A platform and method for automatically building a three-dimensional scene of a web page of a stereoscopic warehouse

Abstract

The application discloses a kind of platform of webpage automation stereoscopic warehouse three-dimensional scene building, it is related to three-dimensional building field, including floor and equipment model creation module, further include shelf parameterization configuration module, equipment floor identification module, equipment batch quick drawing module;The shelf parameterization configuration module creates shelf by self-defined parameter configuration;The equipment batch quick drawing module realizes the batch quick drawing of equipment by mouse drawing track;The equipment floor identification module is used to identify the floor of current equipment in multi-floor model building, when new equipment is added in scene, new equipment is added to the equipment set to be identified, and floor identification is triggered;When new floor is added in scene, the update of floor identification is triggered.The application enables user to build warehouse three-dimensional model more quickly and conveniently.

Description

Technical Field

[0001] This invention relates to the field of 3D modeling, specifically to a platform and method for building an automated 3D scene of a web-based automated warehouse. Background Technology

[0002] With the continuous development of virtual reality technology, the application of 3D model building technology has become increasingly widespread. Many engineering projects utilize this technology to build 3D scene models in advance. Compared to CAD drawings, 3D scene models can more three-dimensionally and intuitively display the layout, structure, and overall environment of a scene. Especially in warehouses where numerous pieces of machinery need to be placed, simply using CAD drawings cannot intuitively show the layout of various equipment in the scene, often hindering the subsequent placement of the machinery.

[0003] When building a 3D warehouse scene, users must define models of various equipment components according to their needs, arrange and combine these models to form a layout, and sometimes even assign different layouts to different floors. The process of building a 3D scene is quite cumbersome, making it impossible to quickly draw equipment in batches. Furthermore, it requires determining the floor where items are located and updating the floor information when it changes. Therefore, enabling users to customize and build 3D warehouse models more quickly and conveniently is a crucial issue that deserves attention. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems by providing a platform and method for building a 3D scene of an automated automated warehouse via a web page. Through the parameterized configuration module for shelves, the user's operation of creating shelves is simplified, enabling accurate and rapid batch generation of shelf models. The equipment floor identification module determines the floor where items are located and updates the floor information when it changes. The batch rapid drawing module extracts and calculates drawing trajectories, enabling rapid batch drawing of equipment. This allows users to build 3D warehouse models more quickly and conveniently.

[0005] The technical solution of the present invention is as follows:

[0006] This invention discloses a platform for building a 3D scene of an automated automated warehouse, including a floor and equipment model creation module, a shelf parameterization configuration module, an equipment floor identification module, and a batch rapid equipment drawing module. The shelf parameterization configuration module creates shelves through custom parameter configuration. The batch rapid equipment drawing module achieves batch rapid drawing of equipment through mouse drawing trajectories. The equipment floor identification module is used to identify the floor to which the current equipment belongs during multi-floor model building. When a new equipment is added to the scene, the new equipment is added to the set of equipment to be identified, triggering floor identification. When a new floor is added to the scene, the floor identification is updated.

[0007] As a preferred embodiment, the method for updating the floor identifier is as follows: all devices in device set E send a ray from the center point in the negative direction of the Y-axis. If the ray touches a floor, the floor identifier of the device is updated to the current floor, and the device with the updated identifier is removed from device set E.

[0008] Preferably, the system also includes a custom module module, a model drag-and-drop module, a model spacing modification module, or a device trajectory quick drawing module; the custom module module is used to customize the selected device as a new module and add it to the required scene; the model drag-and-drop module is used to attach the dragged model to the target model; the model spacing modification module is used to precisely lay out the device and modify the model spacing; the device trajectory quick drawing module is used to quickly and continuously draw the straight and curved trajectories of the device.

[0009] Preferably, the device batch rapid rendering module includes a drawing trajectory recognition module and a device batch generation module; the drawing trajectory recognition module extracts the coordinate set Track(x,y,z), total trajectory length Track_L, and trajectory vector Vec data of the user's drawing trajectory; the device batch generation module obtains the current Track(x,y,z), Track_L, and Vec data, calculates the direction of the current trajectory using the three-dimensional space vector angle formula based on the Vec data, obtains the rotation angle of the device in each direction, calculates the number of devices to be batch generated based on Track_L and the parameters of the currently selected device, and then renders the devices in the scene based on the Track(x,y,z) data.

[0010] This invention also discloses a method for building a 3D scene of an automated automated warehouse, comprising the following steps:

[0011] By configuring floor parameters, a floor is created and the floor initialization scene is entered. In the multi-floor model building, the floor to which the current device belongs is identified. When a new device is added to the scene, the new device is added to the set of devices to be identified, triggering the floor identification. When a new floor is added to the scene, the floor identification is updated.

[0012] Create shelf and equipment models by customizing parameter configurations; achieve batch and rapid drawing of equipment by drawing mouse trajectories; and lay out the models in the scene.

[0013] As a preferred method, the specific method for creating and generating shelves is as follows:

[0014] S1: Starting from the warehouse location origin ASRS_Point(x,y,z), determine the coordinate increment coefficients (dirX,dirY,dirZ) based on the rack orientation; S2: Calculate the rack upright coordinates; when the rack orientation is the X-axis; the X-axis coordinates of the left and right uprights are: X i-1 =ASRS_Point.x+(Col_W+Loc_L)*(i-1)*dirX, where Col_W is the column thickness, Loc_L is the storage cell length, and i is the current column coefficient of the storage location;

[0015] The Z-coordinate of the left column is: Z1 = ASRS_Point.y - Loc_W / 2, where Loc_W is the width of the storage compartment.

[0016] The Z-coordinate of the right column is: Z2 = ASRS_Point.y + Loc_W / 2;

[0017] S3: Calculate the coordinates of the symmetrical racking based on the aisle width: P2(x,y,z)=P1(x,y,z+Lane_W), where Lane_W is the aisle width;

[0018] S4: Calculate the coordinates of the next aisle rack based on the aisle spacing: H2(x,y,z)=H1(x,y,z+Lane_Dis), where Lane_Dis is the aisle spacing;

[0019] S5: Generate a cube Three.BoxGeometry;

[0020] S6: Convert to a geometry Three.BufferGeometry;

[0021] S7: Generate the shelf model Three.Mesh and add it to the Scene.

[0022] Preferably, the layout specifically includes: layout by mouse dragging, or adjusting the placement of the model by dragging and snapping the model, or modifying the model spacing; the model dragging and snapping method is as follows: first, obtain the eight vertices of the current dragged model's bounding box, compare them with the vertices of all model bounding boxes in the scene, and find the closest model bounding box as the target; then calculate the coordinate distance between the current model snapping point and the target model snapping point, subtract the distance from the current model coordinates to obtain the new coordinates, and then snap the model; model snapping is divided into two types: one is the center alignment mode, in which the center point coordinates are aligned after dragging the model close to the target model; the other is the endpoint alignment mode, in which the edge points are aligned after dragging the model close to the target model.

[0023] As a preferred method, the model spacing is modified as follows: After the user selects the device model, the device emits rays from its center point in four directions (front, back, left, right) in the horizontal plane. The spacing between the selected device and the model at the first contact of each ray in each of the four directions is calculated and rendered on the interface. The user can then modify the spacing on the interface. After modification, the coordinates of the device model are recalculated and the model is re-rendered. The calculation method for the device spacing is as follows: Assuming the 3D coordinate set of the device bounding box is model(X,Y,Z) and the coordinates of the device center point are model.position(x,y,z), the calculation method is as follows:

[0024] S10: Take the three-dimensional coordinates of the four points (front, back, left, and right) of the device model bounding box as the starting points for calculating the spacing in the four directions.

[0025] L_Point=(model.min_x,y,model.position.z);

[0026] R_Point=(model.max_x,y,model.position.z);

[0027] F_Point=(model.position.x,y,model.max_z);

[0028] B_Point=(model.position.x,y,model.min_z);

[0029] S20: Calculate the distances between the starting points L_Point, R_Point, F_Point, and B_Point in the four directions and the equipment through which the ray passes. S30: Filter the distances in the four directions and take the minimum value.

[0030] As a preferred option, a method for handling model picking under multiple model nesting is also included: model picking is implemented based on rays, and when there are multiple nested models, they are picked according to priority: the priority of model material is higher than that of transparent box, and the model mesh that is closest to the selected model has the highest priority.

[0031] As a preferred option, it also includes undo and redo methods for 3D scene construction: during undo and redo operations, only references to model objects are added or deleted, without directly creating or deleting model objects.

[0032] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0033] 1. This invention enables the rapid construction of automated three-dimensional warehouses, simplifies the operation of building three-dimensional scenes, and improves the construction efficiency.

[0034] 2. This invention simplifies the process of creating shelves by configuring shelf parameters, enabling accurate and rapid batch generation of shelf models.

[0035] 3. In the process of floor creation, this invention solves the problem of device floor identification in multi-floor scenarios by actively sending rays through the device, and identifies the floor to which the current device belongs; and updates the floor information of the item when the floor information changes; thus avoiding errors caused by repeated floor updates.

[0036] 4. In the device rendering process, this invention extracts the user's drawing trajectory data to obtain the rotation angle of the device in each direction. Based on the total trajectory length and the parameters of the currently selected device, the number of devices to be generated in batches is calculated. The devices are then rendered in the scene based on the coordinate set data, thereby achieving batch and rapid drawing and layout of devices.

[0037] 5. When multiple models need to be reused, this invention allows for the quick selection of device models by drawing trajectory selection or box selection, and the multiple selected models can be customized into a new module and added to the required scene, thus enabling rapid model creation.

[0038] 6. Based on the control of the bounding box spacing of the device model, this invention realizes the drag-and-drop snapping of the model, and quickly snaps the dragged model onto the target model.

[0039] 7. This invention uses quadratic Bézier curves to draw straight lines and curves, enabling rapid and continuous drawing of straight lines and curves.

[0040] 8. This invention uses ray casting to pick models. When there are multiple nested models, they are picked according to priority, which improves the performance of the system.

[0041] 9. This invention provides undo and redo functions for 3D models, supports custom configuration of the undo and redo stack capacities, and only adds or deletes references to model objects during undo and redo operations, without directly creating or deleting model objects, thus optimizing system performance. Attached Figure Description

[0042] The present invention will be described by way of example and with reference to the accompanying drawings, wherein:

[0043] Figure 1 This is a schematic diagram of the structure of a platform for building a three-dimensional scene of an automated automated warehouse via a web page, as described in this embodiment.

[0044] Figure 2 This is a flowchart of the floor identification information update triggering mechanism in the embodiment.

[0045] Figure 3 This is a flowchart of the floor identification process in the embodiment.

[0046] Figure 4 This is a flowchart of the custom module in the embodiment.

[0047] Figure 5 This is a flowchart of the model spacing calculation in the embodiment.

[0048] Figure 6 This is a flowchart illustrating the calculation of the center point coordinates in the embodiment. Detailed Implementation

[0049] All features disclosed in this specification, or all steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps.

[0050] Any feature disclosed in this specification (including any appended claims and abstract) may be replaced by other equivalent or similar features, unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is merely one example of a series of equivalent or similar features.

[0051] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0052] This invention discloses a platform for building a 3D scene of an automated automated warehouse, including a floor and equipment model creation module, a shelf parameterization configuration module, an equipment floor identification module, and a batch rapid equipment drawing module. The shelf parameterization configuration module creates shelves through custom parameter configuration. The batch rapid equipment drawing module achieves batch rapid drawing of equipment through mouse drawing trajectories. The equipment floor identification module is used to identify the floor to which the current equipment belongs during multi-floor model building. When a new equipment is added to the scene, the new equipment is added to the set of equipment to be identified, triggering floor identification. When a new floor is added to the scene, the floor identification is updated.

[0053] like Figure 1 As shown, this invention also discloses a platform for building a 3D scene of an automated automated warehouse, including a shelf parameter configuration module, an equipment floor identification module, an equipment batch rapid drawing module, a custom module module, a model drag-and-drop snapping module, a model spacing modification module, and an equipment running track rapid drawing module. The shelf parameter configuration module creates shelves through custom parameter configuration. The equipment batch rapid drawing module achieves rapid batch drawing of equipment by drawing mouse trajectories. The equipment floor identification module identifies the floor to which the current equipment belongs during multi-floor model building; when a new equipment is added to the scene, it is added to the set of equipment to be identified, triggering floor identification; when a new floor is added to the scene, the floor identification is updated. The custom module module allows selected equipment to be customized into a new module and added to the required scene. The model drag-and-drop snapping module snaps dragged models onto the target model. The model spacing modification module allows for precise layout of equipment and modification of model spacing. The equipment running track rapid drawing module is used for rapid and continuous drawing of straight and curved running tracks of equipment.

[0054] The batch drawing module for devices comprises a drawing trajectory recognition module and a batch device generation module. The drawing trajectory recognition module extracts the coordinate set Track(x,y,z), total trajectory length Track_L, and trajectory vector Vec data from the user's drawing trajectory. The batch device generation module acquires the current Track(x,y,z), Track_L, and Vec data. Based on the Vec data, it calculates the direction of the current trajectory using the 3D spatial vector angle formula, obtaining the device's rotation angle in each direction. Then, based on Track_L and the parameters of the currently selected device, such as device length, it calculates the number of devices to be generated in batches. Finally, it renders the devices in the scene based on the Track(x,y,z) data, thus achieving batch drawing of devices quickly.

[0055] This invention also discloses a method for building a 3D scene of an automated automated warehouse, comprising the following steps:

[0056] Create floors by configuring floor parameters and enter the floor initialization scene; create shelf and equipment models by configuring custom parameters; lay out the models in the scene; the layout specifically includes: laying out by dragging with the mouse, or adjusting the placement of the models by dragging and snapping them together and modifying the model spacing;

[0057] When a user needs to quickly draw according to the device's running trajectory, they can drag the mouse to quickly draw a straight line or curve of a secondary Bézier curve. The trajectory drawn by the mouse is segmented and then rendered to the interface. The Bézier curve is drawn with the mouse start point, mouse end point, and center point.

[0058] When users need to create multiple floors, they first add the floors to the scene, and then create and lay out the device models on the new floors.

[0059] When users need to reuse combinations of multiple models, they can select multiple models to form a new module.

[0060] The creation of shelves supports user-defined parameter configuration, including: shelf length (X): Loc_L, shelf width (Z): Loc_W, shelf height (Y): Loc_H, shelf origin: ASRS_Point(x,y,z), shelf direction: Dir x / -x / z / -z.

[0061] Column thickness: Col_W, beam thickness: Row_W, number of storage rows: Loc_Cols, number of storage layers: Loc_Rows, number of aisles: Laneway, aisle width: Lane_W, aisle spacing: Lane_Dis, single unit: Equip.

[0062] The current column coefficient for the storage location is i. The specific algorithm for generating the shelf is as follows:

[0063] S1: Starting from the warehouse location origin ASRS_Point(x,y,z), determine the coordinate increment coefficients (dirX,dirY,dirZ) based on the rack orientation; S2: Calculate the rack upright coordinates; when the rack orientation is the X-axis; the X-axis coordinates of the left and right uprights are: X i-1 =ASRS_Point.x+(Col_W+Loc_L)*(i-1)*dirX, where Col_W is the column thickness, Loc_L is the storage cell length, and i is the current column coefficient of the storage location;

[0064] The Z-coordinate of the left column is: Z1 = ASRS_Point.y - Loc_W / 2, where Loc_W is the width of the storage compartment.

[0065] The Z-coordinate of the right column is: Z2 = ASRS_Point.y + Loc_W / 2;

[0066] S3: Calculate the coordinates of the symmetrical racking based on the aisle width: P2(x,y,z)=P1(x,y,z+Lane_W), where Lane_W is the aisle width;

[0067] S4: Calculate the coordinates of the next aisle rack based on the aisle spacing: H2(x,y,z)=H1(x,y,z+Lane_Dis), where Lane_Dis is the aisle spacing;

[0068] S5: Generate a cube Three.BoxGeometry;

[0069] S6: Convert to a geometry Three.BufferGeometry;

[0070] S7: Generate the shelf model Three.Mesh and add it to the Scene.

[0071] Parametric configuration of shelving simplifies the process of creating shelving for users, enabling accurate and rapid batch generation of shelving models.

[0072] This invention supports multi-floor model building. To identify the floor to which the current device belongs, a device floor identification module has been added. For example... Figure 2 As shown, the update triggering mechanism for floor identifiers is disclosed as follows: Add a new floor and obtain the Y coordinates of all devices; determine whether the device's Y coordinate is greater than the Y coordinate of the new floor; if the device's Y coordinate is greater than the Y coordinate of the new floor, add it to the device set E to be identified; add the new device to the device set E as well; update the floor information of device set E; if the device's Y coordinate is not greater than the Y coordinate of the new floor, do not trigger the update of the floor information of device set E.

[0073] like Figure 3 As shown, a method for updating floor identifiers is disclosed: Obtain the device set E to be identified. Each device in the device set E sends a ray from its center point in the negative Y-axis direction. If the ray touches a floor and is a device in the device set E, then the floor identifier of that device is updated to the current floor, and the device with the updated identifier is removed from the device set E to avoid errors caused by repeated floor updates.

[0074] Users can customize modules (combinations of multiple devices) according to the scenario, such as Figure 4As shown, the custom module process is disclosed, supporting two batch selection methods: one is drawing trajectory selection, where users draw any trajectory curve in the scene, and all devices whose coordinates are within the trajectory curve range will be selected as a module; the other is box selection, where all devices within the box selection range will be selected. Users can customize the selected devices into a new module and add it to the desired scene.

[0075] Users can also snap a dragged model to a target model. First, the eight vertices of the current dragged model's bounding box are obtained and compared with the vertices of all model bounding boxes in the scene. The closest model bounding box is selected as the target. Then, the coordinate distance between the current model's snapping point and the target model's snapping point is calculated. Subtracting this distance from the current model's coordinates yields the new coordinates, thus achieving snapping. Model snapping has two types: one is center alignment mode, where the center point coordinates are aligned after the dragged model is close to the target model; the other is endpoint alignment mode, where the edge points are aligned after the dragged model is close to the target model.

[0076] To enable precise device layout, this invention also provides a model spacing modification module. After a user selects a device model, the device emits rays from its center point in four horizontal directions: front, back, left, and right. The system calculates the distance between the selected device and the model where the rays first contact in each of the four directions, and renders this distance on the interface. The user can modify the spacing on the interface; after modification, the system recalculates the coordinates of the device model and re-renders it.

[0077] like Figure 5 As shown, the calculation method for model spacing is disclosed: after the user selects the device model, the three-dimensional coordinates of the four points in front, back, left, and right of the device model's bounding box are calculated as the starting points for calculating the spacing in the four directions;

[0078] L_Point=(model.min_x,y,model.position.z)

[0079] R_Point=(model.max_x,y,model.position.z)

[0080] F_Point=(model.position.x,y,model.max_z)

[0081] B_Point=(model.position.x,y,model.min_z)

[0082] Calculate the distances between the starting points L_Point, R_Point, F_Point, and B_Point in four directions and the devices traversed by the ray. Filter the distances in each of the four directions and take the minimum value. The system registers a Vue component to render the distance data. After the user modifies the distance on the interface, the system recalculates the device coordinates based on the modified distance and re-renders.

[0083] The device trajectory rapid drawing module in this invention supports continuous and rapid drawing of straight lines and curves based on quadratic Bézier curves. Users can drag the mouse to quickly draw straight lines or curves. The system segments the mouse-drawn trajectory before rendering it to the interface. Bézier curves are drawn using the mouse start point (start), mouse end point (end), and center point (center). The method for calculating the coordinates of the center point is described in [link to documentation]. Figure 6 Both straight lines and curves are drawn using quadratic Bézier curves, enabling fast and continuous drawing of straight lines and curves.

[0084] like Figure 6 As shown, the method for calculating the coordinates of the intermediate point is disclosed: obtain the starting coordinates of the mouse start point and the ending coordinates of the mouse end point; determine whether the X coordinate of the ending X point is greater than the starting X coordinate of the mouse start point and whether the Z coordinate of the ending Z point is greater than the starting Z coordinate of the mouse start point; if they are true, the X coordinate of the intermediate point center is equal to the ending X coordinate of the mouse end point and the Z coordinate of the intermediate point center is equal to the starting Z coordinate of the mouse start point.

[0085] If not, further check whether the X coordinate of the mouse endpoint end is greater than the X coordinate of the mouse start point and whether the Z coordinate of the mouse endpoint end is less than the Z coordinate of the mouse start point; if so, the X coordinate of the center point is equal to the X coordinate of the start point and the Z coordinate of the center point is equal to the Z coordinate of the mouse endpoint end.

[0086] If not, further check whether the X coordinate of the mouse endpoint end is less than the X coordinate of the mouse start point and whether the Z coordinate of the mouse endpoint end is greater than the Z coordinate of the mouse start point; if so, the X coordinate of the center point is equal to the X coordinate of the start point and the Z coordinate of the center point is equal to the Z coordinate of the mouse endpoint end.

[0087] If not, further check whether the X coordinate of the mouse endpoint (end) is less than the X coordinate of the mouse start point (start), and whether the Z coordinate of the mouse endpoint (end) is less than the Z coordinate of the mouse start point (start); if so, the X coordinate of the center point is equal to the X coordinate of the mouse endpoint (end), and the Z coordinate of the center point is equal to the Z coordinate of the mouse start point (start).

[0088] If this is not true, the X-coordinate of the center point is half the sum of the X-coordinates of the mouse start point and the mouse end point; the Z-coordinate of the center point is half the sum of the Z-coordinates of the mouse start point and the mouse end point; the Y-coordinate of the center point is equal to the Y-coordinate of the mouse start point.

[0089] This invention uses ray casting to pick models. When multiple models are nested, they are picked according to priority. Model materials have higher priority than transparent boxes, and the mesh closest to the selected model has the highest priority. For example, if a large device A contains a small device B, and the mouse clicks on the material area of ​​device B, the ray emitted from the camera will detect the bounding boxes of devices A and B, as well as the material of device B. In this case, device B's material has the highest priority, so device B is picked first. If the mouse clicks on the bounding box area of ​​device B, the ray emitted from the camera will detect the bounding boxes of devices A and B. In this case, device B's bounding box is closest to the selected mesh, so device B is picked first.

[0090] This invention also provides a method for undoing and redoing 3D models, with the system supporting custom configuration of the undo and redo stack capacities. During undo and redo operations, only references to model objects are added or deleted; model objects are not directly created or deleted, thus optimizing system performance. Taking adding a model to a scene as an example, when a new model object is created in the scene, a reference to that model object is added to the undo stack S1, and the operation type is recorded as "add". When an undo operation is performed, the reference to that model object is removed from stack S1 and the scene, and a reference to that model object is added to the redo stack S2, with the operation type recorded as "add model". When a redo operation is performed, the reference to that model object is removed from the redo stack S2, and a reference to that model object is added to the undo stack S1, with the operation type recorded as "add model". A reference to that model object is also added to the scene. The system only deletes the model object when the records in stacks S1 and S2 reach the configured maximum capacity.

[0091] The 3D scene construction process for an automated warehouse in this invention is as follows: Upon entering the interface, the user first creates floors by configuring parameters such as length, width, and height. After floor creation, the user enters the initial scene and can then create shelving and equipment models according to their design requirements. Shelving creation supports custom parameter configuration, including storage location depth, length, height, number of columns, number of layers, and column thickness. After creating the shelving, the required models and modules can be placed in the scene. The layout process can be done not only by dragging and dropping with the mouse but also by dragging and snapping models and adjusting model spacing to adjust their placement. When the user needs to quickly copy equipment in batches along a trajectory, they can draw the trajectory with the mouse to achieve batch copying. If the user needs to create multiple floors, they can first add floors to the scene and then create and lay out the equipment models on the new floors. If multiple models need to be reused, the user can select multiple models to form a new module, which can then be quickly created for use.

[0092] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

Claims

1. A system for building a 3D scene of an automated automated warehouse, comprising modules for creating floor and equipment models, characterized in that, The floor and equipment model creation module includes a shelf parameter configuration module, an equipment floor identification module, and an equipment batch rapid drawing module. The shelf parameter configuration module creates shelves through custom parameter configuration. The equipment batch rapid drawing module enables batch rapid drawing of equipment through mouse drawing trajectories. The equipment floor identification module is used to identify the floor to which the current equipment belongs in the multi-floor model building process. When a new equipment is added to the scene, the new equipment is added to the set of equipment to be identified, triggering floor identification. When a new floor is added to the scene, the floor identifier is updated. The method for updating the floor identifier is as follows: all devices in device set E send a ray from the center point in the negative direction of the Y-axis. If the ray touches a floor, the floor identifier of the device is updated to the current floor, and the device with the updated identifier is removed from device set E. The device batch rapid rendering module includes a drawing trajectory recognition module and a device batch generation module. The drawing trajectory recognition module extracts the coordinate set Track(x,y,z), total trajectory length Track_L, and trajectory vector Vec data of the user's drawing trajectory. The device batch generation module obtains the current Track(x,y,z), Track_L, and Vec data, calculates the direction of the current trajectory using the three-dimensional space vector angle formula based on the Vec data, obtains the rotation angle of the device in each direction, calculates the number of devices to be generated in batches based on Track_L and the parameters of the currently selected device, and then renders the devices in the scene based on the Track(x,y,z) data.

2. The system for building a three-dimensional scene of an automated automated warehouse according to claim 1, characterized in that, It also includes a layout module, which comprises a model drag-and-drop module and a model spacing modification module; the model drag-and-drop module is used to attach dragged models to the target model; the model spacing modification module is used to perform precise layout of the equipment and modify the model spacing. The floor and equipment model creation module also includes a custom module module and a rapid equipment running track drawing module; the custom module module is used to customize the selected equipment as a new module and add it to the required scene as a whole; the rapid equipment running track drawing module is used for rapid and continuous drawing of straight and curved tracks of equipment.

3. A method for constructing a 3D scene of an automated automated warehouse, characterized in that, The system for building a 3D scene of an automated automated warehouse as described in claim 1 or 2 includes the following steps: By configuring floor parameters, a floor is created and the floor initialization scene is entered. In the multi-floor model building, the floor to which the current device belongs is identified. When a new device is added to the scene, the new device is added to the set of devices to be identified, triggering the floor identification. When a new floor is added to the scene, the floor identification is updated. Create shelf and equipment models by customizing parameter configurations; achieve batch and rapid drawing of equipment by drawing mouse trajectories; and lay out the models in the scene.

4. The method for constructing a three-dimensional scene of an automated automated warehouse according to claim 3, characterized in that, The specific method for creating and generating shelves is as follows: S1: Starting from the warehouse location origin ASRS_Point(x,y,z), determine the coordinate increment coefficients (dirX,dirY,dirZ) based on the rack orientation. S2: Calculate the coordinates of the shelf uprights; when the shelf orientation is the X-axis; the X-axis coordinates of the left and right uprights are: X i-1 = ASRS_Point.x +(Col_W + Loc_L) (i-1) dirX, where Col_W is the column thickness, Loc_L is the storage cell length, and i is the current column coefficient of the storage location; The Z-coordinate of the left column is: Z1 = ASRS_Point.y - Loc_W / 2, where Loc_W is the width of the storage compartment. The Z-coordinate of the right column is: Z2 = ASRS_Point.y + Loc_W / 2; S3: Calculate the coordinates of the symmetrical shelving based on the aisle width: P2(x,y,z) = P1(x,y,z+Lane_W), where Lane_W is the aisle width; S4: Calculate the coordinates of the next aisle rack based on the aisle spacing: H2(x,y,z) = H1(x,y,z+Lane_Dis), where Lane_Dis is the aisle spacing; S5: Generate a cube Three.BoxGeometry; S6: Convert to a geometry Three.BufferGeometry; S7: Generate the shelf model Three.Mesh and add it to the Scene.

5. The method for constructing a three-dimensional scene of an automated automated warehouse according to claim 3, characterized in that, The layout specifically includes: layout via mouse dragging, or adjusting the placement of models by dragging and snapping to them, or modifying the model spacing; the model dragging and snapping method is as follows: first, obtain the eight vertices of the current dragged model's bounding box, compare them with the vertices of all model bounding boxes in the scene, and find the closest model bounding box as the target; then calculate the coordinate distance between the current model snapping point and the target model snapping point, subtract the distance from the current model coordinates to obtain the new coordinates, and then snap the model; model snapping is divided into two types: one is the center alignment mode, in which the center point coordinates are aligned after dragging the model close to the target model; the other is the endpoint alignment mode, in which the edge points are aligned after dragging the model close to the target model.

6. The method for constructing a three-dimensional scene of an automated automated warehouse according to claim 3, characterized in that, The method for modifying model spacing is as follows: After the user selects a device model, the device emits rays from the center point in four directions (front, back, left, right) in front of the horizontal plane. The distance between the selected device and the model that the rays first touch in each of the four directions is calculated and rendered on the interface. The user modifies the spacing in the interface. After the modification, the coordinates of the device model are recalculated and re-rendered. The calculation method for the device spacing is as follows: Assuming the 3D coordinate set of the device bounding box is model(X,Y,Z), and the coordinates of the device center point are model.position(x,y,z), the calculation method is as follows: S10: Take the three-dimensional coordinates of the four points (front, back, left, and right) of the device model bounding box as the starting points for calculating the spacing in the four directions. L_Point = (model.min_x,y,model.position.z) R_Point = (model.max_x,y,model.position.z) F_Point = (model.position.x,y,model.max_z) B_Point = (model.position.x,y,model.min_z) S20: Calculate the distances between the starting points L_Point, R_Point, F_Point, and B_Point in the four directions and the equipment through which the ray passes. S30: Filter the distances in each of the four directions and take the minimum value.

7. The method for constructing a three-dimensional scene of an automated automated warehouse according to claim 4, characterized in that, It also includes a method for handling model picking in multi-model nesting: model picking is implemented based on rays. When there are multiple nested models, they are picked according to priority: the priority of model material is higher than that of transparent box, and the model with the closest mesh has the highest priority.

8. The method for constructing a three-dimensional scene of an automated automated warehouse according to claim 4, characterized in that, It also includes undo and redo methods for 3D scene building: during undo and redo operations, only references to model objects are added or deleted, and model objects are not created or deleted directly.

Images