Spatial stack reverse blanking fast construction method for three-dimensional time-sensitive scene

Abstract

The application discloses a spatial yard reverse blanking fast construction method for a three-dimensional time-sensitive scene. The method comprises the following steps: constructing a three-dimensional model of a full container yard of a target yard area 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 coding data of the spatial position of the container and container stacking information corresponding to the coding data of each spatial position in 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 of the individual model; judging whether the spatial position exists container stacking according to the container stacking information corresponding to the coding data; and hiding and not displaying the individual model corresponding to the spatial position in the case that the container stacking information is no container, so as to obtain a three-dimensional reconstruction model of the target yard area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of three-dimensional scene reconstruction, in particular to a space yard reverse blanking fast construction method for a three-dimensional time-sensitive scene. BACKGROUND

[0002] In daily operation, the container yard needs to monitor and dynamically manage the stacking state and spatial layout of the containers in the yard. Therefore, an accurate and real-time three-dimensional yard scene model is the key to supporting container positioning, handling path planning, and stacking position scheduling.

[0003] At present, the existing three-dimensional model construction of the container yard is based on satellite remote sensing or unmanned aerial vehicle aerial photography to obtain images and point cloud data of the yard, and then generate a three-dimensional model after data conversion, modeling, and graphic rendering. These construction schemes have the disadvantages of poor timeliness, low precision, and high cost. In particular, in time-sensitive scenarios such as control systems and dynamic scene reconstruction, the response speed of model reconstruction is difficult to meet the demand for fast modeling.

[0004] For example, the conventional scheme based on satellite remote sensing image modeling usually takes days from obtaining remote sensing data to completing modeling, which cannot meet the business needs of modeling and reconstruction of the yard multiple times a day. The data modeling based on satellite remote sensing has obvious time lag and cannot reflect the real-time changes of the container state in the yard, and has poor timeliness. In addition, the data modeling based on satellite remote sensing usually generates an overall scene model, which lacks independent modeling of individual containers. Even if high-precision remote sensing data is used, the precision is only ten centimeters at most. Therefore, the data modeling based on satellite remote sensing is difficult to meet the demand for high precision and low cost.

[0005] For another example, the data modeling based on unmanned aerial vehicle aerial photography has higher accuracy than satellite remote sensing data, but the unmanned aerial vehicle still needs to take a large amount of data, and the time consumed for generating the model is still in the order of hours. Therefore, the modeling based on unmanned aerial vehicle aerial photography is difficult to meet the demand for high-frequency modeling every day. In addition, the aerial photography modeling is still an overall scene modeling mode, which lacks support for independent modeling of individual containers. In special environments such as rain, snow, heavy fog, and insufficient light at night, the unmanned aerial vehicle is difficult to carry out aerial photography work, and the operation scene is limited, which has poor time sensitivity. Finally, the response speed of model reconstruction is difficult to meet the demand for fast modeling. SUMMARY

[0006] Therefore, the embodiments of the present application provide a space yard reverse blanking fast construction method for a three-dimensional time-sensitive scene, which is used to solve at least one technical problem.

[0007] The embodiment of the present application provides a kind of for the space of three-dimensional time-sensitive scene Stack reverse blanking fast construction method, comprising: according to container yard design drawing, the three-dimensional model of container yard full case of target yard area is built, and the space position of each container is in three-dimensional model corresponding an independent individual model and has uniqueness number;In the database of the import and export of container, read the coding data of container space position, and the coding data of each space position corresponds the container stacking information;According to the uniqueness number of individual model, the coding data of the space position corresponding to each individual model in three-dimensional model is determined;According to the container stacking information corresponding to coding data, it is judged whether there is container stacking in space position, and in the case where container stacking information is no container, the individual model corresponding to space position is hidden and not displayed, and the three-dimensional reconstruction model of target yard area is obtained.

[0008] Optionally, according to the embodiment of the present application, the coding data of the container space position includes the layer number of the container;The method further comprises: for the target individual model in the three-dimensional reconstruction model, the layer number is greater than or equal to the preset layer threshold, the container stacking information of the upper layer individual model is obtained;In the case where the container stacking information of the upper layer 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 the state of suspension, and suspension warning information is generated.

[0009] Optionally, according to the embodiment of the present application, the method further comprises: in the three-dimensional reconstruction model of target yard area, the target individual model in the state of suspension is highlighted, and it is prompted that there is stacking anomaly.

[0010] Optionally, according to the embodiment of the present application, the color attribute information is further included in the database of the import and export of container, and the color attribute information corresponds to the coding data of space position one by one;The method further comprises: according to the display color of each individual model in three-dimensional reconstruction model is rendered according to the color attribute information corresponding to each coding data, to generate three-dimensional reconstruction model with container color.

[0011] Optionally, according to the embodiment of the present application, the method comprises: periodically acquiring satellite images of container yard, extracting the region image of each yard area in each satellite image, and generating the region image set of each yard area;In the region image set of each yard area, the spectral information in each region image is identified, and the region reflection information of yard area is generated;In the case where the change of region reflection information of yard area meets the preset condition, the yard area is determined as target yard area.

[0012] Optionally, according to the embodiment of the present application, before the three-dimensional model of the full container yard of the target yard area is constructed according to the container yard design map, the method further comprises: adding entries of color, spatial position, and whether a container is stacked in the container entry and exit database to construct the container entry and exit database.

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

[0014] The embodiment of the present application provides an electronic device, which comprises a processor and a memory storing computer program instructions; the processor implements the steps of the above method when executing the computer program instructions.

[0015] The embodiment of the present application provides a computer readable storage medium, which stores computer program instructions; the computer program instructions are executed by a processor to implement the steps of the above method.

[0016] The embodiment of the present application provides a computer program product, which comprises computer program instructions; the computer program instructions are executed by a processor to implement the steps of the above method.

[0017] By using the embodiment of the present application, for the target yard, based on the container yard design map, the three-dimensional model of the full container yard of the target yard area can be quickly and accurately constructed. The data in the container entry and exit database can accurately reflect the current container stacking state of the yard. Based on this, the coding data of the spatial position corresponding to each individual model in the three-dimensional model is determined by reading the coding data of the spatial position of the container in the container entry and exit database, further combining the container stacking information corresponding to the coding data of each spatial position, and the unique number corresponding to the individual model. Then, according to the container stacking information corresponding to the coding data, it can be accurately determined whether each space has a container stacked. Next, since the spatial position of each container corresponds to an independent individual model in the three-dimensional model and has a unique number, the individual model without a container stacked in the three-dimensional model under the full condition is reversely hidden, and the 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 state of each individual model can be accurately controlled, the pressure of three-dimensional rendering and data loading is effectively reduced, the three-dimensional reconstruction model of the container can be efficiently generated, and the requirements of high timeliness, low cost, and high precision are met. BRIEF DESCRIPTION OF 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 is a flow chart of a spatial stack reverse blanking fast construction method for a three-dimensional time-sensitive scene according to an embodiment of the present application.

[0020] Figure 2 is a schematic diagram of a three-dimensional model of a full-full case according to an embodiment of the present application.

[0021] Figure 3 is a schematic diagram of stack location information according to an embodiment of the present application.

[0022] Figure 4 is a schematic diagram of a three-dimensional reconstruction model of a target stack area according to an embodiment of the present application.

[0023] Figure 5 is a schematic diagram of an electronic device for implementing a spatial stack reverse blanking fast construction method for a three-dimensional time-sensitive scene according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] The principles and spirits 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 spirits of the present application clearer and more thorough, so that those skilled in the art can better understand and implement the principles and spirits of the present application. The exemplary embodiments provided herein are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments herein, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

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

[0026] Embodiments of the present application relate to terminal devices and / or servers. Those skilled in the art know that embodiments of the present application can be implemented as a system, apparatus, device, method, computer readable storage medium or computer program product. Therefore, the present disclosure can be specifically 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, processing, etc. of data in the embodiments of the present application comply with relevant provisions of national laws and regulations.

[0027] In this field, 3D models can provide an intuitive and visual representation of the stacking status of container yards, facilitating a quick understanding of the container distribution at each location. Furthermore, 3D models enable staff to plan container transport routes and design stacking strategies. Therefore, 3D yard models can improve yard operational efficiency. The inventors of this application have found that conventional methods for constructing 3D scenes of container yards rely on 3D data from drone aerial photography and satellite remote sensing, followed by data conversion, modeling, and rendering. This modeling method cannot meet the rapid modeling needs of container yards, which require multiple daily operations, in terms of timeliness and business scenario requirements. Therefore, this application provides a method for quickly, accurately, and cost-effectively constructing models to meet the rapid modeling needs in time-sensitive scenarios.

[0028] Figure 1 The flowchart of a method for rapid construction of spatial storage field reverse blanking in a three-dimensional time-sensitive scene according to an embodiment of this application is shown. The method includes steps 101 to 104.

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

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

[0031] Step 103: Determine the encoded data of the spatial location of each individual model in the 3D model based on the unique number corresponding to the individual model.

[0032] Step 104: Based on the container stacking information corresponding to the coded data, determine whether there are containers stacked at the spatial location. If there are no containers stacked, hide the individual model corresponding to the spatial location to obtain the three-dimensional reconstruction model of the target yard area.

[0033] The above steps will be described in detail below with reference to specific embodiments, as shown in the following figures.

[0034] In step 101, multiple stacking areas can be planned and designed within the container yard for stacking containers. Combined with... Figure 2 As shown, Figure 2The three-dimensional model of the full case is shown. The container yard design diagram can include the design data of the container yard. Correspondingly, in the container yard design diagram, the pre-planned stacking scheme corresponding to different stacking areas can be included, for example, the number of rows, the number of columns, the height of the layers, the spacing, the channel width and the physical size of the stackable containers in each stacking area and other design requirements, therefore, based on these design requirements, without relying on remote sensing satellite or unmanned aerial vehicle aerial data, the three-dimensional model of the full case of the target yard area can be quickly and accurately generated, and the three-dimensional model of the full case is a three-dimensional model in which all container space positions are occupied by containers.

[0035] In some embodiments, the target yard area can include one or more stacking areas. In the case where the number of stacking areas included in the target yard area is multiple, the multiple stacking areas can be any stacking areas in the entire yard, that is, the positional relationship between the multiple stacking areas can be adjacent or non-adjacent.

[0036] In some embodiments, the three-dimensional model of the full load state corresponding to each stacking area in the yard can be stored in a preset storage space after being established. Based on this, when establishing the three-dimensional reconstruction model of the target yard area, the three-dimensional model of the full load state corresponding to the target yard area can be quickly obtained.

[0037] Next, in step 102, during the process of container entering or moving out of the yard, the container entry and exit database can record the operation result of each container 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, automatically updating the stacking record through image recognition, scanning the box number, and voice confirmation, and the container entry and exit database can also include a manual input unit, which updates the container stacking information in real time by manually inputting the container stacking information by the operator on the terminal device.

[0038] Each spatial position of the container stacking in the yard corresponds to an encoding data, and the encoding data of the container spatial position can include: area identification, row number, column number and layer number. The specific encoding data is, for example, area 1, layer 1, row 1, column 1, and the container stacking information corresponding to the encoding data is, for example, a stacked container or an unstacked container. Wherein, the container stacking information can be represented by a preset identifier, for example, Y represents stacked, and N represents unstacked.

[0039] Since the container stacking information in the entry and exit database can reflect the actual stacking state of the container, the latest container stacking information can be extracted from the entry and exit database directly when the three-dimensional reconstruction model of the target yard area is required to be constructed each time, so as to facilitate subsequent accurate modeling.

[0040] In some optional embodiments of the present application, before constructing the three-dimensional model of the full-load container yard of the target yard area according to the container yard design map, the method further comprises: adding entries of color, spatial position, and presence or absence of container stacking in 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 performed to match the unique number corresponding to each individual model in the three-dimensional model with the coding data of the container spatial position, thereby quickly and accurately establishing a one-to-one correspondence between the actual container stacking information of the container and the individual model.

[0042] Based on the container stacking information corresponding to the coding data, it is determined whether there is container stacking in the spatial position, thereby quickly and accurately identifying the individual model corresponding to the spatial position of the actual non-stacked container, finding out the individual model that needs to be reverse-blanked, and providing a reliable data basis for establishing an accurate three-dimensional reconstruction model.

[0043] Finally, the individual model corresponding to the spatial position of the actual non-stacked container is reverse-blanked, so that the individual model corresponding to the spatial position of the actual non-stacked container is in a hidden and invisible state, and a three-dimensional reconstruction model of the target yard area is quickly obtained. At the same time, during the modeling process, it is not limited by the weather environment and spatial position of the target yard area, and can quickly respond to the modeling demand to generate a three-dimensional reconstruction model of any yard area.

[0044] Optionally, the reverse-blanking processing mode can be that, when the container stacking information corresponding to the container spatial position is non-stacked, the display state of the individual model corresponding to the container spatial position of the non-stacked container is set to hidden display; during the generation of the three-dimensional reconstruction model of the target yard area, the display state of the hidden display is used to control the individual model not to be displayed during the rendering process.

[0045] Specifically, the individual model can be set to visually invisible, or directly removed from the rendering object queue, etc. Based on this reverse-blanking processing mode of the individual model, dynamic adjustment of the full-load three-dimensional model is quickly completed, and a three-dimensional reconstruction model consistent with the current stacking actual situation of the target yard area is obtained, which is convenient for subsequent application in yard scheduling management, path planning, and visual display, etc.

[0046] Based on the embodiments of the present application, the display state of each individual model can be accurately controlled quickly, the data processing amount of three-dimensional rendering is effectively reduced, especially the modeling demand can be quickly responded, the modeling request every hour or even every minute is supported, and the three-dimensional reconstruction model of the target yard area is quickly constructed, thereby meeting the requirements of high timeliness, low cost and high precision.

[0047] In some embodiments of the present application, in combination with the information contained in the satellite image, the three-dimensional reconstruction model of the target yard area can also be automatically triggered to be constructed. Specifically, the method further comprises: periodically acquiring satellite images of the container yard, extracting the region images of each yard area in each satellite image, and generating a region image set of each yard area; identifying the spectral information in each region image in the region image set of each yard area, and generating the region reflection information of the yard area; and determining the yard area as the target yard area in the case that the change of the region reflection information of the yard area meets the preset condition.

[0048] Specifically, in the container yard, in addition to containers, there are also road racks and other objects. Based on the differences in factors such as material, color and surface roughness of different objects, the reflection ratios of different objects to sunlight are different, and the reflection ratios of different objects to sunlight can be extracted in the satellite image. Therefore, for each yard area, its region image set is periodically updated, and then based on each region image in the region image set, the spectral information in each region image can be identified. The spectral information can include the change of reflectivity within a period of time. For example, the neatly arranged containers form a high reflectivity area in the satellite image, and once the stacking situation changes, such as the increase or decrease of containers or the change of stacking mode, the reflectivity included in the spectral information will also change.

[0049] In some embodiments, the preset condition can be that the reflectivity of the spectral information does not appear a decreasing change feature within a target time period. For example, the target time period is the time period during which the containers in the yard need to be moved out. The reflectivity of the exposed ground after the containers are moved out of the yard area is usually lower than that of the containers. Therefore, it is necessary to check the container stacking situation of the yard site in time.

[0050] For the yard area that needs to check the container stacking situation of the yard site in time, the yard area that meets the preset condition is automatically determined as the target yard area. Next, the three-dimensional reconstruction model of the target yard area can be quickly obtained in combination with steps 101 to 104 of the embodiments of the present application, so that the on-site staff can quickly check the container stacking situation of the target yard area by viewing the three-dimensional reconstruction model of the target yard area, and the personal safety of the on-site staff is ensured.

[0051] In some embodiments of the present application, after generating the three-dimensional reconstruction model of the target yard area based on the embodiments of the present application, further abnormal stacking detection can be performed. Specifically, the following steps can be referred to: for the target individual model in the three-dimensional reconstruction model, the layer number of which is greater than or equal to the preset layer threshold, the container stacking information of the upper layer individual model thereof is obtained; in the case that the container stacking information of the upper layer 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 information is generated.

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

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

[0054] For the individual model whose layer number is greater than or equal to the preset layer threshold, the container stacking information of the individual model corresponding to the adjacent lower layer position in the vertical direction is obtained. In combination with the container stacking information of the upper layer individual model, the stacking state of the container in the actual yard at the position corresponding to the individual model is determined. Figure 3 As shown in the figure, for the individual model of area 1, layer 3, row 1, column 1, the container stacking information of the individual model of area 1, layer 2, row 1, column 1 is obtained. If the stacking state corresponding to the individual model of area 1, layer 2, row 1, column 1 is not stacked, it is determined that the container is not stacked in the actual yard at the position, and it is determined that the individual model of area 1, layer 3, row 1, column 1 is in a suspended state.

[0055] In response to the individual model being in a suspended state, a suspended warning information is automatically generated to prompt the existence of stacking abnormality.

[0056] For example, the prompt mode is, for example, highlighting, color transformation, border flickering, etc. Thus, the relevant personnel are reminded to pay attention to the existence of stacking abnormality at the position, so as to quickly verify the stacking condition of the container on site, and to protect the personal safety of the relevant personnel on site.

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

[0058] Specifically, the color attribute information can be color identification, transparency, etc.

[0059] In the rendering process, based on the color attribute information of each container, the display color of the individual model of the corresponding stacking position is dynamically adjusted, so that the color of the individual model is consistent with the color of the actually stacked container, thereby facilitating the on-site staff to quickly distinguish the container corresponding to the individual model after checking the three-dimensional reconstruction model of the target yard area.

[0060] Corresponding to the method embodiments of the present application, the present application also provides a container yard model construction device, the container yard model construction device of the embodiments of the present application can correspond to the execution subject of the method for quickly constructing a spatial yard inverse blanking of a three-dimensional time-sensitive scene provided by the embodiments of the present application, and the specific details of the operation and / or function of each module / unit of the container yard model construction device can be referred to the description of the corresponding part in the above method provided by the embodiments of the present application.

[0061] The electronic device in the embodiments of the present application can be a user terminal device, can be a server, can also be other computing devices, and can also be a cloud server. Figure 5 A hardware structure schematic diagram of the electronic device of the embodiments of the present application is shown, which can include a processor 501 and a memory 502 storing computer program instructions, and the processor 501 executes the computer program instructions to realize the flow or function of the method of any of the above embodiments.

[0062] Specifically, the processor 501 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits that implement the embodiments of the present application. The memory 502 can include a mass storage device for data or instructions. For example, the memory 502 can be at least one of a hard disk drive (HDD), a read-only memory (ROM), a random access memory (RAM), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, a universal serial bus (USB) drive, or other physical / tangible memory storage devices. For another example, the memory 502 can include removable or non-removable (or fixed) media. For another example, the memory 502 can be inside or outside the integrated gateway disaster recovery device. The memory 502 can be a non-volatile solid-state memory. In other words, the memory 502 generally 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 (such as by one or more processors), can perform the operations described in the method of the embodiments of the present application. The processor 501 realizes the flow or function of any of the above methods by reading and executing the computer program instructions stored in the memory 502.

[0063] In one example, Figure 5 The electronic device shown can also include a communication interface 503 and a bus 510. The processor 501, the memory 502, and the communication interface 503 are connected through the bus 510 and complete communication with each other. The communication interface 503 is mainly used to realize the communication between various modules, devices, units, and / or equipment in the embodiments of the present application. The bus 510 includes hardware, software, or both, which can couple the components of the online data traffic billing device to each other. For example, the bus can include at least one of the following: an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front side bus (FSB), a hyper transport (HT) interconnect, an industry 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 (VLB) bus, or other suitable bus. The bus 510 can include one or more buses. Although the embodiments of the present application describe or show a specific bus, any suitable bus or interconnection method can be considered by the embodiments of the present application.

[0064] In combination with the method in the above embodiments, the embodiments of the present application further provide a computer readable storage medium, which has stored thereon computer program instructions, and the computer program instructions are executed by a processor to implement the flow or function of any of the methods in the above embodiments.

[0065] In addition, the embodiments of the present application also provide a computer program product, which has stored thereon computer program instructions, and the computer program instructions are executed by a processor to implement the flow or function of any of the methods in the above embodiments.

[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 as examples, and the related aspects are described. It should be understood that each block in the flowchart and / or block diagram can be implemented by computer program instructions, or by special hardware that performs specified functions or actions, or by a combination of special hardware and computer instructions. For example, these computer program instructions can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing apparatus, to form a machine, which can enable the implementation of the functions / actions specified in each block or combination thereof in the flowchart and / or block diagram via the processor. The processor can 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 diagram of the embodiments of the present application can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc.; when implemented in software, it is a program or code segment used to perform the required tasks. The program or code segment can be stored in a memory or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0068] It should be noted that the present application is not limited to the specific configurations and processes described above or shown in the drawings. The above is merely a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the described systems, devices, modules or units can refer to the corresponding processes in the method embodiments, which need not be described again. It should be understood that the scope of protection of the present application is not limited thereto, and any skilled in the art can think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the scope of protection of the present application.

Claims

1. A method for fast construction of spatial heap reverse-blanketed rendering for three-dimensional time-sensitive scenes, characterized in that, The method comprises: adding entries of color, spatial position, and presence or absence of container stacking in a container access database to build the container access database; building a three-dimensional model of the target yard area under full stacking of containers according to a container yard design map, 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 in the container access database, and the container stacking information corresponding to the coding data of each spatial position; 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 the spatial position has container stacking according to the container stacking information corresponding to the coding data, and hiding the individual model corresponding to the spatial position in the case of no container stacking, to obtain a three-dimensional reconstruction model of the target yard area.

2. The method of claim 1, wherein, The coding data of the spatial position of the container comprises a layer number; the method further comprises: for a target individual model in the three-dimensional reconstruction model, obtaining the container stacking information of the upper individual model thereof when the layer number of the target individual model is greater than or equal to a preset layer threshold; in the case that 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 suspension warning information.

3. The method of claim 2, wherein, The method further comprises: highlighting the target individual model in the suspended state in the three-dimensional reconstruction model of the target yard area to prompt the presence of stacking abnormalities.

4. The method of claim 1, wherein, The container access database further comprises color attribute information, which corresponds to the coding data of the spatial position one by one; the method further comprises: rendering the display color of each individual model in the three-dimensional reconstruction model according to the color attribute information corresponding to each coding data to generate a three-dimensional reconstruction model with container colors.

5. The method of claim 1, wherein, The method comprises: periodically obtaining satellite images of the container yard, extracting the regional images of each yard area in each satellite image, and generating a regional image set of each yard area; identifying the spectral information in each regional image in the regional image set of each yard area, and generating the regional reflection information of the yard area; in the case that the change of the regional reflection information of the yard area meets a preset condition, determining the yard area as a target yard area, wherein the preset condition is that the spectral information reflectivity does not appear a decreasing change feature in a target time period.

6. The method of claim 1, wherein, The coding data of the spatial position of the container comprises a region identifier, a row number, a column number, and a layer number.

7. An electronic device, comprising: The electronic device comprises a processor and a memory storing computer program instructions; the electronic device executes the computer program instructions to implement the method of any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by the processor to implement the method of any one of claims 1-6.

9. A computer program product, characterised in that, It comprises computer program instructions which, when executed by a processor, implement the method according to any one of claims 1 to 6.

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