Space storage yard reverse blanking rapid construction method for three-dimensional time-sensitive scene

Abstract

The invention discloses a space storage yard reverse blanking rapid construction method for a three-dimensional time-sensitive scene. The method comprises the steps that a three-dimensional model under the condition that a container yard of a target yard area is full is constructed according to a container yard design drawing, and the spatial position of each container corresponds to an independent individual model in the three-dimensional model and has a unique number; reading the coded data of the spatial positions of the containers and the container stacking information corresponding to the coded data of each spatial position in an in-out database of the containers; according to the unique number corresponding to the individual model, determining coded data of a spatial position corresponding to each individual model in the three-dimensional model; according to container stacking information corresponding to the coded data, whether container stacking exists in the spatial position or not is judged, and under the condition that the container stacking information is that no container exists, the individual model corresponding to the spatial position is hidden and not displayed, and a three-dimensional reconstruction model of the target storage yard area is obtained.

Description

Technical Field

[0001] The present application relates to the technical field of three-dimensional scene reconstruction, and in particular to a method for rapid construction of a spatial yard by reverse hiding for three-dimensional time-sensitive scenes. Background Art

[0002] Container yards require real-time monitoring and dynamic management of the container stacking status and spatial layout during daily operations. Therefore, accurate, real-time 3D yard scene models are key to supporting operations such as container positioning, transport path planning, and stacking location scheduling.

[0003] Currently, the conventional approach to constructing three-dimensional container yard models is to obtain images and point cloud data of the yard through satellite remote sensing or drone aerial photography, and then generate a three-dimensional model through a combination of data conversion, modeling, and graphics rendering. These construction solutions have the disadvantages of poor timeliness, low accuracy, and high cost. In particular, in extremely time-sensitive scenarios such as control systems and dynamic scene reconstruction, the response speed of model reconstruction cannot meet the needs of rapid modeling.

[0004] Conventional solutions, such as modeling based on satellite remote sensing images, usually take days from acquiring remote sensing data to completing modeling, which cannot meet the business needs of multiple modeling and reconstruction of the yard every day. Data modeling based on satellite remote sensing has obvious time lags and cannot reflect the ever-changing status of containers in the yard, resulting in poor timeliness. Moreover, data modeling based on satellite remote sensing usually generates an overall scene model and lacks independent modeling of individual containers. Even when using high-precision remote sensing data, the highest accuracy is only ten centimeters. Therefore, data modeling based on satellite remote sensing is difficult to meet the needs of high precision and low cost.

[0005] For example, when building a model using drone aerial photography data, although the collection accuracy is better than satellite remote sensing data, drones still need to capture a large amount of data, and the time consumed in generating the model is still on the order of hours. Therefore, drone-based aerial photography modeling cannot meet the needs of high-frequency modeling every day; and aerial photography modeling is still an overall scene modeling mode, lacking independent modeling support for single containers; in special environments such as rain, heavy snow, dense fog, and insufficient light at night, it is difficult for drones to carry out aerial photography, there is a problem of limited operating scenarios, and time sensitivity is poor, which ultimately leads to the response speed of model reconstruction being unable to meet the needs of rapid modeling. Summary of the Invention

[0006] In view of this, an embodiment of the present application provides a method for rapid construction of a spatial yard with reverse hidden elimination for a three-dimensional time-sensitive scene, which is used to solve at least one technical problem.

[0007] An embodiment of the present application provides a method for rapid construction of a spatial yard by reverse hiding for a three-dimensional time-sensitive scene, comprising: constructing a three-dimensional model of a target yard area under the condition that the container yard is fully filled according to a container yard design drawing, wherein the spatial position of each container corresponds to an independent individual model in the three-dimensional model and has a unique number; reading the coding data of the spatial position of the container and the container stacking information corresponding to the coding data of each spatial position from a container entry and exit database; determining the coding data of the spatial position corresponding to each individual model in the three-dimensional model according to the unique number corresponding to the individual model; judging whether there is container stacking at the spatial position according to the container stacking information corresponding to the coding data, and hiding and not displaying the individual model corresponding to the spatial position when the container stacking information indicates that there is no container, thereby obtaining a three-dimensional reconstructed model of the target yard area.

[0008] Optionally, according to an embodiment of the present application, the coded data of the spatial position of the container includes the layer number of the container; the method also includes: for the target individual model in the three-dimensional reconstructed model whose layer number is greater than or equal to a preset layer threshold, obtaining the container stacking information of the individual model above it; when the container stacking information of the upper individual model is stacked and the container stacking information of the target individual model is not stacked, determining that the target individual model is in a suspended state and generating a suspended warning message.

[0009] Optionally, according to an embodiment of the present application, the method further includes: highlighting the target individual model in a suspended state in the three-dimensional reconstructed model of the target yard area to indicate the presence of stacking abnormality.

[0010] Optionally, according to an embodiment of the present application, the container entry and exit database also includes color attribute information, and the color attribute information corresponds one-to-one to the coding data of the spatial position; the method also includes: rendering the display color of each individual model in the three-dimensional reconstructed model according to the color attribute information corresponding to each coding data to generate a three-dimensional reconstructed model with the color of the container.

[0011] Optionally, according to an embodiment of the present application, the method includes: periodically acquiring satellite images of the container yard, extracting a regional image of each yard area in each satellite image, and generating a regional image set of each yard area; in each regional image set of the yard area, identifying spectral information in each regional image, and generating regional reflection information of the yard area; when the change in the regional reflection information of the yard area meets a preset condition, determining the yard area as a target yard area.

[0012] Optionally, according to an embodiment of the present application, before constructing a three-dimensional model of the target yard area when the container yard is fully filled according to the container yard design drawing, the method also includes: adding entries of color, spatial position, and whether there are containers stacked in the container entry and exit database to construct the container entry and exit database.

[0013] Optionally, according to an embodiment of the present application, the coded data of the spatial position of the container includes: area identification, row number, column number and layer number.

[0014] An embodiment of the present application provides an electronic device, which includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the steps of the above method are implemented.

[0015] An embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the steps of the above method are implemented.

[0016] An embodiment of the present application provides a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the steps of the above method are implemented.

[0017] According to an embodiment of the present application, a three-dimensional model of the target container yard area under a fully filled container yard condition can be quickly and accurately constructed based on the container yard design drawing. The data in the container entry and exit database can accurately reflect the current container stacking status of the yard. Based on this, the coded data of the container spatial position is read from the container entry and exit database. The coded data of the spatial position corresponding to each individual model in the three-dimensional model is further combined with the container stacking information corresponding to the coded data of each spatial position and the unique number corresponding to the individual model to determine the coded data of the spatial position corresponding to each individual model in the three-dimensional model. Then, based on the container stacking information corresponding to the coded data, it is possible to accurately determine whether a container is stacked in each space. Next, since each container spatial position corresponds to an independent individual model in the three-dimensional model and has a unique number, the individual models without container stacking in the fully filled three-dimensional model are reversely hidden, and a three-dimensional reconstruction model consistent with the previous stacking state of the target yard is quickly generated. Based on the embodiment of the present application, the display status of each individual model can be quickly and accurately controlled, effectively reducing the pressure of three-dimensional rendering and data loading, and can efficiently generate a three-dimensional reconstruction model of the container, meeting the requirements of high timeliness, low cost and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings in the embodiments of the present application.

[0019] Figure 1 It is a flowchart of a method for rapidly constructing a spatial yard by reverse hiding for a three-dimensional time-sensitive scene according to an embodiment of the present application.

[0020] Figure 2 It is a schematic diagram of a fully filled three-dimensional model of an embodiment of the present application.

[0021] Figure 3 This is a schematic diagram of stacking position information in an embodiment of the present application.

[0022] Figure 4 It is a schematic diagram of a three-dimensional reconstruction model of a target yard area in an embodiment of the present application.

[0023] Figure 5 It is a schematic diagram of an electronic device used to implement the spatial yard reverse hidden fast construction method for three-dimensional time-sensitive scenes in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The principles and spirit of the present application will be described below with reference to several exemplary embodiments. It should be understood that the purpose of providing these embodiments is to make the principles and spirit of the present application clearer and more thorough, so that those skilled in the art can better understand and implement the principles and spirit of the present application. The exemplary embodiments provided herein are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments herein, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of this application.

[0025] In this document, terms such as first, second, and third are only used to distinguish one entity (or operation) from another entity (or operation), and are not intended to require or imply any order or relationship between these entities (or operations).

[0026] The embodiments of the present application relate to terminal devices and / or servers. Those skilled in the art will appreciate that the embodiments of the present application may be implemented as a system, apparatus, device, method, computer-readable storage medium, or computer program product. Therefore, the present disclosure may be implemented in at least one of the following forms: complete hardware, complete software, or a combination of hardware and software. It should be noted that the acquisition, storage, use, and processing of data in the embodiments of the present application comply with the relevant provisions of national laws and regulations.

[0027] In this field, the stacking status of the container yard can be intuitively and visually displayed based on the three-dimensional model, which is convenient for relevant personnel to quickly understand the distribution of containers in each stacking position. At the same time, the three-dimensional model can also facilitate relevant staff to plan container transportation routes, design stacking strategies, etc. Therefore, the operation efficiency of the yard can be improved based on the three-dimensional yard model. The inventors of this application have found that when constructing a three-dimensional scene of a container yard, conventional methods are based on three-dimensional data such as drone aerial photography and satellite remote sensing, and then perform data conversion, modeling, and rendering to model. This modeling method cannot meet the container yard's demand for rapid modeling multiple times a day in terms of timeliness and business scenario mode. Based on this, the embodiment of the present application provides a method for building a model quickly, accurately and at low cost to meet the demand for rapid modeling in extremely time-sensitive scenarios.

[0028] Figure 1 A flow chart of a method for rapidly constructing a spatial storage yard by reverse hiding for a three-dimensional time-sensitive scene according to an embodiment of the present application is shown. The method includes the following steps 101 to 104 .

[0029] Step 101: construct a three-dimensional model of a target container yard area under a fully filled container yard condition based on a container yard design drawing. The spatial position of each container in the three-dimensional model corresponds to an independent individual model and has a unique number.

[0030] Step 102: Read the coding data of the container's spatial position and the container stacking information corresponding to the coding data of each spatial position from the container entry and exit database.

[0031] Step 103 : Determine the coding data of the spatial position corresponding to each individual model in the three-dimensional model according to the unique number corresponding to the individual model.

[0032] Step 104 , based on the container stacking information corresponding to the coded data, it is determined whether there are containers stacked at the spatial location. If the container stacking information indicates that there are no containers, the individual model corresponding to the spatial location is hidden and not displayed, thereby obtaining a three-dimensional reconstructed model of the target yard area.

[0033] The above steps are described in detail below with reference to specific embodiments, as shown below.

[0034] In step 101, multiple stacking areas can be planned and designed in the container yard for stacking containers. Figure 2 As shown, Figure 2The three-dimensional models of the fully filled conditions corresponding to the three stacking areas are shown. The container yard design drawing may include the design data of the container yard. Accordingly, the container yard design drawing may include pre-planned stacking schemes corresponding to different stacking areas, such as the number of rows, columns, layer height, spacing, aisle width, and physical dimensions of stackable containers in each stacking area. Therefore, based on these design requirements, without relying on remote sensing satellite or drone aerial data, a three-dimensional model of the fully filled container yard of any target yard area can be quickly and accurately generated. The fully filled three-dimensional model is a three-dimensional model in which all container spaces are occupied by containers.

[0035] In some embodiments, the target storage yard area may include one or more stacking areas. When the target storage yard area includes multiple stacking areas, the multiple stacking areas may be any stacking areas in the entire storage yard, that is, the positional relationship between the multiple stacking areas may be adjacent or non-adjacent.

[0036] In some embodiments, the fully loaded 3D model corresponding to each palletizing area in the stacking yard can be stored in a preset storage space after being created. Based on this, when creating a 3D reconstruction model for a target stacking yard area, the fully loaded 3D model corresponding to the target stacking yard area can be quickly obtained.

[0037] Next, in step 102, during the process of container entry and exit, the container entry and exit database can record the results of each container operation and continuously update the container stacking information in the entry and exit database. Optionally, the container entry and exit database can include an electronic data input unit, for example, to automatically update the stacking record through image recognition, container number scanning, or voice confirmation. The container entry and exit database can also include a manual input unit, allowing operators to manually enter container stacking information on a terminal device, thereby updating the container stacking information in real time.

[0038] Each spatial location of a container stacked in a container yard corresponds to a coded data. The coded data for a container's spatial location may include: area identifier, row number, column number, and layer number. Specific coded data may include: area 1, layer 1, row 1, column 1. The corresponding container stacking information may include whether the container is stacked or not. The container stacking information can be represented by a preset identifier, such as Y for stacked and N for not stacked.

[0039] Since the container stacking information in the in-and-out database can reflect the actual stacking status of the containers, every time a 3D reconstruction model of the target yard area needs to be built, the latest container stacking information can be directly extracted from the in-and-out database to facilitate subsequent accurate modeling.

[0040] In some optional embodiments of the present application, before constructing a three-dimensional model of the target yard area under the condition that the container yard is fully filled according to the container yard design drawing, the method further includes: adding entries of color, spatial position, and presence or absence of container stacking to the container entry and exit database to construct the container entry and exit database, so as to provide real-time updated container stacking information during the model reconstruction process.

[0041] Next, steps 103 and 104 are executed to match the unique number corresponding to each individual model in the three-dimensional model with the coded data of the container's spatial position, thereby quickly and accurately establishing a one-to-one correspondence between the actual container stacking information and the individual model.

[0042] Based on the container stacking information corresponding to the coded data, it is determined whether there are containers stacked at the spatial location. In this way, the individual models corresponding to the spatial locations where no containers are actually stacked can be quickly and accurately identified, and the individual models that need to be reverse-hidden can be found, which also provides a reliable data basis for establishing an accurate three-dimensional reconstruction model.

[0043] Finally, the individual models corresponding to the actual unstacked containers are subjected to reverse hidden processing, rendering them invisible and enabling the rapid generation of a 3D reconstruction model of the target yard area. Furthermore, the modeling process is unrestricted by the target yard's weather conditions or spatial location, enabling rapid response to modeling needs and generating a 3D reconstruction model of any yard area.

[0044] Optionally, the reverse hidden layer processing method may be that, when the container stacking information corresponding to the container space position is not stacked, the display status of the individual model corresponding to the container space position where the container is not stacked is set to hidden display; in the process of generating a three-dimensional reconstruction model of the target yard area, the individual model is controlled not to be displayed during the rendering process based on the display status of hidden display.

[0045] Specifically, the individual models can be hidden during the rendering process by setting their display status to invisible or directly removing them from the rendering object queue. By performing reverse culling on these individual models, the fully populated 3D model can be quickly and dynamically adjusted, resulting in a 3D reconstructed model consistent with the current stacking situation in the target yard area. This facilitates subsequent use in yard scheduling management, path planning, and visualization.

[0046] Based on the embodiments of the present application, the display status of each individual model can be quickly and accurately controlled, effectively reducing the data processing volume of three-dimensional rendering. In particular, it can quickly respond to modeling needs, support modeling requests every hour or even every minute, and quickly build a three-dimensional reconstruction model of the target yard area, meeting the requirements of high timeliness, low cost and high precision.

[0047] In some embodiments of the present application, combined with the information contained in the satellite image, the construction of a three-dimensional reconstruction model of the target yard area can also be automatically triggered. Specifically, the method also includes: periodically acquiring satellite images of the container yard, extracting a regional image of each yard area in each satellite image, and generating a regional image set of each yard area; in the regional image set of each yard area, identifying spectral information in each regional image, and generating regional reflection information of the yard area; when the change in the regional reflection information of the yard area meets the preset conditions, the yard area is determined as the target yard area.

[0048] Specifically, in a container yard, in addition to containers, there are also objects such as road racks. Due to differences in factors such as the material, color, and surface roughness of different objects, different objects reflect different proportions of sunlight. The reflection proportions of different objects to sunlight can be extracted from satellite images. Therefore, for each yard area, by periodically updating its regional image set, and then based on each regional image in the regional image set, the spectral information in each regional image can be identified. The spectral information can include changes in reflectivity over a period of time. For example, neatly arranged containers form an area of ​​high reflectivity in the satellite image. Once the stacking situation changes, such as the increase or decrease of containers or the change of the stacking pattern, the reflectivity included in the spectral information will also change.

[0049] In some embodiments, the preset condition may be that the spectral information reflectivity does not exhibit a decreasing change characteristic within a target time period. For example, the target time period may be the time period when containers need to be moved from the storage yard. The reflectivity of the ground exposed after the containers are moved from the storage yard is typically lower than that of the containers, necessitating a timely inspection of the container stacking situation at the storage yard.

[0050] For yard areas where timely inspection of container stacking is required, the system automatically identifies the yard areas that meet the preset conditions as target yard areas. Next, combined with steps 101 to 104 of the present embodiment, a 3D reconstructed model of the target yard area can be quickly obtained, allowing on-site staff to quickly verify the on-site container stacking situation by viewing the 3D reconstructed model of the target yard area, thereby ensuring the personal safety of relevant on-site staff.

[0051] In some embodiments of the present application, after generating a three-dimensional reconstruction model of the target container yard area based on the embodiments of the present application, abnormal stacking detection can be further performed. Specifically, the following steps can be referred to: for a target individual model in the three-dimensional reconstruction model whose layer number is greater than or equal to a preset layer threshold, obtain the container stacking information of the individual model above it; if the container stacking information of the individual model above it indicates stacking, and the container stacking information of the target individual model indicates not stacking, determine that the target individual model is in a suspended state and generate a suspended warning message.

[0052] Specifically, the layer number corresponding to the individual model can be determined based on the spatial position of the container corresponding to the individual model. The layer number corresponding to the individual model is also the stacking level at which the individual model is located in the vertical direction.

[0053] Optionally, the preset layer threshold may be 2, or another preset number of layers.

[0054] For individual models whose layer number is greater than or equal to the preset layer threshold, the container stacking information of the individual models corresponding to the adjacent lower layer positions in the vertical direction is obtained respectively. Figure 3 As shown, for the individual models of area 1, 3 layers, 1 row, and 1 column, the container stacking information of the individual models of area 1, 2 layers, 1 row, and 1 column is obtained. If the stacking status corresponding to the individual models of area 1, 2 layers, 1 row, and 1 column is not stacked, it is determined that there are no containers stacked in the actual yard at this location, and the individual models of area 1, 3 layers, 1 row, and 1 column are determined to be in a suspended state.

[0055] In response to the individual model being in a suspended state, a suspension warning message is automatically generated to indicate that there is a stacking abnormality.

[0056] For example, in the 3D reconstruction model of the target container yard area, individual models of the target container that are suspended in the air are highlighted to indicate stacking anomalies. Specifically, the highlighting method is to highlight, change the color, or flash the border. This alerts relevant personnel to the stacking anomaly at that location, allowing for quick on-site verification of the container stacking situation and ensuring the personal safety of relevant personnel on site.

[0057] In some embodiments of the present application, the container entry and exit database also includes color attribute information, and the color attribute information corresponds one-to-one to the coding data of the spatial position; the method also includes: rendering the display color of each individual model in the three-dimensional reconstructed model according to the color attribute information corresponding to each coding data to generate a three-dimensional reconstructed model with the color of the container.

[0058] Specifically, the color attribute information may be information such as color identification, transparency, etc.

[0059] During the rendering process, the display color of the individual model of the corresponding stacking location is dynamically adjusted based on the color attribute information of each container, so that the color of the individual model is consistent with the color of the actual stacked containers. This makes it easier for on-site staff to quickly distinguish the containers corresponding to the individual models after viewing the 3D reconstructed model of the target yard area.

[0060] Corresponding to the method embodiment of the present application, the present application also provides a container yard model construction device. The container yard model construction device of the embodiment of the present application can correspond to the execution entity of the spatial yard reverse hidden fast construction method for three-dimensional time-sensitive scenes provided in the embodiment of the present application. The specific details of the operation and / or function of each module / unit of the container yard model construction device can be found in the description of the corresponding part of the method provided in the above-mentioned embodiment of the present application.

[0061] The electronic device in the embodiment of the present application can be a user terminal device, a server, other computing devices, or a cloud server. Figure 5 A schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application is shown. The electronic device may include a processor 501 and a memory 502 storing computer program instructions. When the processor 501 executes the computer program instructions, the process or function of any of the above-mentioned embodiments is implemented.

[0062] Specifically, processor 501 may include a central processing unit (CPU) or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application. Memory 502 may include a large-capacity memory for data or instructions. For example, memory 502 may be at least one of the following: a hard disk drive (HDD), read-only memory (ROM), random access memory (RAM), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, magnetic tape, a universal serial bus (USB) drive, or other physical / tangible memory storage device. For another example, memory 502 may include removable or non-removable (or fixed) media. For another example, memory 502 may be internal or external to the integrated gateway disaster recovery device. Memory 502 may be non-volatile solid-state memory. In other words, memory 502 typically includes a tangible (non-transitory) computer-readable storage medium (such as a memory device) encoded with computer-executable instructions, and when the software is executed (e.g., by one or more processors), the operations described in the methods of the embodiments of the present application may be performed. The processor 501 implements the process or function of any of the methods in the above embodiments by reading and executing computer program instructions stored in the memory 502.

[0063] In one example, Figure 5 The electronic device shown may also include a communication interface 503 and a bus 510. The processor 501, memory 502, and communication interface 503 are connected via bus 510 and communicate with each other. The communication interface 503 is primarily used to enable communication between the various modules, devices, units, and / or equipment in the embodiments of the present application. Bus 510, which may comprise hardware, software, or both, couples the components of the online data traffic metering device. For example, the bus may include at least one of the following: an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industrial Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses. Bus 510 may include one or more buses. Although the embodiments of the present application describe or illustrate a specific bus, the embodiments of the present application may consider any suitable bus or interconnection method.

[0064] In combination with the method in the above embodiments, an embodiment of the present application also provides a computer-readable storage medium, which stores computer program instructions. When the computer program instructions are executed by a processor, they implement the process or function of any method in the above embodiments.

[0065] In addition, an embodiment of the present application further provides a computer program product, which stores computer program instructions. When the computer program instructions are executed by a processor, the process or function of any one of the methods in the above embodiments is implemented.

[0066] The flowcharts and / or block diagrams of the methods, devices, systems and computer program products of the embodiments of the present application are described above by way of example, and various aspects thereof are described. It should be understood that each box in the flowchart and / or block diagram or a combination thereof may be implemented by computer program instructions, or may be implemented by dedicated hardware that performs a specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions. For example, these computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to form a machine that enables these instructions executed by such a processor to enable the implementation of the functions / actions specified in each box in the flowchart and / or block diagram or a combination thereof. Such a processor may be a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.

[0067] The functional blocks shown in the structural block diagrams of the embodiments of the present application can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc.; when implemented in software, they are programs or code segments used to perform the required tasks. The programs or code segments can be stored in a memory or transmitted over a transmission medium or communication link via a data signal carried in a carrier wave. The code segments can be downloaded via a computer network such as the Internet or an intranet.

[0068] It should be noted that the present application is not limited to the specific configurations and processes described above or shown in the figures. The above is only a specific implementation method of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the described system, device, module or unit can refer to the corresponding process in the method embodiment without further description. It should be understood that the scope of protection of the present application is not limited to this. Any technician familiar with the technical field can think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A method for fast construction of spatial yard reverse hidden layer for three-dimensional time-sensitive scenes, characterized by: The method comprises: Based on the container yard design drawing, a three-dimensional model of the target yard area is constructed when the container yard is fully filled. The spatial position of each container in the three-dimensional model corresponds to an independent individual model and has a unique number. In the container entry and exit database, the coding data of the container spatial position and the container stacking information corresponding to the coding data of each spatial position are read; Determining, based on the unique number corresponding to the individual model, the coded data of the spatial position corresponding to each individual model in the three-dimensional model; Based on the container stacking information corresponding to the coded data, it is determined whether there are containers stacked at the spatial location. If the container stacking information indicates that there are no containers, the individual models corresponding to the spatial location are hidden and not displayed to obtain a three-dimensional reconstructed model of the target yard area.

2. The method according to claim 1, characterized in that The coded data of the spatial position of the container includes the layer number of the container; the method further includes: For a target individual model in the three-dimensional reconstructed model whose layer number is greater than or equal to a preset layer threshold, obtaining container stacking information of the individual model above it; When the container stacking information of the upper individual model is stacked and the container stacking information of the target individual model is not stacked, it is determined that the target individual model is in a suspended state, and a suspended warning message is generated.

3. The method according to claim 2, characterized in that The method further comprises: In the three-dimensional reconstructed model of the target storage area, the target individual models in the suspended state are highlighted to indicate the presence of stacking abnormalities.

4. The method according to claim 1, wherein The container entry and exit database also includes color attribute information, and the color attribute information corresponds one-to-one with the coded data of the spatial position; the method further includes: The display color of each individual model in the three-dimensional reconstructed model is rendered according to the color attribute information corresponding to each of the coded data to generate a three-dimensional reconstructed model with the color of the container.

5. The method according to claim 1, wherein The method comprises: Periodically acquiring satellite images of the container yard, extracting a regional image of each yard area from each satellite image, and generating a regional image set of each yard area; In the regional image set of each storage yard area, spectral information in each regional image is identified, and regional reflectance information of the storage yard area is generated; When the change of the regional reflection information of the storage yard area meets a preset condition, the storage yard area is determined as a target storage yard area.

6. The method according to claim 1, characterized in that Before constructing the three-dimensional model of the target container yard area under the condition of a fully filled container yard according to the container yard design drawing, the method further includes: Entries of color, spatial location, and whether or not containers are stacked are added to the container entry and exit database to construct the container entry and exit database.

7. The method according to claim 1, characterized in that The coded data of the container's spatial location includes: area identification, row number, column number and layer number.

8. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; and when the electronic device executes the computer program instructions, the method according to any one of claims 1 to 7 is implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which implement the method according to any one of claims 1 to 7 when executed by a processor.

10. A computer program product, characterized in that The method comprises computer program instructions, which implement the method according to any one of claims 1 to 7 when executed by a processor.

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