A method for updating terrain based on reamer depth and 3D terrain depth information

Abstract

This invention discloses a method for updating terrain based on reamer depth and 3D terrain depth information. First, the collected terrain data is preprocessed to obtain a grayscale elevation map of the terrain, and a terrain model is generated based on this map, while simultaneously optimizing it using surface subdivision technology. Then, the reamer model is parameterized to obtain its main parameters, and these parameters are used to generate a bounding box model of the reamer. Finally, the depth information of the terrain model and the reamer model is acquired using a camera, and Boolean operations are performed on both to obtain an updated terrain grayscale map, thus regenerating a new terrain. This invention can achieve real-time dynamic deformation of the terrain using the depth difference information between the reamer and the terrain, effectively improving the efficiency of terrain deformation in dredging operation simulations.

Description

Technical Field

[0001] This invention belongs to the field of computer graphics technology, specifically relating to a method for updating terrain based on reamer depth and three-dimensional terrain depth information. Background Technology

[0002] In existing technologies, underwater terrain is simulated using Unity3D. However, during reamer operation, the underwater terrain interacts with the reamer, causing changes in the terrain. How to effectively update the terrain deformation effect in real time is an urgent problem to be solved. Summary of the Invention

[0003] To address the technical problem in existing technologies that cannot update the terrain in real time based on the effect of the reamer on the terrain, this invention proposes a method for updating the terrain based on the reamer depth and three-dimensional terrain depth information.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A method for updating terrain based on reamer depth and 3D terrain depth information includes the following steps:

[0006] Step 1: Generation of underwater terrain; Based on the known location information and the corresponding elevation values, a grayscale elevation map of the terrain is generated, a terrain model is generated, and the generated terrain model is optimized using subdivision surface technology.

[0007] Step 2: Establishing the reamer axial surface model; Based on different terrains and soil conditions, determine different reamer axial surface models, parameterize the reamer model, and obtain the main parameters of the reamer dimensions;

[0008] Step 3: Quickly update the terrain. Based on the depth information of the reamer bounding box cut and the depth information of the terrain model, determine the position and depth of the reamer cut. Obtain the depth information of the new terrain through Boolean operations, regenerate the new terrain, and realize the rapid deformation of the terrain.

[0009] Specifically, step one includes:

[0010] Step 1a: Based on the known terrain data, preprocess the data by cleaning, interpolation, and grayscale normalization to generate a grayscale elevation map of the terrain.

[0011] Step 1b: The grayscale elevation map generated in Step 1a is incomplete, consisting only of scatter plots, and cannot generate realistic terrain. Therefore, data interpolation is required to supplement the data and grayscale areas to form a complete grayscale elevation map, making the data continuous. The interpolated terrain grayscale elevation map is then imported into Unity3D to generate a 3D model of the terrain.

[0012] The method for generating a 3D terrain model using grayscale elevation maps is as follows: the terrain is represented by a grid, and the positions of the vertices in the grayscale grid are overlaid on the grid. The grayscale value corresponding to black pixels is 0, which represents the lowest elevation, and the grayscale value corresponding to white pixels is 255, which represents the highest elevation, thus generating a grid terrain.

[0013] Step 1c: Utilize the subdivision surface technique in Unity3D to optimize the display effect of the terrain model, increase the mesh accuracy of the model surface, and improve the effect of subsequent terrain deformation.

[0014] Specifically, step two includes:

[0015] Step 2a: Based on the different cutting media of the reamer, parameterize the reamer model to obtain the main parameters for generating the reamer model: the height H of the outer contour line of the reamer arm, the height h of the inner contour line of the reamer arm, the diameter d of the hub, and the distance D from the outer curved surface of the reamer arm to the center line of the hub. Determine the mathematical model of the reamer according to the following formula 1. Since the reamer moves as a frustum, we use the frustum as the model when the reamer moves. Establish the outer contour curve segment of the reamer according to formula 2. Formula 3 is the implicit surface equation of the reamer. Finally, establish the frustum model of the reamer and use the OBB algorithm to generate the bounding box of the frustum reamer model.

[0016] Reamers are classified into three types: the first type is the soft soil reamer for digging sand and clay, the second type is the hard soil reamer for digging sand and soft rock, and the third type is the rock reamer for cutting rocks.

[0017]

[0018] Note: θ is a parameter with a value range of 0-150°, k1 is the reamer medium cutting coefficient, k2 is the reamer shape parameter, d is the hub diameter, D is the distance from the outer curved surface of the cutter arm to the centerline of the hub, H is the height of the cutter arm, and x, y, and z are the three-dimensional coordinate points of the reamer mathematical model space curve.

[0019]

[0020]

[0021] Note: R is the radius of the bottom circle of the frustum reamer model, and r is the radius of the top circle of the frustum reamer model.

[0022] Step 2b: Based on step 2a, the values ​​of k1 and k2 are determined by the soil mechanical properties. The softer the soil, the smaller the value of k. Different collision bounding boxes of the reamer are constructed with different values ​​of k1 and k2 to replace the reamer in interacting with the terrain.

[0023] Specifically, step three includes:

[0024] Step 3a: Obtain the depth map of the generated terrain from bottom to top as the initial terrain height; when the reamer is cutting, obtain the depth map of the reamer according to the size and different shapes of the reamer bounding box;

[0025] Step 3b: Based on step 3a, determine the location and depth of terrain deformation according to the difference between the depth of the reamer cutting position and the depth of the reamer cutting position; perform Boolean calculations on the terrain depth map and the reamer cutting depth map to obtain a new difference depth map, use it as a rendering material to generate a new terrain model; complete the terrain deformation and realize real-time terrain updates.

[0026] The beneficial effects of this invention are as follows:

[0027] Based on discrete 3D terrain generation, this invention proposes a method for real-time terrain updating. It can realize real-time dynamic deformation of the terrain by using the depth difference information between the cutter and the terrain. This can solve the problem of terrain changes when the cutter and the terrain interact during dredging operations, improve the efficiency of terrain deformation in dredging operation simulation, improve the accuracy of dredging operations, and achieve safe and efficient dredging. Attached Figure Description

[0028] Figure 1 This is the method flow of the present invention;

[0029] Figure 2 It generates a grayscale image of the terrain;

[0030] Figure 3 It is the generated terrain model;

[0031] Figure 4 It is a terrain model optimized using surface subdivision technology;

[0032] Figure 5 This is a schematic diagram of a reamer structure. 5a shows the cutter arm contour lines of three types of reamers: 1 is the cutter arm contour line of a soft soil type reamer, 2 is the cutter arm contour line of a hard soil type reamer, and 3 is the cutter arm contour line of a rock type reamer. 5b shows the outer contour curve of the reamer, and 5c shows the rotational surface diagram of the outer contour of the reamer.

[0033] Figure 6 This is a schematic diagram of the reamer enclosure structure, where 6a shows a model diagram of the reamer, 6b shows the reamer located inside the reamer enclosure, and 6c shows the model structure of the reamer enclosure.

[0034] Figure 7 This is a reamer depth information diagram;

[0035] Figure 8 This is a map showing the terrain update process. Detailed Implementation

[0036] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0037] Reference Figure 1 As shown, a method for updating terrain based on reamer depth and 3D terrain depth information includes the following steps:

[0038] Step 1: Underwater terrain generation. Based on the acquired location information and corresponding elevation values, a grayscale elevation map of the terrain is generated. A terrain model is then created, and surface subdivision technology is used to optimize the generated terrain model. Figure 2 , 3 4;

[0039] Step 1a: Based on the known terrain data, preprocess the data by cleaning, interpolation, and grayscale normalization to generate a grayscale elevation map of the terrain.

[0040] Step 1b: Perform data interpolation on the grayscale elevation map generated in Step 1a to supplement grayscale areas and provide a complete grayscale elevation map, making the data continuous. Use the interpolated terrain grayscale elevation map to import into Unity3D to generate a 3D model of the terrain.

[0041] Step 1c: Utilize the subdivision surface technique in Unity3D to optimize the display effect of the terrain model, increase the mesh accuracy of the model surface, and improve the effect of subsequent terrain deformation.

[0042] Step Two: Establishing the Reamer Axial Surface Model. Based on different terrains and soil conditions, determine different reamer axial surface models, parameterize the reamer model, and obtain the main parameters of the reamer dimensions, such as... Figure 5 ;

[0043] Step 2a: Based on the different cutting media of the reamer, parameterize the reamer model to obtain the main parameters for generating the reamer model: the height H of the outer contour line of the cutter arm, the height h of the inner contour line of the cutter arm, the diameter d of the hub, and the distance D from the outer curved surface of the cutter arm to the center line of the hub. Then, use the OBB algorithm to generate the bounding box of the truncated cone reamer model.

[0044] Step 2b: Based on step 2a, the values ​​of k1 and k2 are determined by the soil mechanical properties. The softer the soil, the smaller the value of k. Different collision bounding boxes of the reamer are constructed with different values ​​of k1 and k2 to replace the reamer in interacting with the terrain.

[0045] Step 3: Quickly update the terrain. Based on the depth information of the reamer's bounding box cut and the depth information of the terrain model, determine the reamer's cutting position and depth. Obtain the new terrain's depth information through Boolean operations, regenerate the new terrain, and achieve rapid terrain deformation. Figure 6-8 .

[0046] Step 3a: Obtain the depth map of the generated terrain from bottom to top as the initial terrain height; when the reamer is cutting, obtain the depth map of the reamer according to the size and different shapes of the reamer bounding box;

[0047] Step 3b: Based on step 3a, determine the location and depth of terrain deformation according to the difference between the depth of the reamer cutting position and the depth of the reamer cutting position; perform Boolean calculations on the terrain depth map and the reamer cutting depth map to obtain a new difference depth map, use it as a rendering material to generate a new terrain model; complete the terrain deformation and realize real-time terrain updates.

[0048] The method of this invention is applied in the field of virtual simulation of dredging vessels. It can quickly generate terrain deformation effects under different conditions, accelerate the operation efficiency of the simulation system, and does not depend on other physical components. It is of great significance for the development of related dynamic terrain deformation.

[0049] All techniques not further described in this invention are existing technologies.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for updating terrain based on reamer depth and three-dimensional terrain depth information, characterized in that, Includes the following steps: Step 1: Generation of underwater terrain. Based on the known location information of the terrain and the corresponding elevation values, a grayscale elevation map of the terrain is generated, a 3D terrain model is generated, and the generated 3D terrain model is optimized using subdivision surface technology. Step 2: Establishing the reamer axial surface model; Based on different terrains and soil conditions, determine different reamer axial surface models, parameterize the reamer model, and obtain the main parameters of the reamer dimensions; Step 3: Quickly update the terrain. Based on the cutting depth information of the reamer bounding box and the depth information of the terrain model, determine the cutting position and cutting depth of the reamer. Obtain the depth information of the new terrain through Boolean operations, regenerate the new terrain, and realize the rapid deformation of the terrain. Step one includes: Step 1a: Based on the known terrain data, preprocess the data by cleaning, interpolation, and grayscale normalization to generate a grayscale elevation map of the terrain. Step 1b: Perform data interpolation on the grayscale elevation map generated in Step 1a to supplement grayscale areas and obtain a complete grayscale elevation map, making the data continuous. Import the complete terrain grayscale elevation map into Unity3D to generate a 3D model of the terrain. Step 1c: Utilize the subdivision surface technique in Unity3D to optimize the display effect of the terrain model, increase the mesh accuracy of the model surface, and improve the effect of subsequent terrain deformation; Step two includes: Step 2a: Based on the different cutting media of the reamer, parameterize the reamer model to obtain the main parameters for generating the reamer model, and construct the bounding box of the reamer model; Step 2b: Based on step 2a, different collision bounding boxes of reamers are constructed using the reamer medium cutting coefficient and reamer shape parameters to replace the reamers in interacting with the terrain; Step three includes: Step 3a: Below the generated terrain, obtain the terrain depth map from bottom to top as the initial terrain height; when the reamer is cutting, obtain the reamer depth map according to the size and different shapes of the reamer bounding box; Step 3b: Based on step 3a, determine the location and depth of terrain deformation according to the interpolation of the two depths; perform Boolean calculations on the two depth maps, use the generated difference depth map as the rendering material, and generate a new terrain model; complete the terrain deformation and realize real-time terrain updates. In step 1b, the method for generating a 3D terrain model using a grayscale elevation map is as follows: the terrain is represented by a grid, and the position of the vertex in the grayscale grid is overlaid on the grid. The grayscale value corresponding to the black pixel is 0, which represents the lowest elevation, and the grayscale value corresponding to the white pixel is 255, which represents the highest elevation, thus generating a grid terrain. In step 2a, the reamers are divided into three types: the first type is a soft soil reamer for digging sand and clay, the second type is a hard soil reamer for digging sand and soft rock, and the third type is a rock reamer for cutting rocks.

2. The method for updating terrain based on reamer depth and three-dimensional terrain depth information according to claim 1, characterized in that, In step 2b, the parameters of the reamer enclosure include the radius of the reamer ring, the axial height of the reamer, and the hub radius of the reamer.

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