Scene map generation method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a scene map generation method and device, electronic equipment and a storage medium. According to the specific scheme, the method comprises the following steps that a scene model of a target scene is obtained, the scene model comprises a scene entity and a channel entity, and the channel entity is associated with the scene entity; generating scene map elements of each scene entity in the scene model according to a corresponding relationship between the type of the scene entity and the element type of the scene map elements; generating channel map elements of the channel entities based on channel information of the channel entities in the scene model; and generating a scene map of the target scene based on the channel information, the generated scene map element and the channel map element. By applying the scheme provided by the embodiment of the invention, the efficiency of generating the scene map can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of simulation maps, and in particular to a method, device, electronic device and storage medium for generating a scene map. Background Art

[0002] In various fields, transport robots can be used to replace manual labor to transport goods and perform various tasks. For example, in the field of industrial automation production, transport robots can transport materials required for production and products produced. Then, the transport robot needs to automatically drive in the working environment according to the path information in the scene map of the working environment. Therefore, it is necessary to build a scene map of the working environment where the transport robot is located.

[0003] In the prior art, scene maps need to be drawn manually, and the efficiency of generating scene maps is low. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a scene map generation method, device, electronic device and storage medium to improve the efficiency of scene map generation. The specific technical solution is as follows:

[0005] According to one aspect of an embodiment of the present application, a method for generating a scene map is provided, the method comprising:

[0006] A scene model of a target scene is obtained, wherein the scene model includes: a scene entity and a channel entity, and the channel entity is associated with the scene entity.

[0007] According to the correspondence between the type of the scene entity and the element type of the scene map element, the scene map element of each scene entity in the scene model is generated.

[0008] Based on the channel information of the channel entity in the scene model, a channel map element of the channel entity is generated.

[0009] Based on the channel information, the generated scene map elements and the channel map elements, a scene map of the target scene is generated.

[0010] In one embodiment of the present application, the generating of the channel map element of the channel entity based on the channel information of the channel entity in the scene model includes:

[0011] Generate a channel map element for a channel entity based on the position of at least one of the following points.

[0012] Based on the intersection relationship between the channel entities in the channel information of the channel entities, the intersection points between the channel entities are determined.

[0013] Based on the channel position in the channel information, the endpoints of the channel entity are determined.

[0014] In one embodiment of the present application, generating the scene map element of each scene entity in the scene model according to the correspondence between the type of the scene entity and the element type of the scene map element includes:

[0015] Determines the location of the scene map elements for each scene entity.

[0016] According to the correspondence between the type of the scene entity and the element type of the scene map element, the element type of the scene map element of each scene entity is determined.

[0017] At the location of each scene map element, a scene map element of the corresponding element type is generated.

[0018] In one embodiment of the present application, determining the position of the scene map element of each scene entity includes:

[0019] Determine the location of at least one of the following points as the location of the scene map element of each scene entity:

[0020] The location point of the scene entity; the association point between the scene entity and the channel entity; the association point between the material transport platform corresponding to the scene entity and the channel entity; the intersection point between the docking channel and the channel entity, wherein the docking channel is: a channel connected to the scene entity and used for material transportation for the scene entity.

[0021] In one embodiment of the present application, the element type of the scene map element includes at least one of the following types:

[0022] Element types identified by different colors; element types identified by different characters; element types identified by different serial numbers; element types identified by symbols of different shapes.

[0023] In one embodiment of the present application, generating a scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements includes:

[0024] For each pair of adjacent elements, a map line between the adjacent elements is generated according to the channel position of the channel entity between the adjacent elements to obtain a scene map of the target scene, wherein the adjacent elements include: two map elements that are adjacent in position and have a channel entity between them.

[0025] In one embodiment of the present application, the attribute parameters of the map line include: attribute parameters of channel entities between adjacent elements connected by the map line.

[0026] In one embodiment of the present application, the type of the attribute parameter includes at least one of the following information:

[0027] The channel can accommodate vehicle types, channel height, channel width and channel travel direction.

[0028] In one embodiment of the present application, after generating the scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements, the method further includes:

[0029] In response to a first update operation on a first entity in the scene model, updating a scene map of the target scene in the following manner:

[0030] If the first entity includes a scene entity, the scene map element of the scene entity is updated according to the type of the first update operation, and the scene map of the target scene is updated based on the channel map elements and the updated scene map elements in the scene map.

[0031] If the first entity includes a channel entity, the channel map element is updated according to the type of the first update operation and the channel information of the updated channel entity, and the scene map of the target scene is updated based on the scene map elements in the scene map and the updated channel map elements.

[0032] In one embodiment of the present application, after generating the scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements, the method further includes:

[0033] In response to the second update operation on the element connection structure in the scene map, the scene model of the target scene is updated in the following manner:

[0034] If the element connection structure includes a scene map element, the scene entity corresponding to the scene map element is updated according to the type of the second update operation, and the scene model of the target scene is updated based on the channel entity and the updated scene entity in the scene model.

[0035] If the element connection structure includes a channel element connection structure, the channel entity corresponding to the channel element connection structure is updated according to the type of the second update operation, and the scene model of the target scene is updated based on the scene entities in the scene model and the updated channel entities, wherein the channel element connection structure includes: channel map elements and / or channel map lines.

[0036] In one embodiment of the present application, the step of obtaining a scene model of a target scene includes:

[0037] Get the structure diagram of the target scene.

[0038] Using the structural diagram as a base map, the scene model is displayed in the user interaction interface to construct the scene.

[0039] In response to a construction operation for a first entity in the scene model construction scene, the first entity is constructed according to a target posture indicated by the construction operation to obtain a scene model of the target scene, wherein the first entity includes: a scene entity and / or a channel entity.

[0040] According to another aspect of an embodiment of the present application, a scene map generating device is provided, the device comprising:

[0041] The scene model acquisition module is used to obtain the scene model of the target scene, wherein the scene model includes: a scene entity and a channel entity, and the channel entity is associated with the scene entity.

[0042] The scene map element generation module is used to generate the scene map element of each scene entity in the scene model according to the corresponding relationship between the type of the scene entity and the element type of the scene map element.

[0043] The channel map element generation module is used to generate the channel map element of the channel entity based on the channel information of the channel entity in the scene model.

[0044] A scene map generation module is used to generate a scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements.

[0045] In one embodiment of the present application, the channel map element generation module is specifically used to: generate a channel map element of a channel entity based on the position of at least one of the following points: determine the intersection between channel entities based on the intersection relationship between channel entities in the channel information of the channel entity; determine the endpoint of the channel entity based on the channel position in the channel information.

[0046] In one embodiment of the present application, the scene map element generation module is specifically used to: determine the position of the scene map element of each scene entity; determine the element type of the scene map element of each scene entity based on the correspondence between the type of the scene entity and the element type of the scene map element; and generate a scene map element of the corresponding element type at the position of each scene map element.

[0047] In one embodiment of the present application, the scene map element generation module is specifically used to: determine the position of at least one of the following points as the position of the scene map element of each scene entity: the location point of the scene entity; the association point between the scene entity and the channel entity; the association point between the material transport platform corresponding to the scene entity and the channel entity; the intersection of the docking channel and the channel entity, wherein the docking channel is: a channel connected to the scene entity and used for material transportation for the scene entity.

[0048] In one embodiment of the present application, the element type of the scene map element includes at least one of the following types: element types identified by different colors; element types identified by different characters; element types identified by different serial numbers; element types identified by symbols of different shapes.

[0049] In one embodiment of the present application, the scene map generation module is specifically used to: for each pair of adjacent elements, generate a map line between the adjacent elements according to the channel position of the channel entity between the adjacent elements, so as to obtain a scene map of the target scene, wherein the adjacent elements include: two map elements that are adjacent in position and have a channel entity between them.

[0050] In one embodiment of the present application, the attribute parameters of the map line include: attribute parameters of channel entities between adjacent elements connected by the map line.

[0051] In one embodiment of the present application, the type of attribute parameter includes at least one of the following information: vehicle types that can be driven in the channel, channel height, channel width, and channel driving direction.

[0052] In one embodiment of the present application, the device also includes: a scene map update module, which is used to update the scene map of the target scene in the following manner in response to a first update operation on a first entity in the scene model: if the first entity includes a scene entity, then according to the type of the first update operation, the scene map elements of the scene entity are updated, and based on the channel map elements and the updated scene map elements in the scene map, the scene map of the target scene is updated; if the first entity includes a channel entity, then according to the type of the first update operation and the channel information of the updated channel entity, the channel map elements are updated, and based on the scene map elements and the updated channel map elements in the scene map, the scene map of the target scene is updated.

[0053] In one embodiment of the present application, the device also includes: a scene model update module, which is used to update the scene model of the target scene in the following manner in response to a second update operation on the element connection structure in the scene map: if the element connection structure includes a scene map element, then according to the type of the second update operation, the scene entity corresponding to the scene map element is updated, and the scene model of the target scene is updated based on the channel entity in the scene model and the updated scene entity; if the element connection structure includes a channel element connection structure, then according to the type of the second update operation, the channel entity corresponding to the channel element connection structure is updated, and the scene model of the target scene is updated based on the scene entity in the scene model and the updated channel entity, wherein the channel element connection structure includes: channel map elements and / or channel map lines.

[0054] In one embodiment of the present application, the scene model acquisition module is specifically used to: obtain a structural diagram of the target scene; use the structural diagram as a base map to display the scene model construction scene in a user interaction interface; in response to a construction operation for a first entity in the scene model construction scene, construct the first entity according to the target posture indicated by the construction operation, and obtain the scene model of the target scene, wherein the first entity includes: a scene entity and / or a channel entity.

[0055] According to another aspect of the embodiments of the present application, there is provided an electronic device, including:

[0056] Memory is used to store computer programs.

[0057] The processor is used to implement any of the scene map generation methods described above when executing the program stored in the memory.

[0058] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any of the above-mentioned scene map generation methods is implemented.

[0059] According to another aspect of an embodiment of the present application, there is provided a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described scene map generation methods.

[0060] Beneficial effects of the embodiments of the present application:

[0061] As can be seen from the above, in the solution provided in the embodiment of the present application, the scene map elements and channel map elements in the scene map of the target scene can be generated according to the scene entities and channel entities in the scene model of the target scene, respectively, and then the above-mentioned scene map elements and channel map elements are connected according to the channel information of the channel entity to obtain the scene map of the target scene. In this way, the scene map of the target scene can be generated more conveniently according to the scene model of the target scene, thereby improving the efficiency of generating the scene map.

[0062] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0064] Figure 1A schematic diagram of a flow chart of a scene map generation method provided in an embodiment of the present application;

[0065] Figure 2a A schematic diagram of a scene model provided in an embodiment of the present application;

[0066] Figure 2b A schematic diagram of a scene entity in a scene model provided in an embodiment of the present application;

[0067] Figure 2c A schematic diagram of another scenario model provided in an embodiment of the present application;

[0068] Figure 2d A schematic diagram of the association between a scene entity and a channel entity provided in an embodiment of the present application;

[0069] Figure 2e A schematic diagram of a scene map element of a scene entity provided in an embodiment of the present application;

[0070] Figure 2f A schematic diagram of the intersection and endpoints of a channel entity provided in an embodiment of the present application;

[0071] Figure 2g A schematic diagram of a scene map provided in an embodiment of the present application;

[0072] Figure 3 A schematic diagram of a flow chart of a scene map element generation method provided in an embodiment of the present application;

[0073] Figure 4a A schematic diagram of another scenario model provided in an embodiment of the present application;

[0074] Figure 4b A comparative schematic diagram of the docking channel provided in the embodiment of the present application;

[0075] Figure 4c A schematic diagram of an association line provided in an embodiment of the present application;

[0076] Figure 4d A schematic diagram of a docking channel provided in an embodiment of the present application;

[0077] Figure 5 A schematic diagram of a flow chart of a method for obtaining a scene model provided in an embodiment of the present application;

[0078] Figure 6 A schematic diagram of an interactive interface provided in an embodiment of the present application;

[0079] Figure 7 A schematic diagram of the structure of a scene map generating device provided in an embodiment of the present application;

[0080] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0082] The application scenarios and execution entities of the embodiments of the present application are described below.

[0083] The solution provided by the embodiment of the present application can be applied to the field of simulation and map navigation. For example, in an industrial automation production workshop, a transport robot can transport materials required for production and the products produced. Then, the solution provided by the embodiment of the present application can be used to generate a scene map for the working environment of the transport robot, and then the transport robot can automatically drive based on the scene map. For another example, the solution provided by the embodiment of the present application can be used to create a virtual scene map, and then various simulation tests can be performed based on the virtual scene map.

[0084] The solution provided in the embodiment of the present application can be applied to electronic devices such as desktop computers, laptop computers, tablet computers, and smart phones. Specifically, a client can be installed in the above electronic devices, and the scene map generation method provided in the embodiment of the present application can also be applied to the above client. For ease of description, the execution subject of the scene map generation method provided in the embodiment of the present application is collectively referred to as a map generation device.

[0085] The scene map generation method provided in the embodiment of the present application is described in detail below.

[0086] In one embodiment of the present application, see Figure 1 A flow chart of a scene map generation method is provided, the method comprising the following steps S101-S104.

[0087] Step S101: Obtain a scene model of a target scene.

[0088] The scene model includes: scene entities and channel entities, and the channel entities are associated with the scene entities. Figure 2a A schematic diagram of a scenario model is provided. Figure 2a The gray area shown is the channel entity in the scene model, see Figure 2b A schematic diagram of a scene entity in a scene model is provided. Figure 2bThe following are scene entities in the scene model. Scene entities can include multiple types. For example, some scene entities are Figure 2b The shelves, processing equipment, workbenches, and floor cargo storage areas marked in the figure are different types of scene entities. The scene model can be a three-dimensional model, for example, Figure 2a The scene model shown is a three-dimensional model. Figure 2b The scene entities shown are three-dimensional scene entities in a three-dimensional model. The scene model can also be a two-dimensional model, see Figure 2c A schematic diagram of another scenario model is provided. Figure 2c The scene model shown is a two-dimensional model.

[0089] The associated channel entity and scene entity are described below.

[0090] Specifically, the scene model includes the association information between the channel entity and the scene entity. Figure 2d A schematic diagram of the association between scene entities and channel entities is provided. Figure 2d The scene entity and channel entity connected at both ends of the thick curve in are the associated scene entity and channel entity. The channel entity is associated with the scene entity, which means that the scene entity can be reached through the channel entity. When the scene model is a two-dimensional model, the channel entity and the scene entity are also two-dimensional entities. When the scene model is a three-dimensional model, the channel entity and the scene entity are also three-dimensional entities. Regardless of whether the channel entity is a two-dimensional entity or a three-dimensional entity, the channel entity can set at least one of the following information: attribute parameters, such as vehicle types that can be driven in the channel, channel height, channel width, and channel driving direction.

[0091] The following describes the implementation method of obtaining the scene model in step S101.

[0092] In one implementation, the map generation device can directly obtain a pre-built scene model of the target scene. For example, a pre-built three-dimensional scene model can be obtained. Alternatively, in the case where the scene model is a two-dimensional model, a pre-built two-dimensional structure diagram of the target scene can be read as the scene model. For example, a CAD (Computer Aided Design) diagram of the target scene can be obtained as a two-dimensional scene model.

[0093] In another implementation, the map generation device can obtain the scene model constructed by the user according to the user's operation on the user interaction interface. Specifically, another implementation of the map generation device obtaining the scene model is described in the following embodiment and will not be described in detail here.

[0094] Step S102: Generate a scene map element for each scene entity in the scene model according to the correspondence between the type of the scene entity and the element type of the scene map element.

[0095] Among them, scene map elements can represent the location information corresponding to scene entities in the map. Scene map elements can be displayed in the scene map as three-dimensional element models such as spheres and cubes, or as planar element models such as points, circular planes, and square planes. Furthermore, various types of maps or icons can be displayed on the three-dimensional element model or the planar element model. The embodiments of the present application do not limit the specific form of scene map elements. Scene map elements of different element types can be displayed through different element models, or through different maps or icons on the element models.

[0096] The above correspondence, types of scene entities, and element types of scene map elements are explained below.

[0097] Among them, the above-mentioned correspondence relationship represents the element type of the scene map element corresponding to each scene entity, and the above-mentioned correspondence relationship can be determined according to at least one of the following information: the function of the scene entity, the location of the scene entity, the feeding and discharging properties of the material transportation platform of the scene entity, and the material information involved in the scene entity, etc.

[0098] For example, scene map elements for scene entities with different functions may be represented by scene map elements of different element types. For example, the element type of the scene map element for a scene entity with a storage function may be a storage type, and the element type of the scene map element for a scene entity with a processing function may be a processing type.

[0099] For another example, the element type of the scene map element of the scene entity for processing material A may be type A, the element type of the scene map element of the scene entity for processing material B may be type B, and so on.

[0100] For another example, scene map elements for scene entities at different locations may be represented by scene map elements of different element types. For example, in a target scene, different management areas may be divided for the target scene for ease of management, and scene map elements for scene entities at different locations may have different element types.

[0101] As another example, the scene map elements of the scene entities with different material transport platform feeding and unloading properties can also be represented by scene map elements of different element types. For example, when the scene entity is a shelf, the handling equipment can both move materials into the shelf and take materials out of the shelf, and the material transport platform of the shelf can feed and unload materials, then the element type of the scene map element of the shelf can be the feeding and unloading type. For another example, for a scene entity that only requires the handling equipment to move materials in, the element type of the scene map element of the scene entity can be the feeding type. Similarly, for a scene entity that only requires the handling equipment to move materials out, the element type of the scene map element of the scene entity can be the unloading type.

[0102] Combine the following Figure 2e A schematic diagram of a scene map element of a scene entity is provided to illustrate an example of the location of the generated scene map element.

[0103] Figure 2e The black squares in the figure represent the scene map elements of each scene entity. When the scene model is a three-dimensional model, Figure 2e Can be seen as Figure 2a A top view of the scene model is shown.

[0104] When the scene model is a two-dimensional model, Figure 2e Can be seen as Figure 2c Schematic diagram of the scene model shown.

[0105] Specifically, the implementation method of generating scene map elements in step S102 is described in the following embodiments and will not be described in detail here.

[0106] Step S103: Generate a channel map element of the channel entity based on the channel information of the channel entity in the scene model.

[0107] Among them, the channel map elements can represent the information of the key position points corresponding to the channel entities in the map. The channel map elements can be displayed as three-dimensional element models such as spheres and cubes in the channel map, and can also be displayed as plane element models such as points, circular planes, and square planes. The key position points can be the intersections and endpoints of the channel entities. Furthermore, various types of maps or icons can be displayed on the three-dimensional element model or the plane element model. The embodiments of the present application do not limit the specific form of the channel map elements.

[0108] The channel information may include the location information of the channel entity and the intersection relationship between the channel entities. The location information of the channel entity may be located in the same plane in the scene model. In addition, the channel information may also include the attribute information of the channel entity. For example, the attribute information may include: the vehicle types that can be driven in the channel, the channel height, the channel width, and the channel driving direction.

[0109] In one implementation, a map generation device generates a channel map element of a channel entity based on the position of at least one of the following points: determining the intersection points between channel entities based on the intersection relationship between channel entities in channel information of the channel entity; and determining the endpoints of the channel entity based on the channel position in the channel information.

[0110] Specifically, the channel information of the channel entity records the location information of the channel entity, and the location information can be represented by a straight line equation and / or a curve equation, as well as the location information of two line segment endpoints located on the line. The map generation device can determine the intersection relationship of each channel entity through the straight line equation and / or the curve equation, and then for the channel entities with an intersection relationship, the intersection of the channel entity can be calculated according to the straight line equation and / or the curve equation of the channel entity. The line segment endpoint of the two line segment endpoints of the channel entity that does not intersect with other channel entities is determined as the endpoint of the channel entity. Then, the channel map element of the channel entity is generated at the position of the intersection and endpoint of the channel entity.

[0111] The following are examples of the intersections and endpoints of channel entities.

[0112] For example, see Figure 2f A schematic diagram of the intersection and endpoints of a channel entity is provided. When the scene model is a three-dimensional model, Figure 2f Can be seen as Figure 2a The top view of the scene model shown is shown in FIG. 1 . In the case where the scene model is a two-dimensional model, Figure 2f Can be seen as Figure 2c The schematic diagram of the scene model shown in FIG. 1 shows the black circular points representing the endpoints of the channel entities and the black diamond points representing the intersection points of the channel entities.

[0113] In this way, the intersection points between channel entities can be determined based on the intersection relationship between channel entities in the channel information of the channel entities, and the endpoints of the channel entities can be determined based on the channel positions, which can improve the convenience of drawing channel map elements and thus improve the efficiency of generating scene maps.

[0114] Step S104: Generate a scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements.

[0115] In one implementation, for each pair of adjacent elements, a map generating device generates a map line between the adjacent elements according to the channel positions of the channel entities between the adjacent elements, and obtains a scene map of the target scene.

[0116] The adjacent elements include: two map elements that are adjacent in position and have a channel entity between them.

[0117] The method of determining adjacent elements is described below.

[0118] Specifically, the map generation device may determine the scene map elements and the channel map elements connected to the channel entity as candidate adjacent elements, and determine each pair of map elements adjacent to the channel entity in the candidate adjacent elements as adjacent elements. Alternatively, the scene map element of the scene entity associated with the channel entity and the channel map element of the channel entity associated with it may be determined as adjacent elements.

[0119] For example, see Figure 2g A schematic diagram of a scenario map provided by Figure 2g For example, point 1 in the figure, point 2, point 3, and point 4 are all adjacent elements to point 1. Figure 2g For the two map elements in the dotted circle, although the channel entity is not connected to the scene map elements in the two map elements, the scene entities corresponding to the scene map elements in the two map elements are associated with the channel entities corresponding to the channel map elements, so the two map elements can also be determined to be adjacent elements.

[0120] In this way, map lines between adjacent elements are generated according to the channel position of the channel entity, and the map elements that need to be connected can be parsed automatically and a scene map can be generated. The scene map can be generated accurately without the need for the user to connect the map lines between the map elements one by one, which can improve the efficiency of generating the scene map.

[0121] Furthermore, when generating a map line between adjacent elements, it may be determined that the attribute parameters of the map line include: attribute parameters of a channel entity between adjacent elements connected by the map line.

[0122] The type of attribute parameters includes at least one of the following information: vehicle types that can be driven in the channel, channel height, channel width, and channel driving direction.

[0123] The generated map lines between adjacent elements can be displayed by two-dimensional wide lines. For example, the length of the two-dimensional wide line corresponds to the length of the map line between adjacent elements, and the width of the two-dimensional wide line corresponds to the channel height of the map line.

[0124] The generated map lines between adjacent elements can also be displayed through a three-dimensional model. For example, the map lines can be displayed through a three-dimensional cube. The length, width, and height of the cube can correspond to the length, channel height, and channel width of the map line between adjacent elements, respectively.

[0125] In this way, the attribute parameters of the channel entity and the attribute parameters of the scene map can be flexibly configured in combination with the actual needs of different target scenes, which can improve the flexibility of generating the scene map.

[0126] Specifically, when generating a map line between adjacent elements, the map generating device may determine the attribute parameters of the channel entity having the same position as the map line between the adjacent elements as the attribute parameters of the adjacent elements.

[0127] In this way, the attribute parameters of the map line can be obtained more conveniently according to the attribute parameters in the road information of the channel entity in the scene model, so as to inherit the attribute parameters of the channel entity to the map line in the scene map, improve the convenience of drawing channel map elements, and thus improve the efficiency of generating scene maps.

[0128] On the contrary, when the attribute parameters of the map line between adjacent elements are updated, the map generating device may determine the channel entity at the same position as the map line between adjacent elements, and use the attribute parameters of the updated map line as the attribute parameters of the channel entity at the same position.

[0129] The generated scene map is given below as an example.

[0130] As described above, the scene map elements, channel map elements and map lines can be three-dimensional models or two-dimensional models. Furthermore, the generated scene map can be a three-dimensional scene map or a two-dimensional scene map.

[0131] As can be seen from the above, in the solution provided in the embodiment of the present application, the scene map elements and channel map elements in the scene map of the target scene can be generated according to the scene entities and channel entities in the scene model of the target scene, respectively, and then the above-mentioned scene map elements and channel map elements are connected according to the channel information of the channel entity to obtain the scene map of the target scene. In this way, the scene map of the target scene can be generated more conveniently according to the scene model of the target scene, thereby improving the efficiency of generating the scene map.

[0132] The implementation method of generating scene map elements in step S102 is described below.

[0133] In one embodiment of the present application, see Figure 3 A flow chart of a scene map element generation method is provided, the method comprising the following steps S301-S303.

[0134] Step S301: Determine the position of the scene map element of each scene entity.

[0135] In one implementation, the position of at least one of the following points is determined as the position of the scene map element of each scene entity:

[0136] 1. Location points of scene entities

[0137] Specifically, the map generation device can determine the location point of the scene entity based on the location information of the scene entity. For example, Figure 2e The position of the black square corresponding to the shelf on the right side is the position point corresponding to each column in the shelf.

[0138] 2. The connection points between scene entities and channel entities

[0139] In one implementation, the map generating device may determine the association point between the scene entity and the channel entity according to the location information of the scene entity and the association information between the channel entity and the scene entity.

[0140] Specifically, the position point of the scene entity associated with the channel entity may be determined as the association point between the scene entity and the channel entity.

[0141] For example, Figure 2d Taking the ground cargo storage area associated with the channel entity on the left as an example, each row of the ground cargo storage area is associated with the channel entity. Then, the location point of the ground cargo storage area associated with the channel entity can be used as the association point between the scene entity and the channel entity. Figure 2d Taking the workbench associated with the channel entity in the upper right corner as an example, the position point of the workbench associated with the channel entity can be used as the association point between the scene entity and the channel entity.

[0142] In another implementation, the map generating device may determine the intersection point of the scene entity and the channel entity according to the location information of the scene entity and the location information of the channel entity as the association point between the scene entity and the channel entity.

[0143] For example, when the position information of the channel entity is a straight line equation, a plane with width representing the channel entity can be obtained in combination with the width of the channel entity, and then whether the scene entity is located in the plane representing the channel entity is determined based on the position information of the scene entity. If so, the position point of the scene entity is obtained as the intersection of the scene entity and the channel entity.

[0144] by Figure 2c Take the intersection relationship between the scene entity and the channel entity as an example. Figure 2e The positions of the black squares corresponding to the ground cargo storage areas on the left side of Figure 2c The intersection of the location points of each ground cargo storage area and the channel entity shown on the left.

[0145] 3. The connection points between the material transport platform and the channel entity corresponding to the scene entity

[0146] The scene entity may be provided with a material transport platform for material transport, for example Figure 2b The platform structures on the left and right sides of the processing equipment are the material transport platforms for the processing equipment.

[0147] In one implementation, the map generating device may determine the association point between the material transport platform position and the channel entity based on the position information of the scene entity and the association information between the channel entity and the scene entity.

[0148] In another implementation, the map generation device can determine the intersection of the material transport platform and the channel entity according to the location information of the scene entity material transport platform and the location information of the channel entity, as the association point between the material transport platform and the channel entity. The method of determining the association point between the material transport platform and the channel entity is similar to the method of determining the association point between the scene entity and the channel entity described above, the difference is only in the name, which will not be described in detail here.

[0149] 4. Intersection between the docking channel and the channel entity

[0150] Among them, the docking channel is: a channel connected to the scene entity and used to transport materials for the scene entity.

[0151] The method of generating the docking channel will be described in the following embodiments and will not be described in detail here.

[0152] From the above, it can be seen that by determining the position of scene map elements according to different location points, the position of scene map elements applicable to various types of scene entities can be determined, reducing the need for users to manually adjust the position of scene map elements for different types of scene entities, improving the convenience of drawing scene map elements, and thereby improving the efficiency of generating scene maps.

[0153] Step S302: Determine the element type of the scene map element of each scene entity according to the correspondence between the type of the scene entity and the element type of the scene map element.

[0154] The description of the above correspondence relationship may refer to the description of step S102 , and the above correspondence relationship may be recorded in a data table or the like.

[0155] Specifically, the map generating device may search for a table lookup result corresponding to the identifier of the target scene entity in a recorded data table according to the identifier of the target scene entity, and use the result as the element type of the scene map element.

[0156] The element type of the scene map element includes at least one of the following types: 1. element types marked with different colors. 2. element types marked with different characters. 3. element types marked with different serial numbers. 4. element types marked with symbols of different shapes.

[0157] In this way, by identifying element types in different ways, the readability of the scene map can be improved, the convenience of drawing the scene map can be improved, and the efficiency of generating the scene map can be improved.

[0158] Step S303: Generate a scene map element of a corresponding element type at the position of each scene map element.

[0159] From the above, it can be seen that based on the location and type of the scene entity, the scene map elements of the corresponding element type can be generated more accurately, which can improve the convenience of drawing the scene map elements and thus improve the efficiency of generating the scene map.

[0160] For the scene entity associated with the channel entity, a docking channel corresponding to the scene entity can be automatically generated. The following is an explanation of the implementation method of generating the docking channel.

[0161] Specifically, an association point of a scene entity associated with a channel entity is determined; based on channel information of the channel entity in the scene model, a docking channel connected to the channel entity is generated at the association point of the scene entity.

[0162] The associated points of the scene entity associated with the channel entity may include: the position point of the scene entity associated with the channel entity, and the position point of the material transport platform of the scene entity associated with the channel entity.

[0163] The following is an example of an implementation method for generating a docking channel with reference to the accompanying drawings.

[0164] For example, see Figure 4a A schematic diagram of another scenario model is provided, which is similar to Figure 2a A scenario model is provided that differs in that Figure 4a The ground cargo storage area on the left side of the provided scene model is not physically connected to the passageway. Figure 4a Taking the area in the dotted box as an example, the location point of each cargo storage cell in the cargo storage area can be the association point of the cargo storage cell. Then, a channel with the shortest distance passing through the association point and connected to the channel entity can be generated in the unobstructed free area between the association point and the channel entity as the docking channel of the cargo storage cell.

[0165] For example, see Figure 4b A comparative schematic diagram of the docking channel provided, Figure 4b The left side is a schematic diagram of the cargo storage area and channel entity of the docking channel without adding scene entities. Figure 4b The right side is a schematic diagram after adding the docking channel of the cargo storage area, where the black box is the docking channel of each cargo storage unit. Figure 4bTake the cargo storage cell in the upper left corner as an example. The lower side and right side of the cargo storage cell are occupied by other cargo storage cells. That is to say, there is not enough space on the lower side and right side of the cargo storage cell to lay the docking channel. Because the distance connected to the nearest channel entity through the upper side of the cargo storage cell is closer, and the distance connected to the nearest channel entity through the left side of the cargo storage cell is farther, it can be determined that a docking channel is generated on the upper side of the cargo storage cell to connect with the channel entity. Then, a docking channel is generated that passes through the association point of the cargo storage cell and is connected to the channel entity. In this way, the docking channel connecting the scene entity and the channel entity is generated, and the user does not need to manually connect the channels between the scene entity and the channel entity one by one, which simplifies the user's operation, improves the convenience of drawing the scene map, and thus improves the efficiency of generating the scene map.

[0166] The following describes a method for obtaining a scene model constructed by a user according to the user's operation on the user interaction interface.

[0167] In one embodiment of the present application, see Figure 5 A flow chart of a method for obtaining a scene model is provided, wherein the method comprises the following steps S501-S503:

[0168] Step S501: Obtain a structural diagram of a target scene.

[0169] In one implementation, a structure diagram of a target scene input into a map generating device by a user through a structure diagram input operation may be obtained. For example, the structure diagram may be a CAD diagram of the target scene.

[0170] Step S502: Using the structure diagram as a base diagram, display the scene model construction scene in the user interaction interface.

[0171] For example, see Figure 6 A schematic diagram of an interactive interface is provided. Figure 6 On the right is the interactive interface for building a scene using the scene model displayed with the structure diagram as the base map. In this way, users can intuitively build a scene model according to the locations of each scene entity and channel in the base map.

[0172] Step S503: In response to a construction operation for the first entity in the scene model construction scene, the first entity is constructed according to the target posture indicated by the construction operation to obtain a scene model of the target scene.

[0173] The first entity includes: a scene entity and / or a channel entity.

[0174] In one case, the construction operation can be an operation of dragging a preset entity model. Figure 6 The model shown on the left in Figure 6The preset entity shown is a three-dimensional model. If the constructed scene model is a two-dimensional model, the preset entity may also be a two-dimensional entity model.

[0175] Specifically, Figure 6 As shown by the finger and arrow in the figure, the user can click on the preset entity model on the left to drag the preset entity model to the corresponding target posture in the structure diagram, so that the map generation device can construct the preset entity model at the target posture according to the received construction operation to obtain the scene model of the target scene. In addition, the preset entity can include a channel entity, and the user can also drag the channel entity to the target posture, and then adjust the road width, road length, etc. of the channel entity.

[0176] In addition, the construction operation may include an operation of constructing a solid model and an operation of adjusting a target position and scale of the solid model.

[0177] In another case, when the user performs a construction operation on a channel entity, the construction operation includes drawing a line in the user interaction interface and setting the width of the channel entity.

[0178] In another case, since the scene entity that needs to transport materials requires a channel entity connected to the scene entity, after the user completes the construction operation on the scene entity and the map generating device constructs the above scene entity, the map generating device can generate a road entity in the free area within the preset range of the scene entity, and then adjust the length and width of the generated road entity according to the user's construction operation on the generated road entity.

[0179] From the above, it can be seen that by displaying a visualized scene model construction scene in the user interaction interface, users can build scene models more conveniently, and can more conveniently generate scene models of target scenes for different target scenes, thereby improving the efficiency of generating scene maps.

[0180] In another embodiment of the present application, the map generating device can display the scene model editing scene in the user interaction interface after obtaining the CAD drawing of the target scene input by the user. The user can edit the CAD drawing of the above target scene, and the map generating device can obtain the CAD drawing of the target scene edited by the user to obtain a two-dimensional scene model.

[0181] In another embodiment of the present application, the map generation device can display a canvas in the user interaction interface, and the user can perform a drawing operation in the blank canvas displayed in the user interaction interface. After the user completes the drawing, the map generation device can obtain the two-dimensional scene model drawn by the user. The user's drawing operation may include an operation of drawing a line in the canvas, and may also include an operation of dragging a preset two-dimensional entity model into the canvas.

[0182] In addition, the user's construction operation on the first entity may also include setting an association relationship between the channel entity and the scene entity. For example, the user may draw an association line on the user interaction interface, and the drawn association line represents the association between the scene entity and the channel entity connected thereto.

[0183] After the user draws the association line, the map generation device can generate a docking channel according to the associated scene entities and channel entities. Figure 4c A schematic diagram of the correlation line is provided, and the user can Figure 4c For each cargo storage area on the left, draw the association line between the cargo storage area and the channel entity. The map generation device can generate the docking channel according to the docking channel generation method in the above embodiment, and obtain the following: Figure 4d A schematic diagram of a docking channel is provided, in which the docking channel is shown as a black square.

[0184] After generating the scene map of the target scene, the user can also update the first entity in the scene model. In this case, the scene map can be updated as follows:

[0185] In response to a first update operation on a first entity in a scene model, a scene map of a target scene is updated according to the following steps A and B.

[0186] Step A: If the first entity includes a scene entity, then according to the type of the first update operation, the scene map element of the scene entity is updated, and based on the channel map elements and the updated scene map elements in the scene map, the scene map of the target scene is updated.

[0187] The first update operation includes deleting a scene entity, adding a scene entity, and adjusting a scene entity.

[0188] Specifically, according to the type of the first update operation, the scene entity model in the scene model is updated by deletion, addition, adjustment, etc., and an updated scene map element is generated according to the updated scene entity, and then the scene map of the target scene is updated based on the channel map elements and the updated scene map elements in the scene map. Among them, the method of generating the updated scene map element is similar to step S102, and the only difference is that the updated scene entity is different from the original scene entity. The method of updating the scene map of the target scene is similar to step S104, and the only difference is that the updated scene map element is different from the original scene map element, which will not be described in detail here.

[0189] Step B: If the first entity includes a channel entity, the channel map element is updated according to the type of the first update operation and the channel information of the updated channel entity, and the scene map of the target scene is updated based on the scene map elements in the scene map and the updated channel map elements.

[0190] Specifically, according to the type of the first update operation, the channel entity in the scene model is updated by deletion, addition, adjustment, etc., and an updated channel map element is generated according to the updated channel entity, and then the scene map of the target channel is updated based on the scene map element and the updated channel map element in the scene map. Among them, the method of generating the updated channel map element is similar to step S103, and the only difference is that the updated channel entity is different from the original channel entity. The method of updating the scene map of the target channel is similar to step S104, and the only difference is that the updated channel map element is different from the original channel map element, which will not be described in detail here.

[0191] In this way, after the scene map is generated, the scene model can still be updated, and the scene map can be adjusted synchronously according to the updated content of the scene model, which reduces the difficulty of modifying the scene map, improves the convenience of drawing the scene map, and thus improves the efficiency of generating the scene map.

[0192] After the scene map of the target scene is generated, the scene model can also be updated when the user updates the scene map. In this case, the scene model can be updated in the following manner:

[0193] In response to the second update operation on the element connection structure in the scene map, the scene model of the target scene is updated according to the following steps C and D:

[0194] Step C: If the element connection structure includes a scene map element, then according to the type of the second update operation, the scene entity corresponding to the scene map element is updated, and based on the channel entity and the updated scene entity in the scene model, the scene model of the target scene is updated.

[0195] Among them, the second update operation includes deleting scene map elements, adding scene map elements and adjusting scene map elements.

[0196] Specifically, according to the type of the second update operation, update operations such as deletion, addition and adjustment are performed on the scene map elements in the scene map. In the case of deleting the scene map element, the map generation device can delete the scene entity corresponding to the scene map element. In the case of adding the scene map element, the scene entity added by the second update operation can be determined according to the element type of the scene map element. For example, the added scene entity can be determined based on the element type of the scene map element and the correspondence between the type of the above-mentioned scene entity and the element type of the scene map element. In the case of adjusting the scene map element, the map generation device can adjust the scene entity corresponding to the scene map element according to the adjustment method. For example, the adjustment method may include posture adjustment, scale size adjustment, and the like.

[0197] Step D: If the element connection structure includes a channel element connection structure, then according to the type of the second update operation, the channel entity corresponding to the channel element connection structure is updated, and based on the scene entity in the scene model and the updated channel entity, the scene model of the target scene is updated.

[0198] Among them, the channel element connection structure includes: channel map elements and / or channel map lines.

[0199] Specifically, according to the type of the second update operation, update operations such as deletion, addition and adjustment are performed on the channel element connection structure in the scene map. In the case of deleting the channel element connection structure, the map generation device can delete the channel entity corresponding to the channel element connection structure. In the case of adding the channel element connection structure, the position and posture of the added channel entity in the scene model can be determined according to the position and posture of the added channel element connection structure. In the case of adjusting the channel element connection structure, the map generation device can adjust the channel entity corresponding to the channel element connection structure according to the adjustment method. For example, the adjustment method may include position and posture adjustment, width adjustment, length adjustment, and the like.

[0200] In this way, after the scene map is generated, when the generated scene map is updated, the scene model can be adjusted synchronously, thereby improving the visualization of the scene constructed by the displayed scene model, improving the convenience of drawing the scene map and changing the scene model, and thus improving the efficiency of generating the scene map.

[0201] Corresponding to the above-mentioned scene map generation method, an embodiment of the present application provides a scene map generation device.

[0202] In one embodiment of the present application, see Figure 7 A schematic diagram of the structure of a scene map generating device is provided, the device comprising:

[0203] The scene model acquisition module 701 is used to obtain a scene model of a target scene, wherein the scene model includes: a scene entity and a channel entity, and the channel entity is associated with the scene entity.

[0204] The scene map element generation module 702 is used to generate the scene map element of each scene entity in the scene model according to the correspondence between the type of the scene entity and the element type of the scene map element.

[0205] The channel map element generation module 703 is used to generate the channel map element of the channel entity based on the channel information of the channel entity in the scene model.

[0206] The scene map generation module 704 is used to generate a scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements.

[0207] As can be seen from the above, in the solution provided in the embodiment of the present application, the scene map elements and channel map elements in the scene map of the target scene can be generated according to the scene entities and channel entities in the scene model of the target scene, respectively, and then the above-mentioned scene map elements and channel map elements are connected according to the channel information of the channel entity to obtain the scene map of the target scene. In this way, the scene map of the target scene can be generated more conveniently according to the scene model of the target scene, thereby improving the efficiency of generating the scene map.

[0208] In one embodiment of the present application, the channel map element generation module 703 is specifically used to: generate a channel map element of a channel entity based on the position of at least one of the following points: determine the intersection between channel entities based on the intersection relationship between channel entities in the channel information of the channel entity; determine the endpoint of the channel entity based on the channel position in the channel information.

[0209] In this way, the intersection points between channel entities can be determined based on the intersection relationship between channel entities in the channel information of the channel entities, and the endpoints of the channel entities can be determined based on the channel positions, which can improve the convenience of drawing channel map elements and thus improve the efficiency of generating scene maps.

[0210] In one embodiment of the present application, the scene map element generation module 702 is specifically used to: determine the position of the scene map element of each scene entity; determine the element type of the scene map element of each scene entity based on the correspondence between the type of the scene entity and the element type of the scene map element; and generate a scene map element of the corresponding element type at the position of each scene map element.

[0211] From the above, it can be seen that based on the location and type of the scene entity, the scene map elements of the corresponding element type can be generated more accurately, which can improve the convenience of drawing the scene map elements and thus improve the efficiency of generating the scene map.

[0212] In one embodiment of the present application, the scene map element generation module 702 is specifically used to: determine the position of at least one of the following points as the position of the scene map element of each scene entity: the location point of the scene entity; the association point between the scene entity and the channel entity; the association point between the material transport platform corresponding to the scene entity and the channel entity; the intersection point between the docking channel and the channel entity, wherein the docking channel is: a channel connected to the scene entity and used for transporting materials for the scene entity.

[0213] In this way, by determining the position of scene map elements according to different location points, the position of scene map elements applicable to various types of scene entities can be determined, reducing the need for users to manually adjust the position of scene map elements for different types of scene entities, improving the convenience of drawing scene map elements, and thereby improving the efficiency of generating scene maps.

[0214] In one embodiment of the present application, the element type of the scene map element includes at least one of the following types: element types identified by different colors; element types identified by different characters; element types identified by different serial numbers; element types identified by symbols of different shapes.

[0215] In this way, by identifying element types in different ways, the readability of the scene map can be improved, the convenience of drawing the scene map can be improved, and the efficiency of generating the scene map can be improved.

[0216] In one embodiment of the present application, the scene map generation module 704 is specifically used to: for each pair of adjacent elements, generate a map line between the adjacent elements according to the channel position of the channel entity between the adjacent elements, and obtain a scene map of the target scene, wherein the adjacent elements include: two map elements that are adjacent in position and have a channel entity between them.

[0217] In this way, map lines between adjacent elements are generated according to the channel position of the channel entity, and the map elements that need to be connected can be parsed automatically and a scene map can be generated. The scene map can be generated accurately without the need for the user to connect the map lines between the map elements one by one, which can improve the efficiency of generating the scene map.

[0218] In one embodiment of the present application, the attribute parameters of the map line include: attribute parameters of the channel entity between adjacent elements connected by the map line.

[0219] In this way, the attribute parameters of the map line can be obtained more conveniently according to the attribute parameters in the road information of the channel entity in the scene model, so as to inherit the attribute parameters of the channel entity to the map line in the scene map, improve the convenience of drawing channel map elements, and thus improve the efficiency of generating scene maps.

[0220] In one embodiment of the present application, the type of attribute parameter includes at least one of the following information: vehicle types that can be driven in the channel, channel height, channel width, and channel driving direction.

[0221] In this way, the attribute parameters of the channel entity and the attribute parameters of the scene map can be flexibly configured in combination with the actual needs of different target scenes, which can improve the flexibility of generating the scene map.

[0222] In one embodiment of the present application, the device also includes: a scene map update module, which is used to update the scene map of the target scene in response to a first update operation on the first entity in the scene model in the following manner: if the first entity includes a scene entity, then according to the type of the first update operation, the scene map elements of the scene entity are updated, and based on the channel map elements in the scene map and the updated scene map elements, the scene map of the target scene is updated; if the first entity includes a channel entity, then according to the type of the first update operation and the channel information of the updated channel entity, the channel map elements are updated, and based on the scene map elements in the scene map and the updated channel map elements, the scene map of the target scene is updated.

[0223] In this way, after the scene map is generated, the scene model can still be updated, and the scene map can be adjusted synchronously according to the updated content of the scene model, which reduces the difficulty of modifying the scene map, improves the convenience of drawing the scene map, and thus improves the efficiency of generating the scene map.

[0224] In one embodiment of the present application, the device also includes: a scene model update module, which is used to update the scene model of the target scene in response to a second update operation on the element connection structure in the scene map in the following manner: if the element connection structure includes a scene map element, then according to the type of the second update operation, the scene entity corresponding to the scene map element is updated, and based on the channel entity in the scene model and the updated scene entity, the scene model of the target scene is updated; if the element connection structure includes a channel element connection structure, then according to the type of the second update operation, the channel entity corresponding to the channel element connection structure is updated, and based on the scene entity in the scene model and the updated channel entity, the scene model of the target scene is updated, wherein the channel element connection structure includes: channel map elements and / or channel map lines.

[0225] In this way, after the scene map is generated, when the generated scene map is updated, the scene model can be adjusted synchronously, thereby improving the visualization of the scene constructed by the displayed scene model, improving the convenience of drawing the scene map and changing the scene model, and thus improving the efficiency of generating the scene map.

[0226] In one embodiment of the present application, the scene model acquisition module 701 is specifically used to: obtain a structural diagram of the target scene; use the structural diagram as a base map to display the scene model construction scene in the user interaction interface; in response to a construction operation for a first entity in the scene model construction scene, construct the first entity according to the target posture indicated by the construction operation, and obtain a scene model of the target scene, wherein the first entity includes: a scene entity and / or a channel entity.

[0227] From the above, it can be seen that by displaying a visualized scene model construction scene in the user interaction interface, users can build scene models more conveniently, and can more conveniently generate scene models of target scenes for different target scenes, thereby improving the efficiency of generating scene maps.

[0228] The present application also provides an electronic device, such as Figure 8 As shown, including:

[0229] Memory 801, used for storing computer programs;

[0230] The processor 802 is used to implement the scene map generation method of any of the above embodiments when executing the program stored in the memory 801.

[0231] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 communicate with each other via the communication bus.

[0232] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0233] The communication interface is used for communication between the above electronic device and other devices.

[0234] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0235] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0236] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned scene map generation methods are implemented.

[0237] In another embodiment provided in the present application, a computer program product comprising instructions is also provided, which, when executed on a computer, enables the computer to execute any of the scene map generation methods in the above embodiments.

[0238] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0239] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0240] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method, device, electronic device, and storage medium embodiments, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0241] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A scene map generation method, characterized in that: The method comprises: Obtaining a scene model of a target scene, wherein the scene model includes: a scene entity and a channel entity, and the channel entity is associated with the scene entity; Generate a scene map element for each scene entity in the scene model according to a correspondence between the type of the scene entity and the element type of the scene map element; Generate a channel map element of the channel entity based on the channel information of the channel entity in the scene model; Based on the channel information, the generated scene map elements and the channel map elements, a scene map of the target scene is generated.

2. The method according to claim 1, characterized in that The generating of the channel map element of the channel entity based on the channel information of the channel entity in the scene model comprises: Generates a channel map element for a channel entity based on the location of at least one of the following points: Determine intersection points between channel entities based on intersection relationships between channel entities in channel information of the channel entities; Based on the channel position in the channel information, the endpoints of the channel entity are determined.

3. The method according to claim 1, characterized in that The generating of the scene map element of each scene entity in the scene model according to the correspondence between the type of the scene entity and the element type of the scene map element comprises: Determine the location of the scene map element of each scene entity; Determine the element type of the scene map element of each scene entity according to the correspondence between the type of the scene entity and the element type of the scene map element; At the location of each scene map element, a scene map element of the corresponding element type is generated.

4. The method according to claim 3, characterized in that Determining the position of the scene map element of each scene entity includes: Determine the location of at least one of the following points as the location of the scene map element of each scene entity: The location points of scene entities; The connection point between scene entity and channel entity; The connection points between the material transport platform and the channel entity corresponding to the scene entity; The intersection of the docking channel and the channel entity, wherein the docking channel is: a channel connected to the scene entity and used to transport materials for the scene entity.

5. The method according to claim 3, characterized in that: The element type of the scene map element includes at least one of the following types: Element types are marked with different colors; Element types are identified by different characters; Element types identified by different ordinal numbers; Element types are identified by different shaped symbols.

6. The method according to claim 1, characterized in that The step of generating a scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements comprises: For each pair of adjacent elements, a map line between the adjacent elements is generated according to the channel position of the channel entity between the adjacent elements to obtain a scene map of the target scene, wherein the adjacent elements include: two map elements that are adjacent in position and have a channel entity between them.

7. The method according to claim 6, characterized in that The attribute parameters of the map line include: attribute parameters of channel entities between adjacent elements connected by the map line.

8. The method according to claim 7, characterized in that The type of the attribute parameter includes at least one of the following information: The channel can accommodate vehicle types, channel height, channel width and channel travel direction.

9. The method according to claim 1, characterized in that: After generating the scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements, the method further includes: In response to a first update operation on a first entity in the scene model, updating a scene map of the target scene in the following manner: If the first entity includes a scene entity, then according to the type of the first update operation, updating the scene map element of the scene entity, and updating the scene map of the target scene based on the channel map element and the updated scene map element in the scene map; If the first entity includes a channel entity, the channel map element is updated according to the type of the first update operation and the channel information of the updated channel entity, and the scene map of the target scene is updated based on the scene map elements in the scene map and the updated channel map elements.

10. The method according to claim 1, characterized in that After generating the scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements, the method further includes: In response to the second update operation on the element connection structure in the scene map, the scene model of the target scene is updated in the following manner: If the element connection structure includes a scene map element, then according to the type of the second update operation, the scene entity corresponding to the scene map element is updated, and based on the channel entity in the scene model and the updated scene entity, the scene model of the target scene is updated; If the element connection structure includes a channel element connection structure, the channel entity corresponding to the channel element connection structure is updated according to the type of the second update operation, and the scene model of the target scene is updated based on the scene entities in the scene model and the updated channel entities, wherein the channel element connection structure includes: channel map elements and / or channel map lines.

11. The method according to any one of claims 1 to 10, characterized in that The step of obtaining a scene model of a target scene comprises: Obtain a structural diagram of the target scene; Using the structure diagram as a base map, displaying the scene model construction scene in the user interaction interface; In response to a construction operation for a first entity in the scene model construction scene, the first entity is constructed according to a target posture indicated by the construction operation to obtain a scene model of the target scene, wherein the first entity includes: a scene entity and / or a channel entity.

12. A scene map generating device, characterized in that: The device comprises: A scene model acquisition module, used to obtain a scene model of a target scene, wherein the scene model includes: a scene entity and a channel entity, and the channel entity is associated with the scene entity; A scene map element generation module, used to generate a scene map element for each scene entity in the scene model according to the corresponding relationship between the type of the scene entity and the element type of the scene map element; A channel map element generation module, used to generate a channel map element of a channel entity based on the channel information of the channel entity in the scene model; A scene map generation module is used to generate a scene map of the target scene based on the channel information, the generated scene map elements and the channel map elements.

13. The device according to claim 12, characterized in that The channel map element generation module is specifically used to: generate a channel map element of a channel entity based on the position of at least one of the following points: determine the intersection points between channel entities based on the intersection relationship between channel entities in the channel information of the channel entity; Determine the endpoints of the channel entity based on the channel position in the channel information; and / or The scene map element generation module is specifically used to: determine the position of the scene map element of each scene entity; determine the element type of the scene map element of each scene entity according to the corresponding relationship between the type of the scene entity and the element type of the scene map element; generate a scene map element of the corresponding element type at the position of each scene map element; and / or The scene map element generation module is specifically used to: determine the position of at least one of the following points as the position of the scene map element of each scene entity: the location point of the scene entity; the association point between the scene entity and the channel entity; the association point between the material transport platform corresponding to the scene entity and the channel entity; the intersection point of the docking channel and the channel entity, wherein the docking channel is: a channel connected to the scene entity for transporting materials for the scene entity; and / or The element type of the scene map element includes at least one of the following types: an element type identified by different colors; an element type identified by different characters; an element type identified by different serial numbers; an element type identified by symbols of different shapes; and / or The scene map generation module is specifically used to: for each pair of adjacent elements, generate a map line between the adjacent elements according to the channel position of the channel entity between the adjacent elements, so as to obtain the scene map of the target scene, wherein the adjacent elements include: two map elements that are adjacent in position and have a channel entity between them; and / or The attribute parameters of the map line include: attribute parameters of the channel entity between adjacent elements connected by the map line; and / or The type of attribute parameters includes at least one of the following information: vehicle types that can be driven through the channel, channel height, channel width, and channel driving direction; and / or The device also includes: a scene map update module, which is used to update the scene map of the target scene in response to a first update operation on a first entity in the scene model in the following manner: if the first entity includes a scene entity, then according to the type of the first update operation, the scene map element of the scene entity is updated, and based on the channel map element in the scene map and the updated scene map element, the scene map of the target scene is updated; if the first entity includes a channel entity, then according to the type of the first update operation and the channel information of the updated channel entity, the channel map element is updated, and based on the scene map element in the scene map and the updated channel map element, the scene map of the target scene is updated; and / or The device further includes: a scene model updating module, which is used to update the scene model of the target scene in response to a second update operation on the element connection structure in the scene map in the following manner: if the element connection structure includes a scene map element, then according to the type of the second update operation, the scene entity corresponding to the scene map element is updated, and based on the channel entity in the scene model and the updated scene entity, the scene model of the target scene is updated; if the element connection structure includes a channel element connection structure, then according to the type of the second update operation, the channel entity corresponding to the channel element connection structure is updated, and based on the scene entity in the scene model and the updated channel entity, the scene model of the target scene is updated, wherein the channel element connection structure includes: channel map elements and / or channel map lines; and / or The scene model acquisition module is specifically used to: obtain a structural diagram of the target scene; use the structural diagram as a base map to display the scene model construction scene in the user interaction interface; respond to a construction operation for a first entity in the scene model construction scene, construct the first entity according to the target posture indicated by the construction operation, and obtain the scene model of the target scene, wherein the first entity includes: a scene entity and / or a channel entity.

14. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-11 when executing a program stored in a memory.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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