Twin purging correction method, device and equipment and storage medium

Abstract

The invention provides a twin purge correction method, device and equipment and a storage medium, and particularly relates to the technical field of twin purge correction, and the method comprises the steps that a control terminal obtains a three-dimensional model of a purge device and a depth image of the bottom of a subway; processing the three-dimensional model of the purging device to obtain a digital twin model of the purging device; processing the depth image of the bottom of the subway to obtain a blowing floor map of the bottom of the subway; acquiring a purging video sent by a purging device; wherein the purging video is a video that the purging device purges the bottom of the subway according to the purging map of the bottom of the subway; displaying the purge video through a digital twinborn model of the purge device to obtain a first display animation; and the purging action of the purging device is corrected through the triggering operation performed by the worker according to the first display animation. By means of the method, it is guaranteed that the purging device accurately purges dust of all parts of the bottom of the subway in the complex subway bottom environment.

Description

Technical Field

[0001] The present application relates to the technical field of twin purge, and in particular to a twin purge correction method, device, equipment and storage medium. Background Art

[0002] In order to effectively clean the dust and debris at the bottom of the subway, the purge device needs to accurately grasp the three-dimensional geometric structure of the subway bottom. However, the actual subway bottom environment is usually complex and changeable, full of various pipes, lines, support structures and obstacles, and is a very challenging space. It is full of intricate pipe systems, and at the same time, a variety of lines are crisscrossed, including power lines, signal lines, and communication lines, which together maintain the normal operation of the subway. In addition, the bottom of the subway is also full of solid support structures to ensure its stability and safety. This setting makes the actual subway bottom environment extremely crowded and complex.

[0003] In the prior art, it is difficult for a blowing device to accurately blow away dust from various parts of the subway bottom in a complex subway bottom environment. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a twin purge correction method, device, equipment and storage medium to solve the above-mentioned problems and achieve accurate purge of dust from various parts of the subway bottom in the complex subway bottom environment.

[0005] In a first aspect, an embodiment of the present application provides a twin purge correction method, which is applied to a control terminal, and the method includes: The control terminal acquires a three-dimensional model of the purge device and a depth image of the subway bottom; The control terminal processes the three-dimensional model of the purge device to obtain a digital twin model of the purge device; The control terminal processes the depth image of the subway bottom to obtain a purge map of the subway bottom; The control terminal obtains a purge video sent by the purge device; wherein the purge video is a video of the purge device purge the bottom of the subway according to a purge map of the bottom of the subway; The control terminal displays the purge video through the digital twin model of the purge device to obtain a first display animation; The control terminal modifies the purging action of the purging device through the triggering operation performed by the staff according to the first display animation.

[0006] Preferably, the control terminal processes the three-dimensional model of the purge device to obtain a digital twin model of the purge device, comprising: The control terminal divides the three-dimensional model of the purging device into levels to obtain the three-dimensional models of N components of the purging device; The control terminal assembles the three-dimensional models of the N components in a preset assembly order to obtain the original digital twin model of the three-dimensional model of the purging device; The control terminal renders the original digital twin model of the three-dimensional model of the purging device to obtain the digital twin model of the three-dimensional model of the purging device.

[0007] Preferably, the step in which the control terminal processes the depth image of the bottom of the subway to obtain the purging map of the bottom of the subway includes: The control terminal performs coordinate conversion on the pixel points of the depth image of the bottom of the subway to obtain the sparse point cloud image of the bottom of the subway; The control terminal processes the data points of the sparse point cloud image of the bottom of the subway to obtain the dense point cloud image of the bottom of the subway; The control terminal analyzes the dense point cloud image of the bottom of the subway to obtain the purging map of the bottom of the subway.

[0008] Preferably, the step in which the control terminal corrects the purging action of the purging device through the triggering operation made by the staff according to the first display animation includes: The control terminal generates a first control instruction according to the first triggering operation made by the staff on the virtual position in the first display animation corresponding to the preset position of the bottom of the subway that has not been cleaned; The control terminal controls the purging device to return to the preset position of the bottom of the subway that has not been cleaned according to the first control instruction and purges the preset position of the bottom of the subway that has not been cleaned.

[0009] Preferably, the method further includes: The control terminal obtains a second control instruction according to the second triggering operation made by the staff on the virtual position in the first display animation corresponding to the preset position of the bottom of the subway where the cleaning result does not meet the preset standard; The control terminal controls the purging device to return to the preset position of the bottom of the subway where the cleaning result does not meet the preset standard according to the second control instruction and purges the preset position of the bottom of the subway where the cleaning result does not meet the preset standard.

[0010] Preferably, the purging device is equipped with a robotic arm, and the method further includes: The control terminal acquires the joint parameters of each joint of the robotic arm sent by the purging device; The control terminal generates a parameter panel according to the joint parameters of the robotic arm.

[0011] The twin purge correction method provided in this application brings the following beneficial effects: This application provides a twin purge correction method. In this method, the control terminal displays the purge video through the digital twin model of the purge device to obtain the first display animation, and corrects the purge action of the purge device through the trigger operation performed by the staff according to the first display animation. This method highly restores the actual operating state, structure, function of the purge device, and the purge image of the subway bottom through the digital twin model of the purge device. Through the first display animation, the staff can intuitively observe the purge action of the purge device, so as to timely correct the purge work of the purge device to ensure that the purge device accurately purges the dust on each part of the subway bottom in the complex subway bottom environment.

[0012] In a second aspect, this application also provides a twin purge correction device, which includes: An acquisition module, configured to acquire the three-dimensional model of the purge device and the depth image of the subway bottom; A processing module, configured to process the three-dimensional model of the purge device to obtain the digital twin model of the purge device; The processing module is further configured to process the depth image of the subway bottom to obtain the purge map of the subway bottom; The acquisition module is further configured to acquire the purge video sent by the purge device; wherein, the purge video is the video of the purge device purging the subway bottom according to the purge map of the subway bottom; A display module, configured to display the purge video through the digital twin model of the purge device to obtain the first display animation; A control module, configured to correct the purge action of the purge device through the trigger operation performed by the staff according to the first display animation.

[0013] The twin purge correction device provided in the embodiment of this application has the same technical features as the twin purge correction method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0014] In a third aspect, this application provides a computing device, including a memory and a processor; Wherein, one or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device is caused to execute the method according to any one of the first aspect.

[0015] Fourthly, the present application provides a computer-readable storage medium for storing a computer program for executing the method according to any one of the first aspect.

[0016] Fifthly, the present application provides a computer program product comprising one or more computer instructions, which, when executed by a computer, cause the computer to execute the method according to any one of the first aspect.

[0017] Other features and advantages of the present application will be described in the subsequent description, and in part will be obvious from the description, or will be understood by implementing the present application. The objectives and other advantages of the present application are achieved and obtained by the structures specifically pointed out in the description and the drawings.

[0018] To make the above objectives, features, and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, details are described as follows. Description of the Drawings

[0019] To more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 Schematic diagram of the process of a twin purge correction method provided by an embodiment of the present application; Figure 2 Schematic diagram of the structure of a twin purge correction device provided by an embodiment of the present application; Figure 3 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0022] For ease of understanding of this embodiment, the embodiments of the present application are introduced in detail below.

[0023] An embodiment of the present application provides a twin purge correction method, which is applied to a control terminal, such as Figure 1 as shown Figure 1 is a schematic flowchart of a twin purge correction method provided by an embodiment of the present application. The method includes the following steps: S101, the control terminal acquires a three-dimensional model of a purge device and a depth image of the bottom of the subway.

[0024] Specifically, the above three-dimensional model of the purge device is obtained by converting the format of the originally drawn three-dimensional model of the purge device, aiming to adapt to the control terminal (Unity3D system). The above depth image of the bottom of the subway is taken by a depth camera.

[0025] S102, the control terminal processes the three-dimensional model of the purge device to obtain a digital twin model of the purge device.

[0026] Specifically, the geometric shape and size of the digital twin model of the purge device are consistent with those of the actual purge device. The digital twin model of the purge device can perform the same actions as the actual purge device, and can visually provide the working state of the purge device to maintenance personnel.

[0027] Such a setting can ensure the accuracy of the design of the digital twin model of the purge device, improve the visual performance, make the division of labor in design, visual refinement, and interactive applications more clear, reduce the number of polygons of the digital twin model of the purge device, and reduce the modeling complexity.

[0028] S103, the control terminal processes the depth image of the bottom of the subway to obtain a purge map of the bottom of the subway.

[0029] Specifically, the depth image of the bottom of the subway taken by the depth camera uses the distance (depth) from the depth camera to each point on the bottom of the subway as the pixel value, reflecting the geometric structure of each part of the bottom of the subway. By processing the depth image, the control terminal can accurately identify the geometric structure of the bottom of the subway, so that the purge device can perform targeted purge cleaning on the bottom of the subway.

[0030] S104, the control terminal acquires a purge video sent by the purge device.

[0031] Among them, the purge video is a video of the purge device purging the bottom of the subway according to the purge map of the bottom of the subway.

[0032] Specifically, the above purge video is a three-dimensional animation presented by the control terminal through data interaction between the purge device and the control terminal to show the purge actions of the purge device.

[0033] With such a setting, the operator can obtain the purging video sent by the purging device through the control terminal, remotely monitor the purging process of the purging device, and intuitively judge whether the purging operation of the purging device is carried out according to the predetermined plan through the purging video, and understand the purging progress and effect of the purging device in real time.

[0034] S105. The control terminal displays the purging video of the purging device through the digital twin model of the purging device to obtain a first display animation.

[0035] Specifically, the digital twin model of the purging device has high fidelity and can accurately simulate the structure, function and performance of the purging device. It can reflect the state and behavior of the purging device in real time according to the above purging video, and visually feedback to the operator in the form of a first display animation.

[0036] With such a setting, the operator can intuitively observe the real-time dynamics of the purging process of the purging device, which plays a crucial role in timely discovering problems in the purging process and adjusting the purging strategy. The first display animation can highly restore the purging actions of the real purging device, improving the authenticity of the purging scene feedback by the purging device.

[0037] S106. The control terminal corrects the purging actions of the purging device through the trigger operation made by the staff according to the first display animation.

[0038] Specifically, the staff can view the whole process of the purging device cleaning the bottom of the subway from the first display animation, and timely make trigger operations according to what is shown in the first display animation to modify the deviations or deficiencies in the purging actions of the purging device.

[0039] An embodiment of the present application provides a twin purge correction method. In this method, the control terminal displays the purge video through the digital twin model of the purge device to obtain the first display animation, and corrects the purge action of the purge device through the trigger operation performed by the staff according to the first display animation. This method uses the digital twin model of the purge device to highly restore the actual operating state, structure, function of the purge device, and the purge image of the subway bottom. Through the first display animation, the staff can intuitively observe the purge action of the purge device, and thus timely correct the purge work of the purge device to ensure that the purge device accurately purges the dust on each part of the subway bottom in the complex subway bottom environment. Compared with the prior art in which the purge device cleans the subway bottom according to a preset instruction, this method improves the accuracy of the purge device in purging each part of the subway bottom by correcting the purge action of the purge device, and avoids the error of the purge accuracy of the purge device caused by the preset instruction being unable to make the purge device adapt to the complex subway bottom environment. In addition, the digital twin model of the purge device in this method has powerful data analysis and prediction capabilities. By real-time monitoring and analyzing the operating data of the purge device, it predicts the future operating state and possible problems of the purge device, so that the staff can formulate countermeasures and correction plans in advance, improving the purge efficiency of the purge device.

[0040] The following introduces the method of the control terminal processing the 3D model of the purge device to obtain the digital twin model of the purge device. The control terminal divides the 3D model of the purge device into levels to obtain the 3D models of N components of the purge device; assembles the 3D models of the N components according to the preset assembly order to obtain the original digital twin model of the 3D model of the purge device; renders the original digital twin model of the 3D model of the purge device to obtain the digital twin model of the 3D model of the purge device.

[0041] Specifically, the above 3D model of the purge device is composed of the 3D models of N components spliced together. There is a fixed order between the 3D models of the components, and it is necessary to assemble the 3D models of the components in order to obtain the original digital twin model of the 3D model of the purge device. Among them, the function and shape of the original digital twin model of the 3D model of the purge device need to be consistent with the actual purge device. In order to more intuitively display the real structure of the actual purge device, it is necessary to render the original digital twin model of the 3D model of the purge device to obtain the digital twin model of the 3D model of the purge device.

[0042] The following takes the robotic arm as an example to introduce the process of dividing the 3D model of the purge device into levels: Each joint of the robotic arm is the parent object, and the link connected to each joint is the sub-object. Each sub-object of the robotic arm rotates with the parent object. Hierarchical division is performed on the 3D model of the robotic arm, that is, N sub-objects are divided into N first layers, and N parent objects are divided into N second layers.

[0043] The following takes the robotic arm as an example to introduce the process of assembling the 3D models of N components according to the preset assembly sequence: Drag the first parent object to the first preset position corresponding to the first sub-object with the mouse, and drag the second parent object to the second preset position corresponding to the second sub-object with the mouse until the nth parent object of the entire robotic arm is dragged to the nth preset position and ends.

[0044] Through hierarchical division, this method can decompose the 3D model of the complex purging device into 3D models of components of multiple relatively simple purging devices, thereby simplifying the modeling process of the digital twin model of the purging device. This method makes the connection relationship between the 3D models of the components of each purging device clearer and improves the flexibility of subsequent modification of the 3D models of the components of each purging device.

[0045] The following introduces the method of the control terminal processing the depth image of the subway bottom to obtain the purging map of the subway bottom. The control terminal performs coordinate transformation on the pixel points of the depth image of the subway bottom to obtain the sparse point cloud image of the subway bottom; processes the data points of the sparse point cloud image of the subway bottom to obtain the dense point cloud image of the subway bottom; analyzes the dense point cloud image of the subway bottom to obtain the purging map of the subway bottom.

[0046] Specifically, the depth camera is used to take moving pictures of the subway bottom to obtain the depth image of the subway bottom. Based on the feature point extraction algorithm and the feature point description algorithm, the coordinates of the pixel points (feature points) of the depth image of the subway bottom are transformed to obtain the sparse point cloud image of the subway bottom. Based on the depth sensor or the depth estimation algorithm, the data points of the sparse point cloud image of the subway bottom are processed, and some point clouds are added to the depth area of the sparse point cloud image of the subway bottom to obtain the dense point cloud image of the subway bottom. The control terminal analyzes the dense point cloud image of the subway bottom and converts the format of the dense point cloud image of the subway bottom into a format that the control terminal can recognize to obtain the purging map of the subway bottom.

[0047] In this method, the density of the dense point cloud image at the bottom of the subway is high, with many details of the components at the bottom of the subway covered, complete coverage, high fineness, uniform distribution of data points in the depth area, relatively complete depth information, and good continuity between data points in the depth area. This method improves the accuracy of the purging map at the bottom of the subway, expands the coverage rate of the purging map at the bottom of the subway for each component at the bottom of the subway, and thus improves the accuracy of the purging device for purging the bottom of the subway.

[0048] The following introduces the method of correcting the purging action of the purging device by the control terminal through the triggering operation made by the staff according to the first display animation. The control terminal generates a first control instruction according to the first triggering operation made by the staff on the virtual position in the first display animation corresponding to the preset position at the bottom of the uncleaned subway; controls the purging device to return to the preset position at the bottom of the uncleaned subway according to the first control instruction, and purges the preset position at the bottom of the uncleaned subway; obtains a second control instruction according to the second triggering operation made by the staff on the virtual position in the first display animation corresponding to the preset position at the bottom of the subway where the cleaning result does not meet the preset standard; controls the purging device to return to the preset position at the bottom of the subway where the cleaning result does not meet the preset standard according to the second control instruction, and purges the preset position at the bottom of the subway where the cleaning result does not meet the preset standard.

[0049] Specifically, the staff can view the first display animation on the control terminal. The first display animation can display the purging action of the purging device in reality and the image of the perspective at the bottom of the subway in the purging video in real time. If the purging device does not clean (purge) the preset position at the bottom of the subway in the first display animation, the staff performs a first triggering operation in the first display animation. Among them, the first triggering operation is to drag the digital twin model of the purging device with the mouse to return to the preset position at the bottom of the uncleaned subway and start purging again. The control terminal converts the first triggering operation into a first control instruction and sends it to the purging device in reality. After receiving the first control instruction, the purging device in reality returns to the preset position at the bottom of the subway where the cleaning result does not meet the preset standard, and purges the preset position at the bottom of the subway where the cleaning result does not meet the preset standard, that is, executes the first control instruction.

[0050] If the cleaning result of the purging device cleaning (purging) the preset position at the bottom of the subway in the first display animation does not meet the preset standard, the staff performs a second triggering operation in the first display animation. Among them, the second triggering operation is to click on the digital twin model of the purging device three-dimensional model with the mouse, increase the purging intensity in the setting panel of the purging action, and drag the digital twin model of the purging device three-dimensional model back to the preset position at the bottom of the subway that has not been cleaned, and start purging again. The control terminal converts the first triggering operation into a second control instruction and sends it to the real purging device. After receiving the second control instruction, the real purging device returns to the preset position at the bottom of the subway where the cleaning result does not meet the preset standard, and purges the preset position at the bottom of the subway where the cleaning result does not meet the preset standard, that is, executes the second control instruction.

[0051] In this method, the control terminal corrects the purging action of the purging device through the first control instruction generated by the first triggering operation, or corrects the purging action of the purging device through the second control instruction generated by the second triggering operation. This method solves the problem that the purging device is difficult to adapt to the complex environment at the bottom of the subway, resulting in incomplete, thorough and inaccurate cleaning of each component at the bottom of the subway, and improves the accuracy of purging each part at the bottom of the subway by the purging device.

[0052] In one implementation, the purging device is equipped with a robotic arm, and the control terminal acquires the joint parameters of each joint of the robotic arm sent by the purging device; a parameter panel is generated according to the joint parameters of each joint of the robotic arm.

[0053] Specifically, the joint parameters of each joint of the robotic arm include at least one of the following: the attitude angle of each joint of the robotic arm, the displacement of each joint of the robotic arm, and the moving speed of each joint of the robotic arm. The joint parameters of each joint of the robotic arm can be set in the above parameter panel.

[0054] In this method, the above parameter panel provides support for the precise control of each joint of the robotic arm. By precisely setting the joint parameters of each joint of the robotic arm, this method ensures that when the purging device controls the robotic arm to purge the bottom of the subway, it has high control accuracy and stability, and improves the flexibility of the staff to control the robotic arm of the purging device.

[0055] Based on the above method embodiments, the embodiments of the present application also provide a twin purging correction device, as Figure 2 shown, Figure 2 is a schematic structural diagram of a twin purging correction device provided by an embodiment of the present application. The device includes: an acquisition module 21, a processing module 22, a display module 23, and a control module 24. Among them, the functions of each module are as follows: The acquisition module 21 is used to acquire the three-dimensional model of the purging device and the depth image of the bottom of the subway; A processing module 22, configured to process the three-dimensional model of the purging device to obtain a digital twin model of the purging device; The processing module 22 is further configured to process the depth image of the bottom of the subway to obtain a purging map of the bottom of the subway; The acquisition module 21 is further configured to acquire the purging video sent by the purging device; wherein, the purging video is a video of the purging device purging the bottom of the subway according to the purging map of the bottom of the subway; A display module 23, configured to display the purging action of the purging device through the digital twin model of the purging device to obtain a first display animation; A control module 24, configured to correct the purging action of the purging device through a trigger operation made by the staff according to the first display animation.

[0056] Preferably, the processing module 22 is specifically configured to perform hierarchical division on the three-dimensional model of the purging device to obtain the three-dimensional models of N components of the purging device; assemble the three-dimensional models of the N components according to a preset assembly sequence to obtain the original digital twin model of the three-dimensional model of the purging device; render the original digital twin model of the three-dimensional model of the purging device to obtain the digital twin model of the three-dimensional model of the purging device.

[0057] Preferably, the processing module 22 is specifically configured to perform coordinate transformation on the pixel points of the depth image of the bottom of the subway to obtain a sparse point cloud image of the bottom of the subway; process the data points of the sparse point cloud image of the bottom of the subway to obtain a dense point cloud image of the bottom of the subway; analyze the dense point cloud image of the bottom of the subway to obtain a purging map of the bottom of the subway.

[0058] Preferably, the control module 24 is specifically configured to generate a first control instruction according to a first trigger operation performed by the staff on the virtual position in the first display animation corresponding to the preset position of the uncleaned bottom of the subway; control the purging device to return to the preset position of the uncleaned bottom of the subway according to the first control instruction, and purge the preset position of the uncleaned bottom of the subway.

[0059] Preferably, the control module 24 is further configured to obtain a second control instruction according to a second trigger operation performed by the staff on the virtual position in the first display animation corresponding to the preset position of the bottom of the subway where the cleaning result does not meet the preset standard; control the purging device to return to the preset position of the bottom of the subway where the cleaning result does not meet the preset standard according to the second control instruction, and purge the preset position of the bottom of the subway where the cleaning result does not meet the preset standard.

[0060] Preferably, the purging device is equipped with a robotic arm; the acquisition module 21 is further configured to acquire the joint parameters of each joint of the robotic arm sent by the purging device; The processing module 22 is further configured to generate a parameter panel according to the joint parameters of the robotic arm.

[0061] The twin purge correction device provided by the embodiment of the present application has the same technical features as the twin purge correction method provided by the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0062] The embodiment of the present application also provides a computing device. As Figure 3 shown, this figure is a schematic diagram of a computing device provided by the embodiment of the present application. The computing device 400 includes a bus 401, a processor 402, a communication interface 403, and a memory 404. The processor 402, the memory 404, and the communication interface 403 communicate with each other through the bus 401.

[0063] The bus 401 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 3 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0064] The processor 402 can be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP), etc.

[0065] The communication interface 403 is used for external communication. The memory 404 may include a volatile memory, such as a random access memory (RAM). The memory 404 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0066] The memory 404 stores executable code, and the processor 402 executes the executable code to execute the foregoing method.

[0067] An embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that a computing device can store, or a data storage device such as a data center that contains one or more available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state drive), etc. The computer-readable storage medium includes instructions that direct the computing device to execute the above method.

[0068] An embodiment of the present application also provides a computer program product, which includes one or more computer instructions. When the computer instructions are loaded and executed on a computing device, they wholly or partly generate the processes or functions described in the embodiments of the present application.

[0069] The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, or data center to another website, computer, or data center by wire (such as coaxial cable, optical fiber) or wirelessly (such as infrared, wireless, microwave, etc.).

[0070] When the computer program product is executed by a computer, the computer executes any of the aforementioned twin purge correction methods. The computer program product can be a software installation package. In the case where any of the aforementioned twin purge correction methods is needed, the computer program product can be downloaded and executed on the computer.

[0071] The descriptions of the processes or structures corresponding to the above respective drawings each have their own emphases. For parts not detailed in a certain process or structure, reference can be made to the relevant descriptions of other processes or structures.

[0072] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A twin purge correction method, characterized in that, Applied to a control terminal, the method includes: The control terminal acquires a three-dimensional model of a purging device and a depth image of the bottom of a subway; The control terminal processes the three-dimensional model of the purging device to obtain a digital twin model of the purging device; The control terminal processes the depth image of the bottom of the subway to obtain a purging map of the bottom of the subway; The control terminal acquires a purging video sent by the purging device; wherein, the purging video is a video of the purging device purging the bottom of the subway according to the purging map of the bottom of the subway; The control terminal displays the purging video through the digital twin model of the purging device to obtain a first display animation; The control terminal corrects the purging action of the purging device through a trigger operation made by a staff member according to the first display animation.

2. The twin purge correction method according to claim 1, wherein The step of the control terminal processing the three-dimensional model of the purging device to obtain a digital twin model of the purging device includes: The control terminal performs hierarchical division on the three-dimensional model of the purging device to obtain three-dimensional models of N components of the purging device; The control terminal assembles the three-dimensional models of the N components according to a preset assembly sequence to obtain an original digital twin model of the three-dimensional model of the purging device; The control terminal renders the original digital twin model of the three-dimensional model of the purging device to obtain a digital twin model of the three-dimensional model of the purging device.

3. The twin purge correction method according to claim 1, wherein The step of the control terminal processing the depth image of the bottom of the subway to obtain a purging map of the bottom of the subway includes: The control terminal performs coordinate conversion on the pixel points of the depth image of the bottom of the subway to obtain a sparse point cloud image of the bottom of the subway; The control terminal processes the data points of the sparse point cloud image of the bottom of the subway to obtain a dense point cloud image of the bottom of the subway; The control terminal analyzes the dense point cloud image of the bottom of the subway to obtain a purging map of the bottom of the subway.

4. The twin purge correction method according to claim 1, characterized in that The step of the control terminal correcting the purging action of the purging device through a trigger operation made by a staff member according to the first display animation includes: The control terminal generates a first control instruction according to a first trigger operation performed by a staff member on a virtual position in the first display animation corresponding to a preset position of the un-cleaned bottom of the subway; The control terminal controls the purging device to return to the preset position of the un-cleaned bottom of the subway according to the first control instruction and purges the preset position of the un-cleaned bottom of the subway.

5. The twin purge correction method according to claim 4, characterized in that, The method further includes: The control terminal obtains a second control instruction according to a second trigger operation performed by a staff member on a virtual position in the first display animation corresponding to a preset position of the bottom of the subway where the cleaning result does not meet the preset standard; The control terminal controls the purging device to return to the preset position of the bottom of the subway where the cleaning result does not meet the preset standard according to the second control instruction and purges the preset position of the bottom of the subway where the cleaning result does not meet the preset standard.

6. The twin purge correction method according to claim 1, wherein The purging device is equipped with a robotic arm, and the method further includes: The control terminal obtains each joint parameter of the robotic arm sent by the purging device; The control terminal generates a parameter panel according to each joint parameter of the robotic arm.

7. A twin purge correction device, characterized in that, The device includes: An acquisition module, configured to acquire a 3D model of the purging device and a depth image of the bottom of the subway; A processing module, configured to process the 3D model of the purging device to obtain a digital twin model of the purging device; The processing module is further configured to process the depth image of the bottom of the subway to obtain a purging map of the bottom of the subway; The acquisition module is further configured to acquire a purging video sent by the purging device; wherein, the purging video is a video of the purging device purging the bottom of the subway according to the purging map of the bottom of the subway; A display module, configured to display the purging video through the digital twin model of the purging device to obtain a first display animation; A control module, configured to correct the purging action of the purging device through a trigger operation performed by a staff member according to the first display animation.

8. A computing device, characterized in that, It includes a memory and a processor; wherein, one or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes one or more computer instructions, and when the computer instructions are executed by a computer, the computer executes the method according to any one of claims 1 to 6.

Images