A perception control system for a mechanical dot matrix sandbox module

Abstract

The invention discloses a perception control system of a mechanical dot matrix sandbox module, and relates to the technical field of sandbox control, comprising: a perception module obtains the current environment of the sandbox by collecting real-time environmental data of the sandbox; a sandbox control model controls the movement of dot matrix units in the sandbox by using a dot matrix control method, so that the current environment of the sandbox is consistent with a preset environment, and obtains a sandbox environment model; a data processing module plans the movement path of an object on the surface of the sandbox by using a path planning method, and obtains the object movement path; an object control module controls the movement of a corresponding object according to the object movement path; a user interface module provides an interactive interface between a user and a system; the invention simulates different complex environments by controlling the movement of dot matrix units in the sandbox; a solution is calculated according to preset task instructions, and the movement of objects on the surface of the sandbox is controlled, thereby improving the intelligence and interactivity of the sandbox system.

Description

Technical Field

[0001] The present invention relates to the technical field of sandbox control, and in particular to a perception control system of a mechanical dot matrix sandbox module. Background Art

[0002] Traditional sand tables mostly use static models or electronic sand tables, which are constructed manually or mechanically. The display content is relatively fixed, and it is difficult to update in real time and dynamically simulate changes in complex environments. Electronic sand tables cannot provide a complete perspective display, which is not conducive to decision-making, and have obvious deficiencies in interactivity and intelligence. They cannot provide real-time data feedback and intelligent analysis, which limits their application in modern decision support systems.

[0003] For example, a Chinese patent application with publication number CN115480497A discloses a cloud sandbox and a sandbox control system, including: a central control device and an electronic sandbox connected to each other; the central control device is wirelessly connected to a cloud resource system; the central control device is used to receive content scenes sent by the cloud resource system; the central control device is used to control the electronic sandbox to simulate the three-dimensional scene corresponding to the content scene for display.

[0004] The above technical solutions have the problems raised by the background technology: the traditional mechanical sandbox has a fixed shape, cannot dynamically simulate the changes in a complex environment, has poor interactivity, and users cannot set the sandbox environment according to actual needs. It is not intelligent enough and cannot provide real-time decision support. To solve the above problems, the present invention proposes a perception control system for a mechanical dot matrix sandbox module. Summary of the invention

[0005] In view of the shortcomings of the prior art, the main purpose of the present invention is to provide a perception control system for a mechanical dot matrix sandbox module, which can effectively solve the problems in the background technology. The specific technical solutions of the present invention are as follows:

[0006] A perception control system of a mechanical dot matrix sandbox module, comprising:

[0007] Perception module, sandbox control module, data processing module, object control module and user interface module; wherein:

[0008] The perception module obtains the current environment of the sandbox by collecting real-time environmental data of the sandbox;

[0009] The sandbox control module uses a dot matrix control method to control the movement of dot matrix units in the sandbox, so that the current environment of the sandbox is consistent with the preset environment, and a sandbox environment model is obtained;

[0010] The data processing module plans the moving path of the object on the surface of the sandbox according to the sandbox environment model and the preset object target position, and obtains the moving path of the object;

[0011] The object control module controls the movement of the corresponding object according to the object movement path;

[0012] The user interface module provides an interactive interface between the user and the system, enabling the user to control the sandbox.

[0013] Specifically, the perception module includes:

[0014] A vision sensor unit and a lidar unit; wherein:

[0015] The visual sensor unit collects image data of the sandbox through a camera;

[0016] The laser radar unit collects terrain data of the sandbox through the laser radar.

[0017] Specifically, the sandbox control module includes:

[0018] A dot matrix control unit and a dot matrix driving unit; wherein:

[0019] The dot matrix control unit uses a dot matrix control method to solve the moving path of each dot matrix unit in the sandbox according to the current environment of the sandbox and the preset environment;

[0020] The dot matrix driving unit drives the movement of the dot matrix unit according to the movement path of each dot matrix unit to obtain a sandbox environment model.

[0021] Specifically, the dot matrix control unit uses a dot matrix control method to solve the moving path of each dot matrix unit in the sandbox according to the current environment of the sandbox and the preset environment, including:

[0022] According to the preset environment, the target coordinates of each dot matrix unit in the sandbox are obtained, wherein the target coordinates are three-dimensional coordinates;

[0023] According to the plane information of the current coordinates and target coordinates of each dot matrix unit in the sandbox, the moving path of each dot matrix unit moving to the corresponding target coordinates on the plane is obtained by using the layered moving method;

[0024] According to the height information of the target coordinates, the lifting and lowering of each dot matrix unit is controlled so that each dot matrix unit is adjusted to the corresponding target coordinate position.

[0025] Specifically, the method of obtaining the moving path of each dot matrix unit on the plane to the corresponding target coordinates by using the layered moving method according to the plane information of the current coordinates and the target coordinates of each dot matrix unit in the sandbox includes:

[0026] According to the plane information of the current coordinates and the target coordinates of each dot matrix unit in the sandbox, the movement vector of each dot matrix unit is calculated, wherein the movement vector includes the movement direction and distance;

[0027] Using the clustering method, according to the similarity of the motion vectors, multiple lattice units are classified as one class to obtain multiple lattice blocks;

[0028] According to the moving path length of each dot matrix block, each dot matrix block is controlled to move to the corresponding target coordinate area;

[0029] In each dot matrix block after reaching the target coordinate area, each dot matrix unit is adjusted to the corresponding target coordinate plane position.

[0030] Specifically, the data processing module includes:

[0031] Environmental analysis unit and path planning unit; wherein:

[0032] The environment analysis unit marks the dot matrix units with obstacles on the sandbox as obstacle dot matrix units, and marks the dot matrix units without obstacles as non-obstacle dot matrix units according to the sandbox environment model;

[0033] The path planning unit plans the moving path of the object on the non-obstacle lattice unit according to the preset object target position and obtains the moving path of the object by using the path planning method.

[0034] Specifically, the path planning unit plans the moving path of the object on the non-obstacle lattice unit according to the preset object target position using the path planning method to obtain the moving path of the object, including:

[0035] According to a preset target position and current position of the object, a straight line between the target position and the current position is expanded outward by a preset width to obtain an initial path area;

[0036] In the initial path area, using the A* algorithm, searching for multiple intermediate lattice units in non-obstacle lattice units;

[0037] Connect each intermediate dot matrix unit to obtain the object's moving path.

[0038] Specifically, the object control module includes:

[0039] An object driving unit and an object status monitoring unit; wherein:

[0040] The object driving unit controls the movement of the object according to the movement path of the object;

[0041] The object state monitoring unit optimizes the object moving path according to the real-time moving state of the object on the surface of the sandbox using a dynamic optimization method.

[0042] Specifically, the object state monitoring unit optimizes the object movement path according to the real-time movement state of the object on the surface of the sandbox using a dynamic optimization method, including:

[0043] According to the image data of the sandbox in the perception module, the movement status of multiple objects on the surface of the sandbox is obtained;

[0044] When objects are moving, set the safe distance that needs to be maintained between objects;

[0045] Constructing a path optimization model according to the safety distance and the moving state of the object;

[0046] The path optimization model is solved using a dynamic optimization method to obtain an optimized moving path of the object.

[0047] Specifically, the user interface module includes:

[0048] A graphical user interface unit, an operation control unit, a parameter setting unit and a log recording unit; wherein:

[0049] The graphical user interface unit is used to display the real-time environmental status of the sandbox;

[0050] The operation control unit provides an operation control interface to enable the user to manually or automatically control the operation status of the sandbox;

[0051] The parameter setting unit provides a parameter setting interface to enable the user to set the sandbox operation parameters;

[0052] The log recording unit is used to record the running status of the sandbox.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] The present invention collects real-time environmental data of the sandbox through a perception module, provides accurate data information for a data processing module, and enables a user to understand the state of the sandbox more intuitively; controls the movement of dot matrix units in the sandbox through a sandbox control module, simulates different complex environments, and provides intuitive environmental simulation displays; processes preset task instructions through a data processing module, and calculates solutions; controls the movement of objects on the surface of the sandbox according to solutions and actual needs through an object control module, realizes visualization of the control process, and improves the automation and intelligence of the system; and provides an interactive interface between the user and the sandbox system through a user interface module, realizes real-time control and monitoring of the sandbox by the user, and improves the usability and interactivity of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the structure of a perception control system of a mechanical dot matrix sandbox module in Example 1 of the present invention;

[0056] Figure 2 This is a flowchart of the process of controlling the movement of the dot matrix unit by the layered movement method in Embodiment 1 of the present invention;

[0057] Figure 3 This is a schematic diagram of object path planning in Example 1 of the present invention;

[0058] Figure 4 This is a workflow diagram for path optimization using the dynamic optimization method in Example 1 of the present invention. DETAILED DESCRIPTION

[0059] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0060] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0061] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0062] Example 1

[0063] This embodiment provides a perception control system for a mechanical dot matrix sandbox module, such as Figure 1 As shown, the perception control system of the mechanical dot matrix sandbox module includes:

[0064] Perception module, sandbox control module, data processing module, object control module and user interface module; wherein:

[0065] The perception module obtains the current environment of the sandbox by collecting real-time environmental data of the sandbox;

[0066] The sandbox control module uses a dot matrix control method to control the movement of dot matrix units in the sandbox, so that the current environment of the sandbox is consistent with the preset environment, and a sandbox environment model is obtained;

[0067] The data processing module plans the moving path of the object on the surface of the sandbox according to the sandbox environment model and the preset object target position, and obtains the moving path of the object;

[0068] The object control module controls the movement of the corresponding object according to the object movement path;

[0069] The user interface module provides an interactive interface between the user and the system, enabling the user to control the sandbox.

[0070] At present, physical sandboxes or electronic sandboxes are often used to simulate the environment. However, the physical sandbox has a fixed structure, high production cost and cannot realize interactive operation. The electronic sandbox has a limited observation angle and cannot provide a comprehensive three-dimensional perspective. The present invention is based on a mechanical dot matrix sandbox module, which can realize the simulation of different complex environments by controlling the movement of mechanical dot matrix units in the sandbox, thereby providing a more accurate sandbox simulation effect. Users can place objects on the surface of the sandbox and set control tasks according to actual needs, such as transmitting object A to the target position. The system can calculate the optimal transmission path according to the control task, and control the movement of object A according to the optimal transmission path, thereby realizing the visualization of the control process, providing environmental reference and decision-making reference for actual decision-making, thereby improving the scientificity and efficiency of decision-making.

[0071] In this embodiment, the present invention includes a perception module, a sandbox control module, a data processing module, an object control module and a user interface module. The real-time environmental data of the sandbox is collected through the perception module; the sandbox control module controls the movement of the dot matrix units in the sandbox according to the preset complex environment and real-time environmental data, so that the sandbox simulates the corresponding complex environment; the data processing module plans the movement trajectory of the object according to the environment on the sandbox, obtains the optimal movement route of the object, and adjusts and optimizes the movement route of the object in real time according to the real-time movement of other objects, controls the object to reach the target position smoothly, and provides a visual interface in the entire control process, the user can observe the real-time changes of the sandbox, and can control the change process of the sandbox through the interface to realize interactive operation.

[0072] Specifically, the perception module collects real-time environmental data of the sandbox, such as environmental information such as the terrain and obstacles on the sandbox surface and the movement of objects on the sandbox surface, by setting multiple sensors on the surface and inside the sandbox. By acquiring the sandbox environmental data in real time, the data processing module provides accurate data information, so that the user can understand the state of the sandbox more intuitively; the sandbox control module can change the shape of the sandbox by controlling the movement of the sandbox dot matrix unit, thereby simulating different complex environments and providing intuitive environmental simulation display; the data processing module plans the optimal or feasible movement path from the current position of the object to the target position according to the environment of the sandbox and the movement of objects on the sandbox surface by using the path planning method. The path planning method can be the A* algorithm, the Dijkstra algorithm, etc. The specific path planning method is the A* method combined with the optimization algorithm, which enables the object to reach the target position in a shorter time. Through path planning, a reasonable movement path can be automatically found for the object in a complex sandbox environment, thereby improving the automation and intelligence of the system.

[0073] Specifically, the object control module drives the movement of objects according to the planned movement path, detects the movement status of multiple objects on the sandbox surface in real time, and adjusts and optimizes the movement path of the objects in real time. Through the object control module, precise control of objects and path optimization are achieved, thereby improving the accuracy of decision-making; the user interface module provides an interactive interface between the user and the sandbox system. The user can input instructions and set parameters through the interactive interface, and display real-time environmental models, object positions and other information on the visual interface for the user to monitor and make decisions. By providing a user interactive interface, the user can achieve real-time control and monitoring of the sandbox, thereby improving the availability and interactivity of the system.

[0074] The present invention collects real-time environmental data of the sandbox through a perception module, provides accurate data information for a data processing module, and enables a user to understand the state of the sandbox more intuitively; controls the movement of dot matrix units in the sandbox through a sandbox control module, simulates different complex environments, and provides intuitive environmental simulation displays; processes preset task instructions through a data processing module, and calculates solutions; controls the movement of objects on the surface of the sandbox according to the solutions through an object control module, realizes visualization of the control process, and improves the automation and intelligence of the system; and provides an interactive interface between the user and the sandbox system through a user interface module, realizes real-time control and monitoring of the sandbox by the user, and improves the usability and interactivity of the system.

[0075] Furthermore, the perception module includes:

[0076] A vision sensor unit and a lidar unit; wherein:

[0077] The visual sensor unit collects image data of the sandbox through a camera;

[0078] The laser radar unit collects terrain data of the sandbox through the laser radar.

[0079] In this embodiment, the perception module includes multiple units, which respectively collect environmental data of the sandbox, including a visual sensor unit and a laser radar unit, which respectively collect different environmental data of the sandbox. Specifically, the visual sensor unit installs a camera above or on the side of the sandbox to ensure that the camera can capture the image of the entire sandbox surface, providing data support for the decision-making of other modules. Through the visual sensor unit, the image data of the sandbox surface can be captured in real time, and the real-time sandbox image information is provided to the data processing module; the laser radar unit measures the terrain data of the sandbox surface by emitting a laser beam and receiving the signal reflected back, and can accurately measure the distance, height and other information of the sandbox surface to obtain the terrain data of the sandbox surface. The laser radar has high measurement accuracy and resolution, can capture small changes on the sandbox surface, can measure the ups and downs of the sandbox surface, obstacle positions and other information, and provide accurate basic data for decision-making.

[0080] Specifically, each unit in the perception module provides an accurate and real-time data basis for the data processing module by collecting different environmental data. These units have high measurement accuracy and stability, can work stably for a long time, and provide reliable data support for the control and decision-making of the mechanical dot matrix sandbox.

[0081] Furthermore, the sandbox control module includes:

[0082] A dot matrix control unit and a dot matrix driving unit; wherein:

[0083] The dot matrix control unit uses a dot matrix control method to solve the moving path of each dot matrix unit in the sandbox according to the current environment of the sandbox and the preset environment;

[0084] The dot matrix driving unit drives the movement of the dot matrix unit according to the movement path of each dot matrix unit to obtain a sandbox environment model.

[0085] In this embodiment, the sandbox control module includes a dot matrix control unit and a dot matrix driving unit. The dot matrix control unit generates a movement instruction for each dot matrix unit by comparing the difference between the current environment of the sandbox and the preset environment. Each dot matrix unit in the sandbox has a corresponding coordinate position. According to the dot matrix unit coordinate position required by the preset environment, each dot matrix unit is controlled to move to the corresponding coordinate position, and a movement path is planned for each dot matrix unit that can make the current environment approach the preset environment; by planning the movement path of each dot matrix unit, the efficiency of the sandbox environment simulation is improved to meet the simulation requirements of different complex environments.

[0086] Specifically, the dot matrix driving unit converts the moving path output by the dot matrix control unit into actual mechanical action, drives the movement of the dot matrix unit, and starts the corresponding driving device according to the requirements of the moving path, so that each dot matrix unit moves according to the corresponding moving path, ensuring that each dot matrix unit accurately reaches the corresponding target position, thereby ensuring the quality and accuracy of the sandbox environment simulation.

[0087] Furthermore, the dot matrix control unit uses a dot matrix control method to solve the moving path of each dot matrix unit in the sandbox according to the current environment of the sandbox and the preset environment, including:

[0088] S101, according to a preset environment, obtaining the target coordinates of each dot matrix unit in the sandbox, wherein the target coordinates are three-dimensional coordinates;

[0089] S102, according to the plane information of the current coordinates and the target coordinates of each dot matrix unit in the sandbox, using the layered movement method, obtain the movement path of each dot matrix unit on the plane to the corresponding target coordinates;

[0090] S103 . According to the height information of the target coordinates, control the lifting and lowering of each dot matrix unit so that each dot matrix unit is adjusted to the corresponding target coordinate position.

[0091] In this embodiment, the target coordinates of each dot matrix unit are obtained according to the preset complex environment, and the preset environment is regarded as a three-dimensional space model. The corresponding target coordinates are set for each dot matrix unit according to the color or function of the different dot matrix units, wherein the target coordinates are three-dimensional coordinates, including plane coordinates and height coordinates. By calculating the target coordinates of each dot matrix unit, the accurate target position can be determined for each dot matrix unit, providing a basis for the movement of the dot matrix unit, ensuring that the preset environment can be accurately reproduced, and with clear target coordinates, it can be conveniently compared with the current coordinates, so as to plan a reasonable moving path for each dot matrix unit.

[0092] Specifically, in the process of controlling the movement of the dot matrix unit in the sandbox, the translation of the dot matrix unit in the plane (xy plane) is first controlled, and after it is moved to the corresponding position, the height (z axis) of the dot matrix unit is lifted and lowered to adjust it to the corresponding target coordinate position. For the movement on the plane, the layered movement method is used to obtain the current plane coordinates and the target plane coordinates according to the plane information of the current coordinates and the target coordinates of each dot matrix unit in the sandbox. According to the similarity of the movement path of each dot matrix unit, the dot matrix block is obtained, and the dot matrix block is first controlled to move to the corresponding target position area, and the movement of each dot matrix unit is controlled within the dot matrix block to realize layered movement. Through layered movement, the movement efficiency of the dot matrix unit can be improved, and the rapid simulation of the complex environment can be realized. After each dot matrix unit reaches the corresponding target plane coordinate, the lifting and lowering of each dot matrix unit is controlled, so that the height coordinate of each dot matrix unit is adjusted from the current height to the corresponding target height, so that each dot matrix unit is adjusted to the corresponding target coordinate position. By adjusting the plane coordinates and height coordinates of the dot matrix unit, the position of the dot matrix unit in the three-dimensional space can be fully controlled to realize the complete shaping of the sandbox environment.

[0093] Further, such as Figure 2 , the method of obtaining the moving path of each dot matrix unit on the plane to the corresponding target coordinates by using the layered moving method according to the plane information of the current coordinates and the target coordinates of each dot matrix unit in the sandbox includes:

[0094] S201, calculating a moving vector of each dot matrix unit according to the plane information of the current coordinates and the target coordinates of each dot matrix unit in the sandbox, wherein the moving vector includes a moving direction and a distance;

[0095] S202, using a clustering method, according to the similarity of the motion vectors, a plurality of dot matrix units are classified into one category to obtain a plurality of dot matrix blocks;

[0096] S203, according to the length of the moving path of each dot matrix block, the dot matrix block with a long moving path is moved first, and each dot matrix block is controlled to move to a corresponding target coordinate area;

[0097] S204: After reaching the target coordinate area, in each dot matrix block, adjust each dot matrix unit to a corresponding target coordinate plane position.

[0098] In this embodiment, the movement vector of each dot matrix unit is calculated according to the plane information of the current coordinates and the target coordinates of each dot matrix unit in the sandbox. The calculation formula is as follows:

[0099] ;

[0100] ;

[0101] ;

[0102] In the formula, is the movement vector of the lattice unit m, is the moving distance of the lattice unit m, is the moving direction of the lattice unit m, are the horizontal and vertical coordinates of the current plane coordinates of the lattice unit m, are the horizontal and vertical coordinates of the target plane coordinates of the dot matrix unit m respectively. The movement vector of each dot matrix unit is calculated according to the formula, and the dot matrix units are clustered into multiple dot matrix blocks according to the similarity of the vectors. The similarity calculation formula is as follows:

[0103] ;

[0104] ;

[0105] ;

[0106] In the formula, is the similarity of the motion vector between the lattice unit m and the lattice unit n, is the similarity of the moving directions of lattice unit m and lattice unit n, is the similarity of the moving distance between the dot matrix unit m and the dot matrix unit n, and is the weight coefficient, which can be set according to actual calculation needs. are the moving distance and moving direction of the lattice unit m, are the moving distance and moving direction of the lattice unit n respectively. The lattice units with similar moving requirements are divided into lattice blocks through clustering, and the lattice blocks are uniformly managed and controlled, which reduces the complexity of control and improves the moving efficiency.

[0107] Specifically, the length of the moving path of each dot matrix block is calculated. The dot matrix blocks with longer moving paths require more time and space to complete the movement. Controlling the dot matrix blocks with long moving paths to move first allows them to have enough space and time to complete the movement when other dot matrix blocks have not moved in large quantities, effectively reducing the mutual interference and conflict between different dot matrix blocks during the movement process, thereby improving the movement efficiency of the entire system; when each dot matrix block reaches the corresponding target coordinate area, in each dot matrix block, control the movement of each dot matrix unit to accurately reach the corresponding target position, and by fine-tuning each dot matrix unit inside the dot matrix block, a more precise plane layout can be achieved, thereby improving the accuracy of environmental simulation.

[0108] Furthermore, the data processing module includes:

[0109] Environmental analysis unit and path planning unit; wherein:

[0110] The environment analysis unit marks the dot matrix units with obstacles on the sandbox as obstacle dot matrix units, and marks the dot matrix units without obstacles as non-obstacle dot matrix units according to the sandbox environment model;

[0111] The path planning unit plans the moving path of the object on the non-obstacle lattice unit according to the preset object target position and obtains the moving path of the object by using the path planning method.

[0112] In this embodiment, the data processing module includes an environment analysis unit and a path planning unit. The environment analysis unit identifies obstacles based on the sandbox environment model. Each dot matrix unit in the sandbox contains the terrain information inside the dot matrix unit. By analyzing the terrain information corresponding to each dot matrix unit, it is determined which dot matrix units constitute obstacles to the movement of objects. For example, if the height of a dot matrix unit exceeds a certain threshold or the dot matrix unit is marked as having an inaccessible object, then the dot matrix unit is determined to be an obstacle dot matrix unit; through the environment analysis unit, obstacles can be accurately found in the sandbox environment model, providing accurate environmental information for subsequent path planning, and avoiding collisions between objects and obstacles during movement.

[0113] Specifically, the path planning unit uses the path planning method to find a feasible path for the object from the current position to the target position on the non-obstacle dot matrix unit. This embodiment uses the A* algorithm to perform path search, and considers the length of the path to find an optimal moving path; through the path planning unit, it can automatically find a reasonable moving path for the object in a complex sandbox environment, thereby improving the automation and intelligence of the system; through the path planning method, path search and planning can be completed in a shorter time, thereby improving the operating efficiency of the system and meeting the needs of real-time simulation or rapid decision-making.

[0114] Furthermore, the path planning unit plans the moving path of the object on the non-obstacle lattice unit according to the preset target position of the object by using the path planning method to obtain the moving path of the object, including:

[0115] S301, according to a preset target position and current position of an object, expanding a straight line between the target position and the current position outward by a preset width to obtain an initial path area;

[0116] S302, in the initial path area, using the A* algorithm to search for a plurality of intermediate lattice units in non-obstacle lattice units;

[0117] S303, connecting each intermediate dot matrix unit to obtain the object moving path.

[0118] In this embodiment, based on the preset target position and current position of the object, the straight line determined by the current position and target position of the object is used as a reference to expand to both sides by a certain width. The width can be set according to the actual environment and calculation needs to form an area containing this straight line and having a certain width, and the initial path area is obtained. By dividing the initial path area, it is possible to avoid directly searching for the path in the entire sandbox environment, thereby improving the search efficiency.

[0119] Specifically, in the initial path area, such as Figure 3 , Figure 3 Each grid is a lattice unit, and the grid with shadow is an obstacle lattice unit. The starting point can search the surrounding adjacent lattice units as the next lattice unit. Each step searches in the adjacent lattice units until the end position is searched. The A* algorithm is used to search in the non-obstacle lattice units. Starting from the lattice unit where the starting point is located, the adjacent lattice units are searched. These adjacent lattice units constitute the neighborhood of the current lattice unit. The neighborhood search can reduce the complexity of the search and ensure the continuity of the path between the lattice units. According to the preset evaluation function, the lattice unit with the best evaluation result among the adjacent lattice units is selected as the next lattice unit. The evaluation function in this embodiment is:

[0120] ;

[0121] In the formula, is the evaluation value, is the actual cost from the starting point to the current lattice unit, The estimated cost from the current lattice unit to the end point is evaluated using the Euclidean distance. By calculating the evaluation value of each adjacent lattice unit, the lattice unit with the smallest evaluation value is selected as the next lattice unit. By selecting the lattice unit with the smallest evaluation value, the shortest path can be gradually selected; the intermediate lattice unit sequence is obtained from the output of the A* algorithm, and these intermediate lattice units are connected, gradually connected from the starting point to the end point, forming the moving path of the object, ensuring that the object can move to the target position along a continuous, collision-free path, and improving the efficiency of object movement.

[0122] Furthermore, the object control module includes:

[0123] An object driving unit and an object status monitoring unit; wherein:

[0124] The object driving unit controls the movement of the object according to the movement path of the object;

[0125] The object state monitoring unit optimizes the object moving path according to the real-time moving state of the object on the surface of the sandbox using a dynamic optimization method.

[0126] In this embodiment, the object control module includes an object driving unit and an object state monitoring unit. The object driving unit converts the object's moving path into an actual driving signal to control the object's movement on the sand table. By controlling the movement of the object, the object can move on the sand table according to the expected trajectory, thereby achieving accurate scene simulation. After the object's moving path is determined, the object driving unit can automatically complete the object's movement control, thereby improving the efficiency and automation of the simulation process.

[0127] Specifically, there may be multiple objects on the surface of the sandbox. When the target object moves along the moving path, other objects are also moving. During this process, movement path conflicts or collisions may occur. To avoid serious problems such as collisions, it is necessary to optimize the movement paths of the objects according to the real-time movement status of multiple objects on the sandbox surface using a dynamic optimization method. Through real-time monitoring and path optimization, mutual collisions between objects can be effectively avoided, object models and equipment on the sandbox can be protected, and the safety and stability of the simulation process can be ensured. Automatically adjusting the movement path of the object according to actual conditions can adapt to dynamic changes in the sandbox environment and object status, thereby enhancing the stability of the system.

[0128] Further, such as Figure 4 The object state monitoring unit optimizes the object movement path according to the real-time movement state of the object on the surface of the sandbox using a dynamic optimization method, including:

[0129] S401, obtaining the movement status of multiple objects on the surface of the sandbox according to the image data of the sandbox in the perception module;

[0130] S402, during the movement of objects, setting a safe distance to be maintained between objects;

[0131] S403: constructing a path optimization model according to the safety distance and the moving state of the object;

[0132] S404: Solve the path optimization model using a dynamic optimization method to obtain an optimized moving path of the object.

[0133] In this embodiment, the sandbox image data collected by the perception module is obtained, and the movement status of each object on the sandbox surface is extracted therefrom. By comparing multiple consecutive frames of images, the movement status information such as the displacement, speed and movement direction of the object is calculated according to the position change of the object contour in different frames and the time interval; by analyzing the movement status of each object on the sandbox surface, the actual movement of the object on the sandbox can be grasped in real time, providing an accurate data basis for subsequent path optimization; through image data, the movement status of multiple objects can be obtained at the same time, which is convenient for analyzing the distance relationship between objects in the entire sandbox scene, and is conducive to optimizing the movement path of the objects.

[0134] Specifically, in order to avoid collisions between objects during movement, a safety distance is set as a buffer space. By setting the safety distance, objects need to maintain a certain distance during movement, which can effectively avoid collisions and provide system safety. According to the safety distance and the moving state of the object, the shortest object moving time is used as the objective function, and the distance between objects is greater than or equal to the safety distance as a constraint condition to construct a path optimization model. The path optimization model is as follows:

[0135] ;

[0136] ;

[0137] Where T is the total time for all objects to move. is the moving time of object i from the current position to the target position, r is the total number of objects, are the horizontal and vertical coordinates of object i at time t, are the horizontal and vertical coordinates of object j at time t, respectively, and D is the safe distance. The distance between different objects cannot be less than the safe distance to ensure the safety of the objects during movement. By constructing a path optimization model, it is possible to find a moving path with the shortest time while avoiding collisions between objects. The particle swarm optimization method is used to solve the model, and the maximum number of iterations is set. When the preset maximum number of iterations is reached, the path solved at this time is the optimized moving path.

[0138] Specifically, according to the optimized moving path of the object, the movement of the corresponding object is controlled to achieve precise movement control of the object, ensuring that the object can reach the target position according to the planned optimal path. The object status monitoring unit realizes the precise perception and control of objects on the surface of the mechanical dot matrix sandbox, provides support for the dynamic optimization of the object's moving path, and ensures the efficient operation of the system and the effective realization of the path optimization function.

[0139] Furthermore, the user interface module includes:

[0140] A graphical user interface unit, an operation control unit, a parameter setting unit and a log recording unit; wherein:

[0141] The graphical user interface unit is used to display the real-time environmental status of the sandbox;

[0142] The operation control unit provides an operation control interface to enable the user to manually or automatically control the operation status of the sandbox;

[0143] The parameter setting unit provides a parameter setting interface to enable the user to set the sandbox operation parameters;

[0144] The log recording unit is used to record the running status of the sandbox.

[0145] In this embodiment, the user interface module provides an interactive interface, through which the user can control the change process of the sandbox, including a graphical user interface unit, an operation control unit, a parameter setting unit and a log recording unit. The graphical user interface unit displays the real-time environmental status of the sandbox in a graphical manner, including the position, speed, obstacle distribution, etc. of the object, and renders the environment through a graphics rendering engine, such as OpenGL, DirectX, etc., to obtain an intuitive sandbox environment display. Through the graphical interface display, the user can intuitively understand the real-time status of the sandbox, and supports user interaction, such as click, drag, etc., so that the user can observe the sandbox from different perspectives; the operation control unit provides an operation control interface, and the user can manually or automatically control the operation status of the sandbox. The user controls the sandbox through a keyboard, a mouse, a touch screen, etc., and the operation control unit can ensure that the sandbox runs in the expected manner.

[0146] Specifically, the parameter setting unit provides a parameter setting interface, and users can set the sandbox operating parameters as needed, such as the initial position of the object, moving speed, obstacle distribution, etc. Through parameter setting, it can be ensured that the sandbox operating parameters meet the requirements of the experiment or simulation; the log recording unit can record the operating status of the sandbox, including operating time, object position, speed change, obstacle status, etc., collect operating status information from the core module of the sandbox system, and store the collected log information in a designated log file or database. A log query function is provided, allowing users to query log information based on time range, object name and other conditions. Through the log recording unit, users can trace the operating history of the sandbox and understand its status at different time points. The log information can be used for subsequent data analysis to help users discover potential problems or optimization strategies; the user interface module provides users with an intuitive, flexible, configurable and traceable sandbox operation and control experience.

[0147] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A perception control system for a mechanical dot matrix sandbox module, characterized in that: include: Perception module, sandbox control module, data processing module, object control module and user interface module; wherein: The perception module obtains the current environment of the sandbox by collecting real-time environmental data of the sandbox; The sandbox control module uses a dot matrix control method to control the movement of dot matrix units in the sandbox, so that the current environment of the sandbox is consistent with the preset environment, and a sandbox environment model is obtained; The sandbox control module includes: a dot matrix control unit and a dot matrix driving unit; wherein: The dot matrix control unit uses a dot matrix control method to solve the moving path of each dot matrix unit in the sandbox according to the current environment of the sandbox and the preset environment, including: According to the preset environment, the target coordinates of each dot matrix unit in the sandbox are obtained, wherein the target coordinates are three-dimensional coordinates; According to the plane information of the current coordinates and target coordinates of each dot matrix unit in the sandbox, the moving path of each dot matrix unit moving to the corresponding target coordinates on the plane is obtained by using the layered moving method; According to the height information of the target coordinates, the lifting and lowering of each dot matrix unit is controlled so that each dot matrix unit is adjusted to the corresponding target coordinate position; The dot matrix driving unit drives the movement of the dot matrix unit according to the movement path of each dot matrix unit to obtain a sandbox environment model; The data processing module plans the moving path of the object on the surface of the sandbox according to the sandbox environment model and the preset object target position, and obtains the moving path of the object; The object control module controls the movement of the corresponding object according to the object movement path; The user interface module provides an interactive interface between the user and the system, enabling the user to control the sandbox.

2. A perception control system for a mechanical dot matrix sandbox module according to claim 1, characterized in that: The perception module comprises: A vision sensor unit and a lidar unit; wherein: The visual sensor unit collects image data of the sandbox through a camera; The laser radar unit collects terrain data of the sandbox through the laser radar.

3. The perception control system of a mechanical dot matrix sandbox module according to claim 1, characterized in that: The method of obtaining the moving path of each dot matrix unit on the plane to the corresponding target coordinates by using the layered moving method according to the plane information of the current coordinates and the target coordinates of each dot matrix unit in the sandbox includes: According to the plane information of the current coordinates and the target coordinates of each dot matrix unit in the sandbox, the movement vector of each dot matrix unit is calculated, wherein the movement vector includes the movement direction and distance; Using the clustering method, according to the similarity of the motion vectors, multiple lattice units are classified as one class to obtain multiple lattice blocks; According to the moving path length of each dot matrix block, each dot matrix block is controlled to move to the corresponding target coordinate area; In each dot matrix block after reaching the target coordinate area, each dot matrix unit is adjusted to the corresponding target coordinate plane position.

4. The perception control system of a mechanical dot matrix sandbox module according to claim 1, characterized in that: The data processing module comprises: Environmental analysis unit and path planning unit; wherein: The environment analysis unit marks the dot matrix units with obstacles on the sandbox as obstacle dot matrix units, and marks the dot matrix units without obstacles as non-obstacle dot matrix units according to the sandbox environment model; The path planning unit plans the moving path of the object on the non-obstacle lattice unit according to the preset object target position and obtains the moving path of the object by using the path planning method.

5. The perception control system of a mechanical dot matrix sandbox module according to claim 4, characterized in that: The path planning unit plans the moving path of the object on the non-obstacle lattice unit according to the preset object target position by using the path planning method to obtain the moving path of the object, including: According to a preset target position and current position of the object, a straight line between the target position and the current position is expanded outward by a preset width to obtain an initial path area; In the initial path area, using the A* algorithm, searching for multiple intermediate lattice units in non-obstacle lattice units; Connect each intermediate dot matrix unit to obtain the object's moving path.

6. The perception control system of a mechanical dot matrix sandbox module according to claim 1, characterized in that: The object control module comprises: An object driving unit and an object status monitoring unit; wherein: The object driving unit controls the movement of the object according to the movement path of the object; The object state monitoring unit optimizes the object moving path according to the real-time moving state of the object on the surface of the sandbox using a dynamic optimization method.

7. The perception control system of a mechanical dot matrix sandbox module according to claim 6, characterized in that: The object state monitoring unit optimizes the object movement path according to the real-time movement state of the object on the surface of the sandbox by using a dynamic optimization method, including: According to the image data of the sandbox in the perception module, the movement status of multiple objects on the surface of the sandbox is obtained; When objects are moving, set the safe distance that needs to be maintained between objects; Constructing a path optimization model according to the safety distance and the moving state of the object; The path optimization model is solved using a dynamic optimization method to obtain an optimized moving path of the object.

8. The perception control system of a mechanical dot matrix sandbox module according to claim 1, characterized in that: The user interface module comprises: A graphical user interface unit, an operation control unit, a parameter setting unit and a log recording unit; wherein: The graphical user interface unit is used to display the real-time environmental status of the sandbox; The operation control unit provides an operation control interface to enable the user to manually or automatically control the operation status of the sandbox; The parameter setting unit provides a parameter setting interface to enable the user to set the sandbox operation parameters; The log recording unit is used to record the running status of the sandbox.

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