3D digital virtual logistics scene simulation method and device and electronic equipment

Abstract

The invention provides a 3D digital virtual logistics scene simulation method and apparatus, and an electronic device, relates to the technical field of virtual scene simulation, and solves the technical problem of low processing efficiency of material state data of materials stored in a logistics park. The method comprises the following steps: controlling an unmanned aerial vehicle to set electronic tags on entity materials entering a logistics park; wherein a gyroscope and a positioning device are arranged in the electronic tag; the logistics park corresponds to a 3D digital virtual logistics scene, and the 3D digital virtual logistics scene comprises a virtual material model corresponding to the entity material; detecting motion data of the entity material through a gyroscope, and detecting position data of the entity material through a positioning device; according to the motion data and the position data, determining a motion track of the entity material in the logistics park; and simulating the motion state of the entity material in the logistics park in the 3D digital virtual logistics scene through the virtual material model based on the motion trail.

Description

Technical Field

[0001] The present application relates to the field of virtual scene simulation technology, and in particular to a 3D digital virtual logistics scene simulation method, device, and electronic equipment. Background Art

[0002] Currently, the status data of materials stored within logistics parks is managed through an information management platform. For example, the platform's warehouse management system (WMS) centrally manages the entire process from incoming goods acceptance, location allocation, and outgoing goods review. The automated storage and retrieval system (AS / RS) leverages automated storage and operation technologies to integrate stacking cranes, conveyor lines, and intelligent control systems, enabling high-density storage and precise retrieval. Shuttle racks are used to increase storage density; intelligent handling equipment such as automated guided vehicles enables unmanned handling and optimizes routing. Automated sorting lines and intelligent packaging systems are combined to support high-frequency order processing. However, the efficiency of processing the status data of materials stored within logistics parks remains low. Summary of the Invention

[0003] The purpose of the present invention is to provide a three-dimensional (3D) digital virtual logistics scene simulation method, device and electronic equipment to solve the technical problem of low efficiency in processing material status data of stored materials in a logistics park.

[0004] In a first aspect, the present application provides a 3D digital virtual logistics scene simulation method, the method comprising: Controlling the drone to set electronic tags on physical materials entering the logistics park; wherein the electronic tags are provided with a gyroscope and a positioning device; the logistics park corresponds to a 3D digital virtual logistics scene, and the 3D digital virtual logistics scene contains a virtual material model corresponding to the physical materials; detecting motion data of the physical material by the gyroscope, and detecting position data of the physical material by the positioning device; Determining a movement trajectory of the physical material in the logistics park according to the movement data and the position data; Based on the motion trajectory, the movement state of the physical material in the logistics park is simulated in the 3D digital virtual logistics scene through the virtual material model.

[0005] In one possible implementation, determining the movement trajectory of the physical material in the logistics park based on the movement data and the location data includes: The movement trajectory of the physical material in the logistics park is determined according to the movement data and the position data using the following formula: v =Δ x / Δt , a =Δ v / Δt , St = ; Among them, Δ x is the position difference between two adjacent points in the position data, Δ t is the time difference between the two adjacent points; Δ v is the rate of change of the motion speed in the motion data; v is the instantaneous movement speed of the physical material in the logistics park; a is the movement acceleration of the physical material in the logistics park; St A column vector representing the 3D motion state trajectory of the physical material at time t; T represents the transpose operation that converts a row vector into a column vector. x Represents 3D space x Axis direction, y Represents 3D space y Axis direction, z Represents 3D space z Axis direction.

[0006] In one possible implementation, simulating the movement state of the physical material in the logistics park in the 3D digital virtual logistics scene using the virtual material model based on the movement trajectory includes: Based on the movement trajectory of the physical materials, the following formula is used to simulate the movement state of the physical materials in the logistics park through the virtual material model in the 3D digital virtual logistics scene:

[0007] in, is a state transition matrix, representing the state of the system from one time step to the next time step, and the elements of the state transition matrix depend on the dynamic performance of the virtual material model; is the control input model, which means that the control input vector Mapping into virtual space; is the control input vector, which represents the external influence on the state transition system; It is the virtual state prediction value for the virtual material model, which represents the value of the virtual state prediction based on the previous time step. Data The best prediction of the state at the current time step k; is the noise covariance matrix of the conversion process from the logistics park to the 3D digital virtual logistics scene, representing the unmodeled dynamic effects during the state transition process; T Represents the conventional matrix transpose operation; is the error covariance matrix, which represents the error based on the previous time step Data The uncertainty of the prediction of the virtual state at the current time step k; An observation model of the physical material, used to map the actual state of the physical material to the virtual space corresponding to the 3D digital virtual logistics scene; is the observation noise covariance matrix, which represents the noise in the measurement process of the physical material. represents the actual observation value of the motion trajectory of the physical material at the current time step k; is the Kalman gain, which indicates the weight that should be given to the virtual state prediction value and the actual observation value during the state transition process; It represents the predicted value of the virtual state after the state transition of the current time step k state after combining the new observation data; is the error covariance matrix after state conversion, which represents the uncertainty of the prediction estimate after state conversion.

[0008] In one possible implementation, the drone is provided with a direction-guiding lighting device; the direction-guiding lighting device includes an arrow-shaped lighting mode; after simulating the movement state of the physical material in the logistics park in the 3D digital virtual logistics scene using the virtual material model based on the movement trajectory, the method further includes: In response to a first query instruction for a target physical material among the plurality of physical materials sent by the warehouse administrator terminal, determining whether the target physical material is in a transportation state or a storage state based on a current position and a target movement state of the target physical material simulated by the target virtual material model in the 3D digital virtual logistics scene; If the target physical material is in a transportation state, the drone is controlled to follow the target physical material according to the target movement state, and the direction guidance lighting device is controlled to use the arrow-shaped lighting method to present an arrow indication pointing to the moving direction of the target physical material on the ground of the logistics park.

[0009] In one possible implementation, after determining that the target physical material is in a transportation state or a storage state, the method further includes: If the target physical material is in a storage state, the drone is controlled to go to the material storage location corresponding to the current position according to the current position, and the direction guidance lighting device is controlled to present an arrow indication pointing to the material storage location of the target physical material on the ground of the logistics park through the arrow-shaped lighting method.

[0010] In a possible implementation, a light projection device is further attached to the electronic tag, and the illumination direction of the light projection device is toward the physical material; the method further includes: In response to the drone setting a target electronic tag on the target physical material, determining a target storage type of the target physical material in the logistics park; each storage type in the logistics park corresponds to at least one specified projection content; In response to the second query instruction for the target physical material sent by the warehouse administrator terminal, the light projection device is controlled to start and illuminate target projection content; the target projection content is the projection content specified corresponding to the target warehouse type.

[0011] In one possible implementation, after simulating the movement state of the physical material in the logistics park in the 3D digital virtual logistics scene using the virtual material model based on the movement trajectory, the method further includes: In response to a third query instruction for the target physical material sent by the warehouse administrator terminal, determining a target virtual material model that simulates the target physical material from the plurality of virtual material models in the 3D digital virtual logistics scene; Generate a state simulation image of the target physical material in the logistics park according to the movement state of the target virtual material model in the 3D digital virtual logistics scene; The state simulation image is sent to the warehouse manager terminal, so that the warehouse manager terminal displays the state simulation image through a graphical user interface.

[0012] In a second aspect, the present application provides a 3D digital virtual logistics scene simulation device, comprising: A control module is configured to control the drone to place electronic tags on physical materials entering the logistics park; wherein the electronic tags are provided with a gyroscope and a positioning device; the logistics park corresponds to a 3D digital virtual logistics scene, and the 3D digital virtual logistics scene includes a virtual material model corresponding to the physical material; a detection module, configured to detect motion data of the physical material using the gyroscope, and detect position data of the physical material using the positioning device; a determination module, configured to determine a movement trajectory of the physical material in the logistics park based on the movement data and the location data; A simulation module is used to simulate the movement state of the physical material in the logistics park in the 3D digital virtual logistics scene through the virtual material model based on the movement trajectory.

[0013] In a third aspect, the present application provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0014] In a fourth aspect, the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute the method described in the first aspect above.

[0015] This application brings the following beneficial effects: The present application provides a 3D digital virtual logistics scene simulation method, device and electronic equipment, which can control a drone to set an electronic tag on physical materials entering a logistics park, wherein the electronic tag is provided with a gyroscope and a positioning device, the logistics park corresponds to a 3D digital virtual logistics scene, and the 3D digital virtual logistics scene contains a virtual material model corresponding to the physical material. The motion data of the physical material is detected by the gyroscope, and the position data of the physical material is detected by the positioning device. The motion trajectory of the physical material in the logistics park is determined according to the motion data and the position data. Based on the motion trajectory, the virtual material model is used in the 3D digital virtual logistics scene. D digital virtual logistics scene simulates the movement status of the physical materials in the logistics park. In this solution, by using the virtual material model in the 3D digital virtual logistics scene to dynamically display the current and predicted movement status of the physical materials, a more accurate dynamic simulation of the movement status of the physical materials is achieved, and the efficiency of processing the material status data of the materials stored in the logistics park is improved. This not only allows managers to intuitively understand the real-time situation in the park, but also allows remote monitoring and decision support. Based on the simulation results, operational processes such as material handling routes and storage location allocation can be optimized, thereby improving overall operational efficiency and solving the technical problem of low efficiency in processing the material status data of materials stored in the logistics park.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art of the present application, the drawings needed in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0018] Figure 1 A flowchart of a 3D digital virtual logistics scene simulation method provided by an embodiment of the present application is shown. Figure 2 An example of a state simulation image in a 3D digital virtual logistics scene simulation method provided by an embodiment of the present application is shown. Figure 3 A structural diagram of a 3D digital virtual logistics scene simulation device provided by an embodiment of the present application is shown. Figure 4 A structural diagram of an electronic device provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0019] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] The terms "comprise" and "have" and any variations thereof mentioned in the embodiments of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0021] At present, the existing 3D digital twin platform is not perfect in the integration of systems and devices required by the logistics park, has low controllability, and only realizes the visualization of data, without further fine and personalized display for different scenarios, different materials and different management dimensions. Therefore, the efficiency of processing material state data of stored materials in the logistics park is low at present.

[0022] Based on this, the embodiments of the present application provide a 3D digital virtual logistics scene simulation method and device and an electronic device, which can solve the technical problem of low efficiency of processing material state data of stored materials in the logistics park.

[0023] Embodiments of the present application will be further described below with reference to the drawings.

[0024] Figure 1 A flowchart of a 3D digital virtual logistics scene simulation method provided by an embodiment of the present application is shown in FIG. 1. As shown in the figure, the method comprises the following steps. Figure 1 Step S110: controlling a UAV to set an electronic tag on an entity material entering a logistics park.

[0025] The electronic tag is provided with a gyroscope and a positioning device. The logistics park corresponds to a 3D digital virtual logistics scene, and the 3D digital virtual logistics scene contains a virtual material model corresponding to the entity material.

[0026] In actual application, when a new cargo is identified by a sensor or a monitoring system to be about to enter the logistics park, the basic information of the cargo (such as type, quantity, and expected storage location) is input into the system, the corresponding electronic tag ID is generated and associated with the cargo information. Then, the UAV is started, and the control system automatically dispatches the nearest UAV to the target location according to the information of the arrival of the cargo. Based on the map data of the logistics park and the real-time traffic situation, the optimal flight path is calculated. The UAV flies to the cargo according to the predetermined path.

[0027] For the setting of the electronic tag, the UAV uses a mechanical arm or other devices to accurately place the electronic tag on the cargo. Once the tag is correctly placed, the electronic tag is activated by a wireless signal to start working, i.e., the tag is activated. Then, the gyroscope and the positioning device on the electronic tag are enabled to monitor the position and state changes of the cargo in real time. The collected data is uploaded to the logistics management system in real time through a wireless network for subsequent analysis.

[0028] Step S120: detecting motion data of the entity material by the gyroscope and detecting position data of the entity material by the positioning device.

[0029] For example, when the electronic tag on the cargo is activated, the built-in gyroscope also starts to work. The gyroscope monitors the angular velocity changes of the cargo in real time, thereby calculating the rotation angle and direction of the cargo and providing an accurate motion trajectory. Similarly, the positioning device (such as a GPS module) in the electronic tag is also activated, and the positioning device constantly updates and sends the geographic position information of the cargo to the logistics management system. Then, the motion data obtained by the gyroscope and the position data provided by the positioning device are packaged. Using wireless communication technology (such as Wi-Fi, Bluetooth, or cellular network), the data packet is sent from the electronic tag to the central control system.

[0030] Step S130: determining a motion trajectory of the entity material in the logistics park according to the motion data and the position data. ​

[0031] For example, the central control system receives data, parses it, and converts it into a usable information format. Based on the received data, the status of the goods is analyzed, including whether it is in normal transportation, whether there is abnormal vibration or falling, etc. According to the position information and the estimated arrival time of the goods, the transportation route and priority in the warehouse can be dynamically adjusted to improve operational efficiency.

[0032] As an optional implementation, the motion trajectory of the physical asset in the logistics park is determined according to the motion data and the position data by the following formula: v =Δ x / Δt , a =Δ v / Δt , St = ; wherein, Δ x is the position difference between adjacent two points in the position data, Δ t is the time difference between adjacent two points; Δ v is the rate of change of the motion speed in the motion data; v is the instantaneous motion speed of the physical asset in the logistics park; a is the motion acceleration of the physical asset in the logistics park; St represents a column vector of the 3D motion state trajectory of the physical asset at time t; T represents a transpose operation of converting a row vector to a column vector, x represents the direction of the x axis in the 3D space, y represents the direction of the y axis in the 3D space, z represents the direction of the z axis in the 3D space. Through the above formula data processing method, the data of the motion trajectory of the physical asset in the logistics park is more accurate and comprehensive.

[0033] Step S140, based on the motion trajectory, the virtual asset model simulates the motion state of the physical asset in the logistics park in the 3D digital virtual logistics scene.

[0034] In one possible implementation, based on the motion trajectory of the physical asset, the virtual asset model simulates the motion state of the physical asset in the logistics park in the 3D digital virtual logistics scene by the following formula:

[0035] wherein, is a state transition matrix, which represents the conversion of the state of the system from one time step to the next time step, and the elements of the state transition matrix depend on the dynamic performance of the virtual asset model. is the control input model, which means that the control input vector Mapping into virtual space; is the control input vector, which represents the external influence on the state transition system; It is the virtual state prediction value for the virtual material model, which represents the value of the virtual state prediction based on the previous time step. Data The best prediction of the state at the current time step k; is the noise covariance matrix of the conversion process from the logistics park to the 3D digital virtual logistics scene, representing the unmodeled dynamic effects during the state transition process; T Represents the conventional matrix transpose operation; is the error covariance matrix, which represents the error based on the previous time step Data The uncertainty of the prediction of the virtual state at the current time step k; An observation model of the physical material, used to map the actual state of the physical material to the virtual space corresponding to the 3D digital virtual logistics scene; is the observation noise covariance matrix, which represents the noise in the measurement process of the physical material. represents the actual observation value of the motion trajectory of the physical material at the current time step k; is the Kalman gain, which indicates the weight that should be given to the virtual state prediction value and the actual observation value during the state transition process; It represents the predicted value of the virtual state after the state transition of the current time step k state after combining the new observation data; is the error covariance matrix after state conversion, which represents the uncertainty of the prediction estimate after state conversion.

[0036] In an embodiment of the present application, a 3D digital virtual logistics scene simulation method based on a logistics park and warehouse materials is provided. By using a virtual material model in a 3D digital virtual logistics scene to dynamically display the current and predicted movement status of physical materials, a more accurate dynamic simulation of the movement status of physical materials is achieved, and the efficiency of material status data processing of materials stored in the logistics park is improved. This not only allows managers to intuitively understand the real-time situation in the park, but also allows remote monitoring and decision support. Based on the simulation results, operational processes such as material handling routes and storage location allocation can be optimized to improve overall operational efficiency.

[0037] In some embodiments, the drone is provided with a direction-guiding lighting device; the direction-guiding lighting device may provide a direction in the shape of an arrow; after step S140, the method may further include the following steps: In response to the first query instruction sent by the warehouse administrator terminal for the target entity material in the plurality of entity materials, based on the current position and the target motion state of the target entity material simulated in the 3D digital virtual logistics scene based on the target virtual material model, it is judged that the target entity material is in a transportation state or a storage state. If the target entity material is in a transportation state, the unmanned aerial vehicle is controlled to follow the target entity material according to the target motion state, and the directional guidance lighting device is controlled to present an arrow indication pointing to the moving direction of the target entity material on the ground of the logistics park through the arrow-shaped lighting mode.

[0038] Through the directional guidance lighting device carried by the unmanned aerial vehicle, the moving direction can be indicated on the ground in the arrow-shaped lighting mode while following the target entity material in real time. This way not only enables the warehouse administrator to intuitively and quickly locate the specific material, but also provides clear navigation guidance in a complex logistics environment, avoiding the problems of long search time and easy errors in traditional methods.

[0039] Moreover, the system can automatically judge whether the target entity material is in a transportation state or a storage state, and dynamically adjust according to the real-time motion state, realizing state recognition and dynamic adjustment. This capability makes the material management in the logistics park more intelligent and automated, helps to optimize resource allocation and reduce human intervention, thereby improving overall operational efficiency. Using the position and motion state of the target entity material simulated based on the 3D digital virtual logistics scene to guide actual operation greatly improves the accuracy and reliability of operation and enhances operation precision.

[0040] In some embodiments, after judging that the target entity material is in a transportation state or a storage state, the method can further include the following steps: If the target entity material is in a storage state, the unmanned aerial vehicle is controlled to go to the material storage location corresponding to the current position according to the current position, and the directional guidance lighting device is controlled to present an arrow indication pointing to the material storage location of the target entity material on the ground of the logistics park through the arrow-shaped lighting mode.

[0041] Through the directional guidance lighting device carried by the unmanned aerial vehicle, the specific storage location of the target entity material can be quickly and accurately located, and intuitive navigation guidance is provided through the ground arrow indication, realizing accurate positioning and rapid guidance. This way greatly reduces the time for the warehouse administrator to find a specific material and improves work efficiency.

[0042] In the embodiments of the present application, the system can also automatically control the unmanned aerial vehicle to go to the corresponding storage location based on the current position of the target entity material and provide clear directional guidance. This process reduces the dependence on manual judgment and operation, thereby reducing the error rate caused by human factors.

[0043] Furthermore, real-time and accurate material positioning and guidance help optimize the space layout and use within the warehouse, allowing warehouse managers to more effectively arrange cargo storage and retrieval routes, further improving the warehouse's space utilization and logistics efficiency.

[0044] In some embodiments, a light projection device is also attached to the electronic tag, and the illumination direction of the light projection device is toward the physical material. The method may further include the following steps: In response to the drone setting a target electronic tag on the target physical material, determining the target storage type of the target physical material in the logistics park; each storage type in the logistics park corresponds to at least one specified projection content; In response to the second query instruction for the target physical material sent by the warehouse administrator terminal, the light projection device is controlled to start and illuminate the target projection content; the target projection content is the projection content specified corresponding to the target warehouse type.

[0045] By attaching a light projection device to the electronic tag and projecting the designated information (i.e., the target projection content) onto the physical goods or the surrounding area, warehouse managers can be provided with a highly intuitive visual guidance and information display method. This makes various warehouse operations, such as goods classification and storage location confirmation, more straightforward and easy to understand, reducing the cost of understanding.

[0046] Furthermore, different types of warehouses correspond to different projection content, allowing for customized display information based on actual needs. This approach not only helps warehouse managers quickly identify different types of materials, but also allows for flexible adjustment of projection content based on actual conditions, adapting to changing logistics needs and environmental changes, and supporting personalized and dynamic warehouse management.

[0047] In an embodiment of the present application, by responding to a specific query instruction (the second query instruction), the system can automatically control the light projection device to start and illuminate the corresponding projection content. This process greatly simplifies the manual search and confirmation steps, reduces the possibility of errors, and improves work efficiency, operation accuracy and speed.

[0048] In some embodiments, after the above step S140, the method may further include the following steps: In response to a third query instruction for a target physical material sent by the warehouse administrator terminal, determining a target virtual material model simulating the target physical material from a plurality of virtual material models in the 3D digital virtual logistics scene; Generate a state simulation image of the target physical material in the logistics park based on the movement state of the target virtual material model in the 3D digital virtual logistics scene; The status simulation image is sent to the warehouse administrator terminal, so that the warehouse administrator terminal displays the status simulation image through a graphical user interface.

[0049] The state simulation image of the target physical material generated above in the logistics park is as follows: Figure 2 As shown, by mapping the target physical assets in the actual logistics park into virtual asset models within a 3D digital virtual scene and generating state simulation images based on their movement, warehouse managers can intuitively understand the asset's status, location, and dynamic changes. This graphical user interface-based display allows managers to quickly access key information without complex analysis, thereby improving decision-making efficiency and accuracy. Furthermore, by simulating the state of target physical assets within the 3D digital virtual logistics scene, managers can more scientifically and rationally plan warehouse space utilization, cargo placement sequence, and transportation routes, optimizing resource allocation and scheduling strategies.

[0050] In actual applications, the 3D digital twin platform system deployment is mainly divided into three layers: infrastructure layer, system integration layer, and visual management and control layer. The infrastructure layer is mainly the underlying hardware acquisition equipment; the basic layer: the existing or to-be-built front-end business subsystems and IoT hardware facilities of the logistics park. Data layer: mainly through interface adaptation to connect to existing or newly built video surveillance management, access control management, security management system and other systems, including but not limited to ActiveMQ, Socket, Syslog, HTTP, Web Service, JDBC, SNMP, JSONP and other interfaces to obtain relevant system data. Operation layer: Build user-oriented scenarios, including warehousing, security, vehicles, environment, etc.; the platform needs to have strong expansion capabilities to meet the subsequent expansion needs of the park.

[0051] For business scenarios, the 3D digital twin logistics park platform includes the construction of management themes for smart warehousing, smart security, smart vehicles, smart environments, and a forklift management system. Smart warehousing: Integrates storage location information, task management, inventory management, and operation management data, bringing people, things, and objects in the warehouse into one scenario to form a management theme for smart warehousing. It can quickly search and locate goods, view forklift operation trajectories, and realize space and data linkage. Smart security: Integrates AI recognition capabilities and perimeter defense capabilities to quickly identify dangerous areas and scenes within the park, integrates scattered video surveillance tools to maximize the value of monitoring tools, quickly locates alarm locations on the platform, and realizes alarm linkage functions. Smart vehicles: Manages the parking space location, loading and unloading spaces, vehicle throughput, vehicle reservation status, etc. of the logistics park, and realizes positioning management, real-time trajectory display, alarm management, video linkage, trajectory playback, etc. of warehouse forklifts.

[0052] For inventory management, users can manage and view inventory data in a 3D visualization scene: support for viewing the capacity of goods on the shelves using different color blocks, support for expressing the status of each storage location and the corresponding model display and disappearance using a data-driven approach. Support for viewing the status of goods in the 3D scene, such as the length of time materials have been in stock and the amount of materials in stock. Support for viewing detailed tables of inventory management indicators and the distribution of storage locations by department. Inventory material ranking: Support for displaying the inventory proportion ranking of different goods in real time through various charts, such as: material name, amount, etc. Obsolete material ranking: Real-time display of the names and amounts of the top five obsolete inventory materials. Sub-inventory proportion: Support for displaying the proportion, amount, and proportion of each sub-inventory in real time through various charts. Inventory age visualization: Support for displaying normal inventory age, near-obsolete inventory, and obsolete inventory materials in real time through various charts.

[0053] For task management, users can manage and view task data in a three-dimensional visualization scene: it supports real-time display of various task management data through a variety of charts, and supports linkage with the three-dimensional scene. In the three-dimensional scene, by clicking on the order number, the estimated shelf location can be displayed on the three-dimensional shelf, and a pop-up window will be displayed with detailed storage location and inventory information for the task. Receiving tasks: it supports real-time display of various receiving task management data through a variety of charts, such as the number of receiving task orders for the day, the number of completed orders, the completion rate, etc. Shipping tasks: it supports real-time display of various receiving task management data through a variety of charts, such as the number of shipping task orders for the day, the number of completed orders, the completion rate, etc. Warning list: it supports real-time display of receiving / shipping warning events through a variety of charts. Monthly receiving and shipping: statistics on monthly receiving and shipping operations are collected, and the peak and low months of tasks are displayed in the form of charts.

[0054] For device searches, you can search for devices within the campus by name. You can locate the target device in a 3D scene. Clicking a device model allows you to view its basic information and operating conditions. For automated demonstrations, you can display a roaming animation of the campus.

[0055] For integrated intelligent management, the intelligent management system integrates overview, warehousing, security, vehicle, and environmental monitoring modules to achieve automation and intelligent management of the logistics park. It precisely controls materials, monitors safety in real time, optimizes vehicle scheduling, and intelligently regulates the environment, significantly improving the park's operational efficiency and safety.

[0056] For fine professional management, the digital twin platform calculates and displays professional indicators related to warehouse logistics, and refines the management dimensions according to the material categories and different sub-libraries, improves the fine management level of the park, optimizes the material management mode, and realizes the visual sharing of idle resources. For intelligent real-time supervision, through the docking of AI intelligent video analysis technology, intelligent analysis and violation warning of monitoring video can be realized, and intelligent online supervision is realized.

[0057] In the digital twin platform, five modules of overview, warehouse, security, vehicle and environmental monitoring are integrated. In the intelligent warehouse module, the library age visualization display and the display of sub-library inventory proportion are displayed. In the intelligent security module, AI intelligent video analysis is connected. The scheme can realize the economic benefits of reducing the park operation cost by 800,000 yuan, improving the overall operation efficiency by 40%, and improving the resource equipment utilization efficiency by 20%.

[0058] Figure 3 A structural schematic diagram of a 3D digital virtual logistics scene simulation device is provided. As shown in Figure 3 The 3D digital virtual logistics scene simulation device 300 includes: A control module 301 for controlling the unmanned aerial vehicle to set an electronic tag on the physical material entering the logistics park; wherein the electronic tag is provided with a gyroscope and a positioning device; the logistics park corresponds to a 3D digital virtual logistics scene, and the 3D digital virtual logistics scene includes a virtual material model corresponding to the physical material; A detection module 302 for detecting motion data of the physical material through the gyroscope and detecting position data of the physical material through the positioning device; A determination module 303 for determining a motion trajectory of the physical material in the logistics park according to the motion data and the position data; A simulation module 304 for simulating the motion state of the physical material in the logistics park in the 3D digital virtual logistics scene through the virtual material model based on the motion trajectory.

[0059] The 3D digital virtual logistics scene simulation device provided by the embodiments of the present application has the same technical features as the 3D digital virtual logistics scene simulation method provided by the above embodiments, so it can also solve the same technical problems and achieve the same technical effects.

[0060] The electronic device provided by the embodiments of the present application includes a processor 402 and a memory 401, as shown in Figure 4 The memory stores a computer program executable on the processor, and the processor executes the computer program to implement the steps of the method provided by the above embodiments.

[0061] See also Figure 4 The electronic device further includes: a bus 403 and a communication interface 404, a processor 402, a communication interface 404 and a memory 401 connected via the bus 403; the processor 402 is used to execute executable modules stored in the memory 401, such as computer programs.

[0062] Memory 401 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk drive. Communication between the system network element and at least one other network element is achieved via at least one communication interface 404 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0063] The bus 403 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0064] Among them, the memory 401 is used to store programs, and the processor 402 executes the program after receiving the execution instruction. The method executed by the device defined by the process disclosed in any embodiment of the present application can be applied to the processor 402 or implemented by the processor 402.

[0065] The processor 402 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 402 or by instructions in the form of software. The above-mentioned processor 402 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in memory 401, and processor 402 reads the information in memory 401 and, in conjunction with its hardware, completes the steps of the above method.

[0066] Corresponding to the above-mentioned 3D digital virtual logistics scene simulation method, an embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to execute the steps of the above-mentioned 3D digital virtual logistics scene simulation method.

[0067] The 3D digital virtual logistics scene simulation device provided in the embodiment of the present application can be specific hardware on the device or software or firmware installed on the device. The device provided in the embodiment of the present application, its implementation principle and the technical effect produced are the same as those in the aforementioned method embodiment. For the sake of brief description, for parts not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can all refer to the corresponding processes in the aforementioned method embodiment, and will not be repeated here.

[0068] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0069] For another example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0070] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0071] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0072] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the 3D digital virtual logistics scene simulation method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0073] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0074] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. However, these modifications, changes, or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application. They should all be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A 3D digital virtual logistics scene simulation method, characterized in that: The method comprises: Controlling the drone to set electronic tags on physical materials entering the logistics park; wherein the electronic tags are provided with a gyroscope and a positioning device; the logistics park corresponds to a 3D digital virtual logistics scene, and the 3D digital virtual logistics scene contains a virtual material model corresponding to the physical materials; detecting motion data of the physical material by the gyroscope, and detecting position data of the physical material by the positioning device; Determining a movement trajectory of the physical material in the logistics park according to the movement data and the position data; Based on the motion trajectory, the movement state of the physical material in the logistics park is simulated in the 3D digital virtual logistics scene through the virtual material model.

2. The method according to claim 1, characterized in that The determining the movement trajectory of the physical material in the logistics park according to the movement data and the position data includes: The movement trajectory of the physical material in the logistics park is determined according to the movement data and the position data using the following formula: v =D x / Δt , a =D v / Δt , St = ； Among them, Δ x is the position difference between two adjacent points in the position data, Δ t is the time difference between the two adjacent points; Δ v is the rate of change of the motion speed in the motion data; v is the instantaneous movement speed of the physical material in the logistics park; a is the movement acceleration of the physical material in the logistics park; St A column vector representing the 3D motion state trajectory of the physical material at time t; T represents the transpose operation that converts a row vector into a column vector. x Represents 3D space x Axis direction, y Represents 3D space y Axis direction, z Represents 3D space z Axis direction.

3. The method according to claim 1, characterized in that The simulating the movement state of the physical material in the logistics park in the 3D digital virtual logistics scene by using the virtual material model based on the movement trajectory includes: Based on the movement trajectory of the physical materials, the following formula is used to simulate the movement state of the physical materials in the logistics park through the virtual material model in the 3D digital virtual logistics scene: in, is a state transition matrix, representing the state of the system from one time step to the next time step, and the elements of the state transition matrix depend on the dynamic performance of the virtual material model; is the control input model, which means that the control input vector Mapping into virtual space; is the control input vector, which represents the external influence on the state transition system; It is the virtual state prediction value for the virtual material model, which represents the value of the virtual state prediction based on the previous time step. Data The best prediction of the state at the current time step k; is the noise covariance matrix of the conversion process from the logistics park to the 3D digital virtual logistics scene, representing the unmodeled dynamic effects during the state transition process; T Represents the conventional matrix transpose operation; is the error covariance matrix, which represents the error based on the previous time step Data The uncertainty of the prediction of the virtual state at the current time step k; An observation model of the physical material, used to map the actual state of the physical material to the virtual space corresponding to the 3D digital virtual logistics scene; is the observation noise covariance matrix, which represents the noise in the measurement process of the physical material. represents the actual observation value of the motion trajectory of the physical material at the current time step k; is the Kalman gain, which indicates the weight that should be given to the virtual state prediction value and the actual observation value during the state transition process; It represents the predicted value of the virtual state after the state transition of the current time step k state after combining the new observation data; is the error covariance matrix after state conversion, which represents the uncertainty of the prediction estimate after state conversion.

4. The method according to claim 1, wherein The drone is provided with a direction-guiding lighting device; the direction-guiding lighting device includes an arrow-shaped lighting method; after simulating the movement state of the physical material in the logistics park in the 3D digital virtual logistics scene using the virtual material model based on the movement trajectory, the method further includes: In response to a first query instruction for a target physical material among the plurality of physical materials sent by the warehouse administrator terminal, determining whether the target physical material is in a transportation state or a storage state based on a current position and a target movement state of the target physical material simulated by the target virtual material model in the 3D digital virtual logistics scene; If the target physical material is in a transportation state, the drone is controlled to follow the target physical material according to the target movement state, and the direction guidance lighting device is controlled to use the arrow-shaped lighting method to present an arrow indication pointing to the moving direction of the target physical material on the ground of the logistics park.

5. The method according to claim 4, characterized in that After determining that the target physical material is in a transportation state or a storage state, the method further includes: If the target physical material is in a storage state, the drone is controlled to move to the material storage location corresponding to the current position according to the current position, and the direction guidance lighting device is controlled to present an arrow indication pointing to the material storage location of the target physical material on the ground of the logistics park through the arrow-shaped lighting method.

6. The method according to claim 4, characterized in that The electronic tag is further attached with a light projection device, and the illumination direction of the light projection device is directed toward the physical material. The method further includes: In response to the drone setting a target electronic tag on the target physical material, determining a target storage type of the target physical material in the logistics park; each storage type in the logistics park corresponds to at least one specified projection content; In response to the second query instruction for the target physical material sent by the warehouse administrator terminal, the light projection device is controlled to start and illuminate target projection content; the target projection content is the projection content specified corresponding to the target warehouse type.

7. The method according to claim 4, characterized in that After simulating the movement state of the physical material in the logistics park in the 3D digital virtual logistics scene using the virtual material model based on the movement trajectory, the method further includes: In response to a third query instruction for the target physical material sent by the warehouse administrator terminal, determining a target virtual material model that simulates the target physical material from the plurality of virtual material models in the 3D digital virtual logistics scene; Generate a state simulation image of the target physical material in the logistics park according to the movement state of the target virtual material model in the 3D digital virtual logistics scene; The state simulation image is sent to the warehouse manager terminal, so that the warehouse manager terminal displays the state simulation image through a graphical user interface.

8. A 3D digital virtual logistics scene simulation device, characterized in that: include: A control module is configured to control the drone to place electronic tags on physical materials entering the logistics park; wherein the electronic tags are provided with a gyroscope and a positioning device; the logistics park corresponds to a 3D digital virtual logistics scene, and the 3D digital virtual logistics scene includes a virtual material model corresponding to the physical material; a detection module, configured to detect motion data of the physical material using the gyroscope, and detect position data of the physical material using the positioning device; a determination module, configured to determine a movement trajectory of the physical material in the logistics park based on the movement data and the location data; A simulation module is used to simulate the movement state of the physical material in the logistics park in the 3D digital virtual logistics scene through the virtual material model based on the movement trajectory.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute the method according to any one of claims 1 to 7.

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