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

Abstract

The present application provides a screen transformation method, a virtual scene display system, a device, and an electronic device for use in the field of industrial automation technology. The method includes: in response to a viewpoint switching operation, determining virtual viewpoint space parameters corresponding to the viewpoint switching operation; based on the virtual viewpoint space parameters, transforming a screen obtained by observing a linear conveying equipment model in a virtual three-dimensional space from a first virtual viewpoint to a screen obtained by observing the linear conveying equipment model from a second virtual viewpoint corresponding to the virtual viewpoint space parameters. The screen transformation method provided in the present application is beneficial for reducing blind spots that may exist when a user observes the linear conveying equipment model, ensuring that the user can control and manage the real scene based on the virtual scene, and improving the user experience.

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, manual management is often slow and limited due to factors such as individual energy, attention, and physical space, often requiring a large amount of manpower for monitoring and management. Therefore, computers with display capabilities can display virtual scenes corresponding to real-world industrial automation scenarios, allowing users to control and manage the real-world scenarios based on the virtual scenes, 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 correspondingly extended. In addition, when the scene space is limited, the transportation lines of the linear conveying equipment are reduced in size through spatial folding. 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 picture conversion method is provided, the method comprising:

[0006] In response to a viewpoint switching operation, determining a virtual viewpoint space parameter corresponding to the viewpoint switching operation;

[0007] 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.

[0008] In an embodiment of the present application, when displaying a linear conveyor model, in response to a 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 image observed from the transformed virtual viewpoint is displayed. Based on the virtual viewpoint space parameters determined by the viewpoint switching operation, a virtual viewpoint switching can be performed, i.e., switching the first virtual viewpoint to the second virtual viewpoint, thereby transforming the image of the linear conveyor model observed, making the displayed image of the linear conveyor model easier for the user to observe, which helps to reduce the user's potential blind spots when observing the linear conveyor model, ensuring that the user can control and manage the real scene based on the virtual scene, and improving the user experience.

[0009] Optionally, in response to a viewpoint switching operation, determining the 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.

[0010] 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 switching, thereby improving the screen switching efficiency.

[0011] 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 the spatial state of a reference object model with a matching name in the linear conveying equipment model in the virtual three-dimensional space based on the object name information, and obtaining reference object space parameters; performing a spatial offset relative to the reference object model based on the virtual viewpoint offset information and the reference object space parameters, and obtaining the virtual viewpoint space parameters.

[0012] 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 users 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.

[0013] 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 movement of the reference object model based on the motion measurement information.

[0014] 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 as the reference object model moves, or the virtual viewpoint can move as the reference object model remains 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.

[0015] Optionally, transforming the image obtained by observing the linear conveyor model from a second virtual viewpoint corresponding to the virtual viewpoint space parameters includes: determining a virtual field of view range of the second virtual viewpoint based on field of view parameters of the second virtual viewpoint; and displaying the image within the virtual field of view range. This allows for flexible adjustment of the field of view of the second virtual viewpoint, improving the viewability of the image.

[0016] Optionally, the determination of the virtual viewpoint space parameters corresponding to the viewpoint switching operation in response 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 the virtual viewpoint space parameters corresponding to one second virtual viewpoint; when multiple viewpoint switching is determined based on the viewpoint switching operation, determining the virtual viewpoint space parameters corresponding to multiple second virtual viewpoints; the transformation to the second virtual viewpoint corresponding to the virtual viewpoint space parameters to observe the linear conveying equipment model obtains a picture, including: when multiple viewpoint switching is determined based on the viewpoint switching operation, selecting at least one from the multiple second virtual viewpoints each time to display the corresponding picture according to the multiple virtual viewpoint space parameters.

[0017] In an 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 the user with a variety of options for 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.

[0018] Optionally, the determining of 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 generating a plurality of changing viewpoint space parameters based on a preset space change parameter, and setting the starting viewpoint space parameter and the changing viewpoint space parameter as the multiple virtual viewpoint space parameters in the order of change.

[0019] In an embodiment of the present application, multiple virtual viewpoint space parameters obtained based on preset starting viewpoint space parameters and space change parameters can enable the virtual viewpoint to be continuously transformed in a change order, so that the picture viewed by the user presents a continuous transformation, thereby improving the user's observation experience and further improving the user's management efficiency of the linear conveying equipment.

[0020] Optionally, the method further includes at least one of the following: based on the model parameters of the linear conveying equipment 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 a hiding operation, hiding the virtual object indicated by the hiding operation.

[0021] In an embodiment of the present application, when it is determined that there is an obstruction in the image of the virtual viewpoint, the obstruction is hidden or the virtual object indicating the hiding operation is hidden. This can avoid blind spots in the field of vision caused by the obstruction blocking the observed object, facilitate direct observation by the user, and improve the user's observation experience.

[0022] Optionally, the method also includes: at least one of the following: adjusting the virtual field of view and / or line of sight direction of the first virtual viewpoint in response to a first viewpoint adjustment operation; adjusting the virtual field of view and / or line of sight direction of the second virtual viewpoint in response to a second viewpoint adjustment operation.

[0023] 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.

[0024] Optionally, the method further includes: replacing the reference object model of the second virtual viewpoint in response to a reference object model replacement operation.

[0025] In an 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 helps the user to better observe the situation of the reference object model and improve the user's management efficiency of the linear conveying equipment.

[0026] 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, workstation simulation information, control status simulation information and 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, workstation simulation information, control status simulation information and external device simulation information obtained during the real operation of the linear conveying equipment.

[0027] 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.

[0028] In a second aspect, a picture conversion device is provided, the device comprising:

[0029] a parameter acquisition module, configured to determine, in response to a viewpoint switching operation, a virtual viewpoint space parameter corresponding to the viewpoint switching operation;

[0030] The display module is used to transform the image 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 image obtained by observing the linear conveying equipment model from the second virtual viewpoint corresponding to the virtual viewpoint space parameters.

[0031] In a third aspect, a virtual scene display system is provided, comprising: a controller for 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 method described in the first aspect.

[0032] 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.

[0033] In a fourth aspect, an electronic device is provided, the electronic device being configured to display a screen of a linear conveying device model, the electronic device comprising:

[0034] a memory for storing executable program code;

[0035] 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.

[0036] 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.

[0037] 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

[0038] Figure 1 is an exemplary system architecture diagram for implementing a screen conversion method provided in an embodiment of the present application;

[0039] Figure 2 This is a flowchart of a method for changing an image provided by an embodiment of the present application;

[0040] Figure 3 This is a schematic diagram of viewpoint switching in a virtual three-dimensional space provided by an embodiment of the present application;

[0041] Figure 4 yes Figure 3 An exemplary schematic diagram of a display interface corresponding to the first virtual viewpoint is shown;

[0042] Figure 5 yes Figure 3 An exemplary schematic diagram of a display interface corresponding to the second virtual viewpoint is shown;

[0043] Figure 6 is an exemplary schematic diagram of another display interface provided in an embodiment of the present application;

[0044] 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;

[0045] Figure 8 This is a schematic diagram of a reference object model replacement provided in an embodiment of the present application;

[0046] Figure 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;

[0047] Figure 10 This 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;

[0048] Figure 11 is a hidden schematic diagram of a reference object model provided in an embodiment of the present application;

[0049] Figure 12This is a schematic diagram of the composition of a virtual scene display system provided in an embodiment of the present application;

[0050] Figure 13 It is a structural diagram of a picture conversion device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this 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 this application, "multiple" means two or more than two.

[0052] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0053] 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 in the figure), one of the moving part and the conveyor track is equipped with an excitation sub-component. When energized, the excitation sub-component generates a variable magnetic field. The other of the conveyor track and the moving part is equipped with a magnetic sub-component. This interacts with the variable magnetic field generated by the excitation sub-component to generate an electromagnetic force acting on the moving part, thereby driving the moving part along the conveyor track. The excitation sub-component can be formed by a coil; the magnetic sub-component can be understood as an object with a magnetic field, such as a permanent magnet or magnet.

[0054] The control module 21 controls the movement of the mobile module along the conveyor track. It can include one or more devices, such as a programmable logic controller (PLC), a central processing unit (CPU), a field programmable gate array (FPGA), or a digital signal processing (DSP), and can implement data processing and communication functions through one or more of these devices. The control module 21 is used to control the operation of the linear motor 22.

[0055] 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), and a graphics processing unit (GPU), as well as a control circuit composed of the one or more devices mentioned above. The display module 10 can 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 can be displayed in the virtual three-dimensional space.

[0056] 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).

[0057] It is understandable that 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 for implementing the screen transformation method.

[0058] See also Figure 2 , Figure 2 This is a flowchart of a method for changing a picture provided by an embodiment of the present application. Figure 1 The display module 10 shown in FIG. Figure 2 As shown, the method may include the following steps:

[0059] Step 201: In response to a viewpoint switching operation, determine virtual viewpoint space parameters corresponding to the viewpoint switching operation.

[0060] The virtual viewpoint is used to observe the linear conveyor 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 ease of description and understanding, the virtual viewpoint used to observe the linear conveyor model in the virtual three-dimensional space before responding to the viewpoint switching operation can be referred to as the first virtual viewpoint, and the new virtual viewpoint determined for the virtual three-dimensional space using the virtual viewpoint space parameters can be referred to as 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, which can include a position state and a posture state.

[0061] Specifically, the virtual viewpoint space parameters may include the three-dimensional coordinates and at least one attitude angle of the second virtual viewpoint in the virtual three-dimensional space. 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 coordinate, Y-axis coordinate and Z-axis coordinate of the second virtual viewpoint in the virtual three-dimensional space. The attitude angle may be divided into pitch angle, yaw angle and roll angle. 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.

[0062] In one embodiment, the viewpoint switching operation can be a click operation performed by the 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 can 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 can 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 can 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.

[0063] See also Figure 3 , Figure 3 This is a schematic diagram of viewpoint switching in a virtual three-dimensional space provided by an embodiment of the present application. Figure 3As shown, before responding to the viewpoint switching operation, the virtual viewpoint in the virtual three-dimensional space is the first virtual viewpoint 31, and the virtual line of sight is the first virtual line of sight 32. The first virtual viewpoint 31 is located directly above the linear conveyor model 11. The first virtual line of sight 32 starts from the first virtual viewpoint 31 and points to the position of the linear conveyor model 11. The direction of the first virtual line of sight 32 can be determined by the posture angle of the first virtual viewpoint 31.

[0064] See also Figure 4 , Figure 4 yes Figure 3 An exemplary schematic diagram of the display interface corresponding to the first virtual viewpoint is shown. Figure 4 As 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 the 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.

[0065] It is understandable that the image observed from the virtual viewpoint can be smaller than the display interface and displayed in a window manner in the display interface, or the image observed from the virtual viewpoint can cover the entire display interface and be displayed in a full-screen manner in the display interface. For ease of description and understanding, the accompanying drawings corresponding to the embodiments of this application display the images in a window manner, but in actual applications, the images can also be displayed in a full-screen manner, and other symbols that may exist in the display interface (such as the controls described below and the coordinate axes shown in the accompanying drawings) can be located above the images for user operation and reference.

[0066] In an optional example, combined with Figure 3 and Figure 4 , when the user clicks on the linear conveyor equipment model in the display interface (i.e., a viewpoint switching operation, Figure 4 (not shown in the figure), the display module responds to the click operation and determines the spatial position 3A ( Figure 3 Not marked 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.

[0067] 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.

[0068] In another alternative example, combining Figure 3 and Figure 4 When a user clicks on the linear conveyor model within the display interface, the display module responds to the click by using the three-dimensional coordinates of the spatial location 3A corresponding to the click as the three-dimensional coordinates of the second virtual viewpoint. Based on the pose angle of the first virtual viewpoint 31 and the relative position between the spatial location 3A clicked by the user and the linear conveyor model 11, the display module determines the spatial change of the second virtual viewpoint relative to the linear conveyor model 11, thereby obtaining the pose angle of the linear conveyor model 11. This ensures 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 spatial parameters corresponding to the click are obtained.

[0069] 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).

[0070] It is understandable that, depending on different program settings, the user can determine the virtual viewpoint space parameters of a second virtual viewpoint by clicking once or multiple times.

[0071] In yet another alternative example, combining Figure 3 and Figure 4 , the user double-clicks the linear conveyor equipment 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, using the three-dimensional coordinates of the spatial position 3A (not shown) corresponding to the first click in the virtual three-dimensional space as the three-dimensional coordinates of the second virtual viewpoint. Based on 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 spatial position 34 to spatial position 37. Furthermore, the pose angle of the second virtual viewpoint can be determined, and the virtual viewpoint space parameters corresponding to the two click operations can be obtained.

[0072] 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.

[0073] In another embodiment, the viewpoint switching operation can 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 coordinate 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.

[0074] In another embodiment, the viewpoint switching operation may be a user clicking a viewpoint switching control displayed in a display interface via an input medium such as a mouse, keyboard, or finger. The viewpoint switching control is preconfigured with corresponding virtual viewpoint space parameters. After receiving the user's click operation, the display module may obtain the corresponding virtual viewpoint space parameters based on the viewpoint switching control clicked by the user. To facilitate the user's intuitive understanding of the switching function implemented by the viewpoint switching control, corresponding control name information may be configured for the virtual viewpoint space parameters based on the virtual viewpoint space parameters corresponding to the viewpoint switching control and displayed in the display interface.

[0075] In an alternative embodiment, if Figure 4 As shown, the display interface 30 displays a viewpoint switching control 41 corresponding to the linear conveyor model 11. The viewpoint switching control 41 may be a virtual button displayed on the display interface 30 by a program, and the control name information of the viewpoint switching control 41 may be "Model View N". Corresponding virtual viewpoint space parameters may be pre-set for the viewpoint switching control 41. When a 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.

[0076] It should be understood that Figure 3 The virtual three-dimensional space shown is for the convenience of understanding and explanation. In actual application, users cannot directly observe Figure 3 The virtual viewpoint and virtual line of sight shown in the figure are not the images of the linear conveying equipment model obtained by observing the virtual viewpoint on the display interface. 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. The specific form of the viewpoint switching operation may include but is not limited to the above examples.

[0077] Step 202: Based on the virtual viewpoint space parameters, transform the image obtained by observing the linear conveying device model in the virtual three-dimensional space from the first virtual viewpoint into the image obtained by observing the linear conveying device model from the second virtual viewpoint corresponding to the virtual viewpoint space parameters.

[0078] In an alternative embodiment, see Figure 5 , Figure 5 yes Figure 3 An exemplary schematic diagram of the 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 line of sight 35 based on the virtual viewpoint space parameters corresponding to the viewpoint switching operation, the display module can display a picture 50 of the linear conveying equipment model 11 as viewed from the second virtual viewpoint 34 along the direction of the second virtual line of sight 35. Since the second virtual viewpoint 34 has at least undergone a translational change relative to the first virtual viewpoint 31, and may even undergo a rotational change relative to the first virtual viewpoint 31, the second virtual viewpoint 34 can only observe a portion of the linear conveying equipment model 11. In this case, the picture 50 displays a top view of the portion of the linear conveying equipment model 11.

[0079] Optionally, 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 parameters may include the following steps:

[0080] Determining a virtual field of view of the second virtual viewpoint according to the field of view parameters of the second virtual viewpoint;

[0081] Displays the image within the virtual field of view.

[0082] In one embodiment, field of view parameters may be pre-set for the virtual viewpoint, and the field of view parameters may include the horizontal field of view angle and the vertical field of view angle of the virtual viewpoint, which are used to determine the field of view range of the virtual viewpoint.

[0083] In an alternative 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. 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. The display module displays the image within the virtual field of view range 33 of the first virtual viewpoint 31. The image is based on the first virtual viewpoint 31 as the observation point. When observing the linear conveying equipment model 11 along the first virtual line of sight 32 with 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. Figure 4 Screen 40 is shown.

[0084] 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 the picture 50 within the virtual field of view 36. The picture is taken from the second virtual viewpoint 34 as the observation point. When observing the linear conveying equipment model 11 along the second virtual line of sight 35 with 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 equipment model 11. Figure 5 Screen 50 is shown.

[0085] In an embodiment of the present application, when displaying a linear conveyor model, in response to a 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 image observed from the transformed virtual viewpoint is displayed. Based on the virtual viewpoint space parameters determined by the viewpoint switching operation, a virtual viewpoint switching can be performed, i.e., switching the first virtual viewpoint to the second virtual viewpoint, thereby transforming the image of the linear conveyor model observed, making the displayed image of the linear conveyor model easier for the user to observe, which helps to reduce the user's potential blind spots when observing the linear conveyor model, ensuring that the user can control and manage the real scene based on the virtual scene, and improving the user experience.

[0086] 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:

[0087] 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 equipment model;

[0088] Based on the object name information, the corresponding virtual viewpoint space parameters are determined.

[0089] In practical applications, the linear conveyor model is constructed based on model parameters. Specifically, the model parameters may include corresponding object name parameters and object space parameters, depending on the components and assembly hierarchy of the linear conveyor. This allows a linear conveyor model that matches the linear conveyor to be constructed in a virtual three-dimensional space. Object space parameters may include the object's three-dimensional coordinates and pose angles.

[0090] For example, a linear conveyor device may include a control module and a linear motor, which may include moving parts and a conveyor track. Based on the internal components and hierarchy of the linear conveyor device, model parameters may include at least a control module name parameter, a moving part name parameter, a conveyor track name parameter, as well as control module spatial information, moving part spatial parameters, and conveyor track spatial parameters. Based on the model parameters, a control module model, a moving part model, and a conveyor track model may be formed in a virtual three-dimensional space. The moving part model and the conveyor 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 conveyor device model.

[0091] Optionally, the model parameters may also include a linear motor name parameter and a linear motor space parameter. Since the moving component and conveyor track are components of the linear motor, the linear motor name parameter can be associated with the moving component name parameter and the conveyor track name parameter, respectively. The linear motor space parameter can also be associated with the moving component space parameter and the conveyor track space parameter, respectively. This allows the moving component model and the conveyor track model to adapt to changes due to these associations when the user operates the linear motor model. For example, when the user hides the linear motor model, the moving component model and the conveyor track model are also hidden due to these associations.

[0092] Optionally, the model parameters may further include a linear conveying device name parameter and a linear conveying device space parameter. For details, please refer to the above-mentioned related descriptions and will not be repeated here.

[0093] 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 an object model related to the linear conveying equipment model and used for reference (that is, a reference object model).

[0094] In particular, based on the object name information indicated by the viewpoint switching operation, the reference object model may be a linear conveyor model or a model of a component of the linear conveyor model (e.g., a moving part model). Based on the spatial state of the reference object model in the virtual three-dimensional space indicated by the object name information, the corresponding virtual viewpoint space parameters can be determined. The spatial state of the reference object model in the virtual three-dimensional space can be determined by obtaining the reference object space parameters corresponding to the reference object model in the model parameters.

[0095] Optionally, in an embodiment where viewpoint switching is performed through a viewpoint switching control, one or more viewpoint switching controls may be provided for the reference object model to facilitate user operation. In addition, the number of reference object models may be one or more.

[0096] 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 This is a diagram of the relative position relationship between a second virtual viewpoint and a reference object model provided by an embodiment of the present application. Figure 6 As shown, the display interface 30 displays a screen 60, as well as viewpoint switching controls 61 and 62 corresponding to reference object model X, a viewpoint switching control 63 corresponding to reference object model Y, a viewpoint switching control 64 corresponding to reference object model Z, and a viewpoint switching control 65 corresponding to reference object model W, all of which are related to the linear conveyor model. Viewpoint switching controls 61 and 62 are configured with object name information corresponding to reference object model X, and each of viewpoint switching controls 61 and 62 is configured with different virtual viewpoint space parameters. Similarly, viewpoint switching controls 63 through 65 are configured with corresponding object name information and virtual viewpoint space parameters.

[0097] Optionally, corresponding virtual viewpoint space parameters can be configured for the viewpoint switching control based on the view of the reference object model, so that when the user clicks the viewpoint switching control, the display interface can display the image of the corresponding view of the reference object model. For example, if the virtual viewpoint space parameters corresponding to the right view of reference object model X are configured for viewpoint switching control 61, the display interface can display the image of the right view of reference object model X after the user clicks viewpoint switching control 61. Similarly, 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 reference object model X are configured for viewpoint switching control 62, the virtual viewpoint space parameters corresponding to the left view of reference object model Y are configured for viewpoint switching control 63, the virtual viewpoint space parameters corresponding to the right view of reference object model Z are configured for viewpoint switching control 64, and the virtual viewpoint space parameters corresponding to the left view of reference object model W are configured for viewpoint switching control 65.

[0098] 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.

[0099] like Figure 7As shown, based on 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 aforementioned reference object models X, Y, Z, and W. Furthermore, based on the viewpoint switching control specifically clicked by the user, the corresponding virtual viewpoint space parameters can be obtained, thereby determining the three-dimensional coordinates of the second virtual viewpoint 71 and the attitude angle of the virtual line of sight 72. The image within the virtual field of view 73 observed by the second virtual viewpoint 71 and the virtual line of sight 72 can then be displayed. For example, if the user clicks the viewpoint switching control 61, the image displayed is the right view of the reference object model X.

[0100] To facilitate user operation, each viewpoint switch control can be named according to the view to which it corresponds. When there are multiple reference object models, each viewpoint switch control can be named according to the reference object model and view to which it corresponds.

[0101] For example, Figure 6 As shown, when the reference object model 12 is the reference object model X, when it is necessary to observe the right view and the left view, as well as other views, of the reference object model 12, 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.

[0102] It should be understood that the above are merely illustrative examples, and the specific form of the object name information and the method of determining the virtual viewpoint space parameters based on the object name information may include but are not limited to the above examples.

[0103] 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 switching, thereby improving the screen switching efficiency.

[0104] Optionally, based on the object name information, the corresponding virtual viewpoint space parameters are determined, including:

[0105] Get the virtual viewpoint offset information corresponding to the object name information;

[0106] Based on the object name information, the spatial state of the reference object model with the matching name in the linear conveying equipment model in the virtual three-dimensional space is determined to obtain the reference object space parameters;

[0107] 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.

[0108] In one embodiment, the spatial state of a specified point (i.e., a reference point) in the reference object model is used to represent the spatial state of the reference object model, wherein the spatial state of the reference object model may at least include the position of the reference point. 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 used to at least represent the three-dimensional coordinates of the reference point in the reference object model. 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 based on the spatial state of the reference point of the reference object model. Then, based on the reference object spatial parameters and the virtual viewpoint offset information, a spatial offset is performed with the reference point as the origin to determine the virtual viewpoint spatial parameters of the second virtual viewpoint.

[0109] 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 rotated around the X-axis relative to the reference point, an angular offset Δb rotated around the Y-axis relative to the reference point, and an angular offset Δc rotated around the Y-axis relative to the reference point.

[0110] like Figure 7 As shown, when reference object model 12 is the aforementioned reference object model X, reference point 13 is the reference point of reference object model 12. When the user clicks viewpoint switching control 61, the object name information is determined to be the object name information of reference object model 12, and virtual viewpoint offset information pre-configured for the object name information of reference object model 12 is obtained, including angular offsets Δa, Δb, and Δc. Simultaneously, based on the object name information of reference object model 12, the position of reference object model 12 in virtual three-dimensional space is determined to obtain the three-dimensional coordinates and attitude angles (i.e., reference object space parameters) of reference point 13. The reference object space parameters include the coordinates x, y, and z of reference point 13 on the X, Y, and Z axes, respectively, as well as the pitch angle a, yaw angle b, and roll angle c of reference point 13.

[0111] 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.

[0112] 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.

[0113] Optionally, the method provided in the embodiment of the present application may further include:

[0114] Obtaining motion measurement information of the reference object model;

[0115] After the reference object model is detected to be moving based on the motion measurement information, the virtual viewpoint space parameters are updated.

[0116] In one embodiment, the linear conveyor model can be moved by a simulation program, or based on actual operating information of the linear conveyor. During the movement of the linear conveyor model, the spatial parameters of some components of the model parameters change dynamically. For example, the spatial parameters of the moving parts change based on the running program or the actual operating information of the linear conveyor.

[0117] The motion measurement information of the reference object model may be virtual information obtained by running a simulation program, or may be real information from a linear conveyor device. The motion measurement information of the reference object model may include at least one of movement speed information and movement distance information of the reference object model, and the motion measurement information of the reference object model may include movement direction of the reference object model.

[0118] In an optional example, after the reference object model is monitored to move 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.

[0119] In another optional example, after the reference object model is monitored to move based on motion measurement information, the spatial state of the reference object model after 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.

[0120] For example, for a component model in a linear conveyor model, after determining the component's object name information based on a viewpoint switching operation, the component model is determined to be a reference object model. In this case, after determining the virtual viewpoint spatial parameters based on the reference object spatial parameters of the reference object model's base point and the virtual viewpoint offset information, the display module can continuously monitor the reference object model's movement direction, displacement, and rotation angle within the virtual three-dimensional space. These directions, displacements, and rotation angles are the direction, displacement, and rotation angle of the reference object model's base point, and thus the direction, displacement, and rotation angle of the second virtual viewpoint. When any of the directions, displacements, and rotation angles of the reference object model changes, the second virtual viewpoint is determined to have transformed. In this case, the display module can reacquire the reference object spatial parameters of the reference object model's base point to obtain new reference object spatial parameters. Each time new reference object spatial parameters are obtained, the virtual viewpoint spatial parameters are re-determined based on the new reference object spatial parameters and the virtual viewpoint offset information to obtain new virtual viewpoint spatial parameters. Then, a new second virtual viewpoint determined based on the new virtual viewpoint spatial parameters is displayed, along with the image viewed from the new second virtual viewpoint.

[0121] 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 as the reference object model moves, or the virtual viewpoint can move as the reference object model remains 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.

[0122] Optionally, the method may further include: replacing the reference object model of the second virtual viewpoint in response to the reference object model replacement operation.

[0123] In one embodiment, for the determined second virtual viewpoint, the user can perform a reference object model change operation to change the observation object of the second virtual viewpoint to another reference object model. The reference object model change operation can be a click operation or a command input operation.

[0124] See also Figure 8 , Figure 8 This is a schematic diagram of a reference model replacement provided by an embodiment of the present application. Figure 7 As shown, after determining a second virtual viewpoint 71 based on reference object model 12, the display module displays the image within a virtual field of view 73 observed based on second virtual viewpoint 71 and corresponding second virtual line of sight 72. At this point, if the user performs a reference object model change operation on the display interface, upon determining that the reference object model change operation corresponds to reference object model 14 in the virtual three-dimensional space, reference object model 14 can be determined as the new reference object model. Furthermore, the display module can determine a new second virtual line of sight 74, which begins at second virtual viewpoint 71 and points to reference point 15 of reference object model 14. The display module can then display an image within a virtual field of view 75 observed along second virtual line of sight 74, with second virtual viewpoint 71 as the observation point. This image includes a view of reference object model 14, thereby changing the observation object of the second virtual viewpoint from reference object model 12 to reference object model 14.

[0125] 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.

[0126] In an 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 helps the user to better observe the situation of the reference object model and improve the user's management efficiency of the linear conveying equipment.

[0127] Optionally, determining the virtual viewpoint space parameters corresponding to the viewpoint switching operation includes at least one of the following:

[0128] 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;

[0129] When performing multiple viewpoint switches based on the viewpoint switching operation, determining virtual viewpoint space parameters corresponding to the multiple second virtual viewpoints respectively;

[0130] The image obtained by observing the linear conveying equipment model from a second virtual viewpoint corresponding to the virtual viewpoint space parameters is transformed, including: when multiple viewpoint switches are determined based on the viewpoint switching operation, at least one corresponding image is selected from multiple second virtual viewpoints each time according to multiple virtual viewpoint space parameters.

[0131] Among them, determining a single viewpoint switch based on the viewpoint switching operation is to determine the virtual viewpoint space parameters of a second virtual viewpoint. The process of determining the virtual viewpoint space parameters corresponding to a single viewpoint switch is referred to the above example, and this embodiment will not be repeated here.

[0132] In one embodiment, the display module can determine multiple virtual viewpoint space parameters at once based on the viewpoint switching operation, with each virtual viewpoint space parameter corresponding to a second virtual viewpoint, and each second virtual viewpoint corresponding to a viewpoint switch. One or more second virtual viewpoints can then be selected from the multiple second virtual viewpoints as target virtual viewpoints, and the image observed from the target virtual viewpoints can be displayed.

[0133] See also Figure 9 , Figure 9 This is a 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. The viewpoint switching control 66 is pre-configured with four virtual viewpoint space parameters. The four virtual viewpoint space parameters are 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.

[0134] The viewpoint switching operation is a click operation. After the user clicks the viewpoint switching control 66, the display module determines the four virtual viewpoint space parameters pre-configured for the viewpoint switching control 66 in response to the user's click operation. Subsequently, one or more of the second virtual viewpoint 91, second virtual viewpoint 93, second virtual viewpoint 95, and second virtual viewpoint 97 can be selected as the target virtual viewpoint, and the image viewed based on the target virtual viewpoint and the corresponding virtual line of sight can be displayed. For example, if only the second virtual viewpoint 93 is selected as the target virtual viewpoint, the image viewed based on the second virtual viewpoint 93 and the corresponding second virtual line of sight 94 can be displayed, including the second view of the reference object model 12.

[0135] When multiple virtual viewpoints 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 target virtual viewpoints, the images corresponding to the multiple target virtual viewpoints can be displayed in the display interface, allowing the user to view multiple images simultaneously. For example, when the second virtual viewpoint 91 and the second virtual viewpoint 93 are selected as target virtual viewpoints, two images can be displayed simultaneously in the display interface: one image is the image observed based on the second virtual viewpoint 91 and the corresponding second virtual line of sight 92, and the image includes the first view of the reference object model 12; the other image is the image observed based on the second virtual viewpoint 93 and the corresponding second virtual line of sight 94, and the image includes the second view of the reference object model 12.

[0136] In an 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 the user with a variety of options for 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.

[0137] Optionally, determining virtual viewpoint space parameters corresponding to the plurality of second virtual viewpoints includes at least one of the following:

[0138] Obtaining multiple virtual viewpoint space parameters in a preset order;

[0139] 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.

[0140] The method for obtaining the parameters of multiple virtual viewpoint spaces in a preset order may refer to the above examples, which will not be described in detail in this embodiment.

[0141] In one embodiment, 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. Figure 9 As 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, in order, the virtual viewpoint space parameters of the second virtual viewpoint 91, the virtual viewpoint space parameters of the second virtual viewpoint 93, the virtual viewpoint space parameters of the second virtual viewpoint 95, and the virtual viewpoint space parameters of the second virtual viewpoint 97. After the user clicks the viewpoint switching control 66, the display module determines the four virtual viewpoint space parameters that are pre-configured for the viewpoint switching control 66 in response to the user's click operation.

[0142] 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. Figure 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, and then display the second picture of the second view of the reference object model 12 based on the second virtual viewpoint 93, and 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.

[0143] After determining that multiple virtual viewpoint space parameters exist in a preset order, the display module can loop through the images observed from each virtual viewpoint corresponding to each virtual viewpoint space parameter in the preset order. For example, the display module can loop through the images, sequentially playing the first, second, third, and fourth images in each loop in the order shown by path 99, with each image played for a preset duration. Thus, a user can click viewpoint switching control 66 once, and the display module can loop through the first, second, third, and fourth images, thereby reducing the user's operation frequency.

[0144] In another embodiment, when selecting a corresponding image from multiple second virtual viewpoints, the first second virtual viewpoint in the preset order can be selected as the target virtual viewpoint, and the image observed based on the target virtual viewpoint and the corresponding virtual line of sight can be displayed. Subsequently, each time a screen switching operation input by the user is received, the next second virtual viewpoint in the preset order is determined as the target virtual viewpoint, and the image observed based on the target virtual viewpoint and the corresponding virtual line of sight can be displayed.

[0145] For example, after determining second virtual viewpoint 91, second virtual viewpoint 93, second virtual viewpoint 95, and second virtual viewpoint 97, second virtual viewpoint 91 is first selected as the target virtual viewpoint, and the first image observed from second virtual viewpoint 91 along second virtual line of sight 92 is displayed. Subsequently, if a screen switching operation is received, second virtual viewpoint 93 is selected as the target virtual viewpoint, and the second image observed from second virtual viewpoint 93 along second virtual line of sight 94 is displayed. Similarly, after the user performs multiple screen switching operations, the images observed from each second virtual viewpoint can be displayed.

[0146] In another embodiment, in the process of determining multiple virtual viewpoint space parameters, a starting viewpoint space parameter can be first determined. Then, each time a parameter adjustment operation input by the user is received, a preset spatial variation parameter is added to the starting viewpoint space parameter to obtain a variation viewpoint space parameter. The starting viewpoint space parameter and the variation viewpoint space parameter are used as the virtual viewpoint space parameters. In this way, after several parameter adjustment operations, multiple virtual viewpoint space parameters can be obtained. The preset spatial variation parameter can be determined by a preset trajectory curve or parameter table.

[0147] See also Figure 10 , Figure 10 This is another schematic diagram of the relative position relationship between the virtual viewpoint and the linear conveying device provided in the embodiment of the present application. Figure 6 As shown, the display interface 30 displays a viewpoint switching control 67. The viewpoint switching control 67 is pre-configured with corresponding starting viewpoint space parameters. The starting viewpoint space parameters 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.

[0148] Exemplarily, the preset spatial 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 user clicks 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, based on the three-dimensional coordinates of the virtual viewpoint 101 and the offsets ΔL and ΔH, to transform the viewpoint space parameters into virtual viewpoint space parameters corresponding to the virtual viewpoint 103. The virtual viewpoint space parameters corresponding to the virtual viewpoint 103 include the three-dimensional coordinates of the virtual viewpoint 103 and the attitude 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 virtual viewpoint 101 and the virtual viewpoint space parameters of virtual viewpoint 103, and the change order from front to back is virtual viewpoint 101 and virtual viewpoint 103.

[0149] Afterwards, if a user click operation is received for the second time on a blank area of the display interface, the display module can determine to transform the viewpoint space parameters to the virtual viewpoint space parameters corresponding to virtual viewpoint 105 based on the three-dimensional coordinates of virtual viewpoint 103, as well as the offsets ΔL and ΔH. The virtual viewpoint space parameters corresponding to virtual viewpoint 105 include the three-dimensional coordinates of virtual viewpoint 105 and the attitude angle of virtual line of sight 106. The X-axis coordinate in the three-dimensional coordinates of virtual viewpoint 105 differs from the X-axis coordinate in the three-dimensional coordinates of virtual viewpoint 103 by offset ΔL, and the Y-axis coordinate in the three-dimensional coordinates of virtual viewpoint 105 differs from the Y-axis coordinate in the three-dimensional coordinates of virtual viewpoint 103 by offset ΔH. At this point, 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, and the virtual viewpoint space parameters of virtual viewpoint 105, and the order of change from front to back is virtual viewpoint 101, virtual viewpoint 103, and virtual viewpoint 105.

[0150] 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.

[0151] 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 X-axis coordinate 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 Y-axis coordinate in the three-dimensional coordinates of the virtual viewpoint 109 differs from the Y-axis coordinate 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 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.

[0152] It should be understood that the above are merely illustrative examples, and specific methods for generating multiple changing viewpoint space parameters based on the starting viewpoint space parameters and the preset space changing parameters may include but are not limited to the above examples.

[0153] In an embodiment of the present application, multiple virtual viewpoint space parameters obtained based on preset starting viewpoint space parameters and space change parameters can enable the virtual viewpoint to be continuously transformed in a change order, so that the picture viewed by the user presents a continuous transformation, thereby improving the user's observation experience and further improving the user's management efficiency of the linear conveying equipment.

[0154] Optionally, the method further includes at least one of the following:

[0155] 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;

[0156] In response to the hiding operation, the virtual object indicated by the hiding operation is hidden.

[0157] 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 image observed based on the virtual viewpoint, it can be determined whether there are other objects (i.e., obstructions) in the linear conveying equipment between the virtual viewpoint and the reference point of the reference object model. If there are obstructions, the obstructions are hidden.

[0158] like Figure 11 As shown, Figure 11 This is a hidden schematic diagram of a reference object model provided in an embodiment of the present application. Figure 11 As shown, after determining that reference object model 12 is the reference object model and virtual viewpoint 71 is the second virtual viewpoint, the display module can determine whether there are other objects between virtual viewpoint 71 and reference point 13. If there are other objects (such as reference object model 16), the display module can automatically hide reference object model 16. In this way, when the display module observes reference object model 12 along virtual line of sight 72 from virtual viewpoint 71 as the observation point, reference object model 16 in the image is hidden.

[0159] 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. Figure 11 As shown, the hiding operation can be a long press operation. After determining virtual viewpoint 71, if the user determines that there is an obstruction (e.g., reference object model 16) in the image, they can long press the location of reference object model 16 displayed in the image. In response to the user's long press operation, the display module can hide the reference object model 16 at the pressed location. In this way, the reference object model 16 in the image is hidden, and the user can directly view the reference object model 12.

[0160] 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.

[0161] In an embodiment of the present application, when it is determined that there is an obstruction in the image of the virtual viewpoint, the obstruction is hidden or the virtual object indicating the hiding operation is hidden. This can avoid blind spots in the field of vision caused by the obstruction blocking the observed object, facilitate direct observation by the user, and improve the user's observation experience.

[0162] Optionally, the method may further include:

[0163] In response to the first viewpoint adjustment operation, adjusting the virtual field of view and / or the sight direction of the first virtual viewpoint;

[0164] In response to the second viewpoint adjustment operation, the virtual field of view and / or the sight line direction of the second virtual viewpoint are adjusted.

[0165] 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 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 on 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 respond to the user's click operation by increasing the horizontal field of view angle α2 and the vertical field of view angle β2 by a preset amount. 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 the preset amount, thereby expanding the virtual field of view range 36. Conversely, when the user clicks the zoom-out control 43, the display module can respond to the user's click operation by reducing the horizontal field of view angle α2 and the vertical field of view angle β2 by a preset amount. 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 the preset amount, thereby reducing the virtual field of view range 36.

[0166] 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 3As 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 of the pressing position 39 of the long press operation.

[0167] The understanding of the first viewpoint adjustment operation can refer to the second viewpoint adjustment operation, which will not be described in detail in this embodiment. 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.

[0168] 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.

[0169] Optionally, the method may further include:

[0170] 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, work station simulation information, control status simulation information and external device simulation information obtained when the linear conveying equipment model is simulated and running; the real monitoring information is used to indicate at least one of the real information among the mover real information, work station real information, control status real information and external device real information obtained when the linear conveying equipment is actually running.

[0171] 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.

[0172] Linear conveying equipment includes a linear motor, which consists of a stator filament and multiple movers. The stator filament is typically composed of multiple stator modules, which can be assembled into regular shapes such as straight lines, arcs, squares, or circles, or other irregular shapes. One of the movers and stator modules contains a permanent magnet, while the other contains a coil. When energized, the coil generates a varying magnetic field. This varying magnetic field interacts with the permanent magnet, generating a force on the mover, thereby driving the mover along the stator filament. The mover carries material along with it during movement, enabling material conveyance.

[0173] Among them, the actuator simulation information includes the position, velocity, acceleration, and other information of the linear conveyor during simulated operation. The workstation simulation information includes the status information of the workstations within the linear conveyor during simulated operation. The control status simulation information includes the status information of the various components within the linear conveyor during simulated operation. The external device simulation information includes the status information of other devices used in conjunction with the linear conveyor during simulated operation.

[0174] The actual information of the actuator includes the position, velocity, and acceleration of the actuator during actual operation of the linear conveyor. The workstation simulation information includes the status information of the workstations within the linear conveyor during actual operation. The actual control status information includes the status information of each component within the linear conveyor during actual operation. The actual external device information includes the status information of other devices used in conjunction with the linear conveyor during actual operation.

[0175] like Figure 4 As shown, a plurality of display controls are displayed in the display interface 30. Taking the display control 44, the display control 45 and the display control 46 as examples, the display control 44 is used to display the position information of the first mover of the linear conveying device during the actual operation process, the display control 45 is used to display the position information of the second mover of the linear conveying device during the actual operation process, and the display control 46 is used to display the position information of the third mover of the linear conveying device during the actual operation process.

[0176] It should be understood that the above are merely illustrative examples, and specific display methods for simulated monitoring information and real monitoring information may include but are not limited to the above examples.

[0177] 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.

[0178] See also Figure 12 , Figure 12Figure 1 is a schematic diagram of the components of a virtual scene display system provided in 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 conveyor 20. The linear conveyor 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 via the message server 121, or directly.

[0179] See also Figure 13 , Figure 13 This is a schematic diagram of the structure of a picture conversion device provided by an embodiment of the present application. Figure 13 As shown, the picture conversion device 130 may include:

[0180] A parameter acquisition module 131 is configured to determine, in response to a viewpoint switching operation, a virtual viewpoint space parameter corresponding to the viewpoint switching operation;

[0181] The display module 132 is used to transform the image obtained by observing the linear conveying device model in the virtual three-dimensional space from the first virtual viewpoint based on the virtual viewpoint space parameters into the image obtained by observing the linear conveying device model from the second virtual viewpoint corresponding to the virtual viewpoint space parameters.

[0182] 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 the model parameters of the linear conveying equipment model; based on the object name information, the corresponding virtual viewpoint space parameters are determined.

[0183] 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 the 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.

[0184] Optionally, the parameter acquisition module 131 is further configured to acquire motion measurement information of the reference object model;

[0185] 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.

[0186] Optionally, the display module 132 is specifically configured to determine a virtual field of view of the second virtual viewpoint according to the field of view parameters of the second virtual viewpoint; and display a picture within the virtual field of view.

[0187] Optionally, the parameter acquisition module 131 is specifically configured to determine the virtual viewpoint space parameters corresponding to one second virtual viewpoint when a single viewpoint switch is determined to be performed based on the viewpoint switch operation; and to determine the virtual viewpoint space parameters corresponding to multiple second virtual viewpoints when multiple viewpoint switches are determined to be performed based on the viewpoint switch operation.

[0188] 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 performing multiple viewpoint switches based on the viewpoint switching operation.

[0189] 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 generate a plurality of changing viewpoint space parameters based on a preset space change parameter, 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.

[0190] Optionally, the display module 132 is also used to hide the obstruction based on the model parameters of the linear conveying equipment 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; in response to the hiding operation, hide the virtual object indicated by the hiding operation.

[0191] Optionally, the display module 132 is also 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.

[0192] 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.

[0193] 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 when the linear conveying equipment model is simulated and run; 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 run.

[0194] 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.

[0195] In addition, embodiments of the present application also protect an electronic device, which may include a memory and a processor, and the memory and processor may be provided in a device. The memory stores executable program code, and the processor is configured to call and execute the executable program code to perform a screen transformation method provided in embodiments of the present application.

[0196] This embodiment further provides a readable storage medium, which stores executable program code. 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.

[0197] 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 in the above embodiment.

[0198] 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.

[0199] 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 distributed and completed by 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.

[0200] In the embodiments provided in this 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 merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, 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.

[0201] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A picture conversion method, characterized in that: A host computer is used in a virtual scene display system, wherein the virtual scene display system further includes a linear conveying device, and the host computer is used to display a linear conveying device model corresponding to the linear conveying device. The method includes: In response to a viewpoint switching operation, determining virtual viewpoint space parameters corresponding to the viewpoint switching operation, wherein, when a plurality of viewpoint switches are determined to be performed based on the viewpoint switching operation, the virtual viewpoint space parameters corresponding to a plurality of second virtual viewpoints configured based on the linear conveying device model are determined; 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, wherein, when multiple viewpoint switches are determined to be performed based on the viewpoint switching operation, at least one of the multiple second virtual viewpoints is selected as a target virtual viewpoint each time based on the multiple virtual viewpoint space parameters, and the picture corresponding to the target virtual viewpoint is displayed each time, so that the picture of the viewpoint switching is transformed multiple times; Among them, the determining of the virtual viewpoint space parameters corresponding to multiple second virtual viewpoints configured based on the linear conveying equipment model includes at least one of the following: obtaining multiple virtual viewpoint space parameters with a preset order; obtaining a preset starting viewpoint space parameter, and generating multiple changing viewpoint space parameters based on a preset space change parameter, and setting the starting viewpoint space parameter and the changing viewpoint space parameter as multiple virtual viewpoint space parameters in the order of change.

2. The method according to claim 1, wherein The step of determining, in response to a viewpoint switching operation, a virtual viewpoint space parameter corresponding to the viewpoint switching operation includes: 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, wherein The 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; Based on the object name information, determining the 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 a reference object space parameter; 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, wherein 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, wherein The image obtained by observing the linear conveying equipment model from a second virtual viewpoint corresponding to the virtual viewpoint space parameters 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, wherein The determining of the virtual viewpoint space parameters corresponding to the viewpoint switching operation further includes: When determining to perform a single viewpoint switch based on the viewpoint switch operation, the virtual viewpoint space parameter corresponding to the second virtual viewpoint is determined.

7. The method according to claim 1, wherein The method further comprises at least one of the following: Based on the model parameters of the linear conveying equipment 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.

8. The method according to claim 1, wherein 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 line direction of the second virtual viewpoint are adjusted.

9. The method according to claim 1, wherein Also includes: In response to the reference object model changing operation, the reference object model of the second virtual viewpoint is changed.

10. The method according to any one of claims 1 to 9, wherein 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 among the mover simulation information, work station simulation information, control status simulation information and external device simulation information obtained when the linear conveying equipment model is simulated and run; the real monitoring information is used to indicate at least one of the real information among the mover real information, work station real information, control status real information and external device real information obtained when the linear conveying equipment is actually run.

11. A picture conversion device, characterized in that: A host computer is provided in a virtual scene display system, wherein the virtual scene display system further includes a linear conveying device, and the host computer is used to display a linear conveying device model corresponding to the linear conveying device. The device includes: A parameter acquisition module, configured to determine, in response to a viewpoint switching operation, virtual viewpoint space parameters corresponding to the viewpoint switching operation, wherein, when a plurality of viewpoint switches are determined to be performed based on the viewpoint switching operation, the virtual viewpoint space parameters corresponding to the plurality of second virtual viewpoints configured based on the linear conveying device model are determined; determining the virtual viewpoint space parameters corresponding to the plurality of second virtual viewpoints configured based on the linear conveying device model comprises at least one of the following: acquiring the plurality of virtual viewpoint space parameters having a preset order; acquiring a preset starting viewpoint space parameter, and generating a plurality of changing viewpoint space parameters based on a preset space change parameter, and setting the starting viewpoint space parameter and the changing viewpoint space parameter as the plurality of virtual viewpoint space parameters in a changing order; A display module is used to transform, based on the virtual viewpoint space parameters, an image obtained by observing the linear conveying equipment model in the virtual three-dimensional space from a first virtual viewpoint into an image obtained by observing the linear conveying equipment model from a second virtual viewpoint corresponding to the virtual viewpoint space parameters, wherein, when multiple viewpoint switches are determined to be performed based on the viewpoint switching operation, at least one of the multiple second virtual viewpoints is selected as a target virtual viewpoint each time according to the multiple virtual viewpoint space parameters, and the image corresponding to the target virtual viewpoint is displayed each time, so that the image of the viewpoint switching is transformed multiple times.

12. 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 1-10.

13. The system according to claim 12, 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.

14. 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 code; A processor, configured to call and run the executable program code from the memory to perform the steps of the method according to any one of claims 1 to 10.

15. 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 according to any one of claims 1 to 10 are implemented.

16. 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 10 are implemented.

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