Consistency control method and equipment for three-dimensional model instances, program product and medium

Abstract

The invention provides a consistency control method and device for three-dimensional model instances, a program product and a medium, and aims to realize collaborative movement among the three-dimensional model instances on the basis of a built and operated digital twin scene, and realize the consistency of the three-dimensional model instances through generated independent fitting motion vectors. The motion behavior of each three-dimensional model instance only depends on its own state and the specified three-dimensional model instance, so that global coupling and motion interference caused by the global coupling are effectively avoided, and finally the collaborative motion behavior can be initiated based on the fitting motion vector. Therefore, each three-dimensional model instance can be kept consistent with the specified three-dimensional model instance, and dynamic adjustment can be dynamically executed according to own difference, so that unified control and consistent performance of the specific three-dimensional model instance in the digital twinning scene are realized. And the flexibility, the robustness and the calculation efficiency of cooperation of multiple three-dimensional model instances in a complex scene are remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of digital twin technology, and specifically to a consistency control method for three-dimensional model instances in a digital twin scene, a computer device and a computer program product, and a computer-readable storage medium. Background Art

[0002] With the continuous development of digital twin technology, more and more industries have begun to adopt this technology to implement system modeling in the physical environment, and then put the three-dimensional model of the physical environment into the digital twin scene that describes its own operation, so as to describe the operation of the corresponding physical entity in the physical environment in the digital twin scene.

[0003] The 3D model instances running in the digital twin scene through the deployment of 3D models often involve the coordination of multiple 3D model instances. How to ensure that the movement and other behaviors of these 3D model instances remain consistent has become a key issue in the implementation of digital twin scenes.

[0004] Adapting to the physical environment and the physical entities running therein, the three-dimensional model instances in the digital twin scene involve complex physical behaviors, dynamic changes, and collaborative operations. Different physical entities usually affect each other. Therefore, how to control the motion behavior of specific three-dimensional model instances in the corresponding digital twin scene to achieve unified control and consistent performance has become a technical problem that needs to be solved urgently in the implementation of the digital twin scene. Summary of the Invention

[0005] One purpose of this application is to solve the problem of unified control and consistent performance of specific three-dimensional model instances in digital twin scenes, and to provide a consistency control method, computer equipment and computer program product, and computer-readable storage medium for three-dimensional model instances in digital twin scenes.

[0006] According to one aspect of an embodiment of the present application, a method for controlling consistency of a three-dimensional model instance in a digital twin scene is disclosed, the method comprising the following steps:

[0007] For a three-dimensional model instance running in a digital twin scene, obtaining a motion vector of a specified three-dimensional model instance, wherein a component on the specified three-dimensional model instance is driven by the motion vector;

[0008] In response to applying the motion vector to the specified three-dimensional model instance, scheduling the three-dimensional model instance associated with the specified three-dimensional model instance;

[0009] For each scheduled 3D model instance, the motion vector is aligned according to its own motion behavior to determine the current aligned motion vector that drives the 3D model instance to perform motion behavior in the digital twin scene. The aligned motion vector is independent of all 3D model instances other than the 3D model instance aligned to the digital twin scene.

[0010] According to the fitted motion vector, the scheduled 3D model instance is initiated to perform a motion behavior coordinated with the specified 3D model instance.

[0011] According to one aspect of an embodiment of the present application, a computer device is disclosed, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0012] According to one aspect of an embodiment of the present application, a computer program product is disclosed, including a computer program, which implements the steps of any of the above methods when executed by a processor.

[0013] According to one aspect of an embodiment of the present application, a computer-readable storage medium is disclosed, on which a computer program is stored. When the program is executed by a processor, the steps of any of the methods described above are implemented.

[0014] The embodiment of the present application obtains the motion vector of a specified three-dimensional model instance in a digital twin scene and drives its component behavior. Under the action of the motion vector, it first realizes precise control of the motion state of the specified three-dimensional model instance. On this basis, it dynamically schedules other three-dimensional model instances associated with the specified three-dimensional model instance, and generates independent fitting motion vectors according to the motion behavior of each other three-dimensional model instance itself, ensuring that the motion behavior of each three-dimensional model instance only depends on its own motion state and the specified three-dimensional model instance, effectively avoiding global coupling and motion interference caused by global coupling, and finally initiating collaborative motion behavior based on the fitting motion vector, so that each three-dimensional model instance can maintain consistency with the specified three-dimensional model instance, and can perform dynamic adjustments according to the differences in its own motion characteristics, thereby realizing unified control and consistent performance of specific three-dimensional model instances in the digital twin scene, and significantly improving the flexibility, robustness and computational efficiency of the collaboration of multiple three-dimensional model instances in complex digital twin scenes.

[0015] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0016] It should be understood that the foregoing general description and the following detailed description are merely illustrative and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present application will become more apparent by describing in detail example embodiments thereof with reference to the attached drawings.

[0018] Figure 1 A flow chart of a method for consistency control of three-dimensional model instances in a digital twin scenario according to one embodiment of the present application is shown.

[0019] Figure 2 is based on Figure 1 The corresponding embodiment shows a flowchart of a method for describing the steps of scheduling three-dimensional model instances associated with a specified three-dimensional model instance in response to application of a motion vector on the specified three-dimensional model instance.

[0020] Figure 3 is based on Figure 1 The corresponding embodiment shows a method flow chart describing the steps of fitting motion vectors for each scheduled three-dimensional model instance according to its own motion behavior, so as to determine the motion behavior of driving the three-dimensional model instance in the digital twin scene to fit the current fitting motion vector.

[0021] Figure 4 The figure is a schematic diagram showing a three-dimensional model example performing multi-stage displacement motion according to an embodiment. DETAILED DESCRIPTION

[0022] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that the description of this application will be more comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The accompanying drawings are merely schematic illustrations of the present application and are not necessarily drawn to scale. Identical reference numerals in the figures indicate identical or similar parts, and thus repeated descriptions thereof will be omitted.

[0023] In addition, the described features, structures or characteristics may be combined in one or more example embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the example embodiments of the present application. However, those skilled in the art will appreciate that the technical solutions of the present application may be practiced while omitting one or more of the specific details, or other methods, components, steps, etc. may be adopted. In other cases, known structures, methods, implementations or operations are not shown or described in detail to avoid obscuring the main content and making various aspects of the present application vague.

[0024] Some of the blocks shown in the accompanying drawings are functional entities that do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0025] The embodiments of the present application are used to achieve consistent control of several three-dimensional model instances for each digital twin scene, thereby enabling the operation of the digital twin scene to adapt to the physical environment, thereby ensuring the accuracy and reliability of the operation of each three-dimensional model instance.

[0026] In existing digital twin scenarios, physical entities in the physical environment are typically modeled and presented using their corresponding images (e.g., static images or dynamic images composed of video frames). This image-based 3D modeling approach essentially simulates state changes of physical entities through image switching, thereby achieving a visual description of the physical entities.

[0027] However, this image-based modeling approach has significant limitations: it merely provides a visual representation of the physical entity, rather than accurately mapping its dynamic motion behavior and internal motion state. Therefore, the coordinated motion behavior of 3D model instances constructed based on image content can often only be achieved through animation. This animated 3D model implementation and coordinated motion lack the ability to dynamically adapt to the current operating state of the physical entity, making it difficult for the coordinated motion behavior in the digital twin scene to accurately reflect the actual state of the physical entity. The only achievable coordinated motion behavior is essentially a frame-by-frame animation playback process, lacking linkage and coordination capabilities and detailedness.

[0028] This limitation makes the existing digital twin scenarios lack accuracy and adaptability in dynamic description and collaborative control, and it is impossible to truly achieve accurate synchronization and dynamic mapping with physical entities, let alone accurate collaborative control between three-dimensional model instances.

[0029] Therefore, it is necessary to abandon the three-dimensional model instances constructed based on image content and the collaborative motion consistency control technical solutions that use image switching to present animation through the embodiments of this application, and to realize the accurate mapping of dynamic motion behavior and intrinsic motion state of the three-dimensional model instances put into the digital twin scene, so as to enhance the dynamic fitting capability of the executed motion behavior.

[0030] At this point, it should be noted that the three-dimensional model referred to will exist in the form of a two-dimensional model when its height value is zero.

[0031] See Figure 1 , Figure 1A flow chart of a method for controlling the consistency of a three-dimensional model instance in a digital twin scene according to an embodiment of the present application is shown. The embodiment of the present application provides a method for controlling the consistency of a three-dimensional model instance in a digital twin scene, the method comprising:

[0032] Step S110: obtaining a motion vector of a specified three-dimensional model instance for a three-dimensional model instance running in the digital twin scene, wherein a component on the specified three-dimensional model instance is driven by the motion vector;

[0033] Step S120 , in response to the application of the motion vector on the designated three-dimensional model instance, scheduling the three-dimensional model instance associated with the designated three-dimensional model instance;

[0034] Step S130: For each scheduled 3D model instance, motion vector alignment is performed based on its own motion behavior to determine the current aligned motion vector that drives the 3D model instance to execute motion behavior in the digital twin scene. The aligned motion vector is independent of all 3D model instances other than the 3D model instance aligned to the digital twin scene.

[0035] Step S140 : Initiate the scheduled 3D model instance to perform a motion behavior coordinated with the designated 3D model instance according to the fitted motion vector.

[0036] These steps are described in detail below.

[0037] First of all, it should be explained that the three-dimensional model instance running in the digital twin scene is a specific and running three-dimensional model constructed. In other words, the created three-dimensional model will run as a three-dimensional model instance after being added to the digital twin scene.

[0038] The created three-dimensional model will run as an instance, that is, a three-dimensional model instance, in the digital twin scenario and be controlled by real-time data from the physical environment and other three-dimensional model instances to drive the corresponding business processes or events, thereby triggering various behaviors in the executed business processes or events, such as the movement behavior of its own specific components, driving the execution of its own movement behavior.

[0039] A digital twin scene is a dynamic global representation of a physical environment. Correspondingly, the three-dimensional model instance running in the digital twin scene is also a dynamic local representation of the physical entity in the physical environment. The components distributed on the three-dimensional model instance are mapped to the component entities on the physical entity.

[0040] In step S110, as the three-dimensional model instance runs in the digital twin scene, the three-dimensional model instance controls the rotation, translation and other motion behaviors through the configured motion vector, so as to visualize the corresponding physical entity and the parts on the physical entity in the digital twin scene, namely, the component entity mentioned above.

[0041] Based on this, it can be clearly seen that as the three-dimensional model instance runs, it has its corresponding motion vector. On the one hand, this motion vector is used to control the behavior of the three-dimensional model instance, and on the other hand, it accurately describes and maps the current motion behavior and internal motion state of the three-dimensional model instance.

[0042] Therefore, for the three-dimensional model instance running in the digital twin scene, the corresponding motion vector can be obtained, and the motion vector describes the translation and / or rotation movement behavior that the three-dimensional model instance is about to perform.

[0043] During the execution of step S110 , the specified three-dimensional model instance may be any three-dimensional model instance running in the digital twin scene, and the specified three-dimensional model instance has at least one other three-dimensional model instance in the digital twin scene that moves in coordination with it.

[0044] Exemplarily, the specified three-dimensional model instance is a three-dimensional model instance in the digital twin scene, and the other three-dimensional model instances that move in coordination serve as slave three-dimensional model instances. Then, the other three-dimensional model instances will achieve coordinated movement with the specified three-dimensional model instance through the embodiments of the present application to achieve unified control and consistent performance.

[0045] At this point, it should be understood that for a group of three-dimensional model instances that move collaboratively, such as synchronously, any three-dimensional model instance in the group can be used as a designated three-dimensional model instance, thereby making the other three-dimensional model instances in the group move synchronously with the designated three-dimensional model instance.

[0046] For example, in the execution of step S110, for a group of three-dimensional model instances running in the digital twin scene, a three-dimensional model instance of the group is taken as the specified three-dimensional model instance, and the motion vector corresponding to the current motion behavior implemented by the specified three-dimensional model instance is obtained, and then through the execution of subsequent steps, the other three-dimensional model instances in the group are synchronized to execute the motion behavior described by the motion vector.

[0047] It is not limited to consistency control for synchronizing motion behavior with a specified three-dimensional model instance. In addition to synchronous motion, the collaborative motion achieved through consistency control also includes other motions that are triggered by the motion vector of a specified three-dimensional model instance to be executed in conjunction with other three-dimensional model instances in the currently scheduled business process or triggered event. This is not limited here.

[0048] Therefore, the specified three-dimensional model instance and the three-dimensional model instance that are associated with themselves for collaborative movement can be three-dimensional model instances belonging to the same group. In addition, it can also be a three-dimensional model instance with an associated relationship configured in the digital twin scene, or a three-dimensional model instance with an associated relationship for the configured business process or event. This is not limited here.

[0049] As components on a specified 3D model instance in a digital twin scene are driven by motion vectors to execute motion behaviors, the motion vector corresponding to the upcoming motion behavior is acquired. As components on a specified 3D model instance in a digital twin scene execute specific motion behaviors driven by motion vectors, the motion vector corresponding to that motion behavior is captured and extracted in real time. This motion vector not only accurately describes the component's motion state changes, such as translation and rotation, but also provides a quantifiable dynamic benchmark for its subsequent motion behavior. By acquiring and analyzing this motion vector, we can gain a deep understanding of the current motion characteristics, thereby providing data support for subsequent collaborative motion control and state optimization, further enhancing the digital twin scene's ability to accurately map the dynamic behavior of physical entities.

[0050] In an exemplary embodiment, the execution process of step S110 may include: sensing the motion changes of a specified three-dimensional model instance in the digital twin scene, and obtaining a motion vector corresponding to the change in the current motion behavior of the specified three-dimensional model instance.

[0051] By perceiving the changes in the motion state of a specified 3D model instance in a digital twin scene in real time, the motion vector corresponding to its current changing motion behavior can be dynamically captured and extracted. This motion vector not only accurately describes the instantaneous changes in the specified 3D model instance in dimensions such as translation and rotation, but also provides a quantifiable mathematical representation of its motion trajectory and dynamic characteristics. By obtaining and parsing this motion vector, we can gain a deep understanding of the motion laws of the 3D model instance and its mapping relationship with the physical entity, thereby providing key data support for subsequent collaborative motion control, state optimization, and dynamic scene adjustment, significantly enhancing the digital twin scene's ability to perceive and accurately describe the dynamic behavior of physical entities in real time.

[0052] The real-time motion changes sensed include the displacement changes caused by translation and the directional changes along the path formed by the displacement changes. For example, at the end of a translation motion performed by a specific 3D model instance in the digital twin scene, a rotation motion will trigger a directional change along the path, thereby continuously implementing multiple displacement motions.

[0053] The motion vector perceived in real time is actually the motion vector that is about to be applied to the specified three-dimensional model instance to cause the specified three-dimensional model instance to move. For example, for multiple displacement movements performed continuously on the specified three-dimensional model instance, the motion vector that will be applied to the specified three-dimensional model instance at the end of a displacement movement to control the rotation of the specified three-dimensional model instance at the turning point, and the motion vector that will be applied to the specified three-dimensional model instance at the conversion point after the rotation, thereby controlling the specified three-dimensional model instance to perform the next displacement movement, will not be given here one by one.

[0054] That is, in an exemplary embodiment, the operation of the specified 3D model instance in the digital twin scene is to perform multiple displacement movements. Then, in step S110, sensing the movement change of the specified 3D model instance in the digital twin scene and obtaining the motion vector corresponding to the change in the current movement behavior of the specified 3D model instance includes the following execution process:

[0055] First, for a specified 3D model instance that continuously performs multiple displacement motions, the specified 3D model instance is continuously tested to determine whether it has ended the current motion and moved to a turning point, which is the point where the direction changes from the current motion to the next motion.

[0056] Then, a motion vector of a change in the current motion behavior is obtained for a specified three-dimensional model instance located at a turning point until the multi-segment displacement motion ends.

[0057] In this regard, it should be clearly pointed out that once the motion vector of the specified 3D model instance is acquired during step S110, step S120 is triggered to schedule the associated 3D model instance. For multi-segment displacement motion, corresponding motion vectors can be acquired during the execution of each segment and at turning points. For example, the motion vector corresponding to the currently executed displacement motion and the motion vector for the rotational motion at the turning point can be acquired. Each acquisition of a motion vector will initiate the scheduling of the associated 3D model instance to implement the coordinated motion of the 3D model instance under the control of the currently acquired motion vector.

[0058] To specify multiple displacement movements of a 3D model instance, each movement needs to be processed separately. This not only ensures the accuracy of consistency control, but also ensures the timeliness of the implemented coordinated movement and avoids delays.

[0059] Therefore, for the multiple displacement movements performed continuously on the specified three-dimensional model instance, when each displacement movement is triggered, the motion vector of the displacement movement is obtained for the coordinated movement related to the displacement movement until the multiple displacement movements are completed.

[0060] Specifically, the continuous movement of several segments includes a displacement and a rotation. That is, after completing a displacement segment, a 3D model instance will move to a turning point, perform a rotation relative to the current path at the turning point, and then execute the next displacement segment, and so on until the displacement segments are completed.

[0061] Therefore, the motion vector acquisition performed is a process of dividing the displacement motion into several segments that are carried out continuously, and obtaining in real time the motion vectors of the displacement motion behavior and rotational motion behavior mapped by each segment of the displacement motion to be applied to the specified three-dimensional model instance to perform the corresponding motion behavior.

[0062] The turning point referred to above is the dividing point of several segments of displacement motion. For the next segment of displacement motion to be executed, the turning point is the node for obtaining the motion vector corresponding to the rotational motion behavior and the motion vector of the next segment of displacement motion. By obtaining the motion vector at the turning point, the real-time and continuity of the collaborative motion implemented in the data twin scenario are guaranteed.

[0063] After obtaining the motion vector of the specified three-dimensional model instance through the execution of step S110, the scheduling of the three-dimensional model instance in the digital twin scene is implemented through the execution of step S120 to schedule the three-dimensional model instance that will perform collaborative movement.

[0064] In step S120, once the motion vector of the specified 3D model instance is obtained, the associated 3D model instances are scheduled so that the obtained motion vector can immediately initiate the coordinated motion associated with the motion vector. As previously noted, the associated 3D model instances are other 3D model instances that implement coordinated motion with the specified 3D model instance in the digital twin scene, such as other 3D model instances that synchronize motion with the specified 3D model instance, or that coordinate with the specified 3D model instance in response to a business process or event.

[0065] During the movement of a specified three-dimensional model instance, as its motion vector is continuously obtained, step S120 is executed to schedule the associated three-dimensional model instance for the specified three-dimensional model instance, so that the motion vector can be adaptively processed with the scheduled three-dimensional model instance as the object, and then applied to itself to accurately achieve coordinated movement.

[0066] Associated 3D model instances can be directly scheduled based on the association relationship, and can also be scheduled as messages are published. This is not limited here and will be flexibly deployed to meet the operational needs of the digital twin scenario.

[0067] Furthermore, it should be noted that the motion of a 3D model instance is implemented through the specific components distributed across it. Therefore, the scheduling of 3D model instances is essentially the scheduling of 3D model instances and their components, ensuring the precise control and reliability of the coordinated motion.

[0068] See Figure 2 , Figure 2 is based on Figure 1 The corresponding embodiment shows a flowchart of a method for describing the steps of scheduling three-dimensional model instances associated with a specified three-dimensional model instance in response to application of a motion vector on the specified three-dimensional model instance.

[0069] In response to the application of the motion vector on the specified 3D model instance, the step S120 of scheduling the 3D model instance associated with the 3D model instance provided by the embodiment of the present application includes:

[0070] Step S121 , as the obtained motion vector is applied to the specified 3D model instance, scheduling of the associated 3D model instance is initiated by publishing a message;

[0071] In step S122, by monitoring messages for the three-dimensional model instances in the digital twin scene, the three-dimensional model instances associated with the specified three-dimensional model instance implement the scheduling of the components thereon in response to the relevant messages, so that the three-dimensional model instances are scheduled to perform motion behaviors in coordination with the specified three-dimensional model instances.

[0072] The following describes these two steps in detail.

[0073] Before specifying the three-dimensional model instance to apply the motion vector to perform the motion behavior, the motion vector is obtained through step S110 to be used for scheduling the associated three-dimensional model instance.

[0074] Therefore, in step S121, as the obtained motion vector is applied to the specified three-dimensional model, on the one hand, the specified three-dimensional model instance executes its own motion behavior according to the motion vector, and on the other hand, the associated three-dimensional model instance will be scheduled through the publication of messages.

[0075] Published messages include event messages and process messages. The triggering of events and the execution of business processes both trigger the publication of messages. Published messages, such as event messages, are used to trigger other events. Specifically, event messages trigger published events in other 3D model instances; whereas published process messages initiate the scheduling and execution of corresponding business processes in other 3D model instances.

[0076] For example, a specified three-dimensional model instance triggers its own defined events and / or runs a business process. When it reaches a specific node, such as a process node, and an arrival notification of the process node is required, a corresponding message, such as the aforementioned process message, will be published.

[0077] The specified 3D model instance triggers the defined event or business process in other 3D model instances by publishing messages, and then schedules the 3D model instance to control its own coordinated movement according to the motion vector applied by the specified 3D model instance in the triggered event or business process.

[0078] In summary, the scheduling of three-dimensional model instances is achieved by publishing messages, and the target three-dimensional model instance of the published message triggers the corresponding event or business process. At this time, the target three-dimensional model instance is the currently scheduled three-dimensional model instance, and the coordinated motion behavior will also be executed in the triggered event or business process.

[0079] Each 3D model instance in the digital twin scenario monitors messages so that it can promptly monitor messages related to itself. Furthermore, message monitoring can be implemented through a running workflow message processing service, also known as a workflow message processor.

[0080] The workflow message processing service monitors and processes messages asynchronously. For each monitored process message, the workflow message processing service searches for the corresponding 3D model instance (i.e., the target 3D model instance) based on the parameters carried in the process message. It then uses the command code and execution parameters carried in the process message to generate a trigger signal for the target 3D model instance and stores it in a trigger collection.

[0081] As the trigger signal in the trigger set is triggered, the trigger signal corresponding to the process message is passed to the target three-dimensional model instance, so that the target three-dimensional model instance can obtain the command code and execution parameters carried by the trigger signal. The target three-dimensional model instance will search for its own command implementation class through the command code, and pass the execution parameters through the command implementation class obtained to execute the corresponding command.

[0082] At this point, as the command is executed, the release of the message can be responded to to trigger events or business processes on the 3D model instance, and then the operating status of the digital twin scene can be dynamically updated through the local update of the 3D model instance to achieve collaboration with the specified 3D model instance.

[0083] Regarding event messages, in one exemplary embodiment, as event messages are generated during the operation of a specified 3D model instance, corresponding events are published. Specifically, a specified 3D model instance running its own defined business process reaches a specific node and generates an event message. At this point, the generated event message is published, and the published event message triggers the publication of an event. The published event is delivered to the target 3D model instance via the configured event bus. The target 3D model instance listens for the delivered event and, in response to it, triggers itself to perform a coordinated motion behavior based on the motion vector of the specified 3D model instance. This coordinated motion behavior is the subsequent action mapped to the triggered event.

[0084] It should be clear that the constructed message processing mechanism achieves a collaborative mechanism between 3D model instances, enabling the operation of 3D model instances beyond their own. The 3D model instances and their digital twin scenes can accurately and timely visualize the corresponding physical environment. The constructed message processing mechanism enables the scheduling of linked 3D model instances and the coordinated movement of the scheduled 3D model instances.

[0085] It is further pointed out that by building an efficient message processing mechanism, dynamic collaboration between three-dimensional model instances is achieved for the operation of digital twin scenarios. The operation of three-dimensional model instances is no longer limited to their own independent behavior, but can interact and coordinate with other three-dimensional model instances in real time on a global scale, that is, a collaborative mechanism in the digital twin scenario is realized. Under the action of this collaborative mechanism, not only the motion consistency and behavioral adaptability between three-dimensional model instances are improved, but also the digital twin scenario can dynamically map and visualize the real-time status of the physical environment in a high-precision and low-latency manner.

[0086] Through the construction of a coordination mechanism, the operation of the digital twin scene not only achieves high-fidelity feedback on the physical environment, but also significantly enhances its real-time response capability and visual expression in complex dynamic scenes, providing strong support for the accurate description and optimization of the physical environment.

[0087] The operation of each 3D model instance in a digital twin scenario may result in the publication of process messages, event messages, and other information. Therefore, asynchronous message monitoring and processing will be used for these published messages to improve the performance of the digital twin scenario, achieve high concurrency, and avoid resource blocking. Decoupling message publishing and processing from 3D model instances will significantly improve the scalability and reliability of 3D model instances and digital twin scenarios.

[0088] In summary, messages are at least used to schedule associated 3D model instances, which are then used to trigger specific events or business processes, and to execute motion behaviors coordinated with the specified 3D model instances during the triggering of events or business processes.

[0089] That is to say, the message published by the specified three-dimensional model instance is at least used to schedule the associated three-dimensional model instance, and the three-dimensional model instance is scheduled to trigger an event or business process through the message, and the motion behavior coordinated with the specified three-dimensional model instance is executed in the triggering of the event or business process.

[0090] The message published by the specified 3D model instance is used as the trigger condition. By scheduling the behavior of the associated 3D model instances, these 3D model instances can perform motion behaviors in coordination with the specified 3D model instances in events or business processes, thereby ultimately improving the collaborative efficiency and consistency between different 3D model instances in the digital twin scene.

[0091] As mentioned above, the motion behaviors that achieve collaboration include synchronous motion, sequential motion, and specific motion behaviors that are customized and executed at different time points in response to the needs of business processes or events, which are not limited here.

[0092] Multiple 3D model instances can receive messages from specified 3D model instances and execute corresponding motion behaviors, thereby ensuring coordination between multiple 3D model instances, avoiding asynchrony or inconsistency caused by controlling each 3D model instance individually, and effectively avoiding timing problems and motion state conflicts in digital twin scenarios and between 3D model instances.

[0093] Under the influence of the implemented message mechanism, the three-dimensional model instances of the digital twin scene do not need to directly rely on each other's internal implementation, but instead achieve a loosely coupled design through indirect communication through events or messages. This loosely coupled design improves the scalability and maintainability of the digital twin scene, allowing three-dimensional model instances to maintain collaboration while running independently, and when it is necessary to support the collaborative movement of more three-dimensional model instances, there is no need to significantly modify the control logic.

[0094] It is further clarified that the message monitoring required in the aforementioned step S122 will be implemented through the configured workflow message processing service. Therefore, the execution process of the message monitoring for the three-dimensional model instance in the digital twin scene in step S122 may include:

[0095] The workflow message processing service monitors messages asynchronously. For the monitored messages, it searches for the corresponding 3D model instance based on the parameters carried in the message, generates a trigger signal based on the command code and execution parameters carried in the message, and stores it in the trigger set.

[0096] As the trigger signal in the trigger set is transmitted to the corresponding 3D model instance, the corresponding 3D model instance obtains the set code and execution parameters carried by the trigger signal, and the execution parameters include the motion vector;

[0097] The 3D model instance searches for its own command implementation class through the command code, and passes the execution parameters through the command implementation class to obtain the command of the 3D model instance, which indicates the scheduled triggered component and the motion vector of the driving component.

[0098] Through this execution process, asynchronous message processing is achieved, that is, message monitoring and processing are performed asynchronously under the action of the workflow message processing service, which can greatly improve the concurrent processing capability of the digital twin scenario. In high-concurrency scenarios, messages can be processed quickly without blocking other operations, ensuring the continuous and stable operation of the digital twin scenario in complex or high-load environments, and greatly improving the overall response speed and throughput.

[0099] The specific motion commands and execution parameters (such as motion vectors) are determined through command encoding and passed to the 3D model instances, achieving precise control. The motion behavior of each 3D model instance is completely determined by the passed execution parameters, making motion control highly adjustable and precise.

[0100] Different trigger signals in the trigger set are associated with corresponding three-dimensional model instances. Under the action of the trigger set, omission of required motion behaviors can be effectively avoided.

[0101] In summary, through asynchronous message processing and precise command control, the coordinated movement between multiple 3D model instances can be efficiently managed, enhancing the efficient operation capability of the digital twin scene.

[0102] By executing step S120, the scheduling of the three-dimensional model instance and the components thereon is realized, so that through the subsequent execution process, each scheduled three-dimensional model instance will be subjected to coordinated movement through its components in response to the movement behavior of the specified three-dimensional model instance.

[0103] In step S130, at least one 3D model instance and at least one component distributed on the 3D model instance are scheduled in response to the motion behavior of the specified 3D model instance, so that the component can adaptively perform collaborative motion behavior in response to the motion vector.

[0104] Each scheduled 3D model instance will dynamically adjust the motion vector of the specified 3D model instance to obtain a fitting motion vector that fits its current motion state. The obtained fitting motion vector uniquely corresponds to the 3D model instance to control the motion behavior that the 3D model instance is about to perform.

[0105] During the execution of step S130 , motion vector fitting processing is independently performed on each scheduled three-dimensional model instance, and a fitting motion vector that fits itself in terms of motion state such as orientation is obtained through the motion vector fitting processing.

[0106] The motion vector fitting process performed by each three-dimensional model instance is a process of dynamic adaptation and precise control. Each three-dimensional model instance generates an independent fitting motion vector to ensure that the execution of its motion behavior can not only coordinate with the specified three-dimensional model instance, but also adapt to its own motion state. For example, the scheduled three-dimensional model instance will be able to adapt the motion state of the coordinated execution in dimensions such as direction (orientation of the three-dimensional model instance), translational motion behavior, and rotational motion behavior to the current motion state under the action of the obtained fitting motion vector, so that the running behaviors continuously executed by the three-dimensional model instance are smooth with each other.

[0107] The motion vector of the specified three-dimensional model instance includes motion information such as translation or rotation. Therefore, the motion behavior to be performed by the three-dimensional model instance and its upcoming motion trend can be clearly specified based on the motion vector of the specified three-dimensional model instance. In order to make the scheduled three-dimensional model instance adapt to this and perform coordinated movement, for each scheduled three-dimensional model instance, based on its own motion behavior, such as the current direction, the motion vector of the specified three-dimensional model instance is fitted into the three-dimensional model instance to generate the fitted motion vector of the current three-dimensional model instance.

[0108] Therefore, in an exemplary embodiment, the types of fitting processing include translation adaptation and rotation adaptation, and the type of fitting processing performed is dynamically determined based on the motion vector of the specified three-dimensional model instance. For example, the motion vector of the specified three-dimensional model instance indicates translation motion information, and the fitting processing performed is to adapt to the current motion behavior of the three-dimensional model instance, such as adjusting the motion vector according to the motion trend and direction change, so that the resulting fitting motion vector matches the current motion behavior; for another example, the motion vector of the specified three-dimensional model instance indicates rotation motion information, and the fitting processing performed is to adapt to the current orientation of the three-dimensional model instance to adjust the rotation motion information to obtain a matching fitting motion vector.

[0109] In summary, the fitting motion vector only depends on the motion vector of the specified 3D model instance and the motion state of the current 3D model instance, and is not affected by other 3D model instances, and thus runs independently and reliably in the digital twin scene.

[0110] It is further explained that the fitting processing process of each scheduled three-dimensional model instance includes the application of the motion vector obtained from the specified three-dimensional model instance to the current three-dimensional model instance and the dynamic adjustment of the current motion behavior as the motion vector is applied to the current three-dimensional model instance, ensuring accurate adaptation of its own motion state, and being able to dynamically adjust according to the real-time motion state of the current three-dimensional model instance to avoid the occurrence of behavioral deviations.

[0111] The fitting processing performed on each scheduled 3D model instance is essentially the local motion optimization of the current 3D model instance based on global collaboration. Therefore, it can effectively avoid the global coupling problem of the digital twin scene and the resource overhead of global motion synchronization, and improve flexibility and scalability.

[0112] The fitting processing of each 3D model instance will only perform calculations on the 3D model instances that participate in the collaborative movement of the specified 3D model instance, shielding other 3D model instances. Therefore, for the movement of the digital twin scene, invalid calculations are greatly reduced.

[0113] It is further explained that in the fitting processing of each scheduled three-dimensional model instance, the application of the motion vector to the current three-dimensional model instance will be realized through the container associated with the current three-dimensional model instance. The container is a local representation of the current three-dimensional model instance by the digital twin scene, and is oriented towards the components distributed on the current three-dimensional model instance. The container is a local representation of the components distributed on the current three-dimensional model instance by the digital twin scene.

[0114] By applying the motion vector of the specified three-dimensional model instance to the associated container of the current three-dimensional model instance itself, dynamic adjustments adapted to the current motion behavior are implemented to obtain the fitting motion vector of the current three-dimensional model instance applied to a specific component. Similarly, all three-dimensional model instances participating in the collaborative motion of the specified three-dimensional model instance will obtain their own fitting motion vectors.

[0115] The container associated with the 3D model instance is used to implement control of the associated 3D model instance. Therefore, the container is configured with at least a Group object and a local coordinate system in the Group object for the associated 3D model instance to facilitate precise control.

[0116] Continue reading Figure 3 of, Figure 3 is based on Figure 1 The corresponding embodiment shows a method flow chart describing the steps of fitting motion vectors for each scheduled three-dimensional model instance according to its own motion behavior, so as to determine the motion behavior of driving the three-dimensional model instance in the digital twin scene to fit the current fitting motion vector.

[0117] The embodiment of the present application provides a step S130 in which each scheduled 3D model instance performs motion vector alignment processing based on its own motion behavior to determine the motion behavior of the 3D model instance driven in the digital twin scene aligned with the current aligned motion vector, including:

[0118] Step S131: For each scheduled 3D model instance, a motion vector is applied to its associated container. The container is configured for the components on the associated 3D model instance and implements relative constraints on the motion behavior of the 3D model instance itself.

[0119] Step S132: The motion vector applied by the container is subjected to fitting processing of the current motion behavior of the three-dimensional model instance to the digital twin scene to obtain the fitting motion vector of the three-dimensional model instance.

[0120] This step is explained in detail below.

[0121] In step S131, for each scheduled 3D model instance, the generated fitting motion vector is passed to the container associated with the current 3D model instance. The container receives the fitting motion vector and uses it as data to drive the movement of the current 3D model instance.

[0122] It should be understood that containers are used to impose relative constraints on 3D model instances and components within them, controlling their movement behaviors such as translation, rotation, and scaling. Each 3D model instance in a digital twin scene uniquely corresponds to a container. This means there is a one-to-one relationship between 3D model instances and containers, rather than a group of 3D model instances being associated with a single container. This prevents the relatively fixed movement of a group of 3D model instances, which lacks the precision and scalability required for complex dynamic control.

[0123] By applying the motion vector to the container, the motion vector can match the current motion state under the constraints of the container, thereby accurately describing the motion of the 3D model instance, thereby accurately determining the motion behavior that the current 3D model instance is executing.

[0124] Under the effect of the container associated with each 3D model instance, each 3D model instance can adapt to its own motion state to implement dynamic adjustment of the motion vector, that is, execute step S132 to obtain the fitting motion vector of the current 3D model instance.

[0125] From this, it can be clearly seen that the method provided in the embodiment of the present application also includes constructing a container for the three-dimensional model instance that is put into operation in a digital twin scene, thereby obtaining a container associated with each three-dimensional model in the digital twin scene.

[0126] A 3D model instance running in a digital twin scenario, within the constraints of its associated container, will execute motion behaviors through the components distributed on it, thereby achieving the movement of the 3D model instance. It should be defined that the components referred to are the 3D components distributed within the 3D model instance, which are the carriers of corresponding geometric properties, motion behaviors, data attributes, and other content.

[0127] There are several components distributed on the three-dimensional model instance. Each component serves as an independent unit on the three-dimensional model instance, and can form a unit that can independently execute specific business processes, tasks or functions by assigning geometric properties, motion behaviors, data attributes and other contents. The component has input and output, and can interact with other components, such as other components distributed on the same three-dimensional model instance, and components distributed on other three-dimensional model instances. The coordinated movement achieved will be able to accurately act on a certain surface, each line and other basic components, and is no longer limited to acting only on the entire three-dimensional model instance, greatly enhancing the accuracy of the operation and making the movement more detailed and accurate.

[0128] Exemplarily, the fitting motion vector of the 3D model instance is used for scheduling components on the 3D model instance, so that the 3D model instance executes motion behavior coordinated with the specified 3D model instance through the scheduled components.

[0129] The scheduling of associated three-dimensional model instances is achieved for a specified three-dimensional model instance through association relationships, or by triggering business processes or events through message publishing. The scheduling of the components on the scheduled three-dimensional model instance will be achieved based on the fitting motion vector. The component to which the fitting motion vector applies is the currently scheduled component.

[0130] In existing implementations, the three-dimensional models in digital twin scenarios are mostly constructed based on image data, including static images, dynamic images, and video streams. This type of three-dimensional model usually presents physical entities in a holistic manner and lacks the ability to describe microstructures such as points, lines, and surfaces in a refined manner. Due to the coarse granularity of the three-dimensional model construction, the collaborative control of its motion behavior can only be performed on the three-dimensional model as a whole, and it is impossible to go deep into the various components of the three-dimensional model (such as the joints of the robotic arm, the tires of the vehicle, etc.) for independent and precise motion control. This limitation makes it difficult for existing methods to achieve component-level collaborative motion, and cannot meet the needs of accurate dynamic description of the various components of the physical entity in complex scenarios, thereby limiting the application effect of digital twin technology in refined motion collaboration.

[0131] For example, a digital twin scene will be used to present the operation of vehicles at an intersection. At this time, in the existing implementation, a three-dimensional model instance of each vehicle is constructed based on an image, and the business processes, events, and motion behaviors created are all applied to the vehicle as a whole.

[0132] Through the implementation of this application, the consistency control of collaborative operation will be directed to the vehicle as a whole, as well as each part of the vehicle, such as tires, bearings and other component entities, to achieve precise consistency control and collaborative movement, and enhance the linkage between three-dimensional model instances and between components.

[0133] After all the three-dimensional model instances to be scheduled obtain the fitting motion vectors through the execution of step S130 , the coordinated motion of each three-dimensional model instance can be initiated through the execution of step S140 .

[0134] In step S140, for each scheduled three-dimensional model instance, the scheduled components on the current three-dimensional model instance are located in the digital twin scene according to the fitting motion vector, and the scheduled components are motion controlled by fitting the motion vector so that the current three-dimensional model instance performs motion behavior coordinated with the specified three-dimensional model instance. In this way, the components of the three-dimensional model instance can be driven to perform coordinated motion by fitting the motion vector, thereby achieving motion consistency with the specified three-dimensional model instance.

[0135] For each scheduled 3D model instance, the component on the 3D model instance is first accurately positioned using the fitting motion vector to ensure that the component can accurately reflect the motion state of the specified 3D model instance; then, the motion control of the component is implemented based on the fitting motion vector, so that it performs coordinated motion with the specified 3D model instance according to an adaptive motion trajectory, thereby ensuring that all scheduled 3D model instances can maintain dynamic consistency in the entire digital twin scene.

[0136] Specifically, during step S140, the currently scheduled 3D model instance is identified based on the snap motion vector, and the components on which the collaborative operation is to be performed are determined. It should be understood that the snap motion vector is motion information independently calculated for the current 3D model instance, conforming to its own motion characteristics and unconstrained by other 3D model instances. Therefore, the snap motion vector can be used to initiate motion actions for the scheduled components.

[0137] As mentioned above, the executed motion behaviors include translational motion behaviors and rotational motion behaviors. Different motion controls are implemented on components according to different motion behaviors.

[0138] Exemplarily, the motion behavior executed on the component control includes a rotational motion behavior. Then, in the execution of step S140, the motion control of the component by fitting the motion vector so that the three-dimensional model instance executes the motion behavior coordinated with the specified three-dimensional model instance includes:

[0139] According to the maximum rotation angle of a rotation indicated by the fitted motion vector, splitting the rotation into multiple rotations to obtain an average rotation angle of more than two times and a correction angle;

[0140] The scheduled component is driven to execute the second or more rotation motion behavior of the current three-dimensional model instance according to the average rotation angle of more than two times, and the rotation correction of the current three-dimensional model instance after the second or more rotation is executed according to the correction angle.

[0141] In digital twin scenarios, when implementing large-angle rotational motion behaviors based on fitting motion vectors, the algorithm often controls the three-dimensional model instance to rotate at a smaller angle. For example, when a 270-degree clockwise rotation is required, a 90-degree counterclockwise rotation is often performed, resulting in an inability to coordinate motion. Therefore, special control of large-angle rotation behaviors is required to avoid errors in the motion behaviors.

[0142] Specifically, for large-angle rotation behavior, multiple rotations will be performed during the execution of step S140, and the continuity and precision of the multiple rotations will be controlled to ensure the smoothness and control precision of the rotational motion.

[0143] By splitting the large-angle rotation into multiple small-angle rotations, large-angle rotation can be achieved to avoid consistency problems and computational efficiency problems caused by excessive rotation angles.

[0144] Therefore, large-angle rotations of 3D model instances are achieved through rotation splitting and rotation correction. Here, the fitted motion vector provides a rotation vector, which indicates the large rotation angle required for the current 3D model instance. When handling large rotations, performing a large rotation all at once can lead to uncontrollable errors or inconsistencies, especially when the angle is large, which may exceed the stability range of the physical system.

[0145] To this end, the large rotation angle is split into several smaller rotation angles, with the number of splits typically chosen based on actual needs. The principle behind this split is to divide the larger rotation angle proportionally, ensuring that each rotation is within an acceptable range and with high control accuracy. For example, the smaller rotation angles can be split into several equal parts. Thus, the number of splits for the large rotation angle corresponds to the number of rotations under the translational rotation angle.

[0146] Under the action of the average rotation angle obtained by splitting, the three-dimensional model instance is effectively controlled to rotate smoothly, ensuring that the amplitude of each rotation is small and avoiding the instability caused by large-angle rotation.

[0147] After completing several small-angle rotations, the 3D model needs to be rotated correctly. It should be understood that since the rotation angles after each split are small, each rotation will typically accumulate errors to a certain extent. Especially in digital twin scenarios, the accuracy error may gradually increase with the number of rotations.

[0148] Therefore, after all small-angle rotations are completed, a rotation correction must be performed. This adjustment adjusts the final pose of the current 3D model instance to match the initial target rotation state, avoiding the final deviation caused by multiple splits.

[0149] Exemplarily, the correction angle is calculated based on the average rotation angle after splitting and the error during actual execution. The correction angle is determined by calculating the residual error or based on the actual state of the current 3D model instance (e.g., the difference between the current angle and the target angle).

[0150] During large-angle rotations, the computational effort for each rotation is reduced by gradually performing smaller rotations and applying corrections. Compared to large-angle rotations, this step-by-step control not only reduces the complexity of each rotation but also improves real-time responsiveness. The small amount of computation required during the correction process also minimizes computational overhead, enabling the entire digital twin scene to execute complex rotations efficiently and in real time.

[0151] Exemplarily, the motion behavior executed by controlling the component includes the displacement motion behavior of each segment. Then, in the execution of step S140, controlling the motion of the component by fitting the motion vector so that the three-dimensional model instance executes the motion behavior coordinated with the specified three-dimensional model instance includes:

[0152] The scheduled components are driven according to the displacement information indicated by the fitting motion vector, so that the three-dimensional model instance can coordinate with the designated three-dimensional model instance to perform displacement movement in the digital twin scene according to the displacement information to continuously change its position.

[0153] In digital twin scenarios, multiple 3D model instances often need to coordinate motion, such as synchronized movement, to maintain consistency and linkage accuracy between the 3D model instances within the digital twin. By adapting motion vectors to drive the displacement of 3D model instances, this ensures that multiple 3D model instances can coordinate motion even when they are in different positions and orientations within different digital twin scenarios.

[0154] Exemplarily, the fitted motion vector of the displacement motion behavior indicates displacement information, wherein the displacement information includes a displacement direction vector, a displacement amplitude, and a time step, wherein the displacement direction vector is used to describe the direction of the displacement, the displacement amplitude is used to indicate the size of the displacement, and the time step is used to indicate the execution step of the displacement.

[0155] Based on the displacement information, the associated container can be adapted to the current motion state and implement motion behavior, avoiding mismatch problems caused by different motion states, thereby adapting to the physical environment and operating more accurately, stably and realistically.

[0156] The above method is described below with reference to specific examples.

[0157] Collaborative motion in existing digital twin scenarios is typically achieved by assigning the same motion vector to multiple 3D model instances. However, when these 3D model instances have different motion states, especially when they are facing different directions, this approach often results in the collaborative motion failing to achieve the desired effect. Furthermore, this approach lacks scalability, making it difficult to achieve continuous and extensive collaborative motion in more complex scenarios and diverse collaborative tasks.

[0158] Continuous coordinated motion, such as multi-segment displacement motion, is difficult to perform by assigning the same motion vector one by one. Its continuity cannot be guaranteed and errors will occur. Therefore, it is necessary to implement corrections based on the motion state through the method example of this application to obtain the corresponding fitting vector.

[0159] For example, Figure 4 FIG. 1 is a schematic diagram showing a three-dimensional model example performing multi-stage displacement motion according to an embodiment. Figure 4 It can be seen that each movement of the current three-dimensional model instance is in a different direction of movement. Therefore, each movement segment needs to be processed separately to adapt to the motion vector of the movement behavior required to correct the current movement state. For example, the movement state at the end of the above movement, such as the second movement, needs to use point P1 as the origin and the current direction of the three-dimensional model instance to fit the motion vector to achieve adaptation of the implemented rotational movement and / or displacement movement.

[0160] The adaptation of the rotational motion can be that when the angle of the rotational motion exceeds 180 degrees, it is regarded as a large-angle rotation. For example, for a clockwise rotation of 270 degrees, it is actually only rotated at a smaller angle, that is, 90 degrees counterclockwise. Therefore, it is necessary to split one rotation into multiple rotations less than 180 degrees, such as splitting a clockwise rotation of 270 degrees into two clockwise rotations of 135 degrees, and then perform correction calculations to implement the rotational motion of the current three-dimensional model instance with the most approximate quadratic average rotation angle and the correction angle.

[0161] Displacement adaptation is used to solve the different movement directions between 3D model instances, and will also realize the application and dynamic adjustment of motion vectors through the containers associated with each 3D model instance to obtain fitting motion vectors. For example, under the action of the associated container, each 3D model instance itself creates a Group object. When the motion vector required for coordinated movement, such as the motion information indicating the position and rotation value of the specified 3D model instance, is applied to the container and assigned to the Group object, the conversion relationship between the local coordinate system of the Group object and the global coordinate system of the digital twin scene is used to obtain the fitting motion vector, and then the corresponding displacement motion behavior is performed. It should be understood that the local coordinate system is actually a local coordinate system adapted to the current 3D model instance.

[0162] In this way, local alignment of motion vectors can be achieved, ensuring that the three-dimensional model instances can achieve coordinated motion accurately and quickly.

[0163] In an exemplary embodiment, the present application further provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above-mentioned method.

[0164] In an exemplary embodiment, the present application further provides a computer program product, including a computer program, wherein the computer program implements the steps of the above method when executed by a processor.

[0165] In an exemplary embodiment, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-described method when executed by a processor.

[0166] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present application.

[0167] In an exemplary embodiment of the present application, a computer program medium is further provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the method described in the above method embodiment.

[0168] According to one embodiment of the present application, a program product for implementing the method in the above method embodiment is also provided. The program product may be a portable compact disc read-only memory (CD-ROM) and includes program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0169] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0170] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0171] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0172] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0173] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiment of the application, the features and functions of two or more modules or units described above can be concretized in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0174] Furthermore, although the steps of the method of the present application are described in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in this particular order, or that all steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0175] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.

[0176] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the appended claims.

Claims

1. A method for consistency control of three-dimensional model instances in a digital twin scene, characterized in that: The method comprises the following steps: For a three-dimensional model instance running in a digital twin scene, obtaining a motion vector of a specified three-dimensional model instance, wherein a component on the specified three-dimensional model instance is driven by the motion vector; In response to applying the motion vector to the specified three-dimensional model instance, scheduling the three-dimensional model instance associated with the specified three-dimensional model instance; For each scheduled 3D model instance, the motion vector is aligned according to its own motion behavior to determine the current aligned motion vector that drives the 3D model instance to perform motion behavior in the digital twin scene. The aligned motion vector is independent of all 3D model instances other than the 3D model instance aligned to the digital twin scene. According to the fitted motion vector, the scheduled 3D model instance is initiated to perform a motion behavior coordinated with the specified 3D model instance.

2. The method according to claim 1, characterized in that The step of obtaining a motion vector of a specified three-dimensional model instance running in a digital twin scene includes: Perceive the motion changes of a specified three-dimensional model instance in the digital twin scene, and obtain the motion vector corresponding to the change in the current motion behavior of the specified three-dimensional model instance.

3. The method according to claim 2, characterized in that The operation of the specified three-dimensional model instance in the digital twin scene is to perform multiple displacement movements. The sensing of the movement change of the specified three-dimensional model instance in the digital twin scene and obtaining the motion vector corresponding to the change in the current movement behavior of the specified three-dimensional model instance include: For a specified 3D model instance that continuously performs multiple displacement motions, whether the specified 3D model instance ends the current motion and moves to a turning point, where the direction changes from the current motion to the next motion; A motion vector corresponding to a change in the current motion behavior is obtained for the designated three-dimensional model instance located at the turning point until the multi-segment displacement motion ends.

4. The method according to claim 1, wherein The step of scheduling a three-dimensional model instance associated with the specified three-dimensional model instance in response to applying the motion vector to the specified three-dimensional model instance includes: Following the application of the obtained motion vector to the specified 3D model instance, the scheduling of the associated 3D model instance is initiated by publishing a message; By monitoring messages directed to the three-dimensional model instances in the digital twin scene, the three-dimensional model instances associated with the specified three-dimensional model instance implement the scheduling of the components thereon in response to the relevant messages, so that the three-dimensional model instances are scheduled to perform motion behaviors in coordination with the specified three-dimensional model instances.

5. The method according to claim 1, wherein Each of the scheduled three-dimensional model instances performs motion vector fitting processing according to its own motion behavior to determine the current fitting motion vector that drives the three-dimensional model instance to perform motion behavior in the digital twin scene, including: For each scheduled 3D model instance, the motion vector is applied to its associated container, where the container is configured for the components on the associated 3D model instance and implements relative constraints on the motion behavior of the 3D model instance itself; The motion vector applied to the container is subjected to fitting processing of the current motion behavior of the three-dimensional model instance to the digital twin scene to obtain a fitting motion vector of the three-dimensional model instance.

6. The method according to claim 5, characterized in that The method further comprises: For the three-dimensional model instance of the digital twin scene, a container associated with each three-dimensional model instance is constructed. The container is a local representation of the components distributed on the three-dimensional model instance by the digital twin scene.

7. The method according to claim 5, characterized in that The fitting motion vector of the three-dimensional model instance is used for scheduling components on the three-dimensional model instance, and the scheduled components enable the three-dimensional model instance to perform motion behavior coordinated with the specified three-dimensional model instance.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

9. A computer program product comprising a computer program, 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 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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