Model processing method, device and storage medium

Abstract

The present invention provides a model processing method, device, and storage medium. The model processing method includes: constructing an environmental model of the working environment of a controlled terminal, wherein the working environment includes a target object, and displaying the environmental model on a control terminal to show the working environment information of the controlled terminal; obtaining first descriptive information of the target object, wherein the first descriptive information is used to describe the state of the target object; and updating the environmental model based on the first descriptive information. The above method can update the environmental model based on the state of the target object by using the first descriptive information describing the state of the target object, thereby enabling timely updating of the environmental model of the working environment of the controlled terminal, thereby accurately determining the changed working environment and avoiding material losses caused by misjudgment of the working environment of the controlled terminal.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a model processing method, device and storage medium. Background Art

[0002] Currently, remote-controlled robotic systems typically consist of a robot module, a sensor module, a remote control module, and a signal transmission module. These systems have broad application prospects in industry, agriculture, and even commerce. However, as these applications expand, numerous technical bottlenecks are becoming increasingly apparent and recognized. One of these bottlenecks is latency, particularly vision-related latency. The large amount of data transmitted due to environmental changes prevents timely updates to on-site environmental models, making it difficult to accurately assess the changing environment. This can lead to material losses and even safety hazards. Summary of the Invention

[0003] In response to the above technical problems existing in the prior art, the present invention provides a model processing method, device and storage medium, which can update the environment model through first description information describing the state of the target object.

[0004] An embodiment of the present invention provides a model processing method, including:

[0005] Constructing an environment model of the working environment of the controlled terminal, wherein the working environment includes a target object, and displaying the environment model on the control terminal to show the working environment information of the controlled terminal;

[0006] Acquire first description information of the target object, where the first description information is used to describe the state of the target object;

[0007] The environment model is updated according to the first description information.

[0008] In some embodiments, obtaining the first description information of the target object specifically includes:

[0009] Obtaining a description result for describing the object state of the target object; wherein the description result is calculated based on first environment information of the working environment of the controlled terminal;

[0010] Based on the description result and the object state of the target object in the constructed environment model, the first description information for describing the state of the target object is obtained.

[0011] In some embodiments, the model processing method further comprises:

[0012] determining, based on the first description information, a dynamic target object whose state has changed among the target objects;

[0013] The environment model is updated according to the description result corresponding to the dynamic target object.

[0014] In some embodiments, the model processing method further comprises:

[0015] Determine the posture information of the environment acquisition module corresponding to the constructed environment model;

[0016] Acquiring real-time posture information of the environment acquisition module;

[0017] If it is determined that the real-time posture information is different from posture information corresponding to the environment model, the environment model is updated based on the real-time posture information.

[0018] In some embodiments, constructing an environment model of the working environment of the controlled terminal specifically includes:

[0019] Collecting second environment information corresponding to the working environment of the controlled terminal;

[0020] generating sub-models corresponding to the object groups included in the second environment information, wherein the object groups include at least one object in the working environment;

[0021] The environment model is generated based on the respective sub-models.

[0022] In some embodiments, updating the environment model according to the first description information specifically includes:

[0023] determining, according to the first description information, an object group to which the dynamic target object whose state has changed belongs;

[0024] The sub-model corresponding to the object group in the environment model is updated.

[0025] In some embodiments, the target object in the working environment is at least related to object attributes and a preset distance, wherein the preset distance is the distance between the object and the environment acquisition module.

[0026] In some embodiments, updating the environment model according to the first description information specifically includes:

[0027] Updating the environment model via the visualization module, and displaying the updated environment model via the display interface of the control terminal;

[0028] At least one or more of the following information of the target object is presented on the display interface of the control terminal: position information, identification information, and size information.

[0029] An embodiment of the present invention further provides a model processing device, comprising:

[0030] A construction module configured to construct an environment model of a working environment of the controlled terminal, wherein the working environment includes a target object, and the environment model is displayed on the control terminal to display the working environment information of the controlled terminal;

[0031] an acquisition module configured to acquire first description information of the target object, where the first description information is used to describe a state of the target object;

[0032] An updating module is configured to update the environment model according to the first description information.

[0033] An embodiment of the present invention further provides a storage medium storing a computer program, wherein the computer program implements the above-mentioned model processing method when executed by a processor.

[0034] Compared with the prior art, the beneficial effects of the embodiments of the present invention are as follows: the present invention constructs an environmental model of the working environment of the controlled end to display the working environment information of the controlled end on the control end, so as to achieve the purpose of remotely obtaining the working environment of the controlled end, and through the first description information describing the state of the target object, the environmental model can be updated according to the state of the target object, so that the environmental model of the working environment of the controlled end can be updated in time, so as to accurately make judgments based on the changed working environment, avoiding material losses caused by misjudgment of the working environment of the controlled end. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In the drawings, which are not necessarily drawn to scale, the same reference numerals may describe similar components in different views. The same reference numerals with letter suffixes or different letter suffixes may represent different instances of similar components. The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the description and claims, serve to illustrate the disclosed embodiments. Where appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive of the embodiments of the present apparatus or method.

[0036] Figure 1 A schematic diagram of a system architecture for applying the model processing method according to an embodiment of the present invention;

[0037] Figure 2 This is a first flow chart of the model processing method according to an embodiment of the present invention;

[0038] Figure 3 A schematic diagram of a model processing method according to an embodiment of the present invention displayed on a display interface of a control terminal;

[0039] Figure 4 is a second flow chart of the model processing method according to an embodiment of the present invention;

[0040] Figure 5 This is a structural block diagram of a model processing device according to an embodiment of the present invention.

[0041] The components indicated by the reference numerals in the figures are:

[0042] 110-model processing device; 101-construction module; 102-acquisition module; 103-update module; 1-target object; 2-environment acquisition module; 3-computing module; 4-communication module; 5-control terminal; 6-robotic arm. DETAILED DESCRIPTION

[0043] Various aspects and features of the present invention are described herein with reference to the accompanying drawings.

[0044] It should be understood that various modifications may be made to the embodiments of the invention herein. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the invention will occur to those skilled in the art.

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general description of the invention given above and the detailed description of the embodiments given below, serve to explain the principles of the invention.

[0046] These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0047] It should also be understood that although the invention has been described with reference to certain specific embodiments, those skilled in the art will readily be able to implement many other equivalent forms of the invention.

[0048] The above and other aspects, features and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0049] Specific embodiments of the present invention will be described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments described are merely examples of the present invention, which may be implemented in a variety of ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the present invention with unnecessary or redundant detail. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but rather to serve as a basis and representative basis for the claims to teach those skilled in the art to variously employ the present invention with virtually any suitable detailed structure.

[0050] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," each of which may refer to one or more of the same or different embodiments according to the present invention.

[0051] The embodiment of the present invention provides a model processing method, Figure 1 A schematic diagram of a system architecture for applying this model processing method is shown in Figure 1 . The model processing method provided in this application can be applied to this system. The interactive terminal in this system may include an environment acquisition module 2, a communication module 4, a computing module 3, and a control terminal 5. The environment acquisition module 2 can be gripped and moved by a robotic arm 6. The specific interaction methods and functions of each of these interactive terminals will be described in detail below and will not be repeated here.

[0052] Furthermore, if Figure 2 As shown, the model processing method includes steps S101 to S103.

[0053] Step S101: constructing an environment model of the working environment of the controlled terminal, wherein the working environment includes a target object 1 . The environment model is displayed on the control terminal 5 to show the working environment information of the controlled terminal.

[0054] In some optional embodiments, the environment acquisition module 2 can collect image information of the working environment of the controlled end in the initial stage, the calculation module 3 can receive the image information and perform calculation operations, and feed back the obtained calculation results to the control end 5 through the communication module 4, thereby presenting the working environment information of the controlled end on the display interface of the control end 5.

[0055] In some optional embodiments, the controlled end can be understood as an end in which the working environment is relatively fixed, and only the status of some objects in the working environment changes. The control end 5 can include a display screen for displaying the working environment of the controlled end through the display interface of the display screen. For example, the controlled end is various devices in a workshop. When operations such as welding are performed in the workshop, an environmental model corresponding to the workshop operation scene can be constructed. In this scene, some equipment is generally in operation or personnel are moving. By constructing an environmental model of the work site environment, feedback can be provided to the control end 5, allowing relevant personnel to remotely understand the on-site situation.

[0056] In some optional embodiments, the above-mentioned environment model can be obtained by 3D scanning or other methods, or can be obtained by modeling using 3D software. This application does not specifically limit the method of constructing the environment model.

[0057] Step S102 : Acquire first description information of the target object 1 , where the first description information is used to describe the state of the target object 1 .

[0058] In some optional embodiments, the above-mentioned target object 1 can be understood as an object contained in the working environment. The target object 1 can be an object whose state has changed, and / or an object whose state has not changed. The first descriptive information can be information collected by the environment acquisition module 2 for describing the state of the target object 1 in the working environment. The first descriptive information can be understood as real-time information for describing the state of the target object 1, which has real-time properties to correspond to the real-time state of the target object 1. For example, the first descriptive information is information that describes the state of the target object 1 through text. The descriptive information can be obtained by the edge computing device of the controlled end after collecting an image of the working environment of the controlled end and then recognizing the image through a pre-trained model. Since the descriptive information mainly includes text content and the amount of data is much smaller than the image content, the method of transmitting the descriptive information from the controlled end to the controlling end can save bandwidth, improve the real-time performance of transmission, and reduce transmission delay compared to the method of directly transmitting images in the prior art.

[0059] In some optional embodiments, the state of the target object 1 can be understood as the real-time state of the target object 1, or as a change in the state of the target object 1, that is, the change between the state of the target object 1 when the environment model is constructed and the real-time state of the target object 1. Optionally, the state of the target object 1 can include at least one of the following: position, identification, posture, action, distance, position change, posture change, action change, and distance change. The state of the target object 1 is related to the real-time state and can indicate the current state of the target object 1, rather than simply the state of the target object 1 when the environment model is constructed.

[0060] In some optional embodiments, the timing for acquiring the first description information can be determined based on the operating state of the controlled terminal. For example, after the controlled terminal switches from a non-operating state to an operating state, the first description information of the target object 1 can be acquired in real time. Alternatively, a preset time interval can be used to acquire the first description information of the target object 1. Of course, a trigger condition can also be set for the timing of acquiring the first description information. The trigger condition is related to an object in the environment model. When the state of the object changes, information about the state change of the object is sent to the control terminal 5. The control terminal 5 then controls the activation of the environment acquisition module 2, and the first description information is then acquired by the environment acquisition module 2.

[0061] Step S103: updating the environment model according to the first description information.

[0062] In some optional embodiments, the target object 1 whose state has changed and the target object 1 whose state has not changed can be determined based on the first description information, and the target object 1 whose state has changed can be set as a key object. When the environment model is updated, only the part of the environment model corresponding to the key object can be updated to achieve the purpose of quickly updating the environment model without updating the part of the environment model corresponding to the target object 1 whose state has not changed.

[0063] In some optional embodiments, after the environmental model is updated, the updated part of the environmental model can be highlighted on the display interface of the control terminal 5, and the updated part can be presented on the display interface in association with the time information and the historical status of the target object 1, wherein the time information is the time corresponding to the updated environmental model.

[0064] The present invention constructs an environmental model of the working environment of the controlled terminal to display the working environment information of the controlled terminal on the control terminal 5, so as to achieve the purpose of remotely obtaining the working environment of the controlled terminal, and through the first description information describing the state of the target object 1, the environmental model can be updated according to the state of the target object 1, so that the environmental model of the working environment of the controlled terminal can be updated in time, so as to accurately make judgments based on the changed working environment, avoiding material losses caused by misjudgment of the working environment of the controlled terminal.

[0065] In some embodiments, step S102 of obtaining the first descriptive information of the target object 1 specifically includes: obtaining a description result for describing the object state of the target object 1; wherein the description result is calculated based on the first environmental information of the working environment in which the controlled end is located; based on the description result and the object state of the target object 1 in the constructed environment model, obtaining the first descriptive information for describing the state of the target object 1.

[0066] The above description result can be understood as the result calculated by the calculation module 3. The calculation module 3 can specifically use edge computing to obtain the description result.

[0067] The above-mentioned first environmental information can be understood as the environmental information of the current environment of the controlled terminal, and the description result is the result corresponding to the environmental information of the current environment, which can at least represent the current state of the target object 1 in the working environment.

[0068] In some optional embodiments, it may be determined whether the current state of the target object 1 in the working environment represented in the description result has changed compared to the object state of the target object 1 when the environment model was constructed. If it is determined that the current state of the target object 1 in the description result is different from the object state of the target object 1 when the environment model was constructed, first descriptive information describing that the state of the target object 1 has changed may be obtained; if it is determined that the current state of the target object 1 in the description result is the same as the object state of the target object 1 when the environment model was constructed, another first descriptive information describing that the state of the target object 1 has not changed may be obtained. In other words, based on the comparison result of the object state of the target object 1 in the description result and the constructed environment model, first descriptive information including both information that the state of the target object 1 has changed and information that the state has not changed can be obtained.

[0069] In some embodiments, the model processing method further includes: determining a dynamic target object 1 whose state has changed among the target objects 1 based on the first description information; and updating the environment model according to the description result corresponding to the dynamic target object 1.

[0070] In some optional embodiments, there may be multiple target objects 1 in the working environment, which may be combined with Figure 3 , Figure 3 This is a schematic diagram of the model processing method of an embodiment of the present invention presented on the display interface of the control terminal 5. The target objects 1 presented on the control terminal 5 include at least parts and personnel. During the working process, the target objects 1 such as parts and personnel are objects whose states may change. The changes in state may at least include but are not limited to changes in position and size.

[0071] After obtaining the first descriptive information used to describe the state of the target object 1, the dynamic target object 1 whose state changes among the multiple target objects 1 can be determined based on the first descriptive information. For example, if the position information of a component in the working environment changes, the component can be set as a dynamic target object 1. The dynamic is that the state of the target object 1 changes dynamically compared to when the environment mode is built.

[0072] Of course, after obtaining the first descriptive information used to describe the state of the target object 1, the static target object 1 whose state has not changed among the multiple target objects 1 can also be determined based on the first descriptive information. For example, if the location information of a person in the working environment has not changed, the person can be set as a static target object 1.

[0073] After the target object 1 is determined to be a dynamic target object 1 or a static target object 1, the environmental model can be updated according to the description corresponding to the dynamic target object 1, while the part of the environmental model corresponding to the static target object 1 does not need to be updated. This greatly reduces the amount of updated data, meets the low latency requirements of the system using this model processing method, and increases the update efficiency of the environmental model.

[0074] In some optional embodiments, such as Figure 4 As shown, the above-mentioned model processing method may further include steps S201 and S202. Step S201: determining whether the environment acquisition module 2 is connected to the control terminal 5. If so, executing step S202: configuring an initial posture for the environment acquisition module 2. The initial posture may be an initial position, an initial angle, etc. of the environment acquisition module 2.

[0075] In some optional embodiments, such as Figure 4 As shown, the above-mentioned determination of the dynamic target object 1 whose state has changed among the target objects 1 based on the first description information may specifically include steps S203 to S207. Step S203: Obtain the first description information calculated by the calculation module 3. Then, step S204 is executed. Step S204: Based on the first description information, it is determined whether the person is a dynamic target object 1. If so, step S205 is executed. Step S205 transmits the first description information corresponding to the person to the control terminal 5. If not, after executing step S204, step S206 is executed. Step S206: Based on the first description information, it is determined whether the component is a dynamic target object 1. If so, step S207 is executed. Step S207 transmits the first description information corresponding to the component to the control terminal 5. In some other embodiments, step S206 may not be executed only when the person is not a dynamic target object 1. Steps S204 and S206 may be executed in parallel after step S203 without affecting each other.

[0076] In some embodiments, the model processing method further includes: determining the posture information of the environment acquisition module 2 corresponding to the constructed environment model; obtaining the real-time posture information of the environment acquisition module 2; determining that the real-time posture information is different from the posture information corresponding to the environment model, and then updating the environment model based on the real-time posture information.

[0077] The above-mentioned posture information may include at least position information and angle information. Since the change of the posture of the environment acquisition module 2 will affect the constructed environment model, the posture information of the environment acquisition module 2 when constructing the environment model can be compared with the real-time posture of the environment acquisition module 2. When the real-time posture information is different from the posture information corresponding to the environment model, the environment model can be updated according to the real-time posture information to ensure the real-time nature of the environment model.

[0078] Specifically, if Figure 4 As shown, the above-mentioned model processing method may further include steps S208 to S210. Step S208 may be executed after step S202. In step S208, environment acquisition module 2 receives a remote control instruction sent by control terminal 5. This remote control instruction may be used to control the posture of environment acquisition module 2. Step S209 may be executed after step S208. In step S209, it is determined whether the real-time posture information of environment acquisition module 2 has changed compared to the posture information corresponding to the environment model. If so, step S210 is executed. In step S210, the real-time posture information is transmitted to control terminal 5.

[0079] In some optional embodiments, such as Figure 4 As shown, after executing step S205, step S207 and step S210, the model processing method may further include step S301. Step 301: Generate an environment model via the visualization module of the control terminal 5 and present the environment model.

[0080] In some embodiments, step S101 of constructing an environmental model of the working environment of the controlled end specifically includes: collecting second environmental information corresponding to the working environment of the controlled end; generating sub-models corresponding to the object groups contained in the second environmental information; wherein the object group includes at least one object in the working environment; and generating the environmental model based on each sub-model.

[0081] Specifically, the second environmental information can be understood as environmental information corresponding to the working environment of the controlled terminal when constructing the environmental model, and the collection time thereof is different from that corresponding to the first environmental information.

[0082] In some optional embodiments, the model processing method may further include dividing and generating object groups based on the attributes of the objects contained in the second environmental information. The attributes of the objects may include at least one or more of the following: object attributes, personnel attributes, and work attributes related to the work status. For example, components whose status changes during operation are set as one object group, and components whose status does not change during operation are set as another object group. For another example, the object objects in the second environmental information are set as one object group, and the personnel objects therein are set as another object group. After dividing the second environmental information into object groups, when constructing the environmental model, corresponding sub-models can be generated based on the object groups. This can increase the efficiency of model construction and provide a more efficient processing method for subsequent updates of the environmental model.

[0083] In some embodiments, the updating of the environment model according to the first description information in step S103 specifically includes: determining the object group of the dynamic target object 1 whose state has changed according to the first description information; and updating the sub-model corresponding to the object group in the environment model.

[0084] In some optional embodiments, the objects included in the above object group may have a linkage relationship, that is, when the state of one object in the object group changes, the states of other objects in the object group may also change.

[0085] In this way, when updating the environment model, if it is found that one of the objects in the object group is the dynamic target object 1, the object group in which the dynamic target object 1 is located in the updated environment model can be determined without having to determine whether other objects in the object group are the dynamic target object 1, thereby improving the efficiency of updating the environment model.

[0086] For example, Figure 3 The personnel and components are set to be in the same object group. For example, when the personnel is performing an operation related to the component, the personnel and the component are set to be in the same object group. The personnel and the component have a linkage relationship. In this way, when it is determined according to the first description information that the status of one of the personnel or the component has changed, it can be determined that the object group to which the two belong is updated, without determining whether other objects in the object group are dynamic target objects 1, so as to greatly improve the efficiency of updating the environment model.

[0087] In some embodiments, the target object 1 in the working environment is at least related to object attributes and a preset distance, wherein the preset distance is the distance between the object and the environment acquisition module 2. The object attributes may include at least one or more of the following: object attributes, personnel attributes, and work attributes related to the working state.

[0088] For example, if the preset distance is 5 meters, then any object within 5 meters of the environment acquisition module 2 can be the target object 1, while any object that is more than 5 meters away from the environment acquisition module 2 can be directly ignored when constructing the environment model and not reflected in the environment model, thereby improving the efficiency of constructing the environment model.

[0089] In some embodiments, step S103 of updating the environment model according to the first description information specifically includes: updating the environment model via a visualization module, and displaying the updated environment model via the display interface of the control terminal 5; presenting at least one or more of the following information of the target object 1 on the display interface of the control terminal 5: position information, identification information, and size information.

[0090] Specifically, the visualization module can at least render the environment model in real time, so that the environment model can be better presented on the control terminal 5 .

[0091] Specifically, the above position information can be understood as the coordinate information of the object, that is, Figure 3 The above identification information can be understood as the label of the object, such as Figure 3 The above size information may correspond to the size of the component, such as Figure 3 The whd (length, width and height) information is shown in .

[0092] The embodiment of the present invention further provides a model processing device 110, such as Figure 5 As shown, the model processing device 110 includes a construction module 101, an acquisition module 102, and an update module 103. The construction module 101 is configured to construct an environmental model of the working environment of the controlled terminal, wherein the working environment includes a target object 1. The environmental model is displayed on the control terminal 5 to show the working environment information of the controlled terminal. The acquisition module 102 is configured to obtain first descriptive information of the target object 1, wherein the first descriptive information is used to describe the status of the target object 1. The update module 103 is configured to update the environmental model based on the first descriptive information. The present invention achieves the purpose of remotely acquiring the working environment of the controlled terminal by constructing an environmental model of the working environment of the controlled terminal and displaying the working environment information of the controlled terminal on the control terminal 5. The first descriptive information describing the status of the target object 1 can be used to update the environmental model based on the status of the target object 1, thereby achieving timely update of the environmental model of the working environment of the controlled terminal, thereby accurately making judgments based on the changed working environment and avoiding material losses caused by misjudgment of the working environment of the controlled terminal.

[0093] In some embodiments, the acquisition module 102 is further configured to: obtain a description result for describing the object state of the target object 1; wherein the description result is calculated based on the first environmental information of the working environment in which the controlled end is located; based on the description result and the object state of the target object 1 in the constructed environment model, obtain the first description information for describing the state of the target object 1.

[0094] In some embodiments, the updating module 103 is further configured to: determine a dynamic target object 1 whose state has changed among the target objects 1 based on the first description information; and update the environment model according to the description result corresponding to the dynamic target object 1 .

[0095] In some embodiments, the update module 103 is further configured to: determine the posture information of the environment acquisition module 2 corresponding to the constructed environment model; obtain the real-time posture information of the environment acquisition module 2; determine that the real-time posture information is different from the posture information corresponding to the environment model, and then update the environment model based on the real-time posture information.

[0096] In some embodiments, the construction module 101 is further configured to: collect second environmental information corresponding to the working environment of the controlled end; generate sub-models corresponding to the object groups contained in the second environmental information; wherein the object group includes at least one object in the working environment; and generate the environmental model based on each sub-model.

[0097] In some embodiments, the updating module 103 is further configured to: determine the object group to which the dynamic target object 1 whose state has changed belongs according to the first description information; and update the sub-model corresponding to the object group in the environment model.

[0098] In some embodiments, the target object 1 in the working environment is at least related to object attributes and a preset distance, wherein the preset distance is the distance between the object and the environment acquisition module 2 .

[0099] In some embodiments, the update module 103 is also configured to: update the environment model via the visualization module, and display the updated environment model via the display interface of the control terminal 5; present at least one or more of the following information of the target object 1 on the display interface of the control terminal 5: location information, identification information, and size information.

[0100] An embodiment of the present invention further provides a storage medium storing a computer program, wherein the computer program implements the above-mentioned model processing method when executed by a processor.

[0101] Note that the various units in the various embodiments of the present application can be implemented as computer-executable instructions stored on a memory, which can implement the corresponding steps when executed by a processor; they can also be implemented as hardware with corresponding logical computing capabilities; or they can be implemented as a combination of software and hardware (firmware). In some embodiments, the processor can be implemented as any one of an FPGA, an ASIC, a DSP chip, a SOC (system on a chip), an MPU (for example, but not limited to Cortex), etc. The processor can be communicatively coupled to the memory and configured to execute the computer-executable instructions stored therein. The memory can include read-only memory (ROM), flash memory, random access memory (RAM), dynamic random access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM, static memory (for example, flash memory, static random access memory), etc., on which computer-executable instructions are stored in any format. The computer-executable instructions can be accessed by the processor, read from the ROM or any other suitable storage location, and loaded into the RAM for execution by the processor to implement the wireless communication method according to the various embodiments of the present application.

[0102] It should be noted that, among the various components of the system of the present application, the components are logically divided according to the functions to be implemented, but the present application is not limited to this, and the various components can be re-divided or combined as needed. For example, some components can be combined into a single component, or some components can be further decomposed into more sub-components.

[0103] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that in practice, a microprocessor or digital signal processor (DSP) can be used to implement some or all of the functions of some or all of the components in the system according to the embodiments of the present application. The present application can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium or can be in the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form. In addition, the present application can be implemented with the aid of hardware comprising several different elements and with the aid of a suitably programmed computer. In a unit claim that lists several means, several of these means can be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

[0104] In addition, although exemplary embodiments have been described herein, the scope includes any and all embodiments based on the present application with equivalent elements, modifications, omissions, combinations (e.g., solutions that intersect various embodiments), adaptations, or changes. The elements in the claims are to be interpreted broadly based on the language employed in the claims and are not limited to the examples described in this specification or during the prosecution of this application, which examples are to be interpreted as non-exclusive. Therefore, this specification and examples are intended to be considered as examples only, with the true scope and spirit being indicated by the following claims and the full scope of their equivalents.

[0105] The above description is intended to be illustrative rather than restrictive. For example, the above examples (or one or more of their solutions) can be used in combination with each other. For example, a person of ordinary skill in the art may use other embodiments when reading the above description. In addition, in the above-mentioned specific embodiments, various features can be grouped together to simplify the application. This should not be interpreted as an intention that a disclosed feature that is not required to be protected is necessary for any claim. On the contrary, the subject matter of the present application may be less than all the features of a specific disclosed embodiment. Thus, the following claims are incorporated into the specific embodiments as examples or embodiments, wherein each claim is independently a separate embodiment, and it is considered that these embodiments can be combined with each other in various combinations or arrangements. The scope of this application should be determined with reference to the appended claims and the full scope of equivalents to which these claims are entitled.

[0106] The above embodiments are merely exemplary embodiments of the present application and are not intended to limit the scope of the present application. The scope of protection of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and scope of protection of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the present application.

Claims

1. A model processing method, characterized in that: include: Constructing an environment model of the working environment of the controlled terminal, wherein the working environment includes a target object, and displaying the environment model on the control terminal to show the working environment information of the controlled terminal; Acquire first description information of the target object, where the first description information is used to describe the state of the target object; Update the environment model according to the first description information; wherein, The model processing method further includes: Determine the posture information of the environment acquisition module corresponding to the constructed environment model; Acquiring real-time posture information of the environment acquisition module; If it is determined that the real-time posture information is different from posture information corresponding to the environment model, the environment model is updated based on the real-time posture information.

2. The model processing method according to claim 1, characterized in that: The obtaining of the first description information of the target object specifically includes: Obtaining a description result for describing the object state of the target object; wherein the description result is calculated based on first environment information of the working environment of the controlled terminal; Based on the description result and the object state of the target object in the constructed environment model, the first description information for describing the state of the target object is obtained.

3. The model processing method according to claim 2, characterized in that: The model processing method further includes: determining, based on the first description information, a dynamic target object whose state has changed among the target objects; The environment model is updated according to the description result corresponding to the dynamic target object.

4. The model processing method according to claim 1, characterized in that: The construction of the environment model of the working environment of the controlled terminal specifically includes: Collecting second environment information corresponding to the working environment of the controlled terminal; generating sub-models corresponding to the object groups included in the second environment information, wherein the object groups include at least one object in the working environment; The environment model is generated based on the respective sub-models.

5. The model processing method according to claim 4, characterized in that: Updating the environment model according to the first description information specifically includes: determining, according to the first description information, an object group to which the dynamic target object whose state has changed belongs; The sub-model corresponding to the object group in the environment model is updated.

6. The model processing method according to claim 1, characterized in that: The target object in the working environment is at least related to object attributes and a preset distance, wherein the preset distance is the distance between the object and the environment acquisition module.

7. The model processing method according to claim 1, characterized in that: Updating the environment model according to the first description information specifically includes: Updating the environment model via the visualization module, and displaying the updated environment model via the display interface of the control terminal; At least one or more of the following information of the target object is presented on the display interface of the control terminal: position information, identification information, and size information.

8. A model processing device, characterized in that: include: A construction module configured to construct an environment model of a working environment of the controlled terminal, wherein the working environment includes a target object, and the environment model is displayed on the control terminal to display the working environment information of the controlled terminal; an acquisition module configured to acquire first description information of the target object, where the first description information is used to describe a state of the target object; An updating module configured to update the environment model according to the first description information; wherein, The update module is further configured to: determine the posture information of the environment acquisition module corresponding to the constructed environment model; obtain real-time posture information of the environment acquisition module; and if it is determined that the real-time posture information is different from the posture information corresponding to the environment model, update the environment model based on the real-time posture information.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the model processing method according to any one of claims 1 to 7 is implemented.

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