Picture transformation method, virtual scene display system and device and electronic equipment

Abstract

The invention provides a picture transformation method, a virtual scene display system and device and electronic equipment, and is applied to the technical field of industrial automation. The method comprises the following steps: in response to viewpoint switching operation, determining virtual viewpoint space parameters corresponding to the viewpoint switching operation, and on the basis of the virtual viewpoint space parameters, observing a picture obtained by a linear conveying equipment model in a virtual three-dimensional space through a first virtual viewpoint, and converting into a picture obtained by observing the linear conveying equipment model through a second virtual viewpoint corresponding to the virtual viewpoint space parameter. The image transformation method provided by the invention is beneficial to reducing visual field blind areas possibly existing when a user observes the linear conveying equipment model, ensures that the user can master and manage a real scene according to the virtual scene, and improves the use experience of the user.

Description

Technical Field

[0001] The present application relates to the field of industrial automation technology, and more specifically, to a screen transformation method, a virtual scene display system, a device and an electronic device in the field of industrial automation technology. Background Art

[0002] In the field of industrial automation, limited by factors such as personal energy, attention and physical space, manual management has lags and limitations, and often requires a lot of manpower for monitoring and management. To this end, a computer with display function displays a virtual scene corresponding to the real scene of industrial automation, allowing users to control and manage the real scene based on the virtual scene, thereby reducing labor costs.

[0003] For transportation scenarios using linear conveying equipment, scene virtualization can also be performed. However, as the requirements for transportation distance increase, the transportation lines of the linear conveying equipment are extended accordingly. In addition, when the scene space is limited, the transportation lines of the linear conveying equipment are folded in space to reduce the occupied area. For physical linear conveying equipment with more complex transportation lines, the linear conveying equipment model virtualized in the interface will have many blind spots, which is not conducive to user observation. Summary of the invention

[0004] The present application provides a picture transformation method, a virtual scene display system, a device and an electronic device, which can reduce the blind area of ​​the field of view of a linear conveying equipment model.

[0005] In a first aspect, a method for changing a picture is provided, the method comprising: In response to a viewpoint switching operation, determining a virtual viewpoint space parameter corresponding to the viewpoint switching operation; Based on the virtual viewpoint space parameters, a picture obtained by observing the linear conveying device model in the virtual three-dimensional space from a first virtual viewpoint is transformed into a picture obtained by observing the linear conveying device model from a second virtual viewpoint corresponding to the virtual viewpoint space parameters.

[0006] In the embodiment of the present application, when displaying the linear conveying equipment model, in response to the viewpoint switching operation, the virtual viewpoint space parameters corresponding to the viewpoint switching operation are determined, and then the spatial state of the virtual viewpoint in the virtual three-dimensional space is transformed based on the virtual viewpoint space parameters, and the picture observed by the transformed virtual viewpoint is displayed. According to the virtual viewpoint space parameters determined by the viewpoint switching operation, the virtual viewpoint can be switched, that is, the first virtual viewpoint is switched to the second virtual viewpoint, thereby transforming the picture of the observed linear conveying equipment model, so that the displayed picture of the linear conveying equipment model is convenient for the user to observe, which is conducive to reducing the visual blind spots that may exist when the user observes the linear conveying equipment model, ensuring that the user can control and manage the real scene according to the virtual scene, and improving the user's experience.

[0007] Optionally, in response to a viewpoint switching operation, determining virtual viewpoint space parameters corresponding to the viewpoint switching operation includes: obtaining object name information corresponding to the viewpoint switching operation, wherein the object name information is determined based on model parameters of the linear conveying equipment model; and determining the corresponding virtual viewpoint space parameters based on the object name information.

[0008] In an embodiment of the present application, the viewpoint switching operation determines the corresponding virtual viewpoint space parameters through the object name information corresponding to the viewpoint switching operation, which can quickly determine the virtual viewpoint space parameters and improve the predictability of the virtual viewpoint switching results, that is, it can more accurately predict the spatial state of the second virtual viewpoint after the switch, thereby improving the screen switching efficiency.

[0009] Optionally, determining the corresponding virtual viewpoint space parameters based on the object name information includes: obtaining virtual viewpoint offset information corresponding to the object name information; determining, based on the object name information, a spatial state of a reference object model with a matching name in the linear conveying equipment model in the virtual three-dimensional space to obtain reference object space parameters; and performing a spatial offset relative to the reference object model based on the virtual viewpoint offset information and the reference object space parameters to obtain the virtual viewpoint space parameters.

[0010] In an embodiment of the present application, the virtual viewpoint space parameters are determined based on the reference object space parameters of the reference object model in the virtual three-dimensional space and the virtual viewpoint offset information corresponding to the object name information. This allows the user to quickly determine the virtual viewpoint space parameters based on the object name information and reduces the amount of calculation, thereby improving the efficiency of obtaining the virtual viewpoint space parameters and the screen switching efficiency.

[0011] Optionally, the method further includes: acquiring motion measurement information of the reference object model; and updating the virtual viewpoint space parameters corresponding to the second virtual viewpoint after detecting the motion of the reference object model based on the motion measurement information.

[0012] In an embodiment of the present application, after the movement of the reference object model is monitored based on the motion measurement information of the reference object model, the virtual viewpoint space parameters of the second virtual viewpoint are updated so that the second virtual viewpoint can be synchronized with the motion state of the reference object model, that is, the second virtual viewpoint can move with the reference object model, or the virtual viewpoint can move with the reference object model while it is stationary, thereby ensuring that the reference object model exists in real time in the displayed image and facilitating the user to dynamically observe the reference object model.

[0013] Optionally, the image obtained by observing the linear conveying equipment model from a second virtual viewpoint corresponding to the virtual viewpoint space parameter includes: determining a virtual visual field range of the second virtual viewpoint according to the visual field parameter of the second virtual viewpoint; and displaying the image within the virtual visual field range. Thus, the visual field of the second virtual viewpoint can be flexibly adjusted to improve the viewability of the image.

[0014] Optionally, in response to a viewpoint switching operation, determining a virtual viewpoint space parameter corresponding to the viewpoint switching operation includes at least one of the following: when a single viewpoint switching is determined based on the viewpoint switching operation, determining a virtual viewpoint space parameter corresponding to one of the second virtual viewpoints; when multiple viewpoint switching is determined based on the viewpoint switching operation, determining a plurality of virtual viewpoint space parameters corresponding to the second virtual viewpoints; the picture obtained by observing the linear conveying equipment model from the second virtual viewpoint corresponding to the virtual viewpoint space parameter includes: when multiple viewpoint switching is determined based on the viewpoint switching operation, selecting at least one from the plurality of second virtual viewpoints each time to display the corresponding picture according to the plurality of virtual viewpoint space parameters.

[0015] In the embodiment of the present application, the user can perform a single viewpoint switching operation or multiple viewpoint switching operations, and according to the user's specific viewpoint switching operation, the viewpoint switching screen changes once or multiple times, so that the user can observe the linear conveying equipment model from one or more screens, providing a variety of options for user observation, improving the flexibility and diversity of screen changes, and when the user can observe the linear conveying equipment model from multiple screens through a single viewpoint switching operation, the viewpoint switching operation can improve the user's observation efficiency, thereby improving the user's management efficiency of the linear conveying equipment.

[0016] Optionally, determining the virtual viewpoint space parameters corresponding to the multiple second virtual viewpoints includes at least one of the following: obtaining the multiple virtual viewpoint space parameters in a preset order; obtaining a preset starting viewpoint space parameter, and based on a preset space change parameter, generating a plurality of changing viewpoint space parameters, and setting the starting viewpoint space parameter and the changing viewpoint space parameter as the multiple virtual viewpoint space parameters in a change order.

[0017] In the embodiment of the present application, multiple virtual viewpoint space parameters obtained based on the preset starting viewpoint space parameters and space change parameters can enable the virtual viewpoint to be continuously transformed in the order of change, so that the picture viewed by the user presents a continuous change, thereby improving the user's observation experience and further improving the user's management efficiency of the linear conveying equipment.

[0018] Optionally, the method also includes at least one of the following: based on the model parameters of the linear conveying equipment model, when it is determined that there are obstructions in the picture of the first virtual viewpoint and / or the picture of the second virtual viewpoint, hiding the obstructions; in response to a hiding operation, hiding the virtual object indicated by the hiding operation.

[0019] In an embodiment of the present application, when it is determined that there is an obstruction in the picture of the virtual viewpoint, the obstruction is hidden or the virtual object indicated by the hiding operation is hidden. This can avoid blind spots in the line of sight caused by the obstruction blocking the observed object, facilitate direct observation by the user, and improve the user's observation experience.

[0020] Optionally, the method also includes: at least one of the following: in response to a first viewpoint adjustment operation, adjusting the virtual field of view and / or line of sight direction of the first virtual viewpoint; in response to a second viewpoint adjustment operation, adjusting the virtual field of view and / or line of sight direction of the second virtual viewpoint.

[0021] In an embodiment of the present application, the user can perform a viewpoint adjustment operation to adjust the virtual field of view and / or line of sight direction of the virtual viewpoint to adjust the displayed image so that the displayed image matches the user's observation needs, thereby facilitating the user to more flexibly control and manage the linear conveying equipment.

[0022] Optionally, the method further includes: in response to a reference object model replacement operation, replacing the reference object model of the second virtual viewpoint.

[0023] In the embodiment of the present application, the user can change the reference object model corresponding to the second virtual viewpoint through the reference object model change operation, which is conducive to the user to better observe the situation of the reference object model and improve the user's management efficiency of the linear conveying equipment.

[0024] Optionally, the method also includes: displaying monitoring information; wherein the monitoring information includes simulated monitoring information and / or real monitoring information: the simulated monitoring information is used to indicate at least one of the simulated information of the mover, the workstation simulation information, the control status simulation information and the external device simulation information obtained during the simulation operation of the linear conveying equipment model; the real monitoring information is used to indicate at least one of the real information of the mover, the workstation simulation information, the control status simulation information and the external device simulation information obtained during the real operation of the linear conveying equipment.

[0025] In the embodiment of the present application, the user can grasp the simulated operating status of the linear conveying equipment model and the actual operating status of the linear conveying equipment through monitoring information, which is conducive to improving the user's observation efficiency.

[0026] In a second aspect, a picture conversion device is provided, the device comprising: A parameter acquisition module, used for determining, in response to a viewpoint switching operation, a virtual viewpoint space parameter corresponding to the viewpoint switching operation; The display module is used to transform the picture obtained by observing the linear conveying equipment model in the virtual three-dimensional space from the first virtual viewpoint based on the virtual viewpoint space parameters into the picture obtained by observing the linear conveying equipment model from the second virtual viewpoint corresponding to the virtual viewpoint space parameters.

[0027] In a third aspect, a virtual scene display system is provided, comprising: a controller of a linear conveying device, a message server and a host computer; the message server is used to notify the controller to provide real operation information of the linear conveying device, and to notify the host computer to receive the real operation information of the linear conveying device; the host computer is used to display a linear conveying device model corresponding to the linear conveying device, and based on the real operation information of the linear conveying device, control the linear conveying device model to perform simulated operation, and execute the method described in the first aspect.

[0028] Optionally, the host computer and the controller establish a communication connection through the message server, or the host computer and the controller establish a communication connection directly.

[0029] In a fourth aspect, an electronic device is provided, the electronic device being used to display a screen of a linear conveying device model, the electronic device comprising: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory to execute the steps of any one of the methods described in the first aspect above.

[0030] In a fifth aspect, a readable storage medium is provided, which stores an executable program code. When the executable program code is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0031] In a sixth aspect, a computer program product is provided, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is an exemplary system architecture diagram for implementing a screen conversion method provided in an embodiment of the present application; Figure 2 is a flowchart of a method for changing a picture provided by an embodiment of the present application; Figure 3 is a schematic diagram of viewpoint switching in a virtual three-dimensional space provided by an embodiment of the present application; Figure 4 yes Figure 3 An exemplary schematic diagram of a display interface corresponding to the first virtual viewpoint is shown; Figure 5 yes Figure 3 An exemplary schematic diagram of a display interface corresponding to the second virtual viewpoint is shown; Figure 6 is an exemplary schematic diagram of another display interface provided in an embodiment of the present application; Figure 7 is a relative position relationship diagram between a second virtual viewpoint and a reference object model provided in an embodiment of the present application; Figure 8 It is a schematic diagram of a reference object model replacement provided in an embodiment of the present application; Fig. 9 is a schematic diagram of the relative position relationship between a plurality of second virtual viewpoints and a reference object model provided in an embodiment of the present application; Fig.10 is a schematic diagram of the relative position relationship between another virtual viewpoint and a linear conveying device provided in an embodiment of the present application; Fig.11 is a hidden schematic diagram of a reference object model provided in an embodiment of the present application; Fig.12 It is a schematic diagram of the composition of a virtual scene display system provided in an embodiment of the present application; Fig.13 It is a structural schematic diagram of a picture conversion device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0035] See also Figure 1 , Figure 1 1 is an exemplary system architecture diagram for implementing a screen conversion method provided by an embodiment of the present application. The system includes a display module 10 and a linear conveying device 20. The linear conveying device 20 may include a control module 21 and a linear motor 22, and the linear motor 22 may further include a moving part ( Figure 1 Not shown) and conveyor tracks ( Figure 1 (not shown), one of the moving part and the conveying track is provided with an excitation sub-component, which generates a variable magnetic field when energized, and the other of the conveying track and the moving part is provided with a magnetic sub-component, which is used to interact with the variable magnetic field generated by the energization of the excitation sub-component to generate an electromagnetic force acting on the moving part, so as to drive the moving part to move along the conveying track. Among them, the excitation sub-component can be formed based on a coil; the magnetic sub-component can be understood as an object with a magnetic field, such as a permanent magnet, a magnet, etc.

[0036] The control module 21 can control the movement of the mobile module along the conveying track. The control module 21 may include one or more devices such as a programmable logic controller (PLC), a central processing unit (CPU), a field programmable gate array (FPGA), a digital signal processing (DSP), and the like, and data processing and communication functions may be realized through the one or more devices. The control module 21 is used to control the operation of the linear motor 22.

[0037] The display module 10 may include one or more devices such as a programmable logic controller (PLC), a central processing unit (CPU), a field programmable gate array (FPGA), a digital signal processing (DSP), a graphics processing unit (GPU), and a control circuit composed of the one or more devices mentioned above, and may display a virtual three-dimensional space on a display interface, and after reading the model parameters of the linear conveying device model corresponding to the linear conveying device 20, the linear conveying device model 11 of the linear conveying device 20 may be displayed in the virtual three-dimensional space.

[0038] A communication connection may be established directly between the display module 10 and the control module 21 , or an indirect communication connection may be established between the display module 10 and the control module 21 via an intermediate medium (such as a message server described below).

[0039] Understandably, Figure 1 The control module and display module are only schematically listed. Depending on the specific implementation, the functions implemented by the control module can be replaced or combined by other modules, devices, equipment, etc., and the functions implemented by the display module can also be replaced or combined by other modules, devices, equipment, etc. The embodiment of the present application does not impose specific restrictions on the system architecture used to implement the screen transformation method.

[0040] See also Figure 2 , Figure 2 is a flowchart of a method for changing a picture provided by an embodiment of the present application. The method can be Figure 1 The display module 10 shown in FIG. Figure 2 As shown, the method may include the following steps: Step 201: In response to a viewpoint switching operation, determine a virtual viewpoint space parameter corresponding to the viewpoint switching operation.

[0041] The virtual viewpoint is used to observe the linear conveying equipment model in the virtual three-dimensional space, and the viewpoint switching operation is used to determine the virtual viewpoint space parameters of the new virtual viewpoint. For the sake of description and understanding, the virtual viewpoint used to observe the linear conveying equipment model in the virtual three-dimensional space before responding to the viewpoint switching operation can be called the first virtual viewpoint, and the new virtual viewpoint determined for the virtual three-dimensional space by the virtual viewpoint space parameters can be called the second virtual viewpoint. The virtual viewpoint space parameters are used to indicate the spatial state of the second virtual viewpoint in the virtual space, and the spatial state can include the position state and the posture state.

[0042] Specifically, the virtual viewpoint space parameters may include the three-dimensional coordinates of the second virtual viewpoint in the virtual three-dimensional space and at least one attitude angle, and the attitude angle of the second virtual viewpoint may represent the angle of rotation of the second virtual viewpoint in one direction, thereby controlling the line of sight direction of the second virtual viewpoint. The three-dimensional coordinates may include the X-axis coordinates, Y-axis coordinates and Z-axis coordinates of the second virtual viewpoint in the virtual three-dimensional space, and the attitude angle may be divided into a pitch angle, a yaw angle and a roll angle, wherein the pitch angle is the rotation angle of the second virtual viewpoint around the X-axis, the yaw angle is the rotation angle of the second virtual viewpoint around the Y-axis, and the roll angle is the rotation angle of the second virtual viewpoint around the Z-axis. Optionally, the attitude angle of the virtual viewpoint may be the attitude angle of the virtual line of sight corresponding to the virtual viewpoint, including the pitch angle, yaw angle and roll angle of the virtual line of sight.

[0043] In one embodiment, the viewpoint switching operation may be a click operation performed by a user on the linear conveying equipment model displayed on the display interface through an input medium such as a mouse, keyboard, or finger. After receiving the user's click operation, the display module may determine the three-dimensional coordinates of the second virtual viewpoint based on the three-dimensional coordinates of the spatial position clicked by the user, and determine the attitude angle of the second virtual viewpoint based on the attitude angle of the first virtual viewpoint. The attitude angle of the first virtual viewpoint may be used as the attitude angle of the second virtual viewpoint so that the direction of the second virtual line of sight of the second virtual viewpoint is the same as the direction of the first virtual line of sight of the first virtual viewpoint; the spatial change of the virtual viewpoint relative to the linear conveying equipment model may also be determined based on the attitude angle of the first virtual viewpoint and the spatial position clicked by the user, thereby determining the attitude angle of the second virtual viewpoint so that the second virtual line of sight of the second virtual viewpoint and the first virtual line of sight of the first virtual viewpoint point to the same part of the linear conveying equipment model.

[0044] See also Figure 3 , Figure 3 Schematic diagram of viewpoint switching in a virtual three-dimensional space provided by an embodiment of the present application. Figure 3 As shown, before responding to the viewpoint switching operation, the virtual viewpoint in the virtual three-dimensional space is the first virtual viewpoint 31, the virtual line of sight is the first virtual line of sight 32, the first virtual viewpoint 31 is located directly above the linear conveying equipment model 11, and the first virtual line of sight 32 takes the first virtual viewpoint 31 as a starting point and points to the position where the linear conveying equipment model 11 is located. The direction of the first virtual line of sight 32 can be determined by the posture angle of the first virtual viewpoint 31.

[0045] See also Figure 4 , Figure 4 yes Figure 3 An exemplary schematic diagram of a display interface corresponding to the first virtual viewpoint is shown. Figure 4As shown, in the display interface 30, a picture 40 obtained by observing the linear transmission equipment model 11 along the first virtual line of sight 32 from a first virtual viewpoint 31 located above the linear transmission equipment model 11 can be displayed, wherein the first virtual viewpoint 31 can observe the complete linear transmission equipment model 11, and at this time, a top view of the complete linear transmission equipment model 11 is displayed in the picture 40.

[0046] It is understandable that the picture observed from the virtual viewpoint can be smaller than the display interface and displayed in a window manner in the display interface, or the picture observed from the virtual viewpoint covers the entire display interface and is displayed in a full-screen manner in the display interface. For ease of description and understanding, the accompanying drawings corresponding to the embodiments of the present application display the pictures in a window manner, and in actual applications, the pictures can also be displayed in a full-screen manner, and other identifiers that may exist in the display interface (such as the controls described below and the coordinate axes displayed in the accompanying drawings) can be located above the pictures for user operation and reference.

[0047] In an optional example, combining Figure 3 and Figure 4 , when the user clicks on the linear conveyor model in the display interface (i.e., a viewpoint switching operation, Figure 4 When the display module responds to the click operation, it determines the spatial position 3A ( Figure 3 (not indicated in the figure), the three-dimensional coordinates of the spatial position 3A corresponding to the click operation are used as the three-dimensional coordinates of the second virtual viewpoint, and the posture angle of the first virtual viewpoint 31 is used as the posture angle of the second virtual viewpoint, thereby obtaining the virtual viewpoint space parameters corresponding to the click operation.

[0048] Based on the virtual viewpoint space parameters corresponding to the click operation, the second virtual viewpoint 34 can be determined, wherein the three-dimensional coordinates of the second virtual viewpoint 34 are the same as the three-dimensional coordinates of the spatial position 3A corresponding to the click operation, and the direction of the second virtual line of sight 35 of the second virtual viewpoint 34 is the same as the direction of the first virtual viewpoint 31.

[0049] In another optional example, combining Figure 3 and Figure 4When the user clicks on the linear conveyor model in the display interface, the display module responds to the click operation, uses the three-dimensional coordinates of the space position 3A corresponding to the click operation as the three-dimensional coordinates of the second virtual viewpoint, and determines the spatial change of the second virtual viewpoint relative to the linear conveyor model 11 according to the posture angle of the first virtual viewpoint 31 and the relative position between the space position 3A clicked by the user and the linear conveyor model 11, thereby obtaining the posture angle of the linear conveyor model 11, so that the second virtual line of sight of the second virtual viewpoint and the first virtual line of sight 32 of the first virtual viewpoint 31 point to the same part of the linear conveyor model 11. Thus, the virtual viewpoint space parameters corresponding to the click operation are obtained.

[0050] Based on the virtual viewpoint space parameters corresponding to the click operation, a second virtual viewpoint 34 can be determined, wherein the three-dimensional coordinates of the second virtual viewpoint 34 are the same as the three-dimensional coordinates of the spatial position 3A corresponding to the click operation, and the direction of the second virtual line of sight 35' (not shown in the figure) of the second virtual viewpoint 34 is different from the direction of the first virtual line of sight 32 of the first virtual viewpoint 31, but the second virtual line of sight 35' and the first virtual line of sight 32 point to the same part of the linear conveying equipment model 11 (such as Figure 3 The second virtual line of sight 35' and the first virtual line of sight 32 may both point to the geometric center of the linear conveying equipment model 11).

[0051] It is understandable that, according to different program settings, the user can determine the virtual viewpoint space parameters of a second virtual viewpoint by clicking once or multiple times.

[0052] In yet another optional example, combining Figure 3 and Figure 4 , the user double-clicks the linear conveyor model in the display interface ( Figure 4 (not shown in the figure), the display module responds to the double-click operation as a viewpoint switching operation, and uses the three-dimensional coordinates of the spatial position 3A (not shown in the figure) corresponding to the first click in the virtual three-dimensional space as the three-dimensional coordinates of the second virtual viewpoint. According to the spatial position 37 corresponding to the second click in the virtual three-dimensional space, the direction of the second virtual line of sight 35 corresponding to the second virtual viewpoint can be determined to be from the spatial position 34 to the spatial position 37. Furthermore, the posture angle of the second virtual viewpoint can be determined, and the virtual viewpoint space parameters corresponding to the two click operations can be obtained.

[0053] It should be understood that a multiple-click operation (such as the double-click operation mentioned above) refers to multiple clicks in succession within a preset duration. When the time interval between multiple clicks is less than the preset duration, the multiple clicks constitute a multiple-click operation, and are responded as a viewpoint switching operation. When the time interval between multiple clicks is greater than the preset duration, the multiple clicks do not constitute a multiple-click operation, and are not responded as a viewpoint switching operation.

[0054] In another embodiment, the viewpoint switching operation may be a sliding operation performed by the user in the display interface. After the display module receives the user's sliding operation, the spatial position corresponding to the virtual three-dimensional space when the sliding operation ends is used as the three-dimensional coordinates of the second virtual viewpoint, and the direction when the sliding operation ends is used as the direction of the second virtual line of sight, thereby determining the posture angle, and obtaining the virtual viewpoint space parameters corresponding to the viewpoint switching operation.

[0055] In another embodiment, the viewpoint switching operation may be a click operation of a user clicking a viewpoint switching control displayed in a display interface through an input medium such as a mouse, a keyboard, or a finger. The viewpoint switching control is pre-configured with corresponding virtual viewpoint space parameters. After receiving the user's click operation, the display module may obtain the corresponding virtual viewpoint space parameters according to the viewpoint switching control clicked by the user. In order to facilitate the user to intuitively understand the switching function implemented by the viewpoint switching control, the corresponding control name information may be configured for the virtual viewpoint space parameters according to the virtual viewpoint space parameters corresponding to the viewpoint switching control and displayed in the display interface.

[0056] In an alternative embodiment, if Figure 4 As shown, the display interface 30 displays a viewpoint switching control 41 corresponding to the linear conveying equipment model 11. The viewpoint switching control 41 may be a virtual button displayed on the display interface 30 through a program, and the control name information of the viewpoint switching control 41 may be "Model Nth View". The corresponding virtual viewpoint space parameters may be set in advance for the viewpoint switching control 41. When the user clicks the viewpoint switching control 41, the display module obtains the virtual viewpoint space parameters corresponding to the viewpoint switching control 41 in response to the click operation of the viewpoint switching control 41.

[0057] It should be understood that Figure 3 The virtual 3D space shown is for ease of understanding and explanation. In actual application, users cannot directly observe Figure 3 In other words, the user observes the linear conveying equipment model from the perspective of the virtual viewpoint, and the user can switch the viewpoint through the display interface, and the specific form of the viewpoint switching operation may include but is not limited to the above examples.

[0058] Step 202: Based on the virtual viewpoint space parameters, the image obtained by observing the linear conveying device model in the virtual three-dimensional space from the first virtual viewpoint is transformed into the image obtained by observing the linear conveying device model from the second virtual viewpoint corresponding to the virtual viewpoint space parameters.

[0059] In an alternative embodiment, see Figure 5 , Figure 5 yes Figure 3 An exemplary schematic diagram of a display interface corresponding to the second virtual viewpoint is shown. Figure 3 and Figure 4 As shown, after determining the three-dimensional coordinates of the second virtual viewpoint 34 and the direction of the second virtual sight line 35 based on the virtual viewpoint space parameters corresponding to the viewpoint switching operation, the display module can display the picture 50 observed when the linear transmission equipment model 11 is observed from the second virtual viewpoint 34 along the direction of the second virtual sight line 35. Among them, since the second virtual viewpoint 34 at least undergoes a translation change relative to the first virtual viewpoint 31, and even the second virtual viewpoint 34 may undergo a rotation change relative to the first virtual viewpoint 31, the second virtual viewpoint 34 can only observe a part of the linear transmission equipment model 11, and at this time, the picture 50 displays a top view of the part of the linear transmission equipment model 11.

[0060] Optionally, in the process of transforming the image obtained by observing the linear conveying equipment model from the second virtual viewpoint corresponding to the virtual viewpoint space parameter, the following steps may be included: Determining a virtual visual field range of the second virtual viewpoint according to a field of view parameter of the second virtual viewpoint; Displays the image within the virtual field of view.

[0061] In one implementation, field of view parameters may be pre-set for a virtual viewpoint, and the field of view parameters may include a horizontal field of view angle and a vertical field of view angle of the virtual viewpoint, and the horizontal field of view angle and the vertical field of view angle are used to determine the field of view range of the virtual viewpoint.

[0062] In an optional example, if Figure 3 As shown, the field of view parameters of the first virtual viewpoint 31 include a horizontal field of view angle α1 and a vertical field of view angle β1, and the sizes of the horizontal field of view angle α1 and the vertical field of view angle β1 can be default values. Before responding to the viewpoint switching operation, the virtual viewpoint of the virtual three-dimensional space is the first virtual viewpoint 31, and the display module displays the picture within the virtual field of view range 33 of the first virtual viewpoint 31. The picture is taken from the first virtual viewpoint 31 as the observation point. When the linear conveying equipment model 11 is observed along the first virtual line of sight 32 at the horizontal field of view angle α1 and the vertical field of view angle β1, the corresponding virtual field of view range 33 covers the linear conveying equipment model 11, and the observed Figure 4 Screen 40 is shown.

[0063] After responding to the viewpoint switching operation, the virtual viewpoint of the virtual three-dimensional space is switched from the first virtual viewpoint 31 to the second virtual viewpoint 34. The display module determines the virtual field of view 36 of the second virtual viewpoint 34 based on the second virtual viewpoint 34 and the second virtual line of sight 35, as well as the horizontal field of view angle α2 and the vertical field of view angle β2, and displays a picture 50 within the virtual field of view 36. The picture is taken from the second virtual viewpoint 34 as the observation point. When the linear conveying device model 11 is observed along the second virtual line of sight 35 at the horizontal field of view angle α2 and the vertical field of view angle β2, the corresponding virtual field of view 36 fails to cover the linear conveying device model 11. As can be seen from the following figure: Figure 5 Screen 50 is shown.

[0064] In the embodiment of the present application, when displaying the linear conveying equipment model, in response to the viewpoint switching operation, the virtual viewpoint space parameters corresponding to the viewpoint switching operation are determined, and then the spatial state of the virtual viewpoint in the virtual three-dimensional space is transformed based on the virtual viewpoint space parameters, and the picture observed by the transformed virtual viewpoint is displayed. According to the virtual viewpoint space parameters determined by the viewpoint switching operation, the virtual viewpoint can be switched, that is, the first virtual viewpoint is switched to the second virtual viewpoint, thereby transforming the picture of the observed linear conveying equipment model, so that the displayed picture of the linear conveying equipment model is convenient for the user to observe, which is conducive to reducing the visual blind spots that may exist when the user observes the linear conveying equipment model, ensuring that the user can control and manage the real scene according to the virtual scene, and improving the user's experience.

[0065] Optionally, in response to the viewpoint switching operation, the process of determining the virtual viewpoint space parameters corresponding to the viewpoint switching operation may include the following steps: Obtaining object name information corresponding to the viewpoint switching operation, wherein the object name information is determined according to model parameters of the linear conveying device model; Based on the object name information, the corresponding virtual viewpoint space parameters are determined.

[0066] In practical applications, the linear conveyor model is constructed based on model parameters. Specifically, according to the components and combination levels of the linear conveyor, the model parameters may include corresponding object name parameters and object space parameters, so as to construct a linear conveyor model matching the linear conveyor in a virtual three-dimensional space. Among them, the object space parameters may include the three-dimensional coordinates and posture angles of the object.

[0067] For example, the linear conveying device may include a control module and a linear motor, and the linear motor may include a moving part and a conveying track. According to the components and combination levels inside the linear conveying device, the model parameters may at least include a control module name parameter, a moving part name parameter, a conveying track name parameter, and control module space information, moving part space parameters, and conveying track space parameters. According to the model parameters, a control module model, a moving part model, and a conveying track model may be formed in a virtual three-dimensional space, the moving part model and the conveying track model may be combined to form a linear motor model, and the linear motor model and the control model may be combined to form a linear conveying device model.

[0068] Optionally, the model parameters may also include a linear motor name parameter and a linear motor space parameter. Since the moving part and the conveying track are components of the linear motor, the linear motor name parameter may be associated with the moving part name parameter and the conveying track name parameter, respectively, and the linear motor space parameter may be associated with the moving part space parameter and the conveying track space parameter, respectively, so that when the user operates the linear motor model, the moving part model and the conveying track model may change adaptively due to the association relationship. For example, when the user hides the linear motor model, the moving part model and the conveying track model are correspondingly hidden due to the association relationship.

[0069] Optionally, the model parameters may also include a linear conveying device name parameter and a linear conveying device space parameter, for details of which please refer to the above-mentioned related content description and will not be repeated here.

[0070] In one embodiment, the viewpoint switching operation may include object name information, and the object name information is set according to the object name parameters included in the model parameters of the linear conveying equipment model, that is, the object name information can match the object name parameters of the linear conveying equipment model or a component in the linear conveying equipment model, so that the object name information of the viewpoint switching operation can be used to indicate the object model related to the linear conveying equipment model and used for reference (that is, the reference object model).

[0071] According to the object name information of the viewpoint switching operation, the reference object model may be a linear conveying device model or a model of a component of the linear conveying device model (such as a moving component model, etc.). Based on the spatial state of the reference object model indicated by the object name information in the virtual three-dimensional space, the corresponding virtual viewpoint space parameters may be determined, wherein the spatial state of the reference object model in the virtual three-dimensional space may be determined by obtaining the reference object space parameters corresponding to the reference object model in the model parameters.

[0072] Optionally, in an implementation of viewpoint switching through a viewpoint switching control, one or more viewpoint switching controls may be provided for the reference object model, thereby facilitating user operation. In addition, the number of the reference object models may be one or more.

[0073] In an alternative example, see Figure 6 and Figure 7 , Figure 6 is an exemplary schematic diagram of another display interface provided in an embodiment of the present application, Figure 7 : is a relative position relationship diagram between a second virtual viewpoint and a reference object model provided in an embodiment of the present application. Figure 6 As shown, the display interface 30 displays a picture 60, and a viewpoint switching control 61 and a viewpoint switching control 62 corresponding to the reference object model X related to the linear conveying device model, a viewpoint switching control 63 corresponding to the reference object model Y, a viewpoint switching control 64 corresponding to the reference object model Z, and a viewpoint switching control 65 corresponding to the reference object model W. The viewpoint switching control 61 and the viewpoint switching control 62 are configured with object name information corresponding to the reference object model X, and the viewpoint switching control 61 and the viewpoint switching control 62 are respectively configured with different virtual viewpoint space parameters, and so on, the viewpoint switching controls 63 to 65 are configured with corresponding object name information and virtual viewpoint space parameters.

[0074] Optionally, the corresponding virtual viewpoint space parameters can be configured for the viewpoint switching control according to the view of the reference object model, so that after the user clicks the viewpoint switching control, the display interface can display the picture of the corresponding view of the reference object model. For example, the virtual viewpoint space parameters corresponding to the right view of the reference object model X are configured for the viewpoint switching control 61, and after the user clicks the viewpoint switching control 61, the display interface can display the picture of the right view of the reference object model X. Similarly, the virtual viewpoint space parameters corresponding to the views of the reference object model can be configured for multiple viewpoint switching controls, for example, the virtual viewpoint space parameters corresponding to the left view of the reference object model X are configured for the viewpoint switching control 62, the virtual viewpoint space parameters corresponding to the left view of the reference object model Y are configured for the viewpoint switching control 63, the virtual viewpoint space parameters corresponding to the right view of the reference object model Z are configured for the viewpoint switching control 64, and the virtual viewpoint space parameters corresponding to the left view of the reference object model W are configured for the viewpoint switching control 65.

[0075] Before responding to the viewpoint switching operation, the display interface 30 displays the image observed based on the first virtual viewpoint (not shown in the figure). Figure 6 Screen 60 is shown.

[0076] like Figure 7As shown, according to the object name information corresponding to the viewpoint switching control specifically clicked by the user, the reference object model 12 can be one of the reference object model X, reference object model Y, reference object model Z and reference object model W. And according to the viewpoint switching control specifically clicked by the user, the corresponding virtual viewpoint space parameters can be obtained, so that the three-dimensional coordinates of the second virtual viewpoint 71 and the posture angle of the virtual line of sight 72 can be determined. Then, the picture within the virtual field of view range 73 observed based on the second virtual viewpoint 71 and the virtual line of sight 72 can be displayed. For example, if the user clicks the viewpoint switching control 61, the displayed picture is the right view picture of the reference object model X.

[0077] To facilitate user operation, each viewpoint switch control may be named according to the view to which it corresponds. When there are multiple reference object models, each viewpoint switch control may be named according to the reference object model and view to which it corresponds.

[0078] For example, Figure 6 As shown, when the reference object model 12 is the reference object model X, when the right view and the left view of the reference object model 12 and other views need to be observed, multiple virtual viewpoint space parameters can be configured for the object name information of the reference object model 12, and each virtual viewpoint space parameter corresponds to a view of the reference object model 12. Figure 6 As shown, two virtual viewpoint space parameters can be configured for the object name information of the reference object model 12, one virtual viewpoint space parameter corresponds to the viewpoint switching control 61, and the picture observed based on the virtual viewpoint corresponding to the virtual viewpoint space parameter includes the right view of the reference object model 12; the other virtual viewpoint space parameter corresponds to the viewpoint switching control 62, and the picture observed based on the virtual viewpoint corresponding to the virtual viewpoint space parameter includes the left view of the reference object model 12.

[0079] It should be understood that the above are merely illustrative examples, and the specific form of the object name information and the method for determining the virtual viewpoint space parameters based on the object name information may include but are not limited to the above examples.

[0080] In an embodiment of the present application, the viewpoint switching operation determines the corresponding virtual viewpoint space parameters through the object name information corresponding to the viewpoint switching operation, which can quickly determine the virtual viewpoint space parameters and improve the predictability of the virtual viewpoint switching results, that is, it can more accurately predict the spatial state of the second virtual viewpoint after the switch, thereby improving the screen switching efficiency.

[0081] Optionally, based on the object name information, the corresponding virtual viewpoint space parameters are determined, including: Get the virtual viewpoint offset information corresponding to the object name information; Based on the object name information, determine the spatial state of the reference object model with the matching name in the linear conveying equipment model in the virtual three-dimensional space, and obtain the reference object space parameters; Based on the virtual viewpoint offset information and the reference object space parameters, a spatial offset is performed relative to the reference object model to obtain the virtual viewpoint space parameters.

[0082] In one embodiment, the spatial state of the reference object model is represented by the spatial state of a specified point (i.e., the reference point) in the reference object model, wherein the spatial state of the reference object model may at least include the position of the reference point, and optionally, the spatial state of the reference object model may also include the posture of the reference point. In other words, the reference object spatial parameters are at least used to represent the three-dimensional coordinates of the reference point in the reference object model, and optionally, the reference object spatial parameters may also be used to represent the posture angle of the reference point in the reference object model. The reference point and virtual viewpoint offset information of the corresponding reference object model may be pre-set for the object name information. After the reference object model is determined based on the object name information, the reference object spatial reference is determined according to the spatial state of the reference point of the reference object model, and then, based on the reference object spatial parameters and the virtual viewpoint offset information, the virtual viewpoint spatial parameters of the second virtual viewpoint are determined by spatially offsetting with the reference point as the origin.

[0083] Exemplarily, the virtual viewpoint offset information may include a coordinate offset, which may include at least one of a coordinate offset Δx corresponding to the X-axis coordinate of the reference point, a coordinate offset Δy corresponding to the Y-axis coordinate of the reference point, and a coordinate offset Δz corresponding to the Z-axis coordinate of the reference point. Optionally, the attitude angle offset may also include an attitude angle offset, which may include at least one of an angular offset Δa rotating around the X-axis relative to the reference point, an angular offset Δb rotating around the Y-axis relative to the reference point, and an angular offset Δc rotating around the Y-axis relative to the reference point.

[0084] like Figure 7 As shown, when the reference object model 12 is the reference object model X, the reference point 13 is the reference point of the reference object model 12. When the user clicks the viewpoint switching control 61, the object name information is determined to be the object name information of the reference object model 12, and the virtual viewpoint offset information pre-configured for the object name information of the reference object model 12 is obtained, including the angle offset Δa, the angle offset Δb, and the angle offset Δc. At the same time, according to the object name information of the reference object model 12, the position of the reference object model 12 in the virtual three-dimensional space is determined to obtain the three-dimensional coordinates and attitude angle (i.e., reference object space parameters) of the reference point 13, and the reference object space parameters include the coordinates x, y, and z of the reference point 13 of the reference object model 12 on the X-axis, Y-axis, and Z-axis, respectively, and the pitch angle a, yaw angle b, and roll angle c of the reference point 13.

[0085] Furthermore, the three-dimensional coordinates of the second virtual viewpoint can be determined to be (x+Δx), (y+Δy) and (z+Δz), and the posture angles of the second virtual line of sight can be determined to be (a+Δa), (b+Δb) and (c+Δc), thereby obtaining the virtual viewpoint space parameters of the second virtual viewpoint.

[0086] In an embodiment of the present application, the virtual viewpoint space parameters are determined based on the reference object space parameters of the reference object model in the virtual three-dimensional space and the virtual viewpoint offset information corresponding to the object name information. This allows the user to quickly determine the virtual viewpoint space parameters based on the object name information and reduces the amount of calculation, thereby improving the efficiency of obtaining the virtual viewpoint space parameters and the screen switching efficiency.

[0087] Optionally, the method provided in the embodiment of the present application may further include: Obtaining motion measurement information of a reference object model; After the reference object model is detected to move based on the motion measurement information, the virtual viewpoint space parameters are updated.

[0088] In one embodiment, the linear conveyor model can be moved by a simulation program, or the linear conveyor model can be moved according to the actual operation information of the linear conveyor. During the movement of the linear conveyor model, the spatial parameters of some components of the model parameters are dynamically changed, such as the spatial parameters of the moving parts change according to the running program or the actual operation information of the linear conveyor.

[0089] The motion measurement information of the reference object model may be virtual information obtained by running a simulation program, or the motion measurement information of the reference object model may be real information from a linear conveying device. The motion measurement information of the reference object model may include at least one of moving speed information and moving distance information of the reference object model, and the motion measurement information of the reference object model may include a moving direction of the reference object model.

[0090] In an optional example, after the movement of the reference object model is monitored based on motion measurement information, the moving direction of the second virtual viewpoint and the displacement and / or rotation angle of the second virtual viewpoint are determined according to the motion measurement information, and the current virtual viewpoint space parameters of the second virtual viewpoint are modified, thereby updating the virtual viewpoint space parameters of the second virtual viewpoint, so that the spatial state of the second virtual viewpoint changes with the moving reference object model. After the spatial state of the second virtual viewpoint changes, the picture obtained by observing the linear conveying equipment model also changes accordingly, and the user can view the movement of the reference object model based on the picture.

[0091] In another optional example, after the movement of the reference object model is monitored based on motion measurement information, the spatial state of the reference object model after the movement is determined according to the motion measurement information, and updated reference object spatial parameters are obtained. Based on the virtual viewpoint offset information and the updated reference object spatial parameters, a spatial offset is performed relative to the reference object model, thereby updating the virtual viewpoint spatial parameters of the second virtual viewpoint, so that the spatial state of the second virtual viewpoint changes with the moving reference object model. After the spatial state of the second virtual viewpoint changes, the picture obtained by observing the linear conveying equipment model also changes accordingly, and the user can view the movement of the reference object model based on the picture.

[0092] For example, for a component model in a linear conveying equipment model, after determining the object name information of the component based on the viewpoint switching operation, the component model is determined to be a reference object model. At this time, after the display module determines the virtual viewpoint space parameters based on the reference object space parameters of the reference point of the reference object model and the virtual viewpoint offset information, it can continuously monitor the moving direction, displacement and rotation angle of the reference object model in the virtual three-dimensional space. The direction, displacement and rotation angle are the direction, displacement and rotation angle of the reference point of the reference object model, that is, the direction, displacement and rotation angle of the second virtual viewpoint. After any one of the direction, displacement and rotation angle of the reference object model changes, it is determined that the second virtual viewpoint has changed. At this time, the display module can re-acquire the reference object space parameters of the reference point of the reference object model to obtain new reference object space parameters. After each new reference object space parameter is obtained, the virtual viewpoint space parameters are re-determined based on the new reference object space parameters and the virtual viewpoint offset information to obtain new virtual viewpoint space parameters. Then, the new second virtual viewpoint determined based on the new virtual viewpoint space parameters is displayed, and the picture observed based on the new second virtual viewpoint is displayed.

[0093] In an embodiment of the present application, after the movement of the reference object model is monitored based on the motion measurement information of the reference object model, the virtual viewpoint space parameters of the second virtual viewpoint are updated so that the second virtual viewpoint can be synchronized with the motion state of the reference object model, that is, the second virtual viewpoint can move with the reference object model, or the virtual viewpoint can move with the reference object model while it is stationary, thereby ensuring that the reference object model exists in real time in the displayed image and facilitating the user to dynamically observe the reference object model.

[0094] Optionally, the method may further include: in response to the reference object model replacement operation, replacing the reference object model of the second virtual viewpoint.

[0095] In one embodiment, for the determined second virtual viewpoint, the user can perform a reference model replacement operation to replace the observation object of the second virtual viewpoint with another reference model. The reference model replacement operation can be a click operation or a command input operation.

[0096] See also Figure 8 , Figure 8 Schematic diagram of a reference object model replacement provided in an embodiment of the present application. Figure 7 As shown, after the display module determines the second virtual viewpoint 71 based on the reference model 12, it displays the picture within the virtual field of view 73 observed based on the second virtual viewpoint 71 and the corresponding second virtual line of sight 72. At this time, if the user performs a reference model replacement operation on the display interface, when it is determined that the reference model replacement operation corresponds to the reference model 14 in the virtual three-dimensional space, the reference model 14 can be determined as the new reference model. Further, the display module can determine a new second virtual line of sight 74, which starts from the second virtual viewpoint 71 and points to the reference point 15 of the reference model 14. Afterwards, the display module can display a picture within the virtual field of view 75 observed along the second virtual line of sight 74 with the second virtual viewpoint 71 as the observation point, and the picture includes a view of the reference model 14, so that the observation object of the second virtual viewpoint can be replaced from the reference model 12 to the reference model 14.

[0097] It should be understood that the above are merely illustrative examples, and the specific form of the reference object model replacement operation and the specific process of replacing the reference object model can be set according to specific needs, and this embodiment does not limit this.

[0098] In the embodiment of the present application, the user can change the reference object model corresponding to the second virtual viewpoint through the reference object model change operation, which is conducive to the user to better observe the situation of the reference object model and improve the user's management efficiency of the linear conveying equipment.

[0099] Optionally, determining a virtual viewpoint space parameter corresponding to the viewpoint switching operation includes at least one of the following: When determining to perform a single viewpoint switch based on the viewpoint switch operation, determining a virtual viewpoint space parameter corresponding to a second virtual viewpoint; When performing multiple viewpoint switching operations based on the viewpoint switching operation, determining virtual viewpoint space parameters corresponding to the multiple second virtual viewpoints respectively; The picture obtained by observing the linear conveying equipment model from the second virtual viewpoint corresponding to the virtual viewpoint space parameters includes: when multiple viewpoint switches are determined based on the viewpoint switching operation, at least one corresponding picture is selected from multiple second virtual viewpoints each time according to multiple virtual viewpoint space parameters.

[0100] Among them, determining a single viewpoint switch based on the viewpoint switching operation, that is, determining the virtual viewpoint space parameters of a second virtual viewpoint, and the process of determining the virtual viewpoint space parameters corresponding to a single viewpoint switch refer to the above example, and this embodiment will not be repeated here.

[0101] In one embodiment, the display module can determine multiple virtual viewpoint space parameters at one time based on the viewpoint switching operation, each virtual viewpoint space parameter corresponds to a second virtual viewpoint, and each second virtual viewpoint corresponds to a viewpoint switching. Then, one or more second virtual viewpoints can be selected from the multiple second virtual viewpoints as target virtual viewpoints to display the picture observed based on the target virtual viewpoint.

[0102] See also Fig. 9 , Fig. 9 Schematic diagram of the relative position relationship between multiple virtual viewpoints and reference object models provided in an embodiment of the present application. Figure 6 As shown, the display interface 30 displays a viewpoint switching control 66, which is pre-configured with four virtual viewpoint space parameters, which are respectively the three-dimensional coordinates and attitude angle of the second virtual viewpoint 91, the three-dimensional coordinates and attitude angle of the second virtual viewpoint 93, the three-dimensional coordinates and attitude angle of the second virtual viewpoint 95, and the three-dimensional coordinates and attitude angle of the second virtual viewpoint 97. The second virtual viewpoint 91 and the corresponding second virtual line of sight 92 are used to observe the first view of the reference object model 12, the second virtual viewpoint 93 and the corresponding second virtual line of sight 94 are used to observe the second view of the reference object model 12, the second virtual viewpoint 95 and the corresponding second virtual line of sight 96 are used to observe the third view of the reference object model 12, and the second virtual viewpoint 97 and the corresponding second virtual line of sight 98 are used to observe the fourth view of the reference object model 12.

[0103] The viewpoint switching operation is a click operation. After the user clicks the viewpoint switching control 66, the display module determines the above four virtual viewpoint space parameters pre-configured for the viewpoint switching control 66 in response to the user's click operation. Afterwards, one or more of the second virtual viewpoint 91, the second virtual viewpoint 93, the second virtual viewpoint 95, and the second virtual viewpoint 97 can be selected as the target virtual viewpoint to display the picture observed based on the target virtual viewpoint and the corresponding virtual line of sight. For example, when only the second virtual viewpoint 93 is selected as the target virtual viewpoint, the picture observed based on the second virtual viewpoint 93 and the corresponding second virtual line of sight 94 can be displayed, and the picture includes the second view of observing the reference object model 12.

[0104] Among them, when multiple ones are selected from the second virtual viewpoint 91, the second virtual viewpoint 93, the second virtual viewpoint 95 and the second virtual viewpoint 97 as the target virtual viewpoints, the pictures corresponding to the multiple target virtual viewpoints can be displayed in the display interface, so that the user can view multiple pictures at the same time. For example, when the second virtual viewpoint 91 and the second virtual viewpoint 93 are selected as the target virtual viewpoints, two pictures can be displayed in the display interface at the same time, one picture is a picture observed based on the second virtual viewpoint 91 and the corresponding second virtual line of sight 92, and the picture includes the first view of observing the reference object model 12, and the other picture is a picture observed based on the second virtual viewpoint 93 and the corresponding second virtual line of sight 94, and the picture includes the second view of observing the reference object model 12.

[0105] In the embodiment of the present application, the user can perform a single viewpoint switching operation or multiple viewpoint switching operations, and according to the user's specific viewpoint switching operation, the viewpoint switching screen changes once or multiple times, so that the user can observe the linear conveying equipment model from one or more screens, providing a variety of options for user observation, improving the flexibility and diversity of screen changes, and when the user can observe the linear conveying equipment model from multiple screens through a single viewpoint switching operation, the viewpoint switching operation can improve the user's observation efficiency, thereby improving the user's management efficiency of the linear conveying equipment.

[0106] Optionally, determining virtual viewpoint space parameters corresponding to the plurality of second virtual viewpoints includes at least one of the following: Obtaining multiple virtual viewpoint space parameters in a preset order; The preset starting viewpoint space parameters are obtained, and based on the preset space change parameters, a plurality of change viewpoint space parameters are generated, and the starting viewpoint space parameters and the change viewpoint space parameters are set as a plurality of virtual viewpoint space parameters in a change order.

[0107] The method for obtaining the parameters of multiple virtual viewpoint spaces in a preset order may refer to the above example, and this embodiment will not be described in detail here.

[0108] In one implementation, when determining the virtual viewpoint space parameters corresponding to the plurality of second virtual viewpoints, it may be determined that there are a plurality of virtual viewpoint space parameters in a preset order. Fig. 9As shown, a preset order can be set in advance for the virtual viewpoint space parameters of the second virtual viewpoint 91, the second virtual viewpoint 93, the second virtual viewpoint 95 and the second virtual viewpoint 97. The preset order is shown as path 99, which is the virtual viewpoint space parameter of the second virtual viewpoint 91, the virtual viewpoint space parameter of the second virtual viewpoint 93, the virtual viewpoint space parameter of the second virtual viewpoint 95 and the virtual viewpoint space parameter of the second virtual viewpoint 97. After the user clicks the viewpoint switching control 66, the display module determines the above four virtual viewpoint space parameters with preset order pre-configured for the viewpoint switching control 66 in response to the user's click operation.

[0109] When there is a preset order for multiple virtual viewpoint space parameters, the display module can display the images observed by the virtual viewpoint corresponding to each virtual viewpoint space parameter in sequence according to the preset order. Fig. 9 As shown, the display module can select the second virtual viewpoint 91, the second virtual viewpoint 93, the second virtual viewpoint 95 and the second virtual viewpoint 97 as the target virtual viewpoints in the order shown by the path 99, and then first display the first picture of the first view of the reference object model 12 based on the second virtual viewpoint 91, then display the second picture of the second view of the reference object model 12 based on the second virtual viewpoint 93, then display the third picture of the third view of the reference object model 12 based on the second virtual viewpoint 95, and finally display the fourth picture of the fourth view of the reference object model 12 based on the second virtual viewpoint 97.

[0110] After determining that there are multiple virtual viewpoint space parameters in a preset order at one time, the display module can play the pictures observed by the virtual viewpoint corresponding to each virtual viewpoint space parameter in a loop according to the preset order. For example, the display module can play the pictures in a loop, and play the first picture, the second picture, the third picture and the fourth picture in the order shown in the path 99 in each loop, and each picture is played for a preset time. In this way, the user clicks the viewpoint switching control 66 once, and the display module can play the first picture, the second picture, the third picture and the fourth picture in a loop, thereby reducing the user's operation frequency.

[0111] In another embodiment, when selecting one of the plurality of second virtual viewpoints to display a corresponding picture, firstly, the first second virtual viewpoint in the preset order can be selected as the target virtual viewpoint according to the preset order, and the picture observed based on the target virtual viewpoint and the corresponding virtual line of sight can be displayed. Afterwards, each time a picture switching operation input by the user is received, the next second virtual viewpoint is determined as the target virtual viewpoint according to the preset order, and the picture observed based on the target virtual viewpoint and the corresponding virtual line of sight is displayed.

[0112] For example, after determining the second virtual viewpoint 91, the second virtual viewpoint 93, the second virtual viewpoint 95, and the second virtual viewpoint 97, the second virtual viewpoint 91 is first selected as the target virtual viewpoint, and the first picture observed along the second virtual line of sight 92 from the second virtual viewpoint 91 as the observation point is displayed. Afterwards, if a picture switching operation is received, the second virtual viewpoint 93 is selected as the target virtual viewpoint, and the second picture observed along the second virtual line of sight 94 from the second virtual viewpoint 93 as the observation point is displayed. By analogy, after the user performs multiple picture switching operations, the pictures observed based on each second virtual viewpoint can be displayed.

[0113] In another embodiment, in the process of determining multiple virtual viewpoint space parameters, a starting viewpoint space parameter can be determined first, and then each time a parameter adjustment operation input by the user is received, a preset space change parameter is added to the starting viewpoint space parameter to obtain a change viewpoint space parameter, and the starting viewpoint space parameter and the change viewpoint space parameter are used as virtual viewpoint space parameters, so that after several parameter adjustment operations, multiple virtual viewpoint space parameters can be obtained. Among them, the preset space change parameter can be determined by a preset trajectory curve or parameter table.

[0114] See also Fig.10 , Fig.10 Schematic diagram of the relative position relationship between another virtual viewpoint and a linear conveying device provided in an embodiment of the present application. Figure 6 As shown, a viewpoint switching control 67 is displayed in the display interface 30, and the viewpoint switching control 67 is pre-configured with corresponding starting viewpoint space parameters, which include the three-dimensional coordinates and posture angle of the virtual viewpoint 101, and the virtual line of sight 102 corresponding to the virtual viewpoint 101. When the user clicks the viewpoint switching control 67, the display module determines the starting viewpoint space parameters corresponding to the virtual viewpoint 101 in response to the click operation.

[0115] Exemplarily, the preset space change parameters include an offset ΔL in the X-axis direction and an offset ΔH in the Y-axis direction, and the parameter adjustment operation is a click operation. After determining the starting viewpoint space parameters, if a click operation is received by the user in a blank area of ​​the display interface (a blank area is an area in the display interface where no controls are set) for the first time, the display module can determine the transformed viewpoint space parameters to be virtual viewpoint space parameters corresponding to the virtual viewpoint 103 based on the three-dimensional coordinates of the virtual viewpoint 101, and the offset ΔL and the offset ΔH. The virtual viewpoint space parameters corresponding to the virtual viewpoint 103 include the three-dimensional coordinates of the virtual viewpoint 103, and the posture angle of the virtual line of sight 104. The X-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 103 differs from the X-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 101 by an offset ΔL, and the Y-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 103 differs from the Y-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 101 by an offset ΔH. At this time, it can be determined that the virtual viewpoint space parameters include the virtual viewpoint space parameters of the virtual viewpoint 101 and the virtual viewpoint space parameters of the virtual viewpoint 103, and the change order is determined to be the virtual viewpoint 101 and the virtual viewpoint 103 from front to back.

[0116] Afterwards, if the user clicks on the blank area of ​​the display interface for the second time, the display module can determine the transformation viewpoint space parameters to be the virtual viewpoint space parameters corresponding to the virtual viewpoint 105 based on the three-dimensional coordinates of the virtual viewpoint 103, and the offset ΔL and the offset ΔH. The virtual viewpoint space parameters corresponding to the virtual viewpoint 105 include the three-dimensional coordinates of the virtual viewpoint 105 and the posture angle of the virtual sight line 106. The X-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 105 differs from the X-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 103 by the offset ΔL, and the Y-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 105 differs from the Y-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 103 by the offset ΔH. At this time, it can be determined that the virtual viewpoint space parameters include the virtual viewpoint space parameters of the virtual viewpoint 101, the virtual viewpoint space parameters of the virtual viewpoint 103, and the virtual viewpoint space parameters of the virtual viewpoint 105, and the change order is determined to be virtual viewpoint 101, virtual viewpoint 103, and virtual viewpoint 105 from front to back.

[0117] Afterwards, if the user's click operation is received for the third time, based on the three-dimensional coordinates of the virtual viewpoint 105, and the offset ΔL and the offset ΔH, the display module can determine the transformation viewpoint space parameters to the virtual viewpoint space parameters corresponding to the virtual viewpoint 107. The virtual viewpoint space parameters corresponding to the virtual viewpoint 107 include the three-dimensional coordinates of the virtual viewpoint 107, and the posture angle of the virtual line of sight 108. The X-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 107 differs from the X-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 105 by an offset ΔL, and the Y-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 107 differs from the Y-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 105 by an offset ΔH. At this time, it can be determined that the virtual viewpoint space parameters include the virtual viewpoint space parameters of virtual viewpoint 101, the virtual viewpoint space parameters of virtual viewpoint 103, the virtual viewpoint space parameters of virtual viewpoint 105 and the virtual viewpoint space parameters of virtual viewpoint 107, and the order of change from front to back is determined to be virtual viewpoint 101, virtual viewpoint 103, virtual viewpoint 105 and virtual viewpoint 107.

[0118] Afterwards, if the user's click operation is received for the fourth time, based on the three-dimensional coordinates of the virtual viewpoint 107, and the offset ΔL and the offset ΔH, the display module can determine the transformation viewpoint space parameters to the virtual viewpoint space parameters corresponding to the virtual viewpoint 109. The virtual viewpoint space parameters corresponding to the virtual viewpoint 109 include the three-dimensional coordinates of the virtual viewpoint 109, and the posture angle of the virtual line of sight 110. The coordinate of the X-axis in the three-dimensional coordinates of the virtual viewpoint 109 differs from the X-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 107 by an offset ΔL, and the coordinate of the Y-axis in the three-dimensional coordinates of the virtual viewpoint 109 differs from the Y-axis in the three-dimensional coordinates of the virtual viewpoint 107 by an offset ΔH. At this time, it can be determined that the virtual viewpoint space parameters include the virtual viewpoint space parameters of virtual viewpoint 101, the virtual viewpoint space parameters of virtual viewpoint 103, the virtual viewpoint space parameters of virtual viewpoint 105, the virtual viewpoint space parameters of virtual viewpoint 107, and the virtual viewpoint space parameters of virtual viewpoint 109, and the change order from front to back is determined to be virtual viewpoint 101, virtual viewpoint 103, virtual viewpoint 105, virtual viewpoint 107, and virtual viewpoint 109. By analogy, multiple virtual viewpoint space parameters can be determined. It should be understood that the above are merely illustrative examples, and the specific method of generating multiple change viewpoint space parameters based on the starting viewpoint space parameter and the preset space change parameter may include but is not limited to the above examples.

[0119] In the embodiment of the present application, multiple virtual viewpoint space parameters obtained based on the preset starting viewpoint space parameters and space change parameters can enable the virtual viewpoint to be continuously transformed in the order of change, so that the picture viewed by the user presents a continuous change, thereby improving the user's observation experience and further improving the user's management efficiency of the linear conveying equipment.

[0120] Optionally, the method further includes at least one of the following: Based on the model parameters of the linear conveying device model, when it is determined that there is an obstruction in the picture of the first virtual viewpoint and / or the picture of the second virtual viewpoint, hiding the obstruction; In response to the hiding operation, the virtual object indicated by the hiding operation is hidden.

[0121] In one embodiment, after determining the virtual viewpoint space parameters based on the reference object space parameters of the reference object model, when displaying the picture observed based on the virtual viewpoint, it can be determined whether there are other objects (i.e., obstructions) in the linear conveying device between the virtual viewpoint and the base point of the reference object model. If there are obstructions, the obstructions are hidden.

[0122] like Fig.11 As shown, Fig.11 is a hidden schematic diagram of a reference object model provided in an embodiment of the present application. Fig.11 As shown, after determining that the reference object model 12 is the reference object model and the virtual viewpoint 71 is the second virtual viewpoint, the display module can determine whether there are other objects between the virtual viewpoint 71 and the reference point 13. If there are other objects (such as the reference object model 16), the display module can automatically hide the reference object model 16. In this way, when the display module uses the virtual viewpoint 71 as the observation point and observes the reference object model 12 along the virtual line of sight 72, the reference object model 16 in the picture is hidden.

[0123] In another embodiment, when it is determined that there is an obstruction between the virtual viewpoint and the reference object model, the user can perform a hiding operation, and the display module can hide the obstruction (ie, the virtual object) in response to the hiding operation. Fig.11 As shown, the hiding operation may be a long press operation. After determining the virtual viewpoint 71, when the user determines that there is an obstruction (such as the reference object model 16) in the picture, the user may long press the position where the reference object model 16 displayed in the operation picture is located. The display module may hide the reference object model 16 at the pressing position of the long press operation in response to the user's long press operation. In this way, the reference object model 16 in the picture is hidden, and the user can directly view the reference object model 12.

[0124] Similarly, before responding to the viewpoint switching operation, when determining the picture of the first virtual viewpoint, the virtual object indicated by the operation or the obstruction can be hidden. This process can refer to the hiding process when determining the picture of the second virtual viewpoint, and this embodiment will not be repeated here.

[0125] In an embodiment of the present application, when it is determined that there is an obstruction in the picture of the virtual viewpoint, the obstruction is hidden or the virtual object indicated by the hiding operation is hidden. This can avoid blind spots in the line of sight caused by the obstruction blocking the observed object, facilitate direct observation by the user, and improve the user's observation experience.

[0126] Optionally, the method may further include: In response to the first viewpoint adjustment operation, adjusting the virtual field of view and / or the sight direction of the first virtual viewpoint; In response to the second viewpoint adjustment operation, the virtual field of view and / or the sight direction of the second virtual viewpoint are adjusted.

[0127] In one embodiment, after displaying the image observed based on the virtual viewpoint, the display module may receive a viewpoint adjustment operation input by the user, and adjust the virtual field of view based on the viewpoint adjustment operation to expand the virtual field of view or reduce the virtual field of view, and / or, the display module may receive a viewpoint adjustment operation input by the user, and adjust the virtual line of sight based on the viewpoint adjustment operation to adjust the line of sight direction. Figure 4 As shown, after responding to the viewpoint switching operation, a zoom-in control 42 and a zoom-out control 43 are displayed in the display interface 30. The second viewpoint adjustment operation is, for example, a click operation. When the user clicks the zoom-in control 42, the display module can increase the horizontal field of view angle α2 and the vertical field of view angle β2 by a preset amplitude in response to the user's click operation. Each time the user clicks the zoom-in control 42, the horizontal field of view angle α2 and the vertical field of view angle β2 are increased by a preset amplitude to expand the virtual field of view range 36. Conversely, when the user clicks the zoom-out control 43, the display module can reduce the horizontal field of view angle α2 and the vertical field of view angle β2 by a preset amplitude in response to the user's click operation. Each time the user clicks the zoom-out control 43, the horizontal field of view angle α2 and the vertical field of view angle β2 are reduced by a preset amplitude to reduce the virtual field of view range 36.

[0128] In one embodiment, after displaying the image observed based on the virtual viewpoint, the display module may receive a sight line adjustment operation input by the user, and adjust the sight line direction of the virtual sight line based on the sight line adjustment operation. Figure 3 As shown, the second viewpoint adjustment operation is, for example, a long press operation. After determining the second virtual viewpoint 34 and the second virtual line of sight 35, if a long press operation by the user in the display interface 30 is received, the display module can determine a new second virtual line of sight 38 in response to the user's long press operation. The direction of the new second virtual line of sight 38 is from the second virtual viewpoint 34 to the direction where the pressing position 39 of the long press operation is located.

[0129] The understanding of the first viewpoint adjustment operation can refer to the second viewpoint adjustment operation, and this embodiment will not be described in detail. It should be noted that the above are only exemplary examples, and the specific forms of the viewpoint adjustment operation may include but are not limited to the above examples.

[0130] In an embodiment of the present application, the user can perform a viewpoint adjustment operation to adjust the virtual field of view and / or line of sight direction of the virtual viewpoint to adjust the displayed image so that the displayed image matches the user's observation needs, thereby facilitating the user to more flexibly control and manage the linear conveying equipment.

[0131] Optionally, the method may further include: Display monitoring information; wherein the monitoring information includes simulated monitoring information and / or real monitoring information: the simulated monitoring information is used to indicate at least one of the simulated information among the mover simulation information, workstation simulation information, control status simulation information and external device simulation information obtained when the linear conveying equipment model is running in simulation; the real monitoring information is used to indicate at least one of the real information among the mover real information, workstation real information, control status real information and external device real information obtained when the linear conveying equipment is actually running.

[0132] The simulated monitoring information refers to the monitoring information of the linear conveying equipment model during simulated operation, and the real monitoring information refers to the monitoring information of the linear conveying equipment during actual operation.

[0133] The linear conveying equipment includes a linear motor, and the linear motor equipment includes a stator line and multiple movers. The stator line is usually composed of multiple stator modules, which can be spliced ​​into regular shapes such as straight lines, arcs, squares, circles, or other irregular shapes. One of the movers and stator modules includes a permanent magnet, and the other of the movers and stator modules includes a coil. When the coil is energized, the excitation generates a changing magnetic field. The changing magnetic field interacts with the permanent magnet to generate a force on the mover, thereby driving the mover to move along the stator line. The mover carries materials during the movement, which can realize the transportation of materials.

[0134] Among them, the mover simulation information includes the position information, speed information, acceleration information, etc. of the mover when the linear conveyor is in simulated operation. The workstation simulation information includes the status information of the workstations in the linear conveyor when the linear conveyor is in simulated operation. The control status simulation information includes the status information of each component in the linear conveyor when the linear conveyor is in simulated operation. The external device simulation information includes the status information of other devices used in conjunction with the linear conveyor when the linear conveyor is in simulated operation.

[0135] Among them, the real information of the mover includes the position information, speed information, acceleration information, etc. of the mover when the linear conveying device is actually running. The station simulation information includes the status information of the station in the linear conveying device when the linear conveying device is actually running. The real information of the control status includes the status information of each component in the linear conveying device when the linear conveying device is actually running. The real information of the external device includes the status information of other devices used in conjunction with the linear conveying device when the linear conveying device is actually running.

[0136] like Figure 4 As shown, a plurality of display controls are displayed in the display interface 30, taking display control 44, display control 45 and display control 46 as examples, display control 44 is used to display the position information of the first mover of the linear conveying device during the actual operation, display control 45 is used to display the position information of the second mover of the linear conveying device during the actual operation, and display control 46 is used to display the position information of the third mover of the linear conveying device during the actual operation.

[0137] It should be understood that the above are merely illustrative examples, and specific methods for displaying simulated monitoring information and real monitoring information may include but are not limited to the above examples.

[0138] An embodiment of the present application also provides a virtual scene display system, including: a controller of a linear conveying device, a message server and a host computer; the message server is used to notify the controller to provide real operating information of the linear conveying device, and to notify the host computer to receive the real operating information of the linear conveying device; the host computer is used to display a linear conveying device model corresponding to the linear conveying device, and based on the real operating information of the linear conveying device, control the linear conveying device model to perform simulated operation, and execute the steps of the method described in any of the embodiments in the above examples.

[0139] See also Fig.12 , Fig.12 1 is a schematic diagram of the composition of a virtual scene display system provided by an embodiment of the present application. The system includes a display module 10 (i.e., a host computer), a message server 121, and a linear conveying device 20. The linear conveying device 20 may include a control module 21 (i.e., a controller) and a linear motor 22. The display module 10 and the control module 21 may establish a communication connection through the message server 121, or the display module 10 and the control module 21 may establish a communication connection directly.

[0140] See also Fig.13 , Fig.13 Schematic diagram of the structure of a picture conversion device provided by an embodiment of the present application. Fig.13 As shown, the picture conversion device 130 may include: A parameter acquisition module 131, for determining, in response to a viewpoint switching operation, a virtual viewpoint space parameter corresponding to the viewpoint switching operation; The display module 132 is used to transform, based on the virtual viewpoint space parameters, a picture obtained by observing the linear conveying device model in the virtual three-dimensional space from a first virtual viewpoint to a picture obtained by observing the linear conveying device model from a second virtual viewpoint corresponding to the virtual viewpoint space parameters.

[0141] Optionally, the parameter acquisition module 131 is specifically used to obtain object name information corresponding to the viewpoint switching operation, wherein the object name information is determined according to model parameters of the linear conveying equipment model; based on the object name information, the corresponding virtual viewpoint space parameters are determined.

[0142] Optionally, the parameter acquisition module 131 is specifically used to obtain virtual viewpoint offset information corresponding to the object name information; based on the object name information, determine the spatial state of the reference object model with a matching name in the linear conveying equipment model in the virtual three-dimensional space to obtain the reference object space parameters; based on the virtual viewpoint offset information and the reference object model space parameters, perform spatial offset relative to the reference object model to obtain the virtual viewpoint space parameters.

[0143] Optionally, the parameter acquisition module 131 is further used to acquire motion measurement information of the reference object model; After the reference object model is detected to be moving based on the motion measurement information, the virtual viewpoint space parameters corresponding to the second virtual viewpoint are updated.

[0144] Optionally, the display module 132 is specifically configured to determine a virtual field of view of the second virtual viewpoint according to a field of view parameter of the second virtual viewpoint; and display a picture within the virtual field of view.

[0145] Optionally, the parameter acquisition module 131 is specifically used to determine the virtual viewpoint space parameter corresponding to one second virtual viewpoint when a single viewpoint switching is determined based on the viewpoint switching operation; and to determine the virtual viewpoint space parameters corresponding to multiple second virtual viewpoints respectively when multiple viewpoint switching is determined based on the viewpoint switching operation. The display module 132 is specifically configured to select at least one of the second virtual viewpoints to display a corresponding picture each time according to the plurality of virtual viewpoint space parameters when multiple viewpoint switches are determined based on the viewpoint switching operation.

[0146] Optionally, the parameter acquisition module 131 is specifically used to obtain a plurality of the virtual viewpoint space parameters in a preset order; obtain a preset starting viewpoint space parameter, and based on a preset space change parameter, generate a plurality of changing viewpoint space parameters, and set the starting viewpoint space parameter and the changing viewpoint space parameter as a plurality of the virtual viewpoint space parameters in a change order.

[0147] Optionally, the display module 132 is also used to hide the obstructions based on the model parameters of the linear conveying equipment model when it is determined that there are obstructions in the picture of the first virtual viewpoint and / or the picture of the second virtual viewpoint; in response to the hiding operation, hide the virtual object indicated by the hiding operation.

[0148] Optionally, the display module 132 is further used to adjust the virtual field of view and / or line of sight direction of the first virtual viewpoint in response to a first viewpoint adjustment operation; and to adjust the virtual field of view and / or line of sight direction of the second virtual viewpoint in response to a second viewpoint adjustment operation.

[0149] Optionally, the parameter acquisition module 131 is further configured to replace the reference object model of the second virtual viewpoint in response to a reference object model replacement operation.

[0150] Optionally, the display module 132 is also used to display monitoring information; wherein the monitoring information includes simulated monitoring information and / or real monitoring information: the simulated monitoring information is used to indicate at least one of the simulated information of the mover, the workstation simulation information, the control status simulation information and the external device simulation information obtained during the simulation operation of the linear conveying equipment model; the real monitoring information is used to indicate at least one of the real information of the mover, the workstation simulation information, the control status simulation information and the external device simulation information obtained during the real operation of the linear conveying equipment.

[0151] It should be understood that the device provided in this embodiment is used to execute the above-mentioned picture conversion method, and thus can achieve the same effect as the above-mentioned implementation method.

[0152] In addition, the embodiment of the present application also protects an electronic device, which may include a memory and a processor, and the memory and the processor may be arranged in a device. The memory stores an executable program code, and the processor is used to call and execute the executable program code to perform a screen transformation method provided by the embodiment of the present application.

[0153] This embodiment also provides a readable storage medium, in which executable program code is stored. When the executable program code runs on a device, the device executes the above-mentioned related method steps to implement a screen transformation method provided by the above embodiment.

[0154] This embodiment further provides a computer program product. When the computer program product is run on a device, the device is caused to execute the above-mentioned related steps to implement a screen conversion method provided by the above-mentioned embodiment.

[0155] Among them, the device, readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0156] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0157] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0158] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A picture conversion method, characterized in that: The method comprises: In response to a viewpoint switching operation, determining a virtual viewpoint space parameter corresponding to the viewpoint switching operation; Based on the virtual viewpoint space parameters, a picture obtained by observing the linear conveying device model in the virtual three-dimensional space from a first virtual viewpoint is transformed into a picture obtained by observing the linear conveying device model from a second virtual viewpoint corresponding to the virtual viewpoint space parameters.

2. The method according to claim 1, characterized in that The step of determining, in response to the viewpoint switching operation, a virtual viewpoint space parameter corresponding to the viewpoint switching operation comprises: Acquiring object name information corresponding to the viewpoint switching operation, wherein the object name information is determined according to model parameters of the linear conveying device model; Based on the object name information, the corresponding virtual viewpoint space parameters are determined.

3. The method according to claim 2, characterized in that The determining the corresponding virtual viewpoint space parameter based on the object name information includes: Obtaining virtual viewpoint offset information corresponding to the object name information; Based on the object name information, determining the spatial state of the reference object model with a matching name in the linear conveying equipment model in the virtual three-dimensional space, and obtaining the reference object space parameters; Based on the virtual viewpoint offset information and the reference object space parameters, a spatial offset is performed relative to the reference object model to obtain the virtual viewpoint space parameters.

4. The method according to claim 3, characterized in that The method further comprises: Acquiring motion measurement information of the reference object model; After the reference object model is detected to be moving based on the motion measurement information, the virtual viewpoint space parameters corresponding to the second virtual viewpoint are updated.

5. The method according to claim 1, characterized in that The image obtained by observing the linear conveying equipment model from a second virtual viewpoint corresponding to the virtual viewpoint space parameter includes: Determining a virtual field of view range of the second virtual viewpoint according to the field of view parameter of the second virtual viewpoint; The image within the virtual field of view is displayed.

6. The method according to claim 1, characterized in that The determining of the virtual viewpoint space parameter corresponding to the viewpoint switching operation includes at least one of the following: When determining to perform a single viewpoint switch based on the viewpoint switch operation, determining the virtual viewpoint space parameter corresponding to the second virtual viewpoint; When performing multiple viewpoint switching operations based on the viewpoint switching operation, determining the virtual viewpoint space parameters corresponding to the multiple second virtual viewpoints respectively; The image obtained by observing the linear conveying equipment model from a second virtual viewpoint corresponding to the virtual viewpoint space parameter includes: When it is determined to perform multiple viewpoint switches based on the viewpoint switching operation, at least one of the multiple second virtual viewpoints is selected each time to display the corresponding picture according to the multiple virtual viewpoint space parameters.

7. The method according to claim 6, characterized in that The determining of the virtual viewpoint space parameters corresponding to the plurality of second virtual viewpoints includes at least one of the following: Acquire a plurality of virtual viewpoint space parameters in a preset order; A preset starting viewpoint space parameter is obtained, and based on the preset space change parameter, a plurality of change viewpoint space parameters are generated, and the starting viewpoint space parameter and the change viewpoint space parameter are set as a plurality of virtual viewpoint space parameters in a change order.

8. The method according to claim 1, characterized in that The method further comprises at least one of the following: Based on the model parameters of the linear conveying device model, when it is determined that there is an obstruction in the picture of the first virtual viewpoint and / or the picture of the second virtual viewpoint, hiding the obstruction; In response to the hiding operation, the virtual object indicated by the hiding operation is hidden.

9. The method according to claim 1, characterized in that The method further comprises at least one of the following: In response to the first viewpoint adjustment operation, adjusting the virtual field of view and / or the sight direction of the first virtual viewpoint; In response to the second viewpoint adjustment operation, the virtual field of view and / or the sight direction of the second virtual viewpoint is adjusted.

10. The method according to claim 1, characterized in that Also includes: In response to the reference object model replacement operation, the reference object model of the second virtual viewpoint is replaced.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: Display monitoring information; wherein, the monitoring information includes simulated monitoring information and / or real monitoring information: the simulated monitoring information is used to indicate at least one of the simulated information of the mover, the workstation simulation information, the control status simulation information and the external device simulation information obtained when the linear conveying equipment model is running in simulation; the real monitoring information is used to indicate at least one of the real information of the mover, the workstation simulation information, the control status simulation information and the external device simulation information obtained when the linear conveying equipment is actually running.

12. A picture conversion device, characterized in that: The device comprises: A parameter acquisition module, used for determining, in response to a viewpoint switching operation, a virtual viewpoint space parameter corresponding to the viewpoint switching operation; The display module is used to transform the picture obtained by observing the linear conveying equipment model in the virtual three-dimensional space from the first virtual viewpoint based on the virtual viewpoint space parameters into the picture obtained by observing the linear conveying equipment model from the second virtual viewpoint corresponding to the virtual viewpoint space parameters.

13. A virtual scene display system, characterized in that: include: Controller, message server and host computer of linear conveying equipment; The message server is used to notify the controller to provide the real operation information of the linear conveying device, and to notify the host computer to receive the real operation information of the linear conveying device; The host computer is used to display the linear conveying equipment model corresponding to the linear conveying equipment, and based on the actual operation information of the linear conveying equipment, control the linear conveying equipment model to perform simulation operation, and execute the steps of the method as described in any one of claims 1-11.

14. The system of claim 13, wherein: The host computer and the controller establish a communication connection through the message server, or the host computer and the controller establish a communication connection directly.

15. An electronic device, characterized in that: The electronic device is used to display a screen of a linear conveying device model, and the electronic device includes: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory to execute the steps of the method as claimed in any one of claims 1 to 11.

16. A readable storage medium, characterized in that: The readable storage medium stores executable program code, and when the executable program code is executed by a processor, the steps of the method described in any one of claims 1 to 11 are implemented.

17. A computer program product, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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