A path planning method, device, and computer device

Abstract

The present invention discloses a path planning method, device and computer equipment. The method comprises: obtaining demand information of a target object, wherein the demand information comprises identity information corresponding to the target object; selecting target point information corresponding to the identity information from all point information in a pre-acquired scene model according to the identity information of the target object, thereby selecting points corresponding to the identity information in the scene model, excluding point information irrelevant to the identity information, and further reducing the amount of calculation for path planning; generating at least one path according to all target point information, and all paths can be calculated; further, selecting an optimal path from at least one path as a final path according to the identity information, thereby achieving that when a user cannot reach a corresponding scene, a path for progress and movement with the best effect can be obtained in the scene model according to the identity information.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to a path planning method, device and computer equipment. Background Art

[0002] When providing services or performing in a specific venue, it is often necessary to go to the venue in advance to familiarize yourself with the location, so as to control the actual progress and effect of the corresponding work. In the prior art, it is necessary to conduct actual rehearsals or movements on site to obtain the corresponding movement path before evaluating the corresponding effect. However, this method cannot conduct actual rehearsals when the staff cannot arrive at the site, resulting in the inability to advance the work. Summary of the invention

[0003] Therefore, in order to solve the deficiencies of the prior art, embodiments of the present invention provide a path planning method, apparatus, and computer device.

[0004] According to a first aspect, an embodiment of the present invention discloses a path planning method, including: obtaining demand information corresponding to a target object, the demand information including identity information corresponding to the target object;

[0005] Based on the identity information, determine the target point information corresponding to the identity information among all the point information in the pre-acquired scene model;

[0006] Generate at least one path according to the target point information;

[0007] According to the identity information, an optimal path is selected from at least one path as a final path.

[0008] Optionally, the demand information also includes first-person perspective information corresponding to the target object.

[0009] After selecting an optimal path from at least one path as a final path according to the identity information, the method further includes:

[0010] Based on the first viewing angle information, first image data corresponding to each target point information in the final path is obtained;

[0011] A first dynamic video is generated according to the first image data corresponding to all target point information, so as to dynamically demonstrate the scene information when passing through the final path.

[0012] Optionally, the first viewing angle information also includes a first dwell time and a first coverage.

[0013] Based on the first viewing angle information, first image data corresponding to each target point information in the final path is obtained, specifically including:

[0014] Within the first residence time corresponding to the first target point information, collect first image data with a first coverage as the first image data corresponding to the first target point information, where the first target point information is any one of the target point information.

[0015] Optionally, after generating a first dynamic video based on the first image data corresponding to all the target point information, the method further includes:

[0016] If the first dynamic video does not meet the preset conditions of the preset scenario, then adjust the first perspective information according to the preset conditions to obtain second perspective information;

[0017] According to the second perspective information, obtain second image data corresponding to each target point information in the final path;

[0018] Generate a second dynamic video based on the second image data corresponding to all the target point information for subsequent dynamic demonstration of the scenario information when passing through the final path.

[0019] Optionally, the preset conditions include a first preset sub - condition and a second preset sub - condition.

[0020] If the first dynamic video does not meet the preset conditions of the preset scenario, then adjust the first perspective information according to the preset conditions to obtain second perspective information, specifically including:

[0021] If the duration of the first dynamic video does not meet the first preset sub - condition, then adjust the first residence time corresponding to each target point information according to the first preset sub - condition to obtain a second residence time;

[0022] And / or, if there is at least one first coverage corresponding to a target point information in the first dynamic video that does not meet the second preset sub - condition, then adjust the first coverage of each target point information according to the second preset sub - condition to obtain a second coverage;

[0023] Determine the second perspective information based on all the second residence times and all the first coverages;

[0024] Or, determine the second perspective information based on the first residence time and the second coverage;

[0025] Or, determine the second perspective information based on the second residence time and the second coverage.

[0026] Optionally, the preset conditions further include a third preset sub - condition. If the first dynamic video does not meet the preset conditions of the preset scenario, then after adjusting the first perspective information according to the preset conditions to obtain second perspective information, the method further includes:

[0027] Obtain at least one observation point information according to the identity information and the mapping relationship between the identity information and the preset observation point information.

[0028] Obtain the third image data corresponding to the observation point information according to the observation point information.

[0029] Generate a third dynamic video according to the third image data corresponding to all the observation point information.

[0030] If the third dynamic video does not meet the third preset sub-condition, adjust the second perspective information according to the third preset sub-condition to obtain the third perspective information.

[0031] According to a second aspect, an embodiment of the present invention also discloses a path planning device, including:

[0032] An acquisition module, configured to acquire requirement information corresponding to a target object, where the requirement information includes identity information corresponding to the target object.

[0033] A point determination module, configured to determine target point information corresponding to the identity information from all the point information in a pre-acquired scene model based on the identity information.

[0034] A path generation module, configured to generate at least one path according to the target point information.

[0035] An optimal path selection module, configured to select an optimal path from at least one path as the final path according to the identity information.

[0036] Optionally, the requirement information further includes first perspective information corresponding to the target object. After the optimal path selection module, the device further includes:

[0037] An image data acquisition module, configured to acquire first image data corresponding to each target point information in the final path based on the first perspective information.

[0038] A dynamic demonstration module, configured to generate a first dynamic video according to the first image data corresponding to all the target point information, for dynamically demonstrating the scene information when passing through the final path.

[0039] According to a third aspect, an embodiment of the present invention also discloses a computer device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the path planning method as described in the first aspect or any optional implementation manner of the first aspect.

[0040] According to a fourth aspect, an embodiment of the present invention also discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the path planning method according to the first aspect or any optional embodiment of the first aspect are implemented.

[0041] The technical solution of the present invention has the following advantages:

[0042] The path planning method, device and computer device provided by the present invention include: obtaining demand information corresponding to a target object, where the demand object includes identity information corresponding to the target object; based on the identity information, determining target point information corresponding to the identity information among all the point information in a pre-obtained scene model; generating at least one path according to the target point information, and further selecting an optimal path from the at least one path as the final path according to the identity information.

[0043] In this way, the demand information of the target object is obtained, where the demand information includes the identity information corresponding to the target object. According to the identity information of the target object, among all the point information in the pre-obtained scene model, the target point information corresponding to the identity information is selected, so that the points corresponding to the identity information can be selected in the scene model, and the point information irrelevant to the identity information is excluded, further reducing the path planning calculation amount; at least one path is generated according to all the target point information, and all the paths can be calculated. Further, according to the identity information, an optimal path is selected from the at least one path as the final path, so as to realize that when the user cannot reach the corresponding scene, the path with the best effect in the scene model can be obtained according to the identity information. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 It is a flowchart of a specific example of the path planning method in an embodiment of the present invention;

[0046] Figure 2 It is a flowchart of a specific example of the path planning method in an embodiment of the present invention;

[0047] Figure 3 It is a flowchart of a specific example of the path planning method in an embodiment of the present invention;

[0048] Figure 4It is a flowchart of a specific example of the path planning method in an embodiment of the present invention;

[0049] Figure 5 It is a schematic block diagram of a specific example of the path planning device in an embodiment of the present invention;

[0050] Figure 6 It is a specific example diagram of a computer device in an embodiment of the present invention. Detailed implementation manners

[0051] Next, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0052] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0053] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can also be the communication inside two elements. It can be a wireless connection or a wired connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0054] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0055] In response to the technical problems mentioned in the background art, the embodiments of the present application provide a path planning method. Specifically, see Figure 1 As shown, the method includes the following steps:

[0056] Step 101, obtain the demand information corresponding to the target object, where the demand information includes the identity information corresponding to the target object.

[0057] Exemplarily, the target object is the object that will walk on the final path to be obtained, and the identity information is the identity type information corresponding to the target object. In the embodiments of the present invention, taking the venue for performing a show as an example, path planning is performed on the forward path of the staff in the venue, where the staff is the target object, which can be stage performers, service staff, etc. In practical applications, the type of the target object, that is, the identity information, is subject to the type of personnel in the actual venue, and the embodiments of the present invention do not limit the type of the target object.

[0058] Step 102: Based on the identity information, determine the target point position information corresponding to the identity information among all the point position information in the pre-obtained scene model.

[0059] Exemplarily, the scene model pre-obtained in the embodiments of the present invention is a virtual model corresponding one-to-one to the venue for performing a show. This scene model corresponds to the internal furnishings and decorations of the venue, etc. Among them, the scene model includes each type of point position information that needs to perform path planning. Each point position information has a one-to-many relationship with the identity information, and the point position information corresponding to the identity information of each target object also has a one-to-many relationship.

[0060] For example, in an optional embodiment, when the category of the point position information is the auditorium, the identity information of the target object corresponding to this point position information can be the audience, service staff in the venue, or stage performers, etc.; when the identity information of the target object is a stage performer, the corresponding point position information categories are the entrance, the stage, the exit, and the auditorium added according to whether interaction with the audience is needed. In this embodiment, when the identity information of the target object is a stage performer, all the point position information corresponding to the stage performer is used as the target point position information.

[0061] Step 103: Generate at least one path according to the target point position information.

[0062] Exemplarily, after determining multiple target point position information according to the identity information, first, group the multiple target point positions according to the category of the target point position;

[0063] Determine the sorting of the preset categories of the target point position groups that constitute the path according to the identity information;

[0064] Select one or more target point positions from each target point position group corresponding to the preset category, and form at least one path according to all the finally selected target point positions and the sorting.

[0065] For example, in an optional embodiment, when the target object is a stage performer, the entrance of the stage is the start and the exit is the end in the target point information. Based on the target point information with the start and end, first, group each target point in the stage into a first group, and group the target points in the auditorium into a second group; second, according to the identity information, the preset category sorting of each target point group can be: the first order, entrance → first group → second group → exit; the second order, entrance → first group → second group → first group → exit (the order of grouping is subject to the actual situation, and only two cases are listed here, not limited thereto. At the same time, when there are also multiple target points corresponding to the entrance and the exit, the entrance and the exit also need to be grouped. In this embodiment, it is default that there is only one target point for the entrance and the exit respectively); finally, select one or more target points from each target point group corresponding to the preset category. When selecting the target points, it can be selected according to the actual needs of the stage performance. For example, in the stage target point group, arrange each target point in the stage target point group according to the actual needs of the stage performance to obtain at least one first sub-path. In the audience target point group, according to the position of each target point in the audience target point group relative to the stage, sort and combine the target points in the audience target point group to obtain at least one second sub-path. According to the sorting of the preset category, connect the sub-paths in each group to obtain at least one path. Taking the sorting of the first order as an example, one of the paths is entrance → a first sub-path in the stage target point group → a second sub-path in the audience target point group → exit; taking the sorting of the second order as an example, one of the paths is entrance → a first sub-path in the stage target point group → a second sub-path in the audience target point group → a first sub-path in the stage target point group → exit.

[0066] Step 104, according to the identity information, select an optimal path from at least one path as the final path.

[0067] Exemplarily, after obtaining at least one path, according to the identity information of the target object, select the path with the best effect corresponding to the identity information as the final path. Among the identity information, it not only includes the major category of the personnel type of the target object in the venue, but also identifies the minor category in the corresponding major category. For example, when the target object is a stage performer, the corresponding minor category can be a singer, a backup dancer, or when the target object is a service personnel, the corresponding minor category can be an organizer and an implementer, etc.

[0068] When performing path planning, path planning is carried out in large categories, and at least one obtained path is applicable to all small category identity information in the large category identity information. Next, when selecting the optimal path, it is selected based on the small category identity information. For example, when the small category of the identity information is a singer, the corresponding optimal path needs to follow the basic rules of singing. The basic rules can be: First, select the target points where all the first sub-paths in the stage target point group are at the first third of the stage position, so that most of the paths can be screened out to obtain the first part of the path that meets the singer identity information; Second, according to the corresponding position relationship with other singers, backup dancers or staff corresponding to the singer identity information, among the first part of the paths, obtain the path with the best effect as the final path.

[0069] In the above embodiments, after introducing determining the target point information according to the identity information and determining the final path according to the target point information, on the basis of the above embodiments, the demand information further includes the first perspective information corresponding to the target object. Therefore, as Figure 2 shown, the above method further includes:

[0070] Step 105, based on the first perspective information, obtain the first image data corresponding to each target point information in the final path.

[0071] Exemplarily, the first perspective information is information such as the perspective height and perspective direction according to the actual needs of the target object. According to the perspective information, obtain the first image data corresponding to each target point information in the final path, where the first image data can be model image data corresponding to the scene model or actual image data of the camera corresponding to the actual scene.

[0072] In a specific embodiment, the first perspective information includes the first residence time and the first coverage. Therefore, the implementation process of step 105 can be to collect the first image data with the first coverage within the first residence time corresponding to the first target point information as the first image data corresponding to the first target point information, where the first target point information is any target point information.

[0073] Exemplarily, the first residence time is the time elapsed from the previous target point information to the next target point information between two adjacent target point information among all the target point information in the final path, and the first coverage is the opening and closing angle when obtaining the first image data at the target point.

[0074] The first residence time and the first coverage are in one-to-one correspondence. When extracting the first image data, among all the target point position information corresponding to the final path, the image data corresponding to each target point position information is extracted within the first residence time to obtain the image data with the first coverage, and this image data is used as the final first image data. The first image data can be the picture information corresponding to the target point position or the corresponding video information. If it is picture information, a series of consecutive frames of pictures need to be collected when extracting according to the first residence time. If it is video information, the video information corresponding to the corresponding time can be directly obtained during the extraction at the first residence time.

[0075] Step 106: Generate a first dynamic video based on the first image data corresponding to all the target point position information to dynamically demonstrate the scene information when passing through the final path.

[0076] Exemplarily, after obtaining the first image data, according to the arrangement order of each target point position information in the final path, the first image data corresponding to each target point position information is sorted, and the sorted first image data is played sequentially to form a first dynamic video based on the final path. The first dynamic video can dynamically demonstrate the final path, enabling the target object to further simulate and display the working scene in the venue and adjust the subsequent work process without being on-site.

[0077] Based on the above embodiments, the embodiments of the present invention also provide another path planning method. For the content already introduced in the above embodiments, it will not be repeated here. In this embodiment, after generating the first dynamic video in step 106, as Figure 3 shown, the method further includes,

[0078] Step 107: If the first dynamic video does not meet the preset conditions of the preset scene, adjust the first perspective information according to the preset conditions to obtain the second perspective information.

[0079] Exemplarily, after generating the first dynamic video, dynamic demonstration can be performed based on the first dynamic video. At this time, according to the demonstration effect of the first dynamic video, it can be determined whether the first dynamic video meets the preset conditions of the venue. The preset conditions of the venue can be a preset time with the target object as the main body, or a preset condition with a non-target object as the main body. Here, the preset condition with the target object as the main body is introduced, and the preset condition with a non-target object as the main body will be introduced later. The preset condition with the target object as the main body can be the duration of the first dynamic video and whether the first image data collected in the first dynamic video meets the requirements of the target object. For example, the duration is reflected in the first dwell time, and whether the first image data meets the requirements of the target object is reflected in the first coverage. Therefore, the preset condition with the target object as the main body is established around the first dwell time and the second coverage.

[0080] For example, in an alternative embodiment, when the preset condition includes a first preset sub-condition and a second preset sub-condition, step 107 specifically includes the following steps:

[0081] In the first case, if the duration of the first dynamic video does not meet the first preset sub-condition, then according to the first preset sub-condition, the first dwell time corresponding to each target point position information is adjusted to obtain a second dwell time.

[0082] Exemplarily, when the duration of the first dynamic video is greater than (less than) the first preset sub-condition (performance duration), the first dwell time of the first image data corresponding to each target point position information in the final path can be adjusted. The specific adjustment method can be adjusted according to the levels of all target point position information in the final path.

[0083] Taking the target point position information in the final path of a stage performer as an example, when the target point position information includes an entrance, an exit, a stage, and a spectator stand, for a stage performer, the level ranking of the target point position information is in turn: stage > entrance = exit > spectator stand. The spectator stand belongs to the lowest level. Therefore, the time of the stage performer in the spectator stand can be reduced (increased), which can minimize the disruption of the actual work of the stage performer.

[0084] In the second case, if there is at least one first coverage corresponding to the target point position information in the first dynamic video that does not meet the second preset sub-condition, then according to the second preset sub-condition, the first coverage of each target point position information is adjusted to obtain a second coverage.

[0085] Exemplarily, when the first coverage of the first image data corresponding to at least one target point information in the first dynamic video does not meet the second preset sub-condition (coverage), adjust the first coverage of the first image data that does not meet the second preset sub-condition, and finally obtain the second coverage. Subsequently, the image data can be recollected with the second coverage to obtain a dynamic video that meets the requirements.

[0086] When only the first of the above two situations exists, it is necessary to determine the second perspective information based on all the second residence times and all the first coverages; when only the second situation exists, determine the second perspective information based on the first residence time and the second coverage; when both of the above two situations exist simultaneously, determine the second perspective information based on the second residence time and the second coverage. In the embodiments of the present invention, the actual data sizes of the specific first preset sub-condition and the second preset sub-condition are not limited, and those skilled in the art can set them according to the actual situation.

[0087] Step 108, according to the second perspective information, obtain the second image data corresponding to each target point information in the final path.

[0088] Step 109, generate a second dynamic video based on the second image data corresponding to all the target point information, so as to dynamically demonstrate the scene information when passing through the final path subsequently.

[0089] Exemplarily, after generating the second perspective information, obtain the second image data corresponding to each target point information in the final path according to the second perspective information, and arrange them in the order of the target point information according to the second image data, so as to obtain the second dynamic video.

[0090] In the above embodiments, whether the first dynamic video meets the preset conditions is judged based on the target object as the main body. In another optional embodiment, after obtaining the second perspective information after adjustment based on the target object as the main body, on the basis of the first dynamic video, use the non-target object as the main body for the preset conditions, where the preset conditions further include a third preset sub-condition, and adjust the first dynamic video for the observation point information corresponding to the target object, so as to adjust the first dynamic video to the best effect from the perspective of the observation point information. As Figure 4 shown, it is achieved through the following steps:

[0091] Step 401, according to the identity information, and the mapping relationship between the identity information and the preset observation point information, obtain at least one observation point information.

[0092] Exemplarily, the observation point information is the information of the point for observing or supervising the work of the target object corresponding to the target object. For example, when the target object is a stage performer, the corresponding observation point information is each auditorium seat; when the target object is a service staff, the corresponding observation point information is the auditorium seat or other points where the service process needs to be mastered. The mapping relationship between the identity information and the observation point information can be adjusted according to the actual situation. The above examples are only to explain a certain situation in the embodiments of the present invention and are not limited thereto.

[0093] Step 402: Obtain third image data corresponding to the observation point information according to the observation point information.

[0094] Exemplarily, when obtaining the corresponding third image data according to the observation point information, factors such as the coverage and residence time corresponding to the observation point information do not need to be considered. When obtaining the third image data, it is based on the first dynamic video. The coverage is the default value of the observation point information, and the residence time is the duration of the entire first dynamic video.

[0095] Step 403: Generate a third dynamic video according to the third image data corresponding to all the observation point information.

[0096] Step 404: If the third dynamic video does not meet the third preset sub-condition, adjust the second perspective information according to the third preset sub-condition to obtain the third perspective information.

[0097] Exemplarily, after obtaining the corresponding third image data, a third dynamic video is generated according to the chronological order of each frame of the third image data. The observation perspective of the first dynamic video is evaluated according to the third dynamic video. Specifically, it is based on the third preset sub-condition. The third preset sub-condition can be to adjust the performance angle, performance time, etc. of the stage performer. The third dynamic video is not a dynamic video with the performer as the main body, but a dynamic video with the observer as the main body at the observation point. In other words, it is the effect display of the first dynamic video. The third preset sub-condition is a preset requirement for the performer. For example, the third preset sub-condition is the duration of the first dynamic video or whether the performer faces the auditorium seats for two-thirds of the time. When it is not met, the second perspective information needs to be adjusted again to obtain the third perspective information, so that the second dynamic video obtained according to the third perspective information meets both the requirements of the target object itself and the requirements of the observation point information, achieving the best simulation rehearsal effect.

[0098] The above is the embodiment of the path planning method provided by the present application. Other embodiments of the path planning provided by the present application will be introduced below. For details, please refer to the following.

[0099] The embodiment of the present invention also discloses a path planning device, such as Figure 5 As shown, the device comprises:

[0100] An acquisition module 501 is used to acquire demand information corresponding to a target object, where the demand information includes identity information corresponding to the target object;

[0101] The point determination module 502 is used to determine the target point information corresponding to the identity information from all the point information in the pre-acquired scene model based on the identity information;

[0102] A path generation module 503 is used to generate at least one path according to the target point information;

[0103] The optimal path selection module 504 is used to select an optimal path from at least one path as a final path according to the identity information.

[0104] Optionally, the demand information further includes first-view information corresponding to the target object. After the optimal path selection module, the device further includes:

[0105] A first image data acquisition module, used to acquire first image data corresponding to each target point information in the final path based on the first viewing angle information;

[0106] The first dynamic demonstration module is used to generate a first dynamic video according to the first image data corresponding to all target point information, so as to dynamically demonstrate the scene information when passing through the final path.

[0107] Optionally, the first viewing angle information further includes a first dwell time and a first coverage, and the image data acquisition module specifically includes:

[0108] The first image data acquisition submodule is used to collect first image data with a first coverage within a first dwell time corresponding to the first target point information as the first image data corresponding to the first target point information, wherein the first target point information is any target point information.

[0109] Optionally, after the dynamic demonstration module, the device further includes:

[0110] A viewing angle adjustment module, for adjusting the first viewing angle information according to the preset conditions to obtain the second viewing angle information if the first dynamic video does not meet the preset conditions of the preset scene;

[0111] A second image data acquisition module, used to acquire second image data corresponding to each target point information in the final path according to the second viewing angle information;

[0112] The second dynamic demonstration module is used to generate a second dynamic video based on the second image data corresponding to all the target point position information, so as to dynamically demonstrate the scene information when passing through the final path subsequently.

[0113] Optionally, the preset conditions include a first preset sub-condition and a second preset sub-condition. The perspective adjustment module specifically includes:

[0114] The first perspective adjustment sub-module is used to, if the duration of the first dynamic video does not meet the first preset sub-condition, adjust the first stay time corresponding to each target point position information according to the first preset sub-condition to obtain a second stay time;

[0115] And / or, the second perspective adjustment sub-module is used to, if there is at least one first coverage corresponding to a target point position information in the first dynamic video that does not meet the second preset sub-condition, adjust the first coverage of each target point position information according to the second preset sub-condition to obtain a second coverage;

[0116] The third perspective adjustment sub-module is used to determine the second perspective information according to all the second stay times and all the first coverages;

[0117] Or, the fourth perspective adjustment sub-module is used to determine the second perspective information according to the first stay time and the second coverage;

[0118] Or, the fifth perspective adjustment sub-module is used to determine the second perspective information according to the second stay time and the second coverage.

[0119] Optionally, the preset conditions further include a third preset sub-condition. If the first dynamic video does not meet the preset conditions of the preset scene, after adjusting the first perspective information according to the preset conditions to obtain the second perspective information, the device further includes:

[0120] The observation point position information acquisition module is used to obtain at least one observation point position information according to the identity information and the mapping relationship between the identity information and the preset observation point position information;

[0121] The third image data acquisition module is used to acquire the third image data corresponding to the observation point position information according to the observation point position information;

[0122] The third dynamic demonstration module is used to generate a third dynamic video based on the third image data corresponding to all the observation point position information;

[0123] The second perspective adjustment module is used to, if the third dynamic video does not meet the third preset sub-condition, adjust the second perspective information according to the third preset sub-condition to obtain the third perspective information.

[0124] The embodiment of the present invention also provides a computer device, such as Figure 6As shown, the computer device may include a processor 601 and a memory 602, where the processor 601 and the memory 602 may be connected by a bus or other means. Figure 6 Taking the connection by bus as an example.

[0125] The processor 601 may be a central processing unit (CPU). The processor 601 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. chips, or a combination of the above types of chips.

[0126] The memory 602, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the path planning method in the embodiments of the present invention. The processor 601 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory 602, that is, implements the path planning method in the above method embodiments.

[0127] The memory 602 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created by the processor 601, etc. In addition, the memory 602 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 602 may optionally include a memory remotely set relative to the processor 601, and these remote memories may be connected to the processor 601 through a network. Examples of the above networks include but are not limited to the Internet, enterprise intranets, local area networks, mobile communication networks, and combinations thereof.

[0128] One or more modules are stored in the memory 602 and, when executed by the processor 601, execute the path planning method in the Figure 1 embodiments shown.

[0129] Specific details of the above computer device can be understood by referring to the Figure 1 corresponding relevant descriptions and effects in the shown embodiments, and will not be elaborated here.

[0130] Those skilled in the art can understand that to implement all or part of the processes in the above-described embodiment methods, it can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-described method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memories.

[0131] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A path planning method, characterized in that, Including: Obtain requirement information corresponding to the target object, where the requirement information includes identity information corresponding to the target object and also includes first perspective information corresponding to the target object; Based on the identity information, determine target point position information corresponding to the identity information among all the point position information in the pre-obtained scene model; Generate at least one path according to the target point position information; Select an optimal path from at least one of the paths as the final path according to the identity information; Based on the first perspective information, obtain first image data corresponding to each target point position information in the final path; Generate a first dynamic video according to the first image data corresponding to all the target point position information for dynamically demonstrating the scene information when passing through the final path; If the first dynamic video does not meet the preset conditions of the preset scene, then adjust the first perspective information according to the preset conditions to obtain second perspective information; The preset conditions include a third preset sub-condition; According to the identity information and the mapping relationship between the identity information and the preset observation point position information, obtain at least one observation point position information; Obtain third image data corresponding to the observation point position information according to the observation point position information; Generate a third dynamic video according to the third image data corresponding to all the observation point position information; If the third dynamic video does not meet the third preset sub-condition, then adjust the second perspective information according to the third preset sub-condition to obtain third perspective information.

2. The method according to claim 1, characterized in that, The first perspective information further includes a first stay time and a first coverage; The obtaining first image data corresponding to each target point position information in the final path based on the first perspective information specifically includes: Collect the first image data at the first coverage within the first stay time corresponding to the first target point position information as the first image data corresponding to the first target point position information, where the first target point position information is any target point position information.

3. The method according to claim 2, wherein After the step of if the first dynamic video does not meet the preset conditions of the preset scene, then adjust the first perspective information according to the preset conditions to obtain second perspective information, the method further includes: Obtain second image data corresponding to each target point position information in the final path according to the second perspective information; Generate a second dynamic video according to the second image data corresponding to all the target point position information for subsequent dynamic demonstration of the scene information when passing through the final path.

4. The method according to claim 3, wherein The preset conditions further include a first preset sub-condition and a second preset sub-condition; The step of if the first dynamic video does not meet the preset conditions of the preset scene, then adjust the first perspective information according to the preset conditions to obtain second perspective information specifically includes: If the duration of the first dynamic video does not meet the first preset sub-condition, then adjust the first stay time corresponding to each target point position information according to the first preset sub-condition to obtain a second stay time; And / or, if in the first dynamic video, there is at least one first coverage corresponding to the target point information that does not meet the second preset sub-condition, then according to the second preset sub-condition, adjust the first coverage of each piece of target point information to obtain a second coverage; Determine the second perspective information according to all the second residence times and all the first coverages; Or, determine the second perspective information according to the first residence time and the second coverage; Or, determine the second perspective information according to the second residence time and the second coverage.

5. A path planning device, characterized in that, Includes: An acquisition module, configured to acquire requirement information corresponding to a target object, where the requirement information includes identity information corresponding to the target object and also includes first perspective information corresponding to the target object; A point position determination module, configured to determine target point information corresponding to the identity information from all the point position information in a pre-acquired scene model based on the identity information; A path generation module, configured to generate at least one path according to the target point information; An optimal path selection module, configured to select an optimal path as the final path from at least one of the paths according to the identity information; A first image data acquisition module, configured to acquire first image data corresponding to each target point information in the final path based on the first perspective information; A first dynamic demonstration module, configured to generate a first dynamic video according to the first image data corresponding to all the target point information, for dynamically demonstrating the scene information when passing through the final path; A perspective adjustment module, configured to, if the first dynamic video does not meet the preset conditions of a preset scene, adjust the first perspective information according to the preset conditions to obtain second perspective information; The preset conditions include a third preset sub-condition; An observation point position information acquisition module, configured to obtain at least one observation point position information according to the identity information and the mapping relationship between the identity information and preset observation point position information; A third image data acquisition module, configured to acquire third image data corresponding to the observation point position information according to the observation point position information; A third dynamic demonstration module, configured to generate a third dynamic video according to the third image data corresponding to all the observation point position information; A second perspective adjustment module, configured to, if the third dynamic video does not meet the third preset sub-condition, adjust the second perspective information according to the third preset sub-condition to obtain third perspective information.

6. A computer device, characterized in that, Includes: At least one processor; And a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor executes the steps of the path planning method according to any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the path planning method according to any one of claims 1-4.

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