CN116168168A - Terrain generation method, device and system under virtual scene and engineering machinery - Google Patents
Terrain generation method, device and system under virtual scene and engineering machinery Download PDFInfo
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- CN116168168A CN116168168A CN202310009759.5A CN202310009759A CN116168168A CN 116168168 A CN116168168 A CN 116168168A CN 202310009759 A CN202310009759 A CN 202310009759A CN 116168168 A CN116168168 A CN 116168168A
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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Abstract
The application relates to the field of simulation, in particular to a terrain generation method, device and system under a virtual scene and engineering machinery. The terrain generation method under the virtual scene comprises the following steps: acquiring position information of engineering machinery; acquiring the outline of the deformable soil according to the position information of the engineering machinery; generating an envelope map object of the deformable soil according to the outline of the deformable soil; and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil. The terrain generation method under the virtual scene provided by the application enables the virtual simulation tool to scan the real-time deformable soil and the latest terrain formed after the engineering machinery works on the virtual simulation platform and generate the point cloud information, so that the virtual simulation of the engineering machinery can be effectively performed, and the reliability and the high efficiency of the virtual simulation are ensured.
Description
Technical Field
The application relates to the field of simulation, in particular to a terrain generation method, device and system under a virtual scene and engineering machinery.
Background
In order to realize unmanned and intelligent engineering machinery such as an excavator, the engineering machinery must have the sensing capability on the terrain and update the existing terrain information in real time. The real-time nature of the terrain information update facilitates the planning of the excavation trajectories and the calculation of the control of the various joints to form an efficient excavation operation.
In order to reduce the cost and avoid risks (machine wear, damage and casualties) caused by improper control operation in the initial development stage, all functions of sensing, planning, control, scene, radar scanning and the like need to be reproduced in a digital twin virtual platform. The method aims at detecting whether the excavator can complete the specified action in the virtual environment based on the track preset for the virtual engineering machinery such as the excavator and the like, and further improving the excavating track from the simulation result so as to improve the efficiency.
However, the currently adopted virtual simulation tool and virtual simulation platform cannot effectively identify the latest topography formed after the engineering machinery such as the excavator works, and the development of unmanned and intelligent engineering of the excavator is affected.
Disclosure of Invention
In view of the above, the present application provides a terrain generating method, apparatus, system and engineering machine in a virtual scene, which solves or improves the technical problem in the prior art that a virtual simulation tool and a virtual simulation platform cannot effectively identify the latest terrain formed after the operation of the engineering machine such as an excavator.
According to one aspect of the present application, there is provided a terrain generating method in a virtual scene, the terrain generating method in the virtual scene including: acquiring position information of engineering machinery; acquiring the outline of the deformable soil according to the position information of the engineering machinery; generating an envelope map object of the deformable soil according to the outline of the deformable soil; and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil.
In one possible implementation manner, the obtaining the current terrain point cloud according to the enveloping map object of the deformable soil includes: according to the enveloping image object of the deformable soil, controlling the virtual laser radar to scan a new terrain; and acquiring the current terrain point cloud output by the virtual laser radar.
In one possible implementation manner, after the obtaining the current terrain point cloud according to the enveloping map object of the deformable soil, the terrain generating method further includes: deleting the envelope map object of the deformable soil.
In one possible implementation manner, before the acquiring the position information of the construction machine, the terrain generating method further includes: acquiring initial terrain information; acquiring the position information of the current mining point according to the initial terrain information; generating an output control signal of the engineering machinery according to the position information of the current digging point, wherein the output control signal is used for controlling a constraint pair of the engineering machinery; and transmitting the output control signal to the engineering machine, so that the engineering machine finishes the excavating action.
In one possible implementation manner, the obtaining the profile of the deformable soil according to the position information of the engineering machine includes: and when the position information of the engineering machinery is the initial position information of the engineering machinery, acquiring the outline of the deformable soil.
In one possible implementation, the transmitting the output control signal to the work machine includes: and transmitting the output control signal to a virtual simulation platform, and transmitting the output control signal to the engineering machinery in the virtual simulation platform.
In one possible implementation manner, after the obtaining the current terrain point cloud according to the enveloping map object of the deformable soil, the terrain generating method further includes: and acquiring the latest digging point of the engineering machinery according to the current terrain point cloud.
According to a second aspect of the present application, the present application further provides a terrain generating apparatus in a virtual scene, the terrain generating apparatus in the virtual scene including: the acquisition module is used for acquiring the position information of the engineering machinery, acquiring the outline of the deformable soil according to the position information of the engineering machinery, and acquiring the current terrain point cloud according to the enveloping map object of the deformable soil; and the envelope image object generation module is used for generating an envelope image object of the deformable soil according to the outline of the deformable soil.
According to a third aspect of the present application, there is also provided a terrain generating system in a virtual scene, the terrain generating system in the virtual scene comprising: a virtual simulation tool; the virtual simulation tool is applied to the virtual simulation platform; and the terrain generating device under the virtual scene, wherein the virtual simulation tool and the virtual simulation platform are both installed on the terrain generating device under the virtual scene.
According to a fourth aspect of the present application, there is also provided a construction machine comprising: a terrain generation system in a virtual scene as described above.
The application provides a terrain generation method, device and system under a virtual scene and engineering machinery, wherein the terrain generation method under the virtual scene comprises the following steps: acquiring position information of engineering machinery; acquiring the outline of the deformable soil according to the position information of the engineering machinery; generating an envelope map object of the deformable soil according to the outline of the deformable soil; and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil. The terrain generation method under the virtual scene provided by the application enables the virtual simulation tool to scan the real-time deformable soil and the latest terrain formed after the engineering machinery works on the virtual simulation platform and generate the point cloud information, so that the virtual simulation of the engineering machinery can be effectively performed, and the reliability and the high efficiency of the virtual simulation are ensured.
Drawings
The foregoing and other objects, features and advantages of the present application will become more apparent from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a flow chart illustrating a terrain generating method under a virtual scene according to an embodiment of the present application.
Fig. 2 is a flow chart illustrating a terrain generating method under a virtual scene according to another embodiment of the present application.
Fig. 3 is a flow chart illustrating a terrain generating method under a virtual scene according to another embodiment of the present application.
Fig. 4 is a flow chart illustrating a terrain generating method under a virtual scene according to another embodiment of the present application.
Fig. 5 is a block diagram illustrating a configuration of a terrain generating apparatus in a virtual scene according to another embodiment of the present application.
Fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. All directional indications (such as up, down, left, right, front, back, top, bottom … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Furthermore, references herein to "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Summary of the application
The applicant can learn after further analyzing the technical problem that the virtual simulation tool and the virtual simulation platform in the prior art can not effectively identify the latest topography formed after the engineering machinery such as the excavator works:
in order to reduce development cost and avoid risks (machine wear, damage and casualties) caused by improper control operation in the initial stage of development, all functions of perception, planning, control, scene, radar scanning and the like of the intelligent engineering machinery need to be reproduced in a digital twin virtual platform (such as Unity), and an MIL (Model In the Loop, model in ring) tool chain is used for realizing the closed loop of virtual excavation operation.
The sensor sdk is a virtual simulation tool developed by Unity together with multiple lidar and camera sensor vendors. The function is to virtualize the lidar signal with a powerful computing power of a GPU (Graphics Processing Unit, graphics processor) and output point cloud information in a virtual environment. In the early investigation process, the virtual laser radar of the SensorSDK cannot scan the deformable soil, but the point cloud change information of the deformable soil is feedback for track planning, and is very important for the tool chain flow.
Through trial and error, the sensor sdk can interact with an Object (Object) with grid (mesh) information in the Unity to generate a point cloud image, but cannot interact with deformable soil (Deformable Terrain) to generate the point cloud because:
(1) The 3D object of Unity automatically generates an envelope map (Mesh) of the object when generating;
(2) However, when generating deformable soil, unity does not have the function of generating a real-time envelope map for an object generated in real time.
Based on the above, the application provides a terrain generation method, device and system under a virtual scene and engineering machinery, wherein the terrain generation method under the virtual scene specifically comprises the following steps: acquiring position information of engineering machinery; acquiring the outline of the deformable soil according to the position information of the engineering machinery; generating an envelope map object of the deformable soil according to the outline of the deformable soil; and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil. The terrain generation method under the virtual scene provided by the application enables the virtual simulation tool to scan the real-time deformable soil and the latest terrain formed after the engineering machinery works on the virtual simulation platform and generate the point cloud information, so that the virtual simulation of the engineering machinery can be effectively performed, and the reliability and the high efficiency of the virtual simulation are ensured.
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Exemplary method
Fig. 1 is a schematic flow chart of a terrain generating method under a virtual scene. As shown in fig. 1, the terrain generating method under the virtual scene provided in the present application may specifically include the following steps:
step 100: and acquiring the position information of the engineering machinery.
The working machine according to the present invention is preferably an excavating machine, a shoveling and transporting machine, or the like, and the working process of such working machine, such as an excavator, a stacker, or the like, is often related to excavation, shoveling, or the like of the deformable soil, and the excavator will be taken as an example for implementation, and will not be described in detail. In addition, the excavator is specifically a virtual model which is built in advance in the current virtual construction operation scene, and the virtual model is the same as or similar to the structure of the entity excavator. The position information refers to information such as position coordinates of the excavator in a virtual work scene constructed based on Unity, and the acquisition of the position information of the excavator is a basic condition for the subsequent acquisition of the terrain point cloud.
Step 200: and acquiring the outline of the deformable soil according to the position information of the engineering machinery.
Deformable soil refers to real-time virtual objects formed after work by an excavator in a virtual work scene, and is distinguished from initial objects constructed by Unity, and only the outline of the deformable soil is formed when the deformable soil is generated immediately, but a corresponding envelope map is not given. In order to generate an envelope of such deformable soil, so that the virtual lidar can scan the latest terrain, the contour of the deformable soil is acquired first.
Step 300: and generating an envelope map object of the deformable soil according to the outline of the deformable soil.
The object with the envelope map is an object with the envelope map, and the object can be scanned to an effective grid shape by the virtual laser radar, so that the point cloud information of deformable soil and the latest topography can be correspondingly output. After the excavator digs, the enveloping map object of the deformable soil with the same proportion is generated on the basis of the profile of the deformable soil, and the defect that the Unity engine cannot automatically generate the enveloping map of the real-time object is overcome.
It should be noted that, the control device or the control system for implementing the terrain generating method can achieve the purpose of generating the envelope object in real time by adding an envelope object generating module. Such as by Matlab (a business math software for data analysis, wireless communication, deep learning, image processing and computer vision, signal processing, quantitative finance and risk management, robotics, control systems, etc.), python (computer programming language) or Unity's c# code, etc., can generate the envelope map object of the latest topography.
Step 400: and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil.
The deformable soil forming the envelope map can be scanned by the virtual laser radar, so that point cloud information of the latest terrain or the current terrain is generated and output, the accuracy of the latest terrain generated in a virtual operation scene can be ensured, and the reliability and the high efficiency of the simulation operation of the excavator are improved.
In one possible implementation manner, fig. 2 is a schematic flow chart of a terrain generating method under a virtual scene according to another embodiment of the present application. As shown in fig. 2, the step 400 (obtaining the current terrain point cloud according to the enveloping map object of the deformable soil) may further include the following steps:
step 401: and controlling the virtual laser radar to scan the new terrain according to the enveloping image object of the deformable soil.
The virtual laser radar is a virtual model preset in a virtual simulation tool and is used for simulating a radar scanning device in a real operation scene of the excavator, and the radar scanning device is usually arranged in an excavation field and used for scanning engineering machinery or deformable soil or terrain and the like and correspondingly outputting point cloud data so that a worker can know information such as operation conditions or equipment states.
After the envelope image object of the deformable soil is generated, the virtual laser radar can be controlled to scan the deformable soil, so that the virtual laser radar can generate real-time point cloud information of the deformable soil, and finally, the current latest topography point cloud information is output.
Step 402: and acquiring the current terrain point cloud output by the virtual laser radar.
After the virtual laser radar scans the deformable soil, point cloud data of the current terrain can be generated and output, and then planning of next excavation operation can be carried out according to the real-time terrain only by receiving the point cloud data, so that closed loop of simulation operation of the excavator is ensured.
Specifically, in an embodiment, as shown in fig. 1, after step 400 (obtaining the current terrain point cloud according to the enveloping map object of the deformable soil), the terrain generating method under the virtual scene provided in the present application may further include the following steps:
step 500: and deleting the envelope map object of the deformable soil.
In the case of successfully acquiring the current terrain point cloud, in order to prevent the newly generated envelope object from obstructing the next simulated excavation operation of the excavator, it is more reliable to delete the envelope object synchronously or randomly after the generation of the new terrain point cloud.
It should be appreciated that fig. 1 and fig. 2 illustrate an example method, and that the specific step 500 and the step 400 may be performed simultaneously, and that the step 500 may also be performed immediately after the end of the step 400, and that the specific implementation sequence of the step 500 may depend on the specific application scenario, and this implementation sequence is not further limited in this application.
Optionally, fig. 3 is a schematic flow chart of a terrain generating method under a virtual scene according to another embodiment of the present application. As shown in fig. 3, before step 100 (obtaining location information of the construction machine), the terrain generating method under the virtual scene provided in the present application may further include the following steps:
step 10: initial terrain information is acquired.
The initial topography information refers to initial topography information of an excavation site of an operation required by the excavator in a virtual operation scene, and the excavation operation of the excavator is planned based on the initial topography information, so that the real operation process of the excavator is simulated.
Step 20: and acquiring the position information of the current mining point according to the initial terrain information.
The position information of the excavation point refers to information of a coordinate point at which excavation is performed in the simulated work scene. The digging points determined by the terrain information are combined, so that the digging positions more accord with the operation rule of the excavator, and the simulation process is more effective and feasible.
Step 30: and generating an output control signal of the engineering machinery according to the position information of the current digging point.
The output control signal is a control signal for controlling a constraint pair of the engineering machinery, namely, an instruction for controlling the virtual simulation excavator to execute the excavating action, and the instruction is a control signal which is output by a control system or an operator in a real operation scene, so that the effectiveness of the simulation operation can be further improved.
Step 40: and transmitting the output control signal to the engineering machinery, so that the engineering machinery completes the excavating action.
The output control signals are correspondingly transmitted to the excavator, so that the virtual simulation excavator can correspondingly execute the excavating action, and the excavating operation simulation of the excavator is completed.
In another possible implementation, step 40 (transmitting the output control signal to the work machine) may be the following steps:
step 41: and transmitting the output control signal to a virtual simulation platform, and transmitting the output control signal to the engineering machinery in the virtual simulation platform.
The virtual simulation platform can be Unity, and the output control signal is transmitted to the virtual excavator in the Unity environment, so that the virtual excavator is controlled to output corresponding excavating actions.
Specifically, in another embodiment, fig. 4 is a schematic flow chart of a terrain generating method under a virtual scene according to another embodiment of the present application. As shown in fig. 4, based on the above steps, step 200 (acquiring the profile of the deformable soil according to the position information of the construction machine) may further include the steps of:
step 201: and when the position information of the engineering machinery is the initial position information of the engineering machinery, acquiring the outline of the deformable soil.
The initial position information is a position at which the excavator needs to be located when the excavating operation is repeated. When the excavator returns to the original position, it can be considered that the excavator has completed the last excavating task and is also ready to perform the next excavating task. At the moment, the deformed soil profile after excavation can be obtained based on the last excavation operation of the excavator, so that the latest topography is determined, the next excavation task is smoothly carried out, and a closed loop of the MIL tool chain is formed.
Optionally, as shown in fig. 4, after step 400 (obtaining the current terrain point cloud according to the enveloping map object of the deformable soil) or step 500 (deleting the enveloping map object of the deformable soil), the terrain generating method under the virtual scene provided in the application may further include the following steps:
step 600: and acquiring the latest digging point of the engineering machinery according to the current terrain point cloud.
The latest excavation point is the excavation position of the virtual excavator for executing the next excavation operation task, after the problem that the latest ground after excavation can be scanned is solved, updated current ground point cloud information is successfully fed back to a track planning related module, the module predicts the next excavation point by combining the current ground, thus the closed loop of the whole MIL tool chain is completed, the simulation process of the excavator is more similar to a real operation scene, and the efficient and effective performance of the simulation is ensured.
Corresponding to the terrain generation method under the virtual scene, the embodiment of the application also discloses a terrain generation device under the virtual scene. Fig. 5 is a block diagram illustrating a configuration of a terrain generating apparatus in a virtual scene according to another embodiment of the present application. Referring to fig. 5, the terrain generating apparatus 100 in such a virtual scene may specifically include: an acquisition module 101 and an envelope object generation module 102.
The acquisition module 101 is used for acquiring the position information of the engineering machinery; acquiring the outline of the deformable soil according to the position information of the engineering machinery; and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil. The envelope object generation module 102 is configured to generate an envelope object of the deformable soil according to the contour of the deformable soil.
The terrain generating device 100 under the virtual scene provided by the application is used for acquiring the position information of the engineering machinery, acquiring the outline of the deformable soil according to the position information of the engineering machinery and acquiring the current terrain point cloud according to the enveloping map object of the deformable soil; the envelope object generation module 102 is configured to generate an envelope object of the deformable soil according to the contour of the deformable soil. The terrain generating apparatus 100 in such a virtual scene may perform the steps of: acquiring position information of engineering machinery; acquiring the outline of the deformable soil according to the position information of the engineering machinery; generating an envelope map object of the deformable soil according to the outline of the deformable soil; and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil. The terrain generating device 100 in the virtual scene provided by the application enables the virtual simulation tool to scan real-time deformable soil and the latest terrain formed after engineering machinery works on the virtual simulation platform and generate point cloud information, so that virtual simulation of the engineering machinery can be effectively performed, and reliability and high efficiency of the virtual simulation are ensured.
In one possible implementation manner, as shown in the drawing, the terrain generating apparatus 100 in the virtual scene may further include: a control module 103, an envelope object deletion module 104, an output signal generation module 105, an excavation point generation module 106, and the like. The control module 103 is used for controlling the virtual laser radar to scan a new terrain according to the enveloping graph object of the deformable soil. The envelope object deleting module 104 is configured to delete an envelope object of the deformable soil, so as to avoid that the newly generated envelope object obstructs the next simulated excavation operation of the excavator. The output signal generation module 105 is configured to generate an output control signal of the engineering machine according to the position information of the current excavation point, so as to control the virtual excavator in the Unity environment to execute the excavation operation. The mining point generation module 106 is configured to generate a latest mining point of the engineering machine according to the current terrain point cloud.
Specifically, the obtaining module 101 may be further configured to obtain a current terrain point cloud output by the virtual lidar; acquiring the position information of the current digging point according to the initial terrain information; and when the position information of the engineering machinery is the initial position information of the engineering machinery, acquiring the outline of the deformable soil and the like.
In addition, another embodiment of the application also provides a terrain generation system under the virtual scene. The terrain generation system in this virtual scene may include: virtual simulation tool, virtual simulation platform, and topography generation apparatus 100 in virtual scene in the above embodiment.
Such a topography generation system under a virtual scene may perform the following steps due to the inclusion of the topography generation device 100 under a virtual scene as described above: acquiring position information of engineering machinery; acquiring the outline of the deformable soil according to the position information of the engineering machinery; generating an envelope map object of the deformable soil according to the outline of the deformable soil; and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil. The terrain generation system under the virtual scene provided by the application enables the virtual simulation tool to scan real-time deformable soil and the latest terrain formed after engineering machinery works on the virtual simulation platform and generate point cloud information, so that virtual simulation of the engineering machinery can be effectively performed, and reliability and high efficiency of the virtual simulation are ensured.
Optionally, the virtual simulation tool may be a sensor sdk, and the virtual simulation platform may be a Unity platform.
The other embodiment of the application also provides a construction machine, which comprises the terrain generating system under the virtual scene.
The construction machine may be an excavator, a soil stacker, or other working machines, and the excavator may be equipped with a laser radar or the like, for example, in response to a virtual laser radar in a virtual simulation scenario. Before construction, the excavator can scan the working environment through a laser radar, and the terrain generating system generates a virtual working scene after scanning, so that simulation operation is performed on the excavating working process, and finally unmanned and intelligent operation of the excavator is realized according to a simulation result.
Next, an electronic device according to an embodiment of the present application is described with reference to fig. 6.
Fig. 6 illustrates a block diagram of an electronic device according to an embodiment of the present application.
As shown in fig. 6, the electronic device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 11 to implement the terrain generation methods and/or other desired functions in the virtual scenarios of the various embodiments of the present application described above.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information to the outside, including the determined distance information, direction information, and the like. The output device 14 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 10 that are relevant to the present application are shown in fig. 6 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
As a third aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the steps of:
acquiring position information of engineering machinery; acquiring the outline of the deformable soil according to the position information of the engineering machinery; generating an envelope map object of the deformable soil according to the outline of the deformable soil; and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil.
In particular, the above computer program may further perform the following steps:
according to the enveloping graph object of the deformable soil, controlling the virtual laser radar to scan a new terrain; acquiring a current terrain point cloud output by a virtual laser radar; deleting the enveloping graph object of the deformable soil; acquiring initial terrain information; acquiring the position information of the current digging point according to the initial terrain information; generating an output control signal of the engineering machinery according to the position information of the current digging point, wherein the output control signal is used for controlling a constraint pair of the engineering machinery; transmitting the output control signal to the engineering machinery, so that the engineering machinery completes the excavating action; when the position information of the engineering machinery is the initial position information of the engineering machinery, acquiring the outline of the deformable soil; transmitting the output control signal to a virtual simulation platform, and transmitting the output control signal to the engineering machinery in the virtual simulation platform; and acquiring the latest digging point of the engineering machinery according to the current terrain point cloud.
In addition to the methods and apparatus described above, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in a terrain generation method in a virtual scenario according to various embodiments of the present application described in the present specification.
The computer program product may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program information is stored, which, when being executed by a processor, causes the processor to perform the steps in a topography generation method in a virtual scenario according to various embodiments of the present application.
A computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.
The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to the present application.
Claims (10)
1. A method for generating a terrain in a virtual scene, comprising:
acquiring position information of engineering machinery;
acquiring the outline of the deformable soil according to the position information of the engineering machinery;
generating an envelope map object of the deformable soil according to the outline of the deformable soil; and
and acquiring the current terrain point cloud according to the enveloping graph object of the deformable soil.
2. The method for generating a terrain in a virtual scene according to claim 1, wherein the obtaining a current terrain point cloud according to the envelope map object of the deformable soil comprises:
according to the enveloping image object of the deformable soil, controlling the virtual laser radar to scan a new terrain;
and acquiring the current terrain point cloud output by the virtual laser radar.
3. The terrain generating method in a virtual scene according to claim 1 or 2, characterized in that after the acquisition of a current terrain point cloud from an envelope map object of the deformable soil, the terrain generating method further comprises:
deleting the envelope map object of the deformable soil.
4. The terrain generating method in a virtual scene according to claim 1, characterized in that the terrain generating method further comprises, before the acquiring of the position information of the construction machine:
acquiring initial terrain information;
acquiring the position information of the current mining point according to the initial terrain information;
generating an output control signal of the engineering machinery according to the position information of the current digging point, wherein the output control signal is used for controlling a constraint pair of the engineering machinery; and
and transmitting the output control signal to the engineering machine, so that the engineering machine finishes the excavating action.
5. The method for generating a topography in a virtual scene as recited in claim 1 or 4, wherein said obtaining a contour of deformable soil according to the position information of the construction machine comprises:
and when the position information of the engineering machinery is the initial position information of the engineering machinery, acquiring the outline of the deformable soil.
6. The method of claim 4, wherein transmitting the output control signal to the work machine comprises:
and transmitting the output control signal to a virtual simulation platform, and transmitting the output control signal to the engineering machinery in the virtual simulation platform.
7. The method according to claim 1, wherein after the obtaining of the current terrain point cloud from the envelope map object of the deformable soil, the method further comprises:
and acquiring the latest digging point of the engineering machinery according to the current terrain point cloud.
8. A terrain generating apparatus in a virtual scene, comprising:
the acquisition module is used for acquiring the position information of the engineering machinery, acquiring the outline of the deformable soil according to the position information of the engineering machinery, and acquiring the current terrain point cloud according to the enveloping map object of the deformable soil;
and the envelope image object generation module is used for generating an envelope image object of the deformable soil according to the outline of the deformable soil.
9. A terrain generation system in a virtual scene, comprising:
a virtual simulation tool;
the virtual simulation tool is applied to the virtual simulation platform; and
the terrain generating apparatus in a virtual scene as recited in claim 8, wherein the virtual simulation tool and the virtual simulation platform are each mounted to the terrain generating apparatus in the virtual scene.
10. A construction machine comprising the terrain creation system in a virtual scene according to claim 9.
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| CN202310009759.5A CN116168168A (en) | 2023-01-04 | 2023-01-04 | Terrain generation method, device and system under virtual scene and engineering machinery |
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