based on the same inventive concept, the present invention further provides an intelligent terminal, please refer to fig. 4, wherein fig. 4 is a structural diagram of an embodiment of the intelligent terminal of the present invention. The smart terminal of the present invention will be described in detail with reference to fig. 4.
In this embodiment, the intelligent terminal includes a processor, a memory, and the memory stores a computer program, and the computer program is used to execute the building block building method according to the above embodiment.
In some embodiments, the memory may include, but is not limited to, high speed random access memory, nonvolatile memory. Such as one or more disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application Specific Integrated Circuit (ASIC), field-Programmable gate array (FPGA) or other Programmable function device, discrete gate or transistor function device, discrete hardware components.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A method of building blocks, the method comprising:
S101: detecting picked building blocks, and controlling the picked building blocks to move along with a mouse;
s102: acquiring a target building block overlapped with the picked building block, and building the building block according to the building information of the feature points in the target building block and the building block; the step of obtaining the target building block overlapped with the picked building block specifically comprises the following steps:
acquiring screen coordinates of a top point set of a bounding box of each building block, and acquiring a target building block which is visually overlapped with the picked building block according to the screen coordinates;
The building block construction step according to the construction information of the target building block and the feature points in the building block specifically comprises the following steps:
Traversing characteristic points of the picked building blocks and the target building blocks, taking the matched characteristic points between the picked building blocks and the target building blocks, acquiring building information of the picked building blocks and the target building blocks according to building structures corresponding to the matched characteristic points, and building the building blocks and the target building blocks based on the building information, wherein the building information comprises the matched characteristic points between the building blocks and the target building blocks and building structures corresponding to the matched characteristic points;
the building block and target building block building method based on the building information specifically comprises the following steps:
If the construction structure corresponding to the matched characteristic points is a shaft hole structure, judging whether the characteristic points meet construction conditions corresponding to the shaft hole structure or not;
If not, discarding the feature points;
If yes, acquiring coordinates of projection foot hanging of the characteristic points of the picked building blocks on the target building blocks in the characteristic points, and overlapping the coordinates of the characteristic points of the picked building blocks with the coordinates of the projection foot hanging;
Detecting the visual superposition state of the building block model and other building blocks in the moving process in real time; performing primary screening to screen out a building target, judging through building characteristic points on two building blocks, wherein two visually close characteristic points are regarded as actual building intentions of a user, each characteristic point represents a building structure, and if one position has a plurality of different types of building modes, the position has a plurality of different types of characteristic points;
the step of obtaining the target building blocks which are visually overlapped with the picked building blocks according to the screen coordinates specifically comprises the following steps:
And carrying out rapid elimination method on the vertex set of the picked building blocks and the vertex set of the building blocks to be built based on the screen coordinates, combining separation theorem detection, and acquiring the target building blocks according to detection results.
2. A method of building blocks according to claim 1, wherein the step of detecting picked blocks is preceded by the further step of:
and acquiring information of feature points and bounding boxes of each building block, wherein the information of the feature points comprises feature types, feature directions, feature positions and feature lengths corresponding to the constructable structures.
3. A method of building blocks according to claim 1, wherein the step of detecting picked blocks comprises:
And sending out a ray from the origin of the camera, wherein the ray points to the coordinates in the three-dimensional space where the current clicking position of the mouse is located, and determining to pick up the building blocks when the ray collides with the building blocks and the mouse is pressed and dragged at the moment.
4. The building block construction method according to claim 1, wherein the step of controlling the picked-up building block to follow the movement of the mouse specifically comprises:
and acquiring a geometric intersection point of the mouse ray on the base plane of the construction space, and controlling the picked building blocks to move along with the mouse according to the geometric intersection point.
5. A building block construction method according to claim 1, wherein the step of constructing the building block and the target building block based on construction information comprises:
if the construction structure corresponding to the matched feature points is a pin hole structure, judging whether the screen coordinate distance between the feature points is consistent with the direction vector of the feature points;
If not, discarding the feature points;
if yes, the characteristic points are overlapped.
6. An intelligent terminal, characterized in that the intelligent terminal comprises a processor and a memory, wherein the memory stores a computer program, the processor is in communication connection with the memory, and the processor executes the building block construction method according to any one of claims 1-5 through the computer program.
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| CN109034748A (en) * | 2018-08-09 | 2018-12-18 | 哈尔滨工业大学 | The building method of mold attaching/detaching engineering training system based on AR technology |
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| CN111737392B (en) * | 2020-06-22 | 2024-04-02 | 北京百度网讯科技有限公司 | Method, device, equipment and storage medium for merging building data |
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| CN109034748A (en) * | 2018-08-09 | 2018-12-18 | 哈尔滨工业大学 | The building method of mold attaching/detaching engineering training system based on AR technology |
| CN111054085A (en) * | 2019-12-10 | 2020-04-24 | 上海布鲁可科技有限公司 | Triggering pairing method and system for spliced building blocks and spliced building blocks suitable for triggering pairing |
| CN113140036A (en) * | 2021-04-30 | 2021-07-20 | 中德（珠海）人工智能研究院有限公司 | Three-dimensional modeling method, device, equipment and storage medium |
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