Mobile robot scene dynamic rendering method based on WEB end 3D technology

Abstract

The invention relates to the field of mobile robot scene dynamic rendering, in particular to a mobile robot scene dynamic rendering method based on a WEB end 3D technology, and the method comprises the steps: obtaining real-time scene state features through the real-time scene state data of a mobile robot; establishing three-dimensional scene state characteristics of the mobile robot based on a WEB end 3D technology according to the real-time scene state characteristics; according to the three-dimensional scene state characteristics of the mobile robot, a scene dynamic rendering result of the mobile robot is obtained, the mobile robot is used as a reference point, a dynamic three-dimensional coordinate system is established, the overall motion state planning of the robot can be accurately mapped, and therefore scene dynamic accurate capturing is achieved. The scene is dynamically converted into intrinsic feedback of the state of the robot, and the whole scene is highly accurately rendered in combination with historical data. And a good foundation is provided for keeping stable and accurate motion control in a complex environment subsequently.

Description

Technical Field

[0001] The present invention relates to the field of dynamic rendering of mobile robot scenes, and in particular to a method for dynamic rendering of mobile robot scenes based on WEB-side 3D technology. Background Art

[0002] The running state planning of mobile robots is easily affected by environmental factors, which in turn affects the judgment and processing of their own states, resulting in errors in the final selection of running instructions. At the same time, the data collection of each sensor is relatively independent and unrelated, which will make the final scene dynamic rendering deviate from the actual situation. The method lacks overall generalization ability. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a method for dynamic rendering of mobile robot scenes based on WEB-side 3D technology. A dynamic three-dimensional model is established through WEB-side 3D technology, and the real-time operating status of the mobile robot is brought in to quickly obtain accurate dynamic rendering results.

[0004] To achieve the above object, the present invention provides a method for dynamic rendering of a mobile robot scene based on WEB-side 3D technology, comprising: S1. Using the real-time scene state data of the mobile robot to obtain real-time scene state features; S2. Establishing three-dimensional scene state characteristics of the mobile robot based on the WEB-side 3D technology according to the real-time scene state characteristics; S3. Obtaining a mobile robot scene dynamic rendering result according to the three-dimensional scene state characteristics of the mobile robot.

[0005] Preferably, the method of obtaining the real-time scene state features using the real-time scene state data of the mobile robot includes: Respectively obtaining a pitch angle and a horizontal angle of the mobile robot; Using the pitch angle and horizontal angle of the mobile robot as real-time scene state data; Obtaining a pitch angle change rate using the pitch angle of the real-time scene state data and the pitch angle of the previous adjacent moment; Obtaining a horizontal angle change rate using the horizontal angle of the real-time scene state data and the horizontal angle at the previous adjacent moment; Acquiring the motion state of the mobile robot; Using the pitch angle change rate, the horizontal angle change rate and the motion state of the mobile robot as real-time scene state features; The motion state includes a moving state and a stationary state.

[0006] Furthermore, establishing the three-dimensional scene state features of the mobile robot based on the WEB-side 3D technology according to the real-time scene state features includes: S2-1. Establish a three-dimensional dynamic coordinate system of the mobile robot based on WEB 3D technology; S2-2. Use the real-time scene state characteristics to establish the three-dimensional scene state characteristics of the mobile robot according to the three-dimensional dynamic coordinate system.

[0007] Furthermore, the three-dimensional dynamic coordinate system of the mobile robot is established based on the WEB 3D technology, including: Using the mobile robot as the origin of a three-dimensional dynamic coordinate system; Using the real-time moving direction of the mobile robot as the X-axis of the three-dimensional dynamic coordinate system; Establishing a Y axis of the three-dimensional dynamic coordinate system according to the horizontal direction of the mobile robot and the X axis of the three-dimensional dynamic coordinate system; Establishing a Z axis of the three-dimensional dynamic coordinate system according to the origin and the Y axis of the three-dimensional dynamic coordinate system; The three-dimensional dynamic coordinate system of the mobile robot is established by using the origin, X-axis, Y-axis and Z-axis of the three-dimensional dynamic coordinate system.

[0008] Furthermore, using the real-time scene state feature to establish the three-dimensional scene state feature of the mobile robot according to the three-dimensional dynamic coordinate system includes: S2-2-1, determine whether the mobile state corresponding to the real-time scene state feature is a mobile state, if so, obtain the moving direction and moving distance of the mobile robot according to the three-dimensional dynamic coordinate system to obtain the moving direction vector and moving distance vector of the mobile robot, and execute S2-2-2, otherwise, directly execute S2-2-2; S2-2-2, using the pitch angle change rate and the horizontal angle change rate corresponding to the real-time scene state characteristics to obtain the pitch angle vector and the horizontal angle vector of the mobile robot according to the three-dimensional dynamic coordinate system; S2-2-3. Use the moving direction vector, moving distance vector, pitch angle vector and horizontal angle vector of the mobile robot as three-dimensional scene state features.

[0009] Furthermore, obtaining a dynamic rendering result of a mobile robot scene according to the three-dimensional scene state characteristics of the mobile robot includes: S3-1, acquiring corresponding historical three-dimensional scene state features according to the three-dimensional scene state features of the mobile robot; S3-2, using the moving direction vector of the three-dimensional scene state feature to obtain the corresponding historical moving distance vector, historical pitch angle vector and historical horizontal angle vector according to the historical three-dimensional scene state feature; S3-3, determining whether the historical moving distance vector corresponds to the moving distance vector of the three-dimensional scene state feature, if so, executing S3-4, otherwise, returning to S3-1; S3-4, determining whether the historical pitch angle vector is consistent with the pitch angle vector of the three-dimensional scene state feature, if so, the pitch angle vector difference is 0, otherwise, obtaining the difference between the historical pitch angle vector and the pitch angle vector of the three-dimensional scene state feature as the pitch angle vector difference; S3-5, determining whether the historical horizontal angle vector is consistent with the horizontal angle vector of the three-dimensional scene state feature, if so, the horizontal angle vector is 0, otherwise, obtaining the difference between the historical horizontal angle vector and the horizontal angle vector of the three-dimensional scene state feature as the horizontal angle vector difference; S3-6. Use the pitch angle vector difference and the horizontal angle vector difference as the dynamic rendering result of the mobile robot scene.

[0010] Compared with the closest prior art, the present invention has the following beneficial effects: Using the mobile robot itself as a reference point, a dynamic three-dimensional coordinate system is established, which can accurately map the robot's overall motion state planning, thereby accurately capturing the scene dynamics. By converting the scene dynamics into the robot's intrinsic feedback, combined with historical data, the entire scene is rendered with high accuracy, providing a good foundation for the robot to maintain stable and precise motion control in complex environments in the future. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a flow chart of a method for dynamic rendering of a mobile robot scene based on WEB-side 3D technology provided by the present invention. DETAILED DESCRIPTION

[0012] The specific implementation modes of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0013] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] Embodiment 1:

[0015] The present invention provides a method for dynamic rendering of mobile robot scenes based on WEB-side 3D technology, such as Figure 1 As shown, including: S1. Using the real-time scene state data of the mobile robot to obtain real-time scene state features; S2. Establishing three-dimensional scene state characteristics of the mobile robot based on the WEB-side 3D technology according to the real-time scene state characteristics; S3. Obtaining a mobile robot scene dynamic rendering result according to the three-dimensional scene state characteristics of the mobile robot.

[0016] S1 specifically includes: S1-1, respectively obtaining the pitch angle and horizontal angle of the mobile robot; S1-2, using the pitch angle and horizontal angle of the mobile robot as real-time scene state data; S1-3, obtaining a pitch angle change rate using the pitch angle of the real-time scene state data and the pitch angle at the previous adjacent moment; S1-4, obtaining a horizontal angle change rate using the horizontal angle of the real-time scene state data and the horizontal angle of the previous adjacent moment; S1-5, obtaining the motion state of the mobile robot; S1-6, using the pitch angle change rate, the horizontal angle change rate and the motion state of the mobile robot as real-time scene state features; The motion state includes a moving state and a stationary state.

[0017] S2 specifically includes: S2-1. Establish a three-dimensional dynamic coordinate system of the mobile robot based on WEB 3D technology; S2-2. Use the real-time scene state characteristics to establish the three-dimensional scene state characteristics of the mobile robot according to the three-dimensional dynamic coordinate system.

[0018] S2-1 specifically includes: S2-1-1, using the mobile robot as the origin of a three-dimensional dynamic coordinate system; S2-1-2, using the real-time moving direction of the mobile robot as the X-axis of the three-dimensional dynamic coordinate system; S2-1-3, establishing the Y axis of the three-dimensional dynamic coordinate system according to the horizontal direction of the mobile robot and the X axis of the three-dimensional dynamic coordinate system; S2-1-4, establishing the Z axis of the three-dimensional dynamic coordinate system according to the origin and the Y axis of the three-dimensional dynamic coordinate system; S2-1-5. Use the origin, X-axis, Y-axis and Z-axis of the three-dimensional dynamic coordinate system to establish a three-dimensional dynamic coordinate system for the mobile robot.

[0019] S2-2 specifically includes: S2-2-1, determine whether the mobile state corresponding to the real-time scene state feature is a mobile state, if so, obtain the moving direction and moving distance of the mobile robot according to the three-dimensional dynamic coordinate system to obtain the moving direction vector and moving distance vector of the mobile robot, and execute S2-2-2, otherwise, directly execute S2-2-2; S2-2-2, using the pitch angle change rate and the horizontal angle change rate corresponding to the real-time scene state characteristics to obtain the pitch angle vector and the horizontal angle vector of the mobile robot according to the three-dimensional dynamic coordinate system; S2-2-3. Use the moving direction vector, moving distance vector, pitch angle vector and horizontal angle vector of the mobile robot as three-dimensional scene state features.

[0020] S3 specifically includes: S3-1, acquiring corresponding historical three-dimensional scene state features according to the three-dimensional scene state features of the mobile robot; S3-2, using the moving direction vector of the three-dimensional scene state feature to obtain the corresponding historical moving distance vector, historical pitch angle vector and historical horizontal angle vector according to the historical three-dimensional scene state feature; S3-3, determining whether the historical moving distance vector corresponds to the moving distance vector of the three-dimensional scene state feature, if so, executing S3-4, otherwise, returning to S3-1; S3-4, determining whether the historical pitch angle vector is consistent with the pitch angle vector of the three-dimensional scene state feature, if so, the pitch angle vector difference is 0, otherwise, obtaining the difference between the historical pitch angle vector and the pitch angle vector of the three-dimensional scene state feature as the pitch angle vector difference; S3-5, determining whether the historical horizontal angle vector is consistent with the horizontal angle vector of the three-dimensional scene state feature, if so, the horizontal angle vector is 0, otherwise, obtaining the difference between the historical horizontal angle vector and the horizontal angle vector of the three-dimensional scene state feature as the horizontal angle vector difference; S3-6. Use the pitch angle vector difference and the horizontal angle vector difference as the dynamic rendering result of the mobile robot scene.

[0021] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0022] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0023] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0024] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for dynamic rendering of mobile robot scenes based on WEB-side 3D technology, characterized in that: include: S1. Using the real-time scene state data of the mobile robot to obtain real-time scene state features; S2. Establishing three-dimensional scene state characteristics of the mobile robot based on the WEB-side 3D technology according to the real-time scene state characteristics; S2-1. Establish a three-dimensional dynamic coordinate system of the mobile robot based on WEB 3D technology; S2-2, using the real-time scene state characteristics to establish a three-dimensional scene state characteristic of the mobile robot according to a three-dimensional dynamic coordinate system; S3. Obtaining a mobile robot scene dynamic rendering result according to the three-dimensional scene state characteristics of the mobile robot.

2. The method for dynamic rendering of a mobile robot scene based on WEB 3D technology as claimed in claim 1, characterized in that: The method of obtaining the real-time scene state features using the real-time scene state data of the mobile robot includes: Respectively obtaining a pitch angle and a horizontal angle of the mobile robot; Using the pitch angle and horizontal angle of the mobile robot as real-time scene state data; Obtaining a pitch angle change rate using the pitch angle of the real-time scene state data and the pitch angle at the previous adjacent moment; Obtaining a horizontal angle change rate using the horizontal angle of the real-time scene state data and the horizontal angle at the previous adjacent moment; Acquiring the motion state of the mobile robot; Using the pitch angle change rate, the horizontal angle change rate and the motion state of the mobile robot as real-time scene state features; The motion state includes a moving state and a stationary state.

3. The method for dynamic rendering of a mobile robot scene based on WEB 3D technology as claimed in claim 2, characterized in that: The three-dimensional dynamic coordinate system of the mobile robot based on the WEB-side 3D technology includes: Using the mobile robot as the origin of a three-dimensional dynamic coordinate system; Using the real-time moving direction of the mobile robot as the X-axis of the three-dimensional dynamic coordinate system; Establishing a Y axis of the three-dimensional dynamic coordinate system according to the horizontal direction of the mobile robot and the X axis of the three-dimensional dynamic coordinate system; Establishing a Z axis of the three-dimensional dynamic coordinate system according to the origin and the Y axis of the three-dimensional dynamic coordinate system; The three-dimensional dynamic coordinate system of the mobile robot is established by using the origin, X-axis, Y-axis and Z-axis of the three-dimensional dynamic coordinate system.

4. The method for dynamic rendering of a mobile robot scene based on WEB 3D technology as claimed in claim 3, characterized in that: Using the real-time scene state feature to establish the three-dimensional scene state feature of the mobile robot according to the three-dimensional dynamic coordinate system includes: S2-2-1, determine whether the mobile state corresponding to the real-time scene state feature is a mobile state, if so, obtain the moving direction and moving distance of the mobile robot according to the three-dimensional dynamic coordinate system to obtain the moving direction vector and moving distance vector of the mobile robot, and execute S2-2-2, otherwise, directly execute S2-2-2; S2-2-2, using the pitch angle change rate and the horizontal angle change rate corresponding to the real-time scene state characteristics to obtain the pitch angle vector and the horizontal angle vector of the mobile robot according to the three-dimensional dynamic coordinate system; S2-2-3. Use the moving direction vector, moving distance vector, pitch angle vector and horizontal angle vector of the mobile robot as three-dimensional scene state features.

5. The method for dynamic rendering of a mobile robot scene based on WEB 3D technology as claimed in claim 4, characterized in that: Obtaining a dynamic rendering result of a mobile robot scene according to the three-dimensional scene state characteristics of the mobile robot includes: S3-1, acquiring corresponding historical three-dimensional scene state features according to the three-dimensional scene state features of the mobile robot; S3-2, using the moving direction vector of the three-dimensional scene state feature to obtain the corresponding historical moving distance vector, historical pitch angle vector and historical horizontal angle vector according to the historical three-dimensional scene state feature; S3-3, determining whether the historical moving distance vector corresponds to the moving distance vector of the three-dimensional scene state feature, if so, executing S3-4, otherwise, returning to S3-1; S3-4, determining whether the historical pitch angle vector is consistent with the pitch angle vector of the three-dimensional scene state feature, if so, the pitch angle vector difference is 0, otherwise, obtaining the difference between the historical pitch angle vector and the pitch angle vector of the three-dimensional scene state feature as the pitch angle vector difference; S3-5, determining whether the historical horizontal angle vector is consistent with the horizontal angle vector of the three-dimensional scene state feature, if so, the horizontal angle vector is 0, otherwise, obtaining the difference between the historical horizontal angle vector and the horizontal angle vector of the three-dimensional scene state feature as the horizontal angle vector difference; S3-6. Use the pitch angle vector difference and the horizontal angle vector difference as the dynamic rendering result of the mobile robot scene.

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