Transportation simulation method and system

Abstract

The embodiment of the invention provides a transportation simulation method and system, and the method comprises the steps: determining a transportation starting point of a to-be-transported material in a virtual space in response to a transportation instruction for the to-be-transported material; determining at least one transportation end point in the virtual space according to a transportation direction carried in the transportation instruction; selecting a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation ending point; and calculating transportation simulation data of the to-be-transported material in the virtual space based on the target transportation path, and sending the transportation simulation data to a client, the transportation simulation data being used for rendering transportation display information of the to-be-transported material in the virtual space at the client. The situation of simulation transportation errors caused by insufficient client performance is avoided, and the accuracy of simulation transportation is improved.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of digital twin technology, and in particular to a transportation simulation method. Background Art

[0002] With the development of computer technology, people have also made major breakthroughs in the field of digital twins. At present, digital twin technology is often used to simulate the on-site production environment, such as the operation of a single device in a factory or the operation of the assembly line of the entire factory. Through digital twin technology, it is possible to improve the project based on simulation data, thereby reducing on-site configuration costs and manual verification costs. In the simulation application of mechanized transportation based on digital twin technology, since the current digital twin applications are usually run on the client, the simulation effect of the digital twin is unstable due to the performance of the client, and the transportation effect cannot be accurately simulated. Therefore, how to accurately simulate the mechanized transportation effect based on digital twin applications is a problem that needs to be solved urgently. Summary of the invention

[0003] In view of this, the embodiments of this specification provide a transportation simulation method. One or more embodiments of this specification also relate to a transportation simulation device, a transportation simulation system, a computing device, a computer-readable storage medium and a computer program to solve the technical defects existing in the prior art.

[0004] According to a first aspect of an embodiment of this specification, a transportation simulation method is provided, which is applied to a server, and includes:

[0005] In response to a transportation instruction for a material to be transported, determining a transportation starting point of the material to be transported in a virtual space;

[0006] Determining at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction;

[0007] Selecting a target transport path from at least one transport path constructed by the transport starting point and the at least one transport end point;

[0008] The transportation simulation data of the material to be transported in the virtual space is calculated based on the target transportation path, and the transportation simulation data is sent to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client.

[0009] According to a second aspect of the embodiments of this specification, a transport simulation system is provided, the system comprising a server and a client, wherein:

[0010] The server is used to determine the transportation starting point of the material to be transported in the virtual space in response to the transportation instruction for the material to be transported; determine at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction, select a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point, calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client;

[0011] The client is used to receive the transportation simulation data sent by the server, and render and display the transportation display information of the material to be transported in the virtual space based on the transportation simulation data.

[0012] According to a third aspect of an embodiment of this specification, a transport simulation device is provided, which is applied to a server, and includes:

[0013] A response module, configured to determine a transportation starting point of the material to be transported in the virtual space in response to a transportation instruction for the material to be transported;

[0014] a determination module configured to determine at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction;

[0015] A selection module is configured to select a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point;

[0016] The calculation module is configured to calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client.

[0017] According to a fourth aspect of the embodiments of this specification, a transportation simulation method is provided, which is applied to a server, and includes:

[0018] In response to a transportation instruction for a material to be transported, determining a transportation starting point of the material to be transported corresponding to a transportation simulation cycle in a virtual space;

[0019] Determining at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction;

[0020] Selecting a target transport path from at least one transport path constructed by the transport starting point and the at least one transport end point;

[0021] Calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and sending the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client;

[0022] Determine the associated transportation starting point of the material to be transported in the virtual space corresponding to the next transportation simulation cycle, and use it as the transportation starting point, and continue to execute the step of determining at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction until the material to be transported is located at the target transportation position corresponding to the transportation instruction.

[0023] According to a fifth aspect of the embodiments of this specification, a transport simulation system is provided, the system comprising a server and a client, wherein:

[0024] The server is used to determine, in response to a transportation instruction for a material to be transported, a transportation starting point of the material to be transported corresponding to a transportation simulation cycle in a virtual space; determine at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction; select a target transportation path from at least one transportation path constructed from the transportation starting point and the at least one transportation end point; calculate transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to a client, wherein the transportation simulation data is used to render transportation display information of the material to be transported in the virtual space on the client; determine an associated transportation starting point of the material to be transported in the virtual space corresponding to a next transportation simulation cycle, and use it as the transportation starting point, and continue to execute the step of determining at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction until the material to be transported is located at the target transportation position corresponding to the transportation instruction;

[0025] The client is used to receive the transportation simulation data sent by the server, and render and display the transportation display information of the material to be transported in the virtual space based on the transportation simulation data.

[0026] According to a sixth aspect of the embodiments of this specification, a transport simulation device is provided, which is applied to a server, and includes:

[0027] A response module, configured to determine a transportation starting point of the material to be transported in the virtual space in response to a transportation instruction for the material to be transported;

[0028] a determination module configured to determine at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction;

[0029] A selection module is configured to select a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point;

[0030] a calculation module, configured to calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client;

[0031] The loop module is configured to determine the associated transportation starting point of the material to be transported in the virtual space corresponding to the next transportation simulation cycle, and use it as the transportation starting point to continue to execute the step of determining at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction until the material to be transported is located at the target transportation position corresponding to the transportation instruction.

[0032] According to a seventh aspect of an embodiment of this specification, there is provided a computing device, including:

[0033] Memory and processor;

[0034] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above-mentioned transportation simulation method are implemented.

[0035] According to an eighth aspect of the embodiments of the present specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned transport simulation method are implemented.

[0036] According to a ninth aspect of the embodiments of the present specification, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned transport simulation method.

[0037] An embodiment of the present specification realizes that a server determines the transportation starting point of the material to be transported in the virtual space according to the transportation instructions for the material to be transported, determines at least one transportation end point according to the transportation direction, and constructs a target transportation path according to the transportation starting point and at least one transportation end point, thereby deriving and calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, so that the client can render the transportation display information of the material to be transported in the virtual space based on the transportation simulation data, completing the simulated transportation effect of the material to be transported in the mechanized transportation process, avoiding the situation where simulated transportation errors are caused by insufficient client performance, and improving the accuracy of simulated transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1It is a scene schematic diagram of a transportation simulation method provided by an embodiment of this specification;

[0039] Figure 2 is a flow chart of a transportation simulation method provided by an embodiment of this specification;

[0040] Figure 3 is a processing flow chart of a transportation simulation method provided by an embodiment of this specification;

[0041] Figure 4 is a flow chart of a transportation simulation system provided by one embodiment of this specification;

[0042] Figure 5 is a structural schematic diagram of a transport simulation device provided by an embodiment of this specification;

[0043] Figure 6 is a flow chart of another transportation simulation method provided by an embodiment of this specification;

[0044] Figure 7 It is a schematic diagram of a transportation scenario of a transportation simulation method provided by an embodiment of this specification;

[0045] Figure 8 is a flow chart of another transportation simulation system provided by one embodiment of the present specification;

[0046] Fig. 9 is a structural schematic diagram of another transport simulation device provided by an embodiment of this specification;

[0047] Fig.10 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0048] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0049] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a", "said" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0050] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0051] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0052] First, the terms involved in one or more embodiments of this specification are explained.

[0053] Digital twin: It makes full use of data such as material models, sensor updates, and operation history, integrates multi-disciplinary, multi-material, multi-scale, and multi-probability simulation processes, and completes mapping in virtual space to reflect the entire life cycle of the corresponding physical equipment. Digital twins can replicate many real-world items, from single equipment in a factory to complete installations.

[0054] Spatial search: Through intelligent spatial calculations in the digital twin 3D scene, the movement trajectory of objects in space can be derived.

[0055] Mechanized transportation: The use of handling machinery to transport heavy objects such as items and people from one location to another, with a set of standard procedures established to ensure the rational operation.

[0056] Octree: Octree is a tree-like data structure used to describe three-dimensional space. Each node of the octree represents the volume element of a cube. Each node has eight child nodes. The sum of the volume elements represented by the eight child nodes is equal to the volume of the parent node.

[0057] At present, some enterprises often use digital twin products to deliver projects and restore the on-site production environment under large-scale data. Existing simulated mechanized transportation solutions often use front-end collision, script and other logic to achieve the restoration effect, but the existing simulated mechanized transportation solutions have the following problems:

[0058] 1. Performance ceiling: The front-end calculation collision detection is affected by the terminal performance, and the effect is unstable. The performance ceiling is the single-thread performance ceiling of a single CPU. Since the existing digital twin simulation application runs in a browser environment, it is more obviously affected by the client performance.

[0059] 2. State cannot be restored: Since all calculations are run on the client and no stateless persistence is performed, it will result in the inability to restore all positions, postures, and data to the correct state within a short time (milliseconds) after the application is restarted;

[0060] 3. Poor stability: When the client's data processing throughput is less than the actual data delivery volume, data congestion will occur. Data congestion will cause a delay in the operation effect in a short period of time, and will cause memory overflow and system crash in a long period of time.

[0061] 4. High implementation cost: Relying on the front end to configure the collision logic, staff are required to configure the collision boxes one by one and arrange the logic one by one. The debugging process also requires verification and testing of each collision box, so the development and debugging costs are relatively high.

[0062] Based on this, a transportation simulation method is provided in this specification. This specification also involves a transportation simulation device, a transportation simulation system, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0063] See also Figure 1 , Figure 1 is a schematic diagram of a transport simulation method according to an embodiment of the present specification, wherein: Figure 1 It is a scene model or virtual space built by the server based on the digital twin application, including the transportation environment of mechanized transportation, such as multiple transportation equipment, which is used to transport materials such as auto parts from one place to another. Figure 1 In the example, when the material to be transported is on the transport device 1, a transport instruction for the material to be transported is received. The transport instruction is a movement instruction of the transport device 1, that is, the transport device 1 needs to move forward. At this time, the transport starting point of the material to be transported in the virtual space is the exit point of the transport device 1. Figure 1 Point A in the figure is used to determine the transport destination in the virtual space according to the transport direction, i.e., the moving direction, of the preset device 1, such as Figure 1If the transport device 1 is moving forward, the entry point of the transport device 2, i.e., point B, is determined as the transport destination. The target transport path is constructed based on points A and B, and the transport simulation data of the material to be transported in the virtual space is calculated based on the target transport path. The transport simulation data can be sent to the client later, and the client renders the transport display information of the material to be transported in the virtual space, thereby presenting the transport effect in mechanized transport to the user. By deriving and calculating the transport process of mechanized transport on the server side, the problem of poor simulation effect due to insufficient terminal performance is avoided.

[0064] See also Figure 2 , Figure 2 A flow chart of a transportation simulation method provided according to an embodiment of the present specification is shown. The method is applied to a server and specifically includes the following steps.

[0065] Step 202: In response to a transportation instruction for a material to be transported, determining a transportation starting point of the material to be transported in a virtual space.

[0066] Among them, the server can be understood as a terminal that provides computing services and sends service resources to the client, such as a cloud service node, a computing node, etc. By performing resource calculation and scheduling through the server, the simulation effect of the digital twin can be improved, and the expected results of the current project implementation can be judged. In one embodiment of this specification, by constructing a virtual space model corresponding to the real world based on the digital twin application on the server, and performing a series of transportation derivations and calculations of mechanized transportation in the virtual space, it is possible to more accurately search for mechanical motion, improve the efficiency of scene construction and the cost of fault tolerance. The related projects of mechanized transportation include objects of mechanized transportation, namely materials to be transported. Materials to be transported can be understood as objects that need to be transported by mechanized transportation. For example, if the related project of mechanized transportation is an express sorting project, the materials to be transported can be the express in the project. If the related project of mechanized transportation is a parts processing project under a parts production factory, the materials to be transported can be the parts to be processed in the project.

[0067] In actual applications, the service end will build the implementation space and implementation device of actual mechanized transportation based on the digital twin application, thereby constructing a spatial model of the virtual space, which includes physical models of items, transportation devices, transportation environments, etc. during on-site transportation, thereby restoring the implementation effect of mechanized transportation in the real space. In the implementation process, OT (Operational Technology) data will be relied on to drive the transportation device. For example, OT data is a control instruction issued by a PLC (Programmable Logic Controller). According to the control instruction, the pallet can be controlled to move from different roller beds to the next roller bed, that is, the transportation instruction can be understood as an instruction for controlling the movement of the transportation device, or it can be understood as a command to move the material to be transported. In the actual project, when the transportation device receives the transportation instruction, it responds to the transportation instruction to start handling or transporting the material to be transported, wherein the pallet can be understood as a device for carrying the material to be transported, and the roller bed can be understood as a transportation device for transporting the pallet. In specific implementation, the transportation device can also be other devices such as a movable robot, a conveyor belt, etc. After receiving the transport instructions for the materials to be transported, that is, after the PLC control system issues the transport control instructions for the materials to be transported, the server will simulate the operation of the transport device in the virtual space, thereby restoring the problems that will occur during real operation, reflecting the twin effect of the displayed mechanical transportation, and detecting whether there are abnormal transportation conditions in the virtual space, so that the transportation strategy can be adjusted in time to ensure the normal operation of the real transportation. In the process of simulation on the server side, the transportation starting point of the materials to be transported in the virtual space will be determined first. The transportation starting point can be understood as the position coordinates of the materials to be transported in the virtual space before this transportation. In actual applications, since the materials to be transported are transported by the transport device, the transportation starting point can also be regarded as the position coordinates of the transport device.

[0068] In a specific embodiment of this specification, the material to be transported is a courier parcel, and the project associated with mechanized transportation is courier sorting. In the courier sorting project, the courier parcel is placed in a sorting box, and the sorting box is transported and moved by different movable transport devices such as roller beds, thereby implementing courier sorting. The service end will construct a virtual space of the courier sorting workshop environment, which includes virtual objects of courier parcels, virtual objects of courier sorting devices, etc. After receiving the transport instruction sent by the control system, it can determine which transport device the current courier parcel, i.e., the sorting box, is on, thereby determining the transport starting point of the courier parcel in the virtual space.

[0069] Furthermore, in order to avoid being unable to accurately simulate the transportation process of the materials to be transported in the virtual space, it is necessary to accurately determine the transportation starting point of the materials to be transported in the virtual space, and specifically determine the transportation starting point of the materials to be transported in the virtual space in response to the transportation instructions for the materials to be transported, including: determining the transportation equipment corresponding to the materials to be transported in the virtual space in response to the transportation instructions for the materials to be transported; selecting a target position coordinate point from the position coordinate points corresponding to the transportation equipment and using it as the transportation starting point of the materials to be transported in the virtual space.

[0070] Among them, the transportation equipment can be understood as a transportation device used to transport the materials to be transported. When the service end receives the transportation instruction for the materials to be transported, it will determine the transportation equipment where the materials to be transported are located in the virtual space, so that the transportation starting point of the materials to be transported in the virtual space can be determined based on the position coordinate points of the transportation equipment. The position coordinate points corresponding to the transportation equipment can be understood as the relative position coordinates of the transportation equipment in the virtual space. Each transportation equipment is provided with two position coordinate points, so that the specific position of the transportation equipment can be accurately determined in the virtual space based on the two position coordinate points of the transportation equipment. In specific implementation, the position coordinate points of the transportation equipment can be allocated at the head and tail, such as Figure 1 There is a dot at the front and back ends of each transport device, which is the position coordinate point of the transport device. When the transport device moves in the virtual space, the position coordinate point also changes accordingly.

[0071] In actual applications, since the transport equipment is used to move the materials to be transported, that is, the transport equipment and the materials to be transported are in a relative position relationship, the position coordinate point of the transport equipment can be used as the transportation starting point of the materials to be transported. However, since both ends of the transport equipment are provided with position coordinate points, it is also necessary to select a target position coordinate point from the position coordinate points of the transport equipment as the transportation starting point of the materials to be transported in the virtual space. In specific implementation, the target position coordinate point can be selected according to the transportation direction of the transport device, such as Figure 1 , the transport device 1 is ready to move forward ( Figure 1 If the position coordinate point on the right side of the transport equipment 1 (point A) is selected as the target position coordinate point, point A is used as the transport starting point of the material to be transported.

[0072] In a specific embodiment of the present specification, citing the above example, in response to a transport instruction for a material to be transported, i.e., an express parcel that needs to be sorted, a transport device where the express sorting box where the express parcel is located is located is determined in the virtual space, and position coordinate points X1 and X2 of the transport device are determined, and X2 is determined as the target position coordinate point among position coordinate points X1 and X2 according to the transport direction of the transport instruction, and position coordinate point X2 is used as the transport starting point for the material to be transported in the virtual space.

[0073] Based on this, the transportation starting point of the material to be transported in the virtual space is determined based on the location coordinate point of the transportation equipment, which facilitates the subsequent simulation of the transportation animation effect according to the transportation starting point and restores the actual transportation situation.

[0074] Step 204: Determine at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction.

[0075] The transport direction carried in the transport instruction can be understood as the moving direction of the transport device when executing the transport instruction, and the transport destination can be understood as the position coordinate point of the next transport device that receives the material to be transported, such as Figure 1 In the diagram, the transport instruction is a forward signal, that is, transport equipment 1 will transport the material to be transported to transport equipment 2, the transport starting point is point A, and the transport focus is the position coordinate point of transport equipment 2, that is, point B.

[0076] In actual applications, multiple transport destinations can be determined according to the transport direction. For example, by searching for the transport destination with the transport starting point as the endpoint according to the transport direction, multiple transport equipment can be found, that is, there are multiple transport destinations with different distances and positions from the transport starting point. Therefore, a target transport destination can be selected according to the transport distance later. Specifically, since the server will also divide the virtual space model into spaces and generate an octree space when constructing the virtual space model, that is, the entire three-dimensional scene is cut along the XYZ axis to obtain the octree information of the virtual space model, even if only one transport device is determined according to the transport direction, there are eight small cubes in the octree cube where the position coordinate point corresponding to the transport device is located. Therefore, it can be considered that there are eight transport destinations, so a small cube needs to be selected from the eight transport destinations as the target transport destination later.

[0077] In a specific embodiment of the present specification, according to the transport direction carried in the transport instruction, it is determined that the transport device is in the forward transport direction, the exit point of the transport equipment 1 is determined as the transport starting point in the forward transport direction, and the octree node corresponding to the transport starting point is selected, and then the next octree node is selected based on the forward transport direction and the current octree node, and the child nodes corresponding to the next octree node are used as multiple transport destinations, and subsequently a target transport destination is selected from the multiple transport destinations.

[0078] Furthermore, in order to accurately determine the transport destination and avoid abnormalities in the transport process, the transport destination can be searched based on the position range information of the transport starting point in the virtual space. Specifically, at least one transport destination is determined in the virtual space based on the transport direction carried in the transport instruction, including: determining the position range information of the transport starting point in the virtual space; determining at least one receiving device in the virtual space based on the transport direction and the position range information carried in the transport instruction; and determining at least one transport destination in the receiving position coordinate point corresponding to the at least one receiving device.

[0079] Among them, the location range information can be understood as the search range information of the transportation starting point in the virtual space. For example, in the virtual space, the transportation starting point is taken as the center point, and the location range information is used as the radius. The transportation end point is searched according to the radius, so that the transportation end point closest to the transportation starting point can be found. The receiving device can be understood as the transportation equipment that receives the material to be transported during the transportation of the material to be transported. For example, if the material to be transported is moved from transportation equipment A to transportation equipment B, then transportation equipment B is the receiving device. During the next transportation, transportation equipment B is used as the transportation equipment in the next transportation process to find another transportation equipment as the receiving device. The receiving position coordinate point can be understood as the relative position coordinate in the virtual space. Each receiving device is set with two position coordinate points, so that the specific position of the receiving device can be accurately determined in the virtual space based on the two position coordinate points of the receiving device.

[0080] In actual applications, after determining the transport starting point, it is necessary to determine the transport destination of this transport. The transport destination will be determined based on the transport starting point and location range information. However, multiple location coordinate points corresponding to multiple receiving devices may be found, so the transport destination needs to be selected from multiple location coordinate points. In specific implementation, the corresponding octree node is selected in the octree space according to the transport starting point and location range information, and the next octree node is searched in the virtual space according to the location range information and the transport direction, and the child node corresponding to the found octree node is used as the transport destination.

[0081] Step 206: Select a target transport path from the at least one transport path constructed between the transport starting point and the at least one transport end point.

[0082] Among them, the transportation path can be understood as a path constructed based on the transportation starting point and the transportation end point, that is, the transportation path from the transportation starting point to the transportation end point. Since it includes multiple transportation end points, multiple transportation paths can be constructed in combination with the transportation starting point. Subsequently, it is necessary to select a transportation path with the shortest distance from the multiple transportation paths as the target transportation path.

[0083] In practical applications, after determining the octree node of the transportation starting point and the octree node of the transportation end point, multiple transportation paths can be constructed based on the two octree nodes. The transportation path is the position vector between the two nodes, and the shortest transportation path can be selected as the target transportation path.

[0084] In a specific embodiment of the present specification, multiple transportation paths are constructed according to a transportation starting point and multiple transportation destinations, and one transportation path is selected from the multiple transportation paths as a target transportation path.

[0085] Furthermore, in order to ensure the normal operation of mechanized transportation, it is necessary to select a transportation path with the shortest transportation distance as the target transportation path. Specifically, the target transportation path is selected from at least one transportation path constructed by the transportation starting point and the at least one transportation end point, including: constructing at least one transportation path according to the transportation starting point and the at least one transportation end point; respectively calculating the path length information corresponding to the at least one transportation path, and selecting the target transportation path from the at least one transportation path based on the path length information.

[0086] Among them, the path length information can be understood as the path length corresponding to the transportation path. The path length information can be calculated based on the transportation starting point and the transportation end point. After determining the path length information of each transportation path, the target transportation path can be selected from multiple transportation paths based on the path length information.

[0087] In a specific embodiment of the present specification, multiple transport paths are constructed according to the transport starting point and each transport end point, and the path length information corresponding to each transport path is calculated respectively, and the target transport path is selected from the transport paths according to the path length information.

[0088] Based on this, the path length information of each transport path is calculated, and one transport path is selected from multiple transport paths as the target transport path according to the path length information. The materials to be transported are subsequently transported based on the target transport path to restore the mechanized transportation effect.

[0089] Furthermore, before respectively calculating the path length information corresponding to the at least one transport path, the method further includes: performing spatial division on the virtual space to obtain an octree space corresponding to the virtual space;

[0090] Specifically, since the server will also divide the virtual space model into spaces and generate an octree space during the construction of the virtual space model, that is, cut the entire three-dimensional scene along the XYZ axis to obtain the octree information of the virtual space model, that is, the octree node corresponding to any node of the model in the virtual space can be found in the octree space.

[0091] Calculating the path length information corresponding to the transport path, including: determining a first spatial node corresponding to the transport starting point and a second spatial node corresponding to the transport end point in the transport path in the octree space; and calculating the path length information of the transport path based on the node position vectors corresponding to the first spatial node and the second spatial node respectively.

[0092] Among them, the first spatial node can be understood as the octree node mapped in the octree space by the transportation starting point in the virtual space, and the second spatial node can be understood as the octree node mapped in the octree space by the transportation destination in the virtual space. Through the node position vectors corresponding to the first spatial node and the second spatial node respectively, the displacement vector between the two nodes can be calculated to obtain the path length information.

[0093] In practical applications, the transportation starting point and transportation end point in the real space have corresponding nodes in the virtual space, and the transportation starting point and transportation end point in the virtual space can find the corresponding mapped spatial nodes in the octree space. Each octree node has its own node position vector in the octree space. The node position vector can be understood as the position information of the octree node in the octree space. Through the node position vectors corresponding to the two nodes, the displacement vector between the two nodes can be calculated, and the displacement vector is used as the path length information.

[0094] In a specific embodiment of the present specification, a first spatial node corresponding to the transport starting point is determined in the octree space, and a second spatial node corresponding to the transport end point is determined. Based on the node position vector corresponding to the first spatial node and the node position vector corresponding to the second spatial node, a displacement vector between the two spatial nodes is calculated, and the displacement vector is used as the path length information.

[0095] Based on this, by calculating the displacement vector as the path length information according to the node position vector of the node in the octree space, the shortest transportation path can be selected according to the path length information later.

[0096] Furthermore, in order to improve the transportation efficiency, it is necessary to select the shortest transportation path as the target transportation path based on the path length information. Specifically, selecting the target transportation path from the at least one transportation path based on the path length information includes: sorting the at least one transportation path based on the path length information; and selecting the target transportation path from the at least one transportation path according to the sorting result.

[0097] The sorting based on the path length information can be understood as sorting the transport paths from high to low according to the path length information, and then selecting the transport path with the shortest path length information as the target transport path according to the sorting result.

[0098] Based on this, by selecting the target transportation path according to the path length information, the transportation path with the shortest transportation path length can be selected as the target transportation path, thereby restoring the transportation effect that conforms to the actual transportation situation.

[0099] Step 208: Calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client.

[0100] Among them, after selecting the target transportation path, the transportation equipment before transportation and the transportation equipment after transportation, i.e., the receiving equipment, can be determined, that is, the material to be transported is moved from the current transportation equipment to another transportation equipment. At this time, the transportation simulation data of the material to be transported in the virtual space can be calculated according to the target transportation path. The transportation simulation data can be understood as data used to render the transportation animation of the material to be transported. By sending the transportation simulation data to the client, the client can render the transportation effect corresponding to the current transportation instruction based on the transportation simulation data. The transportation display information can be understood as the display of the material to be transported during transportation. The transportation display information can be displayed in the form of animation or in the form of pictures. The transportation display form is not specifically limited in this specification.

[0101] In practical applications, in order to avoid the problem of slow derivation and calculation of transport simulation data due to insufficient client performance, resulting in slow rendering of transport simulation effects, the server is used to derive and calculate transport simulation data, which can more accurately search for mechanical movements and improve the efficiency of scene construction and the cost of fault tolerance.

[0102] In a specific embodiment of the present specification, citing the above example, the server calculates the transportation simulation data of the express package in the virtual space based on the target transportation path, and the transportation simulation data includes data such as the transportation distance, the transportation starting point and the transportation target point. The transportation simulation data is sent to the client, and the transportation animation of the express package is rendered through the client.

[0103] Furthermore, in order to ensure that the client can correctly render the transportation process of the material to be transported, it is necessary to calculate the displacement vector of the transportation based on the target transportation path. Specifically, the transportation simulation data of the material to be transported in the virtual space is calculated based on the target transportation path, including: determining the node displacement vector of the target transportation path in the octree space; generating the transportation simulation data of the material to be transported in the virtual space according to the target transportation path and the node displacement vector.

[0104] Among them, the node displacement vector can be understood as the path length of the target transportation path mapped in the octree space. The transportation simulation data is generated according to the path length and the starting point and end point of the target transportation path, so that the client can render how far the material to be transported moves from the starting point to the end point, thereby restoring the actual transportation situation.

[0105] In a specific embodiment of the present specification, a node displacement vector corresponding to a target transportation path is determined, and transportation simulation data is generated according to a transportation start point and a transportation end point of the target transportation path and the node displacement vector.

[0106] Based on this, by sending the transportation simulation data to the client, the client can render the transportation animation corresponding to the material to be transported based on the transportation simulation data, thereby restoring the real transportation effect.

[0107] Furthermore, before responding to a transportation instruction for the material to be transported, the method also includes: receiving measurement data associated with the real space, and constructing the virtual space based on the measurement data; determining a spatial position vector corresponding to the virtual space in the octree space, wherein the spatial position vector includes node position vectors corresponding to the first spatial node and the second spatial node, respectively.

[0108] Among them, the real space can be understood as the real world space, the measurement data can be understood as the data obtained after measuring the real space, and the measurement data is used to construct a virtual space corresponding to the real space in the digital twin application. The octree space can be understood as the space generated after the virtual space is spatially divided by a preset space algorithm. The preset space algorithm can be understood as a preset algorithm for virtual space division. The preset space algorithm used in this specification is the octree algorithm. The octree space is generated by spatially dividing the virtual space through the octree algorithm, which is convenient for subsequent determination of the position vector corresponding to each object in the space. After the spatial division, the spatial position vector corresponding to the virtual space can be obtained. The spatial position vector includes the node position vector mapped in the octree space by any node in the virtual space. Therefore, the spatial position vector also includes the node position vectors corresponding to the above-mentioned first spatial node and the second spatial node respectively.

[0109] In actual applications, the server will perform digital twin modeling on the entire transportation scene, so that the corresponding measurement data of the transportation scene can be obtained, which may include the scene size of the transportation scene, the equipment size of the transportation equipment, etc. The server constructs the corresponding virtual space based on the measurement data of the real space, and divides the virtual space into octree spaces according to the octree algorithm, obtains the spatial position vector of the virtual space under the octree space, and then can perform derivation calculations of transportation based on the spatial position vector of the virtual space.

[0110] In a specific embodiment of the present specification, the server receives measurement data associated with the real space, constructs a virtual space based on the measurement data, and spatially divides the virtual space according to an octree algorithm to obtain a spatial position vector corresponding to the virtual space.

[0111] Based on this, the model of the virtual space is constructed through the server, which avoids the problem of poor virtual model building effect due to insufficient client performance. The server can also save the model data of the virtual space so that the model data can be directly read later, solving the problem of being unable to restore the virtual space model due to client crashes.

[0112] Furthermore, after the client renders the transport display information, in order to ensure that the next transport process can be deduced normally on the server side, the spatial position vector of the virtual space needs to be updated based on the current transport result. Specifically, after selecting the target transport path from at least one transport path constructed by the transport starting point and the at least one transport end point, the method also includes: calculating the material to be transported according to the target transport path to obtain the material position vector of the material to be transported in the octree space; updating the spatial position vector corresponding to the virtual space based on the material position vector to obtain an updated spatial position vector.

[0113] Among them, the material position vector can be understood as the spatial node of the material to be transported in the virtual space, and the vector corresponding to the position coordinates in the octree space after transportation. The spatial position vector of the virtual space is updated through the material position vector to ensure that the position of the material to be transported in the virtual space is the same as that of the material to be transported in the real space, so that the next step of transportation can comply with the transportation logic of the real space.

[0114] In practical applications, the position vector of the object moving during the transportation process can also be used to update the spatial position vector, thereby ensuring that the physical positions of each object in the real space and each object in the virtual space are the same, achieving a true restoration effect from the real space to the virtual space.

[0115] In a specific embodiment of the present specification, the material position vector of the material to be transported in the virtual space is determined according to the target transportation path, and the spatial position vector of the virtual space is updated based on the material position vector to obtain an updated spatial position vector. When the next step of transportation is carried out, the transportation simulation data is derived and calculated based on the updated spatial position vector.

[0116] The present specification provides a transportation simulation method, which is applied to a server, and includes: in response to a transportation instruction for a material to be transported, determining the transportation starting point of the material to be transported in a virtual space; determining at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction; selecting a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point; calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and sending the transportation simulation data to a client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client. The method realizes that the server determines the transportation starting point of the material to be transported in the virtual space according to the transportation instruction for the material to be transported, determines at least one transportation end point according to the transportation direction, and constructs the target transportation path according to the transportation starting point and at least one transportation end point, thereby deriving and calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, so that the client can render the transportation display information of the material to be transported in the virtual space based on the transportation simulation data, completing the simulated transportation effect of the material to be transported in the mechanized transportation process, avoiding the situation where the simulated transportation error is caused by insufficient client performance, and improving the accuracy of the simulated transportation.

[0117] The following combination Figure 3 Taking the application of the transportation simulation method provided in this specification in material transportation as an example, the transportation simulation method is further described. Figure 3 A processing flow chart of a transportation simulation method provided by an embodiment of the present specification is shown, which specifically includes the following steps.

[0118] Step 302: In response to a transportation instruction for a material to be transported, determining a transportation device corresponding to the material to be transported in a virtual space.

[0119] In one achievable method, the transportation instruction is a transportation instruction for a transportation item in automobile parts assembly, the material to be transported is automobile parts, and the transportation equipment corresponding to the automobile parts is determined in the virtual space, and the transportation equipment is a roller bed for transporting automobile parts.

[0120] In one feasible method, before responding to the transportation instruction, the server will also receive measurement data associated with the real space, and construct a virtual space based on the measurement data, divide the virtual space into spaces according to a preset spatial algorithm, obtain the octree space corresponding to the virtual space, and determine the spatial position vector corresponding to the virtual space in the octree space.

[0121] Step 304: Select a target position coordinate point from the position coordinate points corresponding to the transportation equipment and use it as the transportation starting point of the material to be transported in the virtual space.

[0122] In one achievable manner, among the two position coordinate points of the transportation equipment determined in the virtual space, a target position coordinate point is determined according to the transportation direction and used as the transportation starting point.

[0123] Step 306: Determine the location range information of the transportation starting point in the virtual space, determine at least one receiving device in the virtual space according to the transportation direction and location range information carried in the transportation instruction, and determine at least one transportation end point in the receiving position coordinate point corresponding to the at least one receiving device.

[0124] In one feasible method, the location range information of the transport starting point is determined, and the location range information is the search radius range. According to the transport direction and the location range information, a transport device, i.e., a receiving device, is used in the virtual space to receive the materials to be transported, and multiple transport end points are determined according to the receiving position coordinate points of multiple receiving devices.

[0125] Step 308: Construct at least one transportation route according to the transportation starting point and at least one transportation end point.

[0126] Step 310: Calculate path length information corresponding to at least one transport path respectively, and select a target transport path from the at least one transport path based on the path length information.

[0127] In an achievable manner, the path length information corresponding to each transport path, that is, the displacement vector between the transport starting point and each transport end point, is calculated. Specifically, a first spatial node corresponding to the transport starting point and a second spatial node corresponding to the transport end point in the transport path are determined in the octree space. The path length information of the transport path is calculated based on the node position vectors corresponding to the first spatial node and the second spatial node, respectively. At least one transport path is sorted based on the path length information, and a target transport path is selected from the at least one transport path according to the sorting result.

[0128] Step 312: Calculate the node displacement vector corresponding to the target transportation path, and generate transportation simulation data of the material to be transported in the virtual space according to the target transportation path and the node displacement vector.

[0129] In one feasible method, the node displacement vector of the target transport path in the octree space is determined, and transportation simulation data of the material to be transported in the virtual space is generated according to the transportation starting point and transportation end point of the target transport path and the node displacement vector, and the transportation simulation data is sent to the client, so that the client can render a transportation animation based on the transportation simulation data.

[0130] In one feasible manner, the material to be transported is calculated according to the target transport path, that is, the transportation of the material to be transported is simulated according to the calculated target transport path, so as to obtain the material position vector, and the spatial position vector of the virtual space is updated based on the material position vector to obtain the updated spatial position vector.

[0131] A transportation simulation method provided in the present specification realizes that a server determines the transportation starting point of the material to be transported in the virtual space according to the transportation instructions for the material to be transported, determines at least one transportation end point according to the transportation direction, and constructs a target transportation path according to the transportation starting point and at least one transportation end point, thereby deriving and calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, so that the client can render the transportation display information of the material to be transported in the virtual space based on the transportation simulation data, completes the simulated transportation effect of the material to be transported in the mechanized transportation process, avoids the situation where simulated transportation errors caused by insufficient client performance, and improves the accuracy of simulated transportation.

[0132] See also Figure 4 , Figure 4 A flow chart of a transport simulation system provided according to an embodiment of the present specification is shown. The system includes a server 402 and a client 404, and specifically includes the following steps.

[0133] The server 402 is used to determine the transportation starting point of the material to be transported in the virtual space in response to the transportation instruction for the material to be transported; determine at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction, select a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point, calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client;

[0134] The client 404 is used to receive the transportation simulation data sent by the server, and render and display the transportation display information of the material to be transported in the virtual space based on the transportation simulation data.

[0135] The present specification provides a transport simulation system, which includes a server and a client, wherein the server is used to determine the transport starting point of the material to be transported in the virtual space in response to a transport instruction for the material to be transported; determine at least one transport end point in the virtual space according to the transport direction carried in the transport instruction, select a target transport path from at least one transport path constructed by the transport starting point and the at least one transport end point, calculate the transport simulation data of the material to be transported in the virtual space based on the target transport path, and send the transport simulation data to the client, wherein the transport simulation data is used to render the transport display information of the material to be transported in the virtual space on the client; the client is used to receive the transport simulation data sent by the server, and render and display the transport display information of the material to be transported in the virtual space based on the transport simulation data. It is achieved that the server determines the transportation starting point of the material to be transported in the virtual space according to the transportation instructions for the material to be transported, determines at least one transportation end point according to the transportation direction, and constructs a target transportation path according to the transportation starting point and at least one transportation end point, thereby deriving and calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, so that the client can render the transportation display information of the material to be transported in the virtual space based on the transportation simulation data, completing the simulated transportation effect of the material to be transported in the mechanized transportation process, avoiding the situation where simulated transportation errors caused by insufficient client performance, and improving the accuracy of simulated transportation.

[0136] Corresponding to the above method embodiment, this specification also provides a transport simulation device embodiment, Figure 5 FIG. 2 shows a schematic diagram of the structure of a transport simulation device provided by an embodiment of the present specification. Figure 5 As shown, the device comprises:

[0137] A response module 502 is configured to determine a transportation starting point of the material to be transported in the virtual space in response to a transportation instruction for the material to be transported;

[0138] A determination module 504 is configured to determine at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction;

[0139] A selection module 506 is configured to select a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point;

[0140] The calculation module 508 is configured to calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client.

[0141] Optionally, the response module 502 is further configured to: in response to a transportation instruction for the material to be transported, determine the transportation equipment corresponding to the material to be transported in the virtual space; select a target position coordinate point from the position coordinate points corresponding to the transportation equipment and use it as the transportation starting point of the material to be transported in the virtual space.

[0142] Optionally, the determination module 504 is further configured to: determine the location range information of the transport starting point in the virtual space; determine at least one receiving device in the virtual space according to the transport direction and the location range information carried in the transport instruction; and determine at least one transport end point in the receiving position coordinate point corresponding to the at least one receiving device.

[0143] Optionally, the selection module 506 is further configured to: construct at least one transportation path according to the transportation starting point and the at least one transportation end point; calculate path length information corresponding to the at least one transportation path respectively, and select a target transportation path from the at least one transportation path based on the path length information.

[0144] Optionally, the selection module 506 is further configured to: perform spatial division on the virtual space to obtain an octree space corresponding to the virtual space; determine in the octree space a first spatial node corresponding to the transport starting point, and a second spatial node corresponding to the transport end point in the transport path; and calculate the path length information of the transport path based on the node position vectors corresponding to the first spatial node and the second spatial node respectively.

[0145] Optionally, the selection module 506 is further configured to: sort the at least one transportation path based on the path length information; and select a target transportation path from the at least one transportation path according to the sorting result.

[0146] Optionally, the calculation module 508 is further configured to: determine the node displacement vector of the target transportation path in the octree space; and generate transportation simulation data of the material to be transported in the virtual space according to the target transportation path and the node displacement vector.

[0147] Optionally, the device also includes a construction module configured to: receive measurement data associated with a real space, and construct the virtual space based on the measurement data; determine a spatial position vector corresponding to the virtual space in the octree space, wherein the spatial position vector includes node position vectors corresponding to the first spatial node and the second spatial node, respectively.

[0148] Optionally, the construction module is further configured to: calculate the material to be transported according to the target transportation path to obtain a material position vector of the material to be transported in the octree space; and update the spatial position vector of the virtual space based on the material position vector to obtain an updated spatial position vector.

[0149] A transportation simulation device provided in the present specification is applied to a server, comprising: a response module, configured to determine the transportation starting point of the material to be transported in the virtual space in response to a transportation instruction for the material to be transported; a determination module, configured to determine at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction; a selection module, configured to select a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point; a calculation module, configured to calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client. It is achieved that the server determines the transportation starting point of the material to be transported in the virtual space according to the transportation instructions for the material to be transported, determines at least one transportation end point according to the transportation direction, and constructs a target transportation path according to the transportation starting point and at least one transportation end point, thereby deriving and calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, so that the client can render the transportation display information of the material to be transported in the virtual space based on the transportation simulation data, completing the simulated transportation effect of the material to be transported in the mechanized transportation process, avoiding the situation where simulated transportation errors caused by insufficient client performance, and improving the accuracy of simulated transportation.

[0150] The above is a schematic scheme of a transport simulation device of this embodiment. It should be noted that the technical scheme of the transport simulation device and the technical scheme of the above transport simulation method belong to the same concept, and the details not described in detail in the technical scheme of the transport simulation device can be referred to the description of the technical scheme of the above transport simulation method.

[0151] See also Figure 6 , Figure 6A flow chart of another transportation simulation method provided according to an embodiment of the present specification is shown. The method is applied to a server and specifically includes the following steps.

[0152] Step 602: In response to a transportation instruction for a material to be transported, determining a transportation starting point of the material to be transported corresponding to a transportation simulation cycle in a virtual space.

[0153] In one feasible method, the express delivery needs to be moved and a transport instruction is issued for the movement. The transport instruction may include the transport direction, the transport destination location, etc. After the service end receives the transport instruction of the material to be transported, i.e. the express delivery, it simulates and constructs the real space where the material to be transported is located, constructs a virtual space and determines the transport starting point of this transport simulation cycle in the virtual space, see Figure 7 , Figure 7 A schematic diagram of a transport scenario of a transport simulation method provided according to an embodiment of the present specification is shown. Figure 7 (A), point A of the transport equipment 1. Since the material to be transported may need to be transported multiple times, there may be multiple transport simulation cycles, each of which has its own transport start point and transport end point, and in each transport simulation cycle, the moving transport is performed according to the transport start point and transport end point.

[0154] Step 604: Determine at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction.

[0155] In one achievable manner, according to the transport direction in the transport instruction, multiple transport destinations of the material to be transported in this transport simulation cycle are determined in the virtual space, for example Figure 7 The position coordinate points of point B of transport equipment 2, transport equipment 3 and the left side of transport equipment 4 in (A).

[0156] Step 606: Select a target transport path from at least one transport path constructed between the transport starting point and the at least one transport end point.

[0157] In one feasible method, multiple transport paths are constructed based on a transport starting point A and multiple transport end points, and the path length of each transport path is determined. A target transport path is selected based on the path length, and the target transport path is a transport path from point A to point B.

[0158] Step 608: Calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client.

[0159] In one feasible manner, transportation simulation data of the materials to be transported in the virtual space is calculated according to the target transportation path, and the transportation simulation data is used for rendering the simulated transportation animation on the client side, thereby showing the transportation effect to the user.

[0160] Step 610: Determine the associated transport starting point of the material to be transported in the virtual space corresponding to the next transport simulation cycle, and use it as the transport starting point, and continue to execute the step of determining at least one transport end point in the virtual space according to the transport direction carried in the transport instruction until the material to be transported is located at the target transport position corresponding to the transport instruction.

[0161] In one achievable manner, after the transported material is simulated to be transported to the transport equipment 2, since the transported material has not yet been transported to the target transport location specified by the transport instruction, the transported material needs to continue to be transported, that is, enter the next transport simulation cycle, and the associated transport starting point is Figure 7 (B) is the point C of the transport device 2, and the step of determining the transport destination is continued. The transport destination is determined to be the point D of the transport device 5, and the material to be transported is transported from the transport device 2 to the transport device 5. Then it is necessary to judge according to the target transport position in the transport instruction. If it has not reached the specified target transport position, continue to simulate the transport of the next transport simulation cycle, such as Figure 7 In (C), point E of the transport device 5 is used as the associated transport starting point; if the target transport position has been reached, that is, the target transport position is the position of the transport device 5, the movement of the material to be transported is stopped, and the execution result of the transport instruction is returned to the client.

[0162] A transportation simulation method provided in the present specification is applied to a server, comprising: in response to a transportation instruction for a material to be transported, determining a transportation starting point of the material to be transported in a virtual space corresponding to a transportation simulation cycle; determining at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction; selecting a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point; calculating transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and sending the transportation simulation data to a client, wherein the transportation simulation data is used to render transportation display information of the material to be transported in the virtual space on the client; determining an associated transportation starting point of the material to be transported in the virtual space corresponding to the next transportation simulation cycle, and using it as the transportation starting point, continuing to execute the step of determining at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction until the material to be transported is located at the target transportation position corresponding to the transportation instruction. It is achieved that the server determines the transportation starting point of the material to be transported in the virtual space according to the transportation instructions for the material to be transported, determines at least one transportation end point according to the transportation direction, and constructs a target transportation path according to the transportation starting point and at least one transportation end point, thereby deriving and calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, so that the client can render the transportation display information of the material to be transported in the virtual space based on the transportation simulation data, completing the simulated transportation effect of the material to be transported in the mechanized transportation process, avoiding the situation where simulated transportation errors caused by insufficient client performance, and improving the accuracy of simulated transportation.

[0163] See also Figure 8 , Figure 8 A flow chart of another transport simulation system provided according to an embodiment of the present specification is shown. The system includes a server 802 and a client 804, and specifically includes the following steps.

[0164] The server 802 is used to determine the transportation starting point of the material to be transported in the virtual space corresponding to the transportation simulation cycle in response to the transportation instruction for the material to be transported; determine at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction; select a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point; calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client; determine the associated transportation starting point of the material to be transported in the virtual space corresponding to the next transportation simulation cycle, and use it as the transportation starting point, and continue to execute the step of determining at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction until the material to be transported is located at the target transportation position corresponding to the transportation instruction;

[0165] The client 804 is used to receive the transportation simulation data sent by the server, and render and display the transportation display information of the material to be transported in the virtual space based on the transportation simulation data.

[0166] A transport simulation system provided in the present specification realizes that a server determines the transport starting point of the material to be transported in the virtual space according to the transport instructions for the material to be transported, determines at least one transport end point according to the transport direction, and constructs a target transport path according to the transport starting point and at least one transport end point, thereby deriving and calculating the transport simulation data of the material to be transported in the virtual space based on the target transport path, so that the client can render the transport display information of the material to be transported in the virtual space based on the transport simulation data, completing the simulated transport effect of the material to be transported in the mechanized transport process, avoiding the situation where simulated transport errors are caused by insufficient client performance, and improving the accuracy of simulated transport.

[0167] The above is a schematic scheme of a transport simulation system of this embodiment. It should be noted that the technical scheme of the transport simulation system and the technical scheme of the above transport simulation method belong to the same concept, and the details not described in detail in the technical scheme of the transport simulation system can be referred to the description of the technical scheme of the above transport simulation method.

[0168] Corresponding to the above method embodiment, this specification also provides a transport simulation device embodiment, Fig. 9 FIG. 2 shows a schematic diagram of the structure of another transport simulation device provided by an embodiment of the present specification. Fig. 9 As shown, the device comprises:

[0169] A response module 902 is configured to determine a transportation starting point of the material to be transported in the virtual space in response to a transportation instruction for the material to be transported;

[0170] A determination module 904 is configured to determine at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction;

[0171] A selection module 906 is configured to select a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point;

[0172] The calculation module 908 is configured to calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client;

[0173] The loop module 910 is configured to determine the associated transportation starting point of the material to be transported in the virtual space corresponding to the next transportation simulation cycle, and use it as the transportation starting point to continue to execute the step of determining at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction until the material to be transported is located at the target transportation position corresponding to the transportation instruction.

[0174] A transport simulation device provided in the present specification realizes that a server determines the transport starting point of a material to be transported in a virtual space according to transport instructions for the material to be transported, determines at least one transport end point according to the transport direction, and constructs a target transport path according to the transport starting point and at least one transport end point, thereby deriving and calculating transport simulation data of the material to be transported in the virtual space based on the target transport path, so that a client can render transport display information of the material to be transported in the virtual space based on the transport simulation data, thereby completing the simulated transport effect of the material to be transported in the mechanized transport process, avoiding simulated transport errors caused by insufficient client performance, and improving the accuracy of simulated transport.

[0175] The above is a schematic scheme of a transport simulation device of this embodiment. It should be noted that the technical scheme of the transport simulation device and the technical scheme of the above transport simulation method belong to the same concept, and the details not described in detail in the technical scheme of the transport simulation device can be referred to the description of the technical scheme of the above transport simulation method.

[0176] Fig.10The block diagram of a computing device 1000 according to an embodiment of the present specification is shown. The components of the computing device 1000 include but are not limited to a memory 1010 and a processor 1020. The processor 1020 is connected to the memory 1010 via a bus 1030, and the database 1050 is used to store data.

[0177] The computing device 1000 also includes an access device 1040, which enables the computing device 1000 to communicate via one or more networks 1060. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 1040 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0178] In one embodiment of the present specification, the above components of the computing device 1000 and Fig.10 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Fig.10 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0179] The computing device 1000 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 1000 may also be a mobile or stationary server.

[0180] The processor 1020 is used to execute the following computer executable instructions, which implement the steps of the above-mentioned transportation simulation method when executed by the processor.

[0181] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned transportation simulation method belong to the same concept, and the details of the technical scheme of the computing device not described in detail can be referred to the description of the technical scheme of the above-mentioned transportation simulation method.

[0182] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the above-mentioned transportation simulation method.

[0183] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned transportation simulation method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned transportation simulation method.

[0184] An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned transportation simulation method.

[0185] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the above-mentioned transportation simulation method belong to the same concept, and the details not described in detail in the technical scheme of the computer program can be referred to the description of the technical scheme of the above-mentioned transportation simulation method.

[0186] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0187] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0188] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0189] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0190] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A transportation simulation method, applied to a server, comprising: In response to a transportation instruction for a material to be transported, determining a transportation starting point of the material to be transported in a virtual space; Determining at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction; Selecting a target transport path from at least one transport path constructed by the transport starting point and the at least one transport end point; The transportation simulation data of the material to be transported in the virtual space is calculated based on the target transportation path, and the transportation simulation data is sent to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client.

2. The method according to claim 1, in response to a transportation instruction for a material to be transported, determining a transportation starting point of the material to be transported in a virtual space, comprising: In response to a transportation instruction for a material to be transported, determining in a virtual space a transportation device corresponding to the material to be transported; A target position coordinate point is selected from the position coordinate points corresponding to the transportation equipment and used as the transportation starting point of the material to be transported in the virtual space.

3. The method according to claim 1, determining at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction, comprises: Determine the location range information of the transportation starting point in the virtual space; Determining at least one receiving device in the virtual space according to the transport direction and the location range information carried in the transport instruction; At least one transport destination is determined in a receiving location coordinate point corresponding to the at least one receiving device.

4. The method according to claim 1, wherein selecting a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point comprises: Constructing at least one transport route according to the transport starting point and the at least one transport end point; Path length information corresponding to the at least one transportation path is calculated respectively, and a target transportation path is selected from the at least one transportation path based on the path length information.

5. The method according to claim 4, before respectively calculating the path length information corresponding to the at least one transportation path, further comprising: Performing spatial division on the virtual space to obtain an octree space corresponding to the virtual space; The path length information corresponding to the transport path is calculated, including: Determine in the octree space a first spatial node corresponding to the transport starting point and a second spatial node corresponding to the transport end point in the transport path; Calculate the path length information of the transport path based on the node position vectors corresponding to the first spatial node and the second spatial node respectively.

6. The method according to claim 5, wherein the step of calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path comprises: Determine a node displacement vector of the target transport path in the octree space; The transportation simulation data of the material to be transported in the virtual space is generated according to the target transportation path and the node displacement vector.

7. The method according to claim 5, before responding to the transportation instruction for the material to be transported, the method further comprises: receiving measurement data associated with the real space, and constructing the virtual space based on the measurement data; A spatial position vector corresponding to the virtual space is determined in the octree space, wherein the spatial position vector includes node position vectors corresponding to the first spatial node and the second spatial node, respectively.

8. The method according to claim 7, after selecting a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point, the method further comprises: Calculating the material to be transported according to the target transport path to obtain a material position vector of the material to be transported in the octree space; The spatial position vector corresponding to the virtual space is updated based on the material position vector to obtain an updated spatial position vector.

9. A transportation simulation method, applied to a server, comprising: In response to a transportation instruction for a material to be transported, determining a transportation starting point of the material to be transported corresponding to a transportation simulation cycle in a virtual space; Determining at least one transportation destination in the virtual space according to the transportation direction carried in the transportation instruction; Selecting a target transport path from at least one transport path constructed by the transport starting point and the at least one transport end point; The transport simulation data of the material to be transported in the virtual space is calculated based on the target transport path, and the transport simulation data is sent to the client, wherein: The transportation simulation data is used to render, on the client, transportation display information of the material to be transported in the virtual space; Determine the associated transportation starting point of the material to be transported in the virtual space corresponding to the next transportation simulation cycle, and use it as the transportation starting point, and continue to execute the step of determining at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction until the material to be transported is located at the target transportation position corresponding to the transportation instruction.

10. A transport simulation system, comprising a server and a client, wherein: The server is used to determine the transportation starting point of the material to be transported in the virtual space in response to the transportation instruction for the material to be transported; determine at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction, select a target transportation path from at least one transportation path constructed by the transportation starting point and the at least one transportation end point, calculate the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and send the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client; The client is used to receive the transportation simulation data sent by the server, and render and display the transportation display information of the material to be transported in the virtual space based on the transportation simulation data.

11. A transport simulation system, comprising a server and a client, wherein: The service end is used to determine the transportation starting point of the material to be transported corresponding to the transportation simulation cycle in the virtual space in response to the transportation instruction for the material to be transported; and determine at least one transportation end point in the virtual space according to the transportation direction carried in the transportation instruction; Selecting a target transport path from at least one transport path constructed by the transport starting point and the at least one transport end point; Calculating the transportation simulation data of the material to be transported in the virtual space based on the target transportation path, and sending the transportation simulation data to the client, wherein the transportation simulation data is used to render the transportation display information of the material to be transported in the virtual space on the client; Determine the associated transport starting point of the material to be transported in the virtual space corresponding to the next transport simulation cycle, and use it as the transport starting point, and continue to perform the step of determining at least one transport end point in the virtual space according to the transport direction carried in the transport instruction until the material to be transported is located at the target transport position corresponding to the transport instruction; The client is used to receive the transportation simulation data sent by the server, and render and display the transportation display information of the material to be transported in the virtual space based on the transportation simulation data.

12. A computing device comprising: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the method described in any one of claims 1 to 9 are implemented.

13. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the steps of the method according to any one of claims 1 to 9.

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