Dynamic scene change degree assessment method, device and storage medium

Abstract

The present invention discloses a dynamic scene change degree evaluation method, device and storage medium, the method includes: obtaining warehouse data and element data of each element in the warehouse; obtaining change elements according to the element data; the change elements include elements that have undergone translation, removal, addition, rotation, and size change; calculating the occupied area of ​​each change element, and obtaining the change amount of the occupied area of ​​each change element according to the change of the occupied area; the occupied area includes the actual scan shape of the change element, and the outer frame of the occupied area is composed of straight lines parallel to the x-axis or y-axis; the scene change rate is calculated according to the warehouse data and the change amount of each occupied area. The present invention introduces the concept of occupied area of ​​elements, calculates the scene change rate through the area change of the occupied area of ​​the change element and the area change of the warehouse itself, obtains the quantified scene change degree, and realizes the quantitative definition and quantitative evaluation of dynamic scenes.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to a method, device and storage medium for evaluating the degree of change of a dynamic scene. Background Art

[0002] At present, various types of robots are increasingly used in production and life. Robot navigation technology relies on navigation maps. In some cases, the scene changes frequently. For robots that rely on navigation methods such as lidar navigation and visual navigation, these changes will cause the environmental reference objects to change constantly, resulting in the failure of the established map and inability to accurately locate. Taking the warehousing and logistics scene as an example, it is a typical scene with high dynamic changes, which is reflected in: (1) the layout of shelves in the warehouse changes frequently, and even the storage area will change; (2) the goods flow quickly, are temporarily stacked, and the position changes greatly; (3) people, machines, goods / shelves are mixed, move dynamically, and have intersections, and the drivable area of ​​logistics robots changes dynamically.

[0003] Enabling robots to have the ability to autonomously understand the environment and accurately locate themselves in dynamic scenes is of great significance for improving the integrity of mapping, improving navigation accuracy and positioning accuracy, and expanding the application scenarios of mobile robots. Although some literature has conducted research on relocalization algorithms in dynamic scenes, there is no quantitative definition and evaluation of "dynamic scenes". Due to the complexity and dynamism of the environment, there is currently no relatively fair way to define "dynamic scenes", let alone to conduct quantitative evaluation of them. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a method, device and storage medium for evaluating the degree of change of a dynamic scene, which can quantitatively evaluate the dynamic scene.

[0005] Technical solution: To achieve the above purpose, the dynamic scene change degree assessment method of the present invention comprises:

[0006] Obtain warehouse data and element data of each element in the warehouse;

[0007] Obtaining a change element according to the element data; the change element includes the element that has undergone translation, removal, addition, rotation, or size change;

[0008] Calculating the occupied area of ​​each of the changing elements, and obtaining the change amount of the occupied area of ​​each of the changing elements according to the change of the occupied area; the occupied area includes the actual scanning shape of the changing element, and the outer frame of the occupied area is composed of straight lines parallel to the x-axis or the y-axis;

[0009] The scene change rate is calculated based on the warehouse data and the change amount of each occupied area.

[0010] Furthermore, the occupied area is the anchor box or occupied grid corresponding to the changing element, the anchor box is the minimum circumscribed rectangle of the changing element, and two adjacent sides of the minimum circumscribed rectangle are parallel to the x-axis and the y-axis, respectively; the change in the occupied area is one of the change in area of ​​the anchor box and the change in area of ​​the occupied grid, or the minimum of the two.

[0011] Further, the calculating the scene change rate according to the warehouse data and the change amount of each occupied area includes:

[0012] Calculating a warehouse data change rate according to changes in the warehouse data;

[0013] Calculate the change rate of each occupied area according to the change amount of each occupied area and the warehouse data;

[0014] The warehouse data change rate and the sum of the occupied area change rates are calculated to obtain the scene change rate.

[0015] Furthermore, the warehouse data change rate is calculated according to the following formula:

[0016]

[0017] Where: r c is the warehouse data change rate, S is the area of ​​the warehouse before the change, S′ is the area of ​​the warehouse after the change, ΔS C is the change in warehouse area;

[0018] The occupied area change rate r i For r iA 、r iO One or the minimum of either, where:

[0019]

[0020] Among them, ΔS iA With r iA are the area change amount and area change rate of the anchor frame corresponding to the change element described in item i; ΔS iO With r iO are respectively the area change amount and area change rate of the grid occupied by the change element corresponding to the i-th item;

[0021] The scene change rate is calculated according to the following formula:

[0022]

[0023] Among them, r all is the scene change rate; n is the total number of the change elements.

[0024] Further, when the occupied area is calculated based on the anchor frame, obtaining the occupied area change amount of each change element according to the change of the occupied area includes:

[0025] Determining a change type of the change element;

[0026] When the change element is removed or added, the occupied area change is the area of ​​the anchor box corresponding to the change element;

[0027] When the changing element is rotated or resized, the occupied area change is the absolute value of the area difference of the anchor box corresponding to the changing element before and after the change.

[0028] Further, when the occupied area is calculated based on the occupied grid, the occupied area change amount of each change element obtained according to the change of the occupied area includes:

[0029] Determining a change type of the change element;

[0030] When the change element is removed or added, the change amount of the occupied area is N1×A, where N1 is the total number of all grids occupied by the change element, and A is the grid area;

[0031] When the changing element is rotated or resized, the occupied area changes by N2×A, where N2 is the sum of the number of grids newly occupied by the changing element and the number of grids no longer occupied.

[0032] A dynamic scene change degree assessment device, comprising:

[0033] The acquisition module is used to obtain warehouse data and element data of each element in the warehouse;

[0034] A processing module, used for obtaining a changed element according to the element data; the changed element includes the element that has undergone translation, removal, addition, rotation, or size change;

[0035] A first calculation module is used to calculate the occupied area of ​​each of the change elements, and obtain the change amount of the occupied area of ​​each change element according to the change of the occupied area; the occupied area includes the actual scanning shape of the change element, and the outer frame of the occupied area is composed of straight lines parallel to the x-axis or the y-axis;

[0036] The second calculation module is used to calculate the scene change rate according to the warehouse data and the change amount of each occupied area.

[0037] Furthermore, the occupied area is the anchor box or occupied grid corresponding to the changing element, the anchor box is the minimum circumscribed rectangle of the changing element, and two adjacent sides of the minimum circumscribed rectangle are parallel to the x-axis and the y-axis, respectively; the change in the occupied area is one of the change in area of ​​the anchor box and the change in area of ​​the occupied grid, or the minimum of the two.

[0038] A storage medium stores a computer program, which can implement the above-mentioned dynamic scene change degree assessment method when executed by a processor.

[0039] Beneficial effects: The dynamic scene change degree assessment method, device and storage medium of the present invention introduce the concept of element occupied area, calculate the scene change rate by changing the area change of the occupied area of ​​the element and the area change of the warehouse itself, and obtain the quantified scene change degree, thus realizing the quantitative definition and quantitative assessment of dynamic scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Layout diagram of the warehouse and its elements for warehousing and logistics;

[0041] Figure 2 It is a flowchart of the dynamic scene change degree evaluation method;

[0042] Figure 3 A schematic diagram of the relationship between an element and its corresponding anchor box;

[0043] Figure 4 It is a schematic diagram of the relationship between the elements and their corresponding occupied grids;

[0044] Figure 5 Schematic diagram of the structure of a dynamic scene change degree assessment device. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0046] It should be noted that the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] In addition, in the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0048] First embodiment

[0049] This embodiment provides a method for evaluating the degree of change of a dynamic scene. This embodiment is described using the field of warehousing and logistics as an application field. Figure 1 The figure shows a warehouse for storage logistics. The length and width of the warehouse are W and H respectively. The warehouse is equipped with shelves, goods, transmission lines, shuttles, robots and other facilities. These facilities are collectively referred to as elements. These elements are A, B, C, D, E, F, Y1…Y n , Z1…Z n It means that these elements may change during the warehouse operation, such as some elements will move or disappear, new elements will be added to the warehouse, the posture of some elements will change, and the size of some elements will change.

[0050] Based on the above foundation, Figure 2 As shown, the above method includes the following steps S101-S104:

[0051] Step S101, obtaining warehouse data and element data of each element in the warehouse;

[0052] In this step, warehouse data and element data can be collected by a logistics robot performing tasks in the warehouse, or by a dedicated data collection device. Warehouse data includes the maximum outline data of the warehouse, and element data includes scanning data of the elements, including the location data of the scanning points.

[0053] Back to Figure 2 , step S102, obtaining a changed element according to the element data; the changed element includes the element that has undergone translation, removal, addition, rotation, or size change;

[0054] In this step, by comparing the new element data of each element with the old element data, it can be found which elements have changed. The elements that have been removed, added, rotated, and resized are respectively called removed elements, added elements, rotated elements, and resized elements. For elements that have undergone translation changes, it can be considered that the element is removed from the original position and a new element is added to the new position.

[0055] Back to Figure 2 , step S103, calculating the occupied area of ​​each of the change elements, and obtaining the change amount of the occupied area of ​​each change element according to the change of the occupied area; the occupied area includes the actual scanning shape of the change element, and the outer frame of the occupied area is composed of straight lines parallel to the x-axis or the y-axis;

[0056] In this step, the concept of "occupied area" is used to eliminate the influence of the complexity of the actual shape of the element on the calculation, making the computer's evaluation of the element simpler. The actual scanned shape of the element is the shape of the element scanned and recorded by sensors such as laser radar in the robot, which can reflect the actual shape of the element to a large extent. Since the actual scanned shape may be irregular, and the outer contour of the occupied area is composed of horizontal and vertical lines, the area of ​​the occupied area is greater than or equal to the area of ​​the actual scanned shape.

[0057] In order to facilitate quantification, in this embodiment, two methods, "anchor box" and "occupancy grid", are used to describe the occupied area of ​​the element. Among them, the anchor box is the minimum circumscribed rectangle of the changing element, and the adjacent two sides of the minimum circumscribed rectangle are parallel to the x-axis and the y-axis respectively (such as Figure 1 The x-axis and y-axis in the robot navigation map, that is, the x-axis and y-axis in the robot navigation map, such as Figure 3 As shown in FIG, element D is a rectangular element, and it is set at an angle, and its length and width are w D 、h D In the figure, the frame marked with number 40 is the anchor frame corresponding to element D, and the length and width of the anchor frame are w′ respectively. D , h′ D The frame labeled 50 is the anchor frame corresponding to the elliptical element E. It can be seen that the length of the anchor frame is the distance between the two farthest points of the changing element on the x-axis, and the width of the anchor frame is the distance between the two farthest points of the changing element on the y-axis.

[0058] In navigation maps, the map is divided into fixed-size grid shapes, such as Figure 4 As shown, the occupied grid represents the map grid that has an overlapping area with the actual scan shape, that is, all the gray grids in the figure and the grids completely covered by the element D.

[0059] Based on this, the occupied area is the anchor box or occupied grid corresponding to the changing element (i.e., the total area of ​​all map grids that have overlapping areas with the actual scanned shape), and the change in the occupied area is one of the change in the area of ​​the anchor box and the change in the area of ​​the occupied grid, or the minimum of the two.

[0060] Back to Figure 2 , step S104, calculating the scene change rate according to the warehouse data and the change amount of each occupied area.

[0061] The above steps S101-S104 may be performed once at a fixed time interval, or once after a fixed condition is met. In this way, the quantitative change rate of the dynamic scene can be evaluated more frequently, allowing the robot or user to evaluate whether the current map is still usable.

[0062] Specifically, the calculation of the scene change rate according to the warehouse data and the change amount of each occupied area in the above step S104 includes the following steps S201-S203:

[0063] Step S201, calculating the warehouse data change rate according to the change of the warehouse data;

[0064] In this embodiment, the warehouse data change rate is calculated according to the following formula:

[0065]

[0066] Where: r c is the warehouse data change rate, S is the area of ​​the warehouse before the change, S′ is the area of ​​the warehouse after the change, ΔS C is the change in warehouse area;

[0067] Step S202, calculating the change rate of each occupied area according to the change amount of each occupied area and the warehouse data;

[0068] In this step, the occupied area change rate r i For r iA 、r iO One or the minimum of either, where:

[0069]

[0070] Among them, ΔS iA With r iA are the area change amount and area change rate of the anchor frame corresponding to the change element described in item i; ΔS iO With r iO are respectively the area change amount and area change rate of the grid occupied by the change element corresponding to the i-th item;

[0071] Step S203, calculating the sum of the warehouse data change rate and the occupied area change rates to obtain the scene change rate.

[0072] In this step, the scene change rate is calculated according to the following formula:

[0073]

[0074] Among them, r all is the scene change rate; n is the total number of the change elements.

[0075] The following is a detailed description of the calculation method of the change rate corresponding to each type of change factor:

[0076] (I) Using the anchor frame method to calculate the change rate corresponding to the changing elements

[0077] (1) Element removal

[0078] like Figure 1 As shown in the figure, element A is removed from the warehouse. From the perspective of the logistics robot, it is equivalent to element A disappearing from the map. The corresponding anchor box area changes as follows (only the absolute value is considered, not the positive or negative sign):

[0079] ΔS iA =S A =w A ×h A ;

[0080] The rate of change of the anchor box area r iA for:

[0081]

[0082] Where: w A With h A are the length and width of the anchor box corresponding to element A, S A is the area of ​​the anchor box corresponding to feature A.

[0083] (2) Increase in factors

[0084] Element B in the warehouse is a newly added element. From the perspective of the logistics robot, it is equivalent to adding element B to the map, and the corresponding area change is:

[0085] ΔS iA =S B =w B ×h B ;

[0086] The rate of change of the anchor box area r iA for:

[0087]

[0088] Where: w B With h B are the length and width of the anchor box corresponding to element B, S B is the area of ​​the anchor box corresponding to feature B.

[0089] (3) Element rotation

[0090] Obviously, from the perspective of the logistics robot, for a regular polygon that is circular or close to a circle (with no less than 8 sides), the change caused by rotation can be ignored. Figure 3 The change rate of the element D shown is calculated as follows.

[0091] When the element D is placed parallel to the x direction, it can be expressed as D(x D ,y D ,w D ,h D ,0), when rotated along the geometric center by an angle θ (0≤θ≤π / 2), it can be expressed as D′(x D ,y D ,w′ D ,h′ D ,θ), the conversion relationship is as follows:

[0092] w′ D =w D cosθ+h D sinθ;

[0093] h′ D =h D cosθ+w D sinθ;

[0094] S D =w D ×h D ;

[0095] S′ D =w′ D ×h′ D =(w D cosθ+h D sinθ)×(h D cosθ+w D sinθ);

[0096] set up The above formula can be transformed into:

[0097] S′ D =(w D cosθ+h D sinθ)×(h Dcosθ+w D sinθ)=(Ksin t cosθ+

[0098]

[0099] The corresponding area change is:

[0100]

[0101] The rate of change of the anchor box area r iA for:

[0102]

[0103] Among them, w D With h D are the length and width of the anchor box corresponding to element D before rotation, that is, the length and width of element D itself, w′ D and h′ D are the length and width of the anchor box corresponding to the rotated element D; S D and S′ D They are the areas of the anchor boxes corresponding to element D before and after rotation.

[0104] Although in actual use, the most common element is a rectangle (such as element D), in theory, the element can be of any shape, such as element E and element F. For elements of other shapes, the area change of the anchor box of the element can also be calculated in detail according to the above calculation ideas, and then the above formula is used to calculate the change rate. Therefore, the above calculation method can meet the vast majority of situations where scene dynamics need to be calculated.

[0105] (4) Change in element size

[0106] Assume that the size of element A has changed, and the length w in the x and y directions A 、h A At least one of them has changed, for example, the size of element C has changed, and the corresponding area change is:

[0107] ΔS iA =S C -S A =w c ×h c -w A ×h A ;

[0108] Rate of change iA for:

[0109]

[0110] Other element changes can be considered as a combination of one or more of the above types (1) to (4), such as element translation:

[0111] Assume that element A is translated to the position of element B (here only the position (x, y) change is considered, and the difference in the size (w, h) of the two is ignored). From the perspective of the logistics robot, it is equivalent to removing element A from the map and adding element B to the map, so the corresponding area change is:

[0112] ΔS iA =S A +S B =2S A ;

[0113] Rate of change iA for:

[0114]

[0115] (II) Using the occupancy grid method to calculate the change rate corresponding to the changing elements

[0116] Logistics robot location Figure 1 Generally, an occupancy grid map is used, and the size of the grid is usually 5cm×5cm (selected according to actual conditions, not a fixed value). For a certain element, in the grid map, the area of ​​the element refers to the total area of ​​all grids occupied, that is, the product of the total number and the area of ​​the grid, such as Figure 4 As shown, the area of ​​feature D is the sum of the areas of all grids (gray parts) that overlap with it.

[0117] When elements are added, deleted, translated, rotated, or resized, the corresponding area changes are as follows:

[0118] Element addition / removal: ΔS iO =S A =N1×A, where A is the grid area and N1 is the number of grids occupied by the feature;

[0119] Element rotation / size change: ΔS iO =N2×A, where N2 is the sum of the number of grids newly occupied and the number of grids no longer occupied after the element is rotated / resized;

[0120] Rate of change iO for:

[0121]

[0122] When using anchor boxes to calculate area changes, for elements such as A and B that are parallel to the grid direction, the corresponding anchor boxes completely coincide with their own shapes. This method is more accurate than the calculation accuracy based on the grid occupation method and is more in line with the purpose of "dynamic" evaluation; however, for elements such as D and F that are not parallel to the grid direction or are irregular in shape, the area of ​​the anchor box is significantly larger than the area of ​​the grid occupied by the element, such as Figure 1 As shown, it is easy to overestimate the change. Using the occupied grid to calculate the area is more in line with the purpose of "dynamic" evaluation. At this time, it is more reasonable to use the area of ​​the occupied grid. Therefore, preferably, for occasions where refined evaluation is required, for a certain element, the area change ΔS is calculated according to the anchor frame method iA , calculate the area change ΔS according to the grid area occupied method iO , and then take the smaller value of the two as the final area change.

[0123] Embodiment 2

[0124] The present embodiment provides a dynamic scene change degree assessment device 300, which may include or be divided into one or more program modules, one or more program modules are stored in a storage medium and executed by one or more processors to complete the present invention and implement the above-mentioned dynamic scene change degree assessment method. The program module referred to in the embodiment of the present invention refers to a series of computer program instruction segments that can perform specific functions, and is more suitable for describing the execution process of the dynamic scene change degree assessment method in a storage medium than the program itself. The following description will specifically introduce the functions of each program module of the present embodiment, such as Figure 5 As shown, the dynamic scene change degree assessment device 300 includes:

[0125] The acquisition module 301 is used to acquire warehouse data and element data of each element in the warehouse;

[0126] The processing module 302 is used to obtain the changed elements according to the element data; the changed elements include the elements that have undergone translation, removal, addition, rotation, and size change;

[0127] The first calculation module 303 is used to calculate the occupied area of ​​each of the change elements, and obtain the change amount of the occupied area of ​​each change element according to the change of the occupied area; the occupied area includes the actual scanning shape of the change element, and the outer frame of the occupied area is composed of straight lines parallel to the x-axis or the y-axis;

[0128] The second calculation module 304 is used to calculate the scene change rate according to the warehouse data and the change amount of each occupied area.

[0129] Specifically, the occupied area is the anchor box or occupied grid corresponding to the changing element, the anchor box is the minimum circumscribed rectangle of the changing element, and the two adjacent sides of the minimum circumscribed rectangle are parallel to the x-axis and the y-axis, respectively; the change in the occupied area is one of the change in area of ​​the anchor box and the change in area of ​​the occupied grid, or the minimum of the two.

[0130] Other contents of implementing the above-mentioned dynamic scene change degree assessment method based on the dynamic scene change degree assessment device 300 have been introduced in detail in the previous embodiments, and reference may be made to the corresponding contents in the previous embodiments, which will not be repeated here.

[0131] Embodiment 3

[0132] The present embodiment also provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, and the program realizes corresponding functions when executed by a processor. The computer-readable storage medium of the present embodiment is used to store the dynamic scene change degree evaluation device 300, and when executed by a processor, the dynamic scene change degree evaluation method of the present invention is realized.

[0133] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for evaluating the degree of change of a dynamic scene, characterized in that: The method comprises: Acquire warehouse data and element data of each element in the warehouse, wherein the warehouse data includes maximum outline data of the warehouse; Obtaining a change element according to the element data; the change element includes the element that has undergone translation, removal, addition, rotation, or size change; Calculating the occupied area of ​​each of the changing elements, and obtaining the change amount of the occupied area of ​​each of the changing elements according to the change of the occupied area; the occupied area includes the actual scanning shape of the changing element, and the outer frame of the occupied area is composed of straight lines parallel to the x-axis or the y-axis; Calculating a scene change rate based on the warehouse data and changes in each occupied area; Calculating the scene change rate according to the warehouse data and the change amount of each occupied area includes: Calculating a warehouse data change rate according to changes in the warehouse data; Calculate the change rate of each occupied area according to the change amount of each occupied area and the warehouse data; The warehouse data change rate and the sum of the occupied area change rates are calculated to obtain the scene change rate.

2. The dynamic scene change degree assessment method according to claim 1, characterized in that: The occupied area is the anchor box or occupied grid corresponding to the changing element, the anchor box is the minimum circumscribed rectangle of the changing element, and the two adjacent sides of the minimum circumscribed rectangle are parallel to the x-axis and the y-axis respectively; the change in the occupied area is one of the change in area of ​​the anchor box and the change in area of ​​the occupied grid, or the minimum of the two.

3. The dynamic scene change degree assessment method according to claim 2, characterized in that: The warehouse data change rate is calculated according to the following formula: Where: r c is the warehouse data change rate, S is the area of ​​the warehouse before the change, S′ is the area of ​​the warehouse after the change, ΔS C is the change in warehouse area; The occupied area change rate r i For r iA 、r iO One or the minimum of either, where: Among them, ΔS iA With r iA are the area change amount and area change rate of the anchor frame corresponding to the change element described in item i; ΔS iO With r iO are respectively the area change amount and area change rate of the grid occupied by the change element corresponding to the i-th item; The scene change rate is calculated according to the following formula: Among them, r all is the scene change rate; n is the total number of the change elements.

4. The dynamic scene change degree evaluation method according to claim 3, characterized in that: When the occupied area is calculated based on the anchor frame, obtaining the occupied area change amount of each change element according to the change of the occupied area includes: Determining a change type of the change element; When the change element is removed or added, the occupied area change is the area of ​​the anchor box corresponding to the change element; When the changing element is rotated or resized, the occupied area change is the absolute value of the area difference of the anchor box corresponding to the changing element before and after the change.

5. The dynamic scene change degree evaluation method according to claim 3, characterized in that: When the occupied area is calculated based on the occupied grid, the occupied area change amount of each change element obtained according to the change of the occupied area includes: Determining a change type of the change element; When the change element is removed or added, the change amount of the occupied area is N1×A, where N1 is the total number of all grids occupied by the change element, and A is the grid area; When the changing element is rotated or resized, the occupied area changes by N2×A, where N2 is the sum of the number of grids newly occupied by the changing element and the number of grids no longer occupied.

6. A dynamic scene change degree assessment device, characterized in that: It includes: An acquisition module, used to acquire warehouse data and element data of each element in the warehouse, wherein the warehouse data includes the maximum outline data of the warehouse; A processing module, used for obtaining a changed element according to the element data; the changed element includes the element that has undergone translation, removal, addition, rotation, or size change; A first calculation module is used to calculate the occupied area of ​​each of the change elements, and obtain the change amount of the occupied area of ​​each change element according to the change of the occupied area; The occupied area includes the actual scan shape of the variable element, and the outer frame of the occupied area is composed of straight lines parallel to the x-axis or the y-axis; A second calculation module is used to calculate the scene change rate according to the warehouse data and the change amount of each occupied area; Calculating the scene change rate according to the warehouse data and the change amount of each occupied area includes: Calculating a warehouse data change rate according to changes in the warehouse data; Calculate the change rate of each occupied area according to the change amount of each occupied area and the warehouse data; The warehouse data change rate and the sum of the occupied area change rates are calculated to obtain the scene change rate.

7. The dynamic scene change degree assessment device according to claim 6, characterized in that: The occupied area is the anchor box or occupied grid corresponding to the changing element, the anchor box is the minimum circumscribed rectangle of the changing element, and the two adjacent sides of the minimum circumscribed rectangle are parallel to the x-axis and the y-axis respectively; the change in the occupied area is one of the change in area of ​​the anchor box and the change in area of ​​the occupied grid, or the minimum of the two.

8. A storage medium, characterized in that A computer program is stored therein, and when the computer program is executed by a processor, the dynamic scene change degree assessment method according to any one of claims 1 to 5 can be implemented.

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