Robot three-dimensional vehicle model building method, device, equipment and medium

Abstract

The embodiment of the invention provides a robot three-dimensional vehicle model building method and device, equipment and a medium, and relates to the technical field of simulation modeling. The method comprises the steps of displaying a to-be-utilized chassis model represented by a chassis model identifier in a model display area of a building interface in response to a first installation instruction for any chassis model identifier in a model selection area of the building interface. And in response to a second installation instruction for the first non-chassis model which is dragged currently in the model display area, adsorbing the first non-chassis model from an initial position when the second installation instruction is triggered to a position for placing the first non-chassis model in the displayed to-be-utilized chassis model to be displayed, and obtaining a three-dimensional vehicle model. In this way, the operation complexity can be reduced, and the building efficiency of the three-dimensional vehicle model is improved.

Description

Technical Field

[0001] This application relates to the field of simulation modeling technology, and in particular to a method, apparatus, equipment and medium for building a 3D robot model. Background Technology

[0002] In the field of simulation modeling technology, designers can often build 3D models of robots through a visual interface. For example, a 3D model of a robot is built from multiple models, including the chassis, body, and actuators.

[0003] In one implementation, when a non-chassis model needs to be placed on a chassis model, the designer needs to manually drag the non-chassis model in the interface until it is in the desired position. However, since a single robot involves a large number of models, the designer needs to manually adjust the position of each model to build the robot's vehicle model. This method is complex and inefficient.

[0004] Therefore, there is an urgent need for a method for assembling 3D vehicle models using robots to reduce operational complexity and improve the efficiency of 3D vehicle model assembly. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, device, and medium for assembling 3D vehicle models using a robot, so as to reduce operational complexity and improve the efficiency of assembling 3D vehicle models. The specific technical solution is as follows:

[0006] A first aspect of this application provides a method for assembling a three-dimensional vehicle model for a robot, the method comprising:

[0007] In response to a first installation command for any chassis model identifier in the model selection area of ​​the building interface, the chassis model to be used, represented by the chassis model identifier, is displayed in the model display area of ​​the building interface.

[0008] In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the position in the displayed chassis model to be used for placing the first non-chassis model, thereby obtaining a three-dimensional vehicle model.

[0009] In some embodiments, the position for placing the first non-chassis model in the displayed chassis model to be used is: the adsorption point closest to the initial position among the multiple preset adsorption points of the displayed chassis model to be used.

[0010] In some embodiments, before displaying the first non-chassis model from its initial position when the second installation command is triggered, in response to a second installation command for a first non-chassis model currently being dragged in the model display area, at the position for placing the first non-chassis model in the displayed chassis model, the method further includes:

[0011] The first non-chassis model is displayed in the model display area according to the movement path indicated by the first drag command for the first non-chassis model;

[0012] When the minimum distance between the first non-chassis model and each preset adsorption point in the displayed chassis model to be used is less than the first threshold, each preset adsorption point is displayed in the displayed chassis model to be used, and the preset adsorption point corresponding to the minimum distance is highlighted.

[0013] The step of responding to a second installation command for a first non-chassis model currently being dragged in the model display area, and snapping the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model for placing the first non-chassis model, includes:

[0014] In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently highlighted preset snapping point for display.

[0015] In some embodiments, the plurality of preset adsorption points in the chassis model to be used shown include: the center point and / or vertex of the bounding box of the chassis model;

[0016] And / or, a non-chassis model is displayed at a preset adsorption point, indicating that the center point of the bounding box of the non-chassis model is located at the preset adsorption point.

[0017] In some embodiments, the chassis model to be used shown includes reserved space for placing non-chassis models; the location for placing the first non-chassis model is: a reserved space where the type of the non-chassis model to be placed is the same as that of the first non-chassis model.

[0018] In some embodiments, the method further includes:

[0019] In response to the first installation command, the reserved space in the chassis model to be used is displayed in the model display area;

[0020] Before the method further comprises, in response to a second installation command for a first non-chassis model currently being dragged in the model display area, snapping the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model for placing the first non-chassis model, the method includes:

[0021] In response to a second drag command for the first non-chassis model, the first non-chassis model is displayed in the model display area, and the reserved space that is of the same type as the first non-chassis model and is closest to it is highlighted.

[0022] The step of responding to a second installation command for a first non-chassis model currently being dragged in the model display area, and snapping the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model for placing the first non-chassis model, includes:

[0023] In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently protruding reserved space for display.

[0024] In some embodiments, the chassis model shown is constructed through the following steps:

[0025] Obtain the dimensions of the chassis model input by the user, as well as the types and poses of the non-chassis models to be placed in the chassis model relative to the chassis model;

[0026] Based on the type of the non-chassis model and its pose relative to the chassis model, the reserved space in the chassis model and the type of non-chassis model to be placed in each reserved space are determined, resulting in the displayed chassis model to be used.

[0027] In some embodiments, after displaying the chassis model to be used, represented by the chassis model identifier, in the model display area of ​​the building interface, the method further includes:

[0028] In response to a first selection command for any non-chassis model identifier in the model selection area, a non-chassis model settings window is displayed;

[0029] Obtain the installation position input by the user in the non-chassis model settings window;

[0030] According to the obtained installation position, the second non-chassis model represented by the non-chassis model identifier is displayed in the model display area.

[0031] In some embodiments, before displaying the second non-chassis model represented by the non-chassis model identifier in the model display area according to the obtained installation pose, the method further includes:

[0032] Obtain the associated model of the second non-chassis model indicated by the user in the non-chassis model settings window; wherein, the installation pose represents the pose of the second non-chassis model relative to the associated model; the associated model is: a chassis model or a non-chassis model currently displayed in the model display area;

[0033] The step of displaying the second non-chassis model represented by the non-chassis model identifier in the model display area according to the obtained installation pose includes:

[0034] The second non-chassis model is displayed in the associated model displayed in the model display area according to the pose of the second non-chassis model relative to the associated model.

[0035] In some embodiments, the method further includes:

[0036] In response to a second selection instruction for any model in the model display area, the model indicated by the second selection instruction in the model display area is determined to be selected;

[0037] And / or,

[0038] The setup interface also includes a model list area; the model list area displays the model identifier of the model currently displayed in the model display area;

[0039] The method further includes: in response to a third selection instruction for any model identifier in the model list area, determining the model indicated by the third selection instruction in the model display area as selected.

[0040] In some embodiments, the method further includes:

[0041] Displays the model coordinate system of the selected model; wherein, the model coordinate system of a model takes the center point of the model's bounding box as the origin, and the direction of each coordinate axis is consistent with the direction of the length, width and height of the model's bounding box, respectively;

[0042] In response to a move command triggered at any coordinate axis of the model coordinate system, the selected model is moved in the direction and distance indicated by the move command; and / or, in response to a rotation command triggered at any coordinate axis of the model coordinate system, the selected model is rotated in the direction and angle indicated by the rotation command.

[0043] A second aspect of this application provides a robotic three-dimensional vehicle model assembly device, the device comprising:

[0044] The first response module is used to respond to a first installation command for any chassis model identifier in the model selection area of ​​the building interface, and to display the chassis model to be used represented by the chassis model identifier in the model display area of ​​the building interface.

[0045] The second response module is used to respond to a second installation command for the first non-chassis model currently being dragged in the model display area, and to snap the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model to be used for placing the first non-chassis model, thereby obtaining a three-dimensional vehicle model.

[0046] In some embodiments, the position for placing the first non-chassis model in the displayed chassis model to be used is: the adsorption point closest to the initial position among the multiple preset adsorption points of the displayed chassis model to be used.

[0047] In some embodiments, the apparatus further includes:

[0048] The first dragging module is used to display the first non-chassis model in the model display area according to the movement path indicated by the first dragging command for the first non-chassis model before the first non-chassis model is attracted from the initial position when the second installation command is triggered to the position for placing the first non-chassis model in the displayed chassis model to be used, in response to the second installation command for the first non-chassis model currently being dragged in the model display area.

[0049] The first highlighting module is used to display each preset adsorption point in the displayed chassis model when the minimum distance between the displayed first non-chassis model and each preset adsorption point in the displayed chassis model to be used is less than a first threshold, and to highlight the preset adsorption point corresponding to the minimum distance.

[0050] The second response module is specifically used for:

[0051] In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently highlighted preset snapping point for display.

[0052] In some embodiments, the plurality of preset snap points in the displayed chassis model to be used include: the center point and / or vertex of the bounding box of the chassis model; and / or, a non-chassis model is displayed at a preset snap point indicating that: the center point of the bounding box of the non-chassis model is located at the preset snap point.

[0053] In some embodiments, the chassis model to be used shown includes reserved space for placing non-chassis models; the location for placing the first non-chassis model is: a reserved space where the type of the non-chassis model to be placed is the same as that of the first non-chassis model.

[0054] In some embodiments, the apparatus further includes:

[0055] The third response module is used to respond to the first installation command by displaying the reserved space in the chassis model to be used in the model display area;

[0056] The device further includes:

[0057] The second highlighting module is used to display the first non-chassis model in the model display area in response to the second dragging command for the first non-chassis model currently being dragged in the model display area, before the first non-chassis model is snapped from its initial position when the second installation command is triggered to the position for placing the first non-chassis model in the displayed chassis model to be used, in response to the second dragging command for the first non-chassis model, and to highlight the reserved space that is of the same type as the first non-chassis model and is closest to it;

[0058] The second response module is specifically used for:

[0059] In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently protruding reserved space for display.

[0060] In some embodiments, the chassis model shown is constructed through the following steps:

[0061] Obtain the dimensions of the chassis model input by the user, as well as the types and poses of the non-chassis models to be placed in the chassis model relative to the chassis model; based on the obtained types and poses of the non-chassis models relative to the chassis model, determine the reserved spaces in the chassis model and the types of non-chassis models to be placed in each reserved space, and obtain the displayed chassis model to be used.

[0062] In some embodiments, the apparatus further includes:

[0063] The fourth response module is used to display a non-chassis model setting window in response to a first selection command for any non-chassis model identifier in the model display area of ​​the building interface after the chassis model identifier is displayed in the model display area of ​​the building interface.

[0064] The pose acquisition module is used to acquire the installation pose input by the user in the non-chassis model settings window;

[0065] The display module is used to display the second non-chassis model represented by the non-chassis model identifier in the model display area according to the obtained installation posture.

[0066] In some embodiments, the apparatus further includes:

[0067] The associated model acquisition module is used to acquire the associated model of the second non-chassis model indicated by the user in the non-chassis model setting window before displaying the second non-chassis model represented by the non-chassis model identifier in the model display area according to the acquired installation pose; wherein, the installation pose represents the pose of the second non-chassis model relative to the associated model; the associated model is: a chassis model or non-chassis model currently displayed in the model display area;

[0068] The display module is specifically used for:

[0069] The second non-chassis model is displayed in the associated model displayed in the model display area according to the pose of the second non-chassis model relative to the associated model.

[0070] In some embodiments, the apparatus further includes:

[0071] The fifth response module is used to respond to a second selection instruction for any model in the model display area and determine the model indicated by the second selection instruction in the model display area as selected.

[0072] And / or, the building interface further includes a model list area; the model list area displays the model identifier of the model currently displayed in the model display area; the device further includes a sixth response module, used to respond to a third selection instruction for any model identifier in the model list area, and determine the model indicated by the third selection instruction in the model display area as selected.

[0073] In some embodiments, the apparatus further includes:

[0074] The model coordinate system display module is used to display the model coordinate system of the selected model. The model coordinate system of a model takes the center point of the model's bounding box as the origin, and the direction of each coordinate axis is consistent with the direction of the length, width and height of the model's bounding box, respectively.

[0075] The pose adjustment module is used to respond to a movement command triggered at any coordinate axis of the model coordinate system, and move the selected model according to the direction and distance indicated by the movement command; and / or, respond to a rotation command triggered at any coordinate axis of the model coordinate system, and rotate the selected model according to the direction and angle indicated by the rotation command.

[0076] A third aspect of this application provides an electronic device, including:

[0077] Memory, used to store computer programs;

[0078] When the processor executes the program stored in the memory, it implements the robot three-dimensional model building method described in any of the first aspects above.

[0079] In another aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the robot three-dimensional vehicle model building method described in any of the first aspects above.

[0080] In another aspect of the embodiments of this application, a computer program product containing instructions is provided, which, when run on a computer, causes the computer to execute the robot three-dimensional vehicle model building method described in any of the first aspects above.

[0081] Beneficial effects of the embodiments in this application:

[0082] Based on the robot 3D vehicle model building method provided in this application, a first installation command is used to instruct the chassis model used to build a 3D vehicle model. That is, the designer (i.e., the user) can trigger a first installation command for any chassis model identifier in the model selection area of ​​the building interface. In response to the first installation command, the chassis model to be used, represented by that chassis model identifier, can be displayed in the model display area of ​​the building interface. Furthermore, the designer can add non-chassis models based on the displayed chassis model to be used to construct the final 3D vehicle model. That is, the designer can drag the desired non-chassis model (i.e., the first non-chassis model) in the model display area of ​​the building interface and trigger a second installation command for the first non-chassis model. In response to the second installation command, the electronic device can automatically change the display position of the first non-chassis model; that is, it will snap to the initial position of the first non-chassis model when the second installation command is triggered and display it at the position used to place the first non-chassis model in the displayed chassis model to be used.

[0083] Compared to the manual dragging and dropping of each model to build a 3D vehicle, the robotic 3D vehicle building method provided in this application allows the electronic device to automatically determine the position of the first non-chassis model within the chassis model to be used, and automatically snap to that position for display, thus achieving automatic adjustment of the first non-chassis model's position. This eliminates the need for the user to manually drag the first non-chassis model from the model display area to the designated position within the chassis model. This reduces operational complexity and improves the efficiency of 3D vehicle building.

[0084] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0085] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0086] Figure 1 A schematic diagram of the first process of the robot 3D vehicle model assembly method provided in the embodiments of this application;

[0087] Figure 2 Example diagram of a first process for placing a non-chassis model in a chassis model, provided for embodiments of this application;

[0088] Figure 3 Example diagrams illustrating a second process for placing a non-chassis model within a chassis model, as provided in embodiments of this application;

[0089] Figure 4 An example diagram of a chassis model creation window provided in this application embodiment;

[0090] Figure 5 This is a schematic diagram illustrating the feedback effect of selecting any model identifier displayed in the model selection area, as provided in an embodiment of this application.

[0091] Figure 6 An example diagram of a non-chassis model settings window provided in an embodiment of this application;

[0092] Figure 7 An example diagram showing a constructed 3D vehicle model displayed in a model display area, as provided in this application embodiment;

[0093] Figure 8 An example diagram of a model in a selected state provided for an embodiment of this application;

[0094] Figure 9 A schematic diagram illustrating a process for constructing a chassis model, provided as an embodiment of this application;

[0095] Figure 10 This application provides a schematic diagram of a process for constructing a three-dimensional vehicle model.

[0096] Figure 11 A structural diagram of a three-dimensional vehicle model assembly device provided in an embodiment of this application;

[0097] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0098] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0099] In one implementation, when a non-chassis model needs to be placed on the chassis, the designer needs to manually drag the non-chassis model in the interface until it is in the desired position. However, since a single robot involves a large number of models, the designer needs to manually adjust the position of each model to build the robot's vehicle model. This method is complex and inefficient.

[0100] To reduce operational complexity and improve the efficiency of 3D vehicle model assembly, this application provides a robotic 3D vehicle model assembly method. This method can be applied to a 3D vehicle model assembly system (also known as a client). The 3D vehicle model assembly system can be a software system running on electronic devices such as computers, tablets, and mobile phones.

[0101] The robot in this application is a mobile robot. For example, the robot can be an AMR (Autonomous Mobile Robot), which is a mobile robot with environmental perception, autonomous navigation, and intelligent decision-making capabilities.

[0102] A robot can integrate multiple components. These components can include a chassis and other parts (which, for ease of description, can be referred to as non-chassis components). Furthermore, a robot will have one and only one chassis; other components are typically built and installed based on the chassis.

[0103] The chassis is the most fundamental component of a robot and its core mechanical structure. It plays a crucial role in supporting the entire robot, integrating the motion system, and bearing the load; almost all non-chassis components are built upon it. For example, approximately 95% of non-chassis components are typically housed within the chassis.

[0104] Non-chassis components are other components installed in the robot besides the chassis that have specific functions.

[0105] For example, non-chassis components can be further divided into: body, actuator, drive, control, sensing, communication, energy, interaction, and unclassified types.

[0106] Among them, uncategorized components can be: user-created components that do not belong to any of the above categories. That is, uncategorized components can be understood as components belonging to a user-defined independent type.

[0107] For example, components belonging to the actuation type include: lifting components, rotating components, translating components, telescopic components, clamping components, and stop components. Components belonging to the control type include control panels. Components belonging to the sensing type include laser sensors and barcode readers. Components belonging to the communication type include wireless communication modules. Components belonging to the energy type include batteries. Components belonging to the interaction type include displays, buttons, and warning lights.

[0108] In real-world scenarios, the classification of non-chassis components, and the classification of each non-chassis component, are not limited to the examples described above.

[0109] In this application, the model representing a component is a three-dimensional model obtained through simulation modeling based on the physical shape and structure of the component. Accordingly, the models in this application can be divided into: chassis models representing chassis components, and non-chassis models representing non-chassis components.

[0110] In robot development scenarios, researchers (i.e., the designers mentioned above) need to pre-design the spatial positions of each model within the robot to obtain a 3D model of the robot. Subsequently, researchers can install the components represented by each model within the 3D model of the robot according to the spatial positions of the models, thereby assembling the actual robot.

[0111] See Figure 1 , Figure 1 This is a first flowchart illustrating a method for building a 3D robot vehicle according to an embodiment of this application. The method includes:

[0112] S101: In response to a first installation command for any chassis model identifier in the model selection area of ​​the building interface, the chassis model to be used represented by the chassis model identifier is displayed in the model display area of ​​the building interface.

[0113] S102: In response to the second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the position in the displayed chassis model to be used for placing the first non-chassis model, thereby obtaining a three-dimensional vehicle model.

[0114] Based on the robot 3D vehicle model building method provided in this application, a first installation command is used to instruct the chassis model used to build a 3D vehicle model. That is, the designer (i.e., the user) can trigger a first installation command for any chassis model identifier in the model selection area of ​​the building interface. In response to the first installation command, the chassis model to be used, represented by that chassis model identifier, can be displayed in the model display area of ​​the building interface. Furthermore, the designer can add non-chassis models based on the displayed chassis model to be used to construct the final 3D vehicle model. That is, the designer can drag the desired non-chassis model (i.e., the first non-chassis model) in the model display area of ​​the building interface and trigger a second installation command for the first non-chassis model. In response to the second installation command, the electronic device can automatically change the display position of the first non-chassis model; that is, it will snap to the initial position of the first non-chassis model when the second installation command is triggered and display it at the position used to place the first non-chassis model in the displayed chassis model to be used.

[0115] Compared to the manual dragging and dropping of each model to build a 3D vehicle, the robotic 3D vehicle building method provided in this application allows the electronic device to automatically determine the position of the first non-chassis model within the chassis model to be used, and automatically snap to that position for display, thus achieving automatic adjustment of the first non-chassis model's position. This eliminates the need for the user to manually drag the first non-chassis model from the model display area to the designated position within the chassis model. This reduces operational complexity and improves the efficiency of 3D vehicle building.

[0116] For step S101, the interface is: the interface displayed in the 3D vehicle model building system (hereinafter referred to as the system) used to build 3D vehicle models.

[0117] The interface includes a model selection area and a model display area.

[0118] All models provided by the system (which can be called candidate models) are recorded in the model library. This means that the model selection area displays the model identifiers of the candidate models provided by the system. These models include chassis models and non-chassis models. The identifier for chassis models can be called a chassis model identifier, and the identifier for non-chassis models can be called a non-chassis model identifier. These model identifiers are used to distinguish between different models.

[0119] The model display area shows the currently installed models. For example, the model display area presents the installed models in a 3D view. Users can rotate the installed models in the model display area to view them from different perspectives.

[0120] The system can record the attribute information of each candidate model. For example, the attribute information of a model may include: the model's dimensions, name, and model number. The dimensions of a model are the length, width, and height of its bounding box. The bounding box of a model is its smallest bounding cuboid.

[0121] In one implementation, a model identifier is used to uniquely represent the model. For example, it can be the name of the model, or it can be the model number.

[0122] In the model display area, for a candidate model, components representing that candidate model can be displayed. For example, the components of a model may include: the model identifier and a preset icon.

[0123] In the application scenario of building 3D vehicle models using robots, since a robot has only one chassis, meaning a 3D vehicle model has only one chassis model, and most non-chassis models are built and installed based on the chassis model, the selection and installation of the chassis model must be completed first during the process of building a 3D vehicle model.

[0124] In one implementation, the first model to be installed during the construction of a 3D vehicle model is the chassis model. That is, if no installed model is currently displayed in the model display area, the designer needs to trigger the first installation command for any chassis model identifier to complete the selection and installation of the chassis model.

[0125] In this embodiment, when a model is added for the first time (i.e., no installed model is currently displayed in the model display area), the model selection area of ​​the building interface can highlight the chassis model identifiers (e.g., display the chassis model identifiers in a highlighted manner), indicating that the chassis models represented by the current chassis model identifiers are selectable. At this time, the identifiers of non-chassis models other than chassis models in the model selection area can be grayed out, indicating that the non-chassis models represented by the current non-chassis model identifiers are not selectable.

[0126] Subsequently, after the chassis model is installed, that is, after the installed chassis model is displayed in the model display area, the chassis model identifiers displayed in the model selection area can be de-highlighted and grayed out. In addition, the model selection area can highlight the non-chassis model identifiers (for example, display the non-chassis model identifiers in a highlighted manner), indicating that the non-chassis model represented by the current non-chassis model identifier is selectable.

[0127] Based on the above processing, the system can guide designers to select the available models for each stage of building a 3D vehicle through visualization effects. Specifically, when adding a model for the first time, only the chassis model is highlighted, directly prompting designers to prioritize the chassis model and complete the installation of the most basic part of the 3D vehicle. After the chassis installation is complete, the system automatically switches to highlighting non-chassis model icons. This reduces the user's decision-making cost and improves overall building efficiency and operational accuracy.

[0128] Accordingly, designers can trigger a first installation command for any chassis model identifier in the model selection area. Then, in response to the first installation command, the system determines the chassis model identifier indicated by the triggered first installation command and displays the chassis model to be used represented by that chassis model identifier in the model display area of ​​the building interface.

[0129] In one implementation, the designer can trigger a first installation command for any chassis model identifier by means of a specified interactive operation at any chassis model identifier.

[0130] The specified interactive operation can be a single click or double click. For example, designers can trigger the specified interactive operation by clicking the cursor or touching the screen with their finger. The following text will only use the cursor click operation as an example; other operation methods can be referred to accordingly.

[0131] For example, a designer can click on any chassis model identifier in the model selection area to trigger a first installation command for that chassis model identifier. Accordingly, the system can determine the triggering of the first installation command upon detecting this click operation, and further determine the chassis model identifier indicated by the first installation command.

[0132] During the process of triggering the first installation command for any chassis model identifier by clicking the cursor, the system can provide real-time feedback to the user's operation to improve the accuracy of the operation. In other words, the system can provide visual feedback when it detects that the cursor has moved to any chassis model identifier displayed in the model selection area.

[0133] For example, when the system detects that the cursor has moved to any chassis model identifier displayed in the model selection area, it can display a semi-transparent graphic frame above the chassis model identifier, and display the word "Install" within the graphic frame. Accordingly, the user can click on the graphic frame to trigger the first installation command for that chassis model identifier.

[0134] In one implementation, the setup page can display an "Open" button for accessing the model management function page. Designers can click this button to open the model management function page and manage chassis and non-chassis models. For example, the model management function page can display a "Delete" button for any model. Designers can click this button to delete the model, thus removing its identifier from the model selection area of ​​the setup interface. The model management function page can also display an "Add" button for adding new models and an "Edit" button for editing models, allowing designers to add and edit models accordingly.

[0135] A three-dimensional coordinate system is preset within the model display area. In the preset three-dimensional coordinate system, the X-axis, Y-axis, and Z-axis are perpendicular to each other. The Z-axis can represent the direction perpendicular to the ground. The XOY plane is parallel to the ground, and O represents the origin of the coordinate system.

[0136] In one implementation, in response to a first installation command, the system can display a chassis model settings window for obtaining the pose of the chassis model to be used. Accordingly, the designer can input the pose of the chassis model to be used in the chassis model settings window.

[0137] The pose of a chassis model input by the designer includes: the position of the chassis model displayed in the model display area, and the orientation of the chassis model.

[0138] The position of the chassis model is indicated by the three-dimensional coordinates of the origin of the model's coordinate system in the preset three-dimensional coordinate system, which can be denoted as (X, Y, Z), with the unit being millimeters (mm).

[0139] In this model coordinate system, the origin is the center point of the bounding box of the model, and the directions of each coordinate axis are consistent with the length, width, and height directions of the bounding box, respectively. For example, the X' axis of the model coordinate system is consistent with the length direction of the bounding box, the Y' axis is consistent with the width direction of the bounding box, and the Z' axis is consistent with the height direction of the bounding box.

[0140] The attitude of the chassis model is represented by: yaw angle, roll angle, and pitch angle, in degrees (°). When the yaw angle, roll angle, and pitch angle are all 0, the X-axis of the preset 3D coordinate system is aligned with the X' axis of the model coordinate system, the Y-axis of the preset 3D coordinate system is aligned with the Y' axis of the model coordinate system, and the Z-axis of the preset 3D coordinate system is aligned with the Z' axis of the model coordinate system.

[0141] Yaw angle represents the steering attitude of the chassis model in the horizontal plane (preset 3D coordinate system XOY plane). Roll angle represents the roll attitude of the chassis model in the longitudinal vertical plane (preset 3D coordinate system YOZ plane). Pitch angle represents the pitch attitude of the chassis model in the lateral vertical plane (preset coordinate system XOZ plane).

[0142] Correspondingly, the system can obtain the pose of the chassis model to be used, which is entered by the designer in the chassis model setting window, and display the chassis model to be used in the preset three-dimensional coordinate system according to the obtained pose.

[0143] In another implementation, the chassis model to be used is displayed by default at the origin of a preset three-dimensional coordinate system, and the directions of each coordinate axis of the chassis model to be used are consistent with the directions of the corresponding coordinate axes of the preset three-dimensional coordinate system. That is, in response to the first installation command, the coordinates of the center point of the chassis model to be used displayed in the model display area are (0,0,0), and the yaw, roll, and pitch angles are all 0.

[0144] Based on the above processing, designers can flexibly choose the pose configuration of the chassis model according to the actual needs of the R&D scenario. For conventional scenarios, the system can directly use the default settings, that is, the coordinates of the center point of the chassis model to be used displayed in the model display area are (0,0,0), and the yaw, roll, and pitch angles are all set to 0, which can quickly complete the installation of the chassis model and improve the efficiency of building 3D vehicle models.

[0145] For complex scenarios, such as simulating the construction of a 3D vehicle model from a special angle (e.g., the angle of an inverted chassis model), designers can input the precise pose of the chassis model through the chassis model settings window to personalize the pose of the chassis model displayed in the model display area.

[0146] Regarding step S102, after displaying the chassis model to be used in the model display area, non-chassis models can be selected and installed based on the displayed chassis model to obtain the final three-dimensional vehicle model.

[0147] It is understandable that the first non-chassis model can be any non-chassis model among the alternative models. If only one non-chassis model needs to be installed in the 3D vehicle model, the designer only needs to trigger the installation command once. Accordingly, step S102 only needs to be executed once to obtain the final 3D vehicle model.

[0148] In real-world scenarios, multiple non-chassis models are typically required to be installed in a 3D vehicle model. Therefore, designers can trigger installation commands for each required non-chassis model according to actual needs. Consequently, step S102 can be executed multiple times to obtain a complete 3D vehicle model (i.e., the final 3D vehicle model).

[0149] In one implementation, a designer can trigger a non-chassis model selection command for any non-chassis model identifier in the model selection area. The system then responds to the non-chassis model selection command and determines the non-chassis model identifier indicated by the triggered command. Subsequently, when the designer moves their position to the model display area, the non-chassis model represented by that non-chassis model identifier (i.e., the first non-chassis model) can be displayed in the model display area.

[0150] In this application, the position of any model in the model display area can be represented by the coordinates of the model's center point in a preset three-dimensional coordinate system. The center point of a model is represented as the center point of the model's bounding box.

[0151] Furthermore, designers can drag the first non-chassis model displayed in the model display area. During the dragging process, when the current user confirms that the conditions for attaching the first non-chassis model to the display are met, a second installation command for the first non-chassis model is triggered. Accordingly, in response to the second installation command, the system attaches the first non-chassis model from its initial position when the second installation command was triggered to the position designated for placing the first non-chassis model within the displayed chassis model to be used.

[0152] For example, the position for placing the first non-chassis model in the chassis model to be utilized is determined based on the distance between the first non-chassis model and each preset adsorption point in the displayed chassis model to be utilized. For instance, as the user drags the first non-chassis model, the system can provide real-time feedback based on the distance between the first non-chassis model and each preset adsorption point in the displayed chassis model to be utilized. Accordingly, the user can determine whether the adsorption display conditions for the first non-chassis model are met based on the system's real-time feedback. The specific implementation method will be described in detail in subsequent embodiments.

[0153] For example, the location for placing the first non-chassis model in the chassis model to be utilized is determined based on the type of the first non-chassis model and the types of non-chassis models required to be placed in each reserved space of the displayed chassis model to be utilized. For instance, while the user is dragging the first non-chassis model, the system can provide real-time feedback on the type of the first non-chassis model and the types of non-chassis models required to be placed in each reserved space of the displayed chassis model to be utilized. Accordingly, the user can determine whether the conditions for the first non-chassis model to be displayed are met based on the system's real-time feedback. The specific implementation method will be described in detail in subsequent embodiments.

[0154] The specific process of adsorption display will be described in subsequent embodiments.

[0155] For example, a designer can move the cursor to any non-chassis model identifier in the model selection area and perform a press operation (such as pressing the left mouse button). The system can determine the triggering of the non-chassis model selection command upon detecting this press operation and identify the non-chassis model identifier indicated by the command. At this time, a preset icon can be displayed to the right of the cursor, indicating that a non-chassis model has been selected. Subsequently, the designer can keep the cursor pressed and move it to the model display area. When the cursor enters the model display area, the non-chassis model indicated by the non-chassis model identifier (i.e., the first non-chassis model) will be displayed at the cursor's location. Then, while keeping the cursor pressed, the designer can move the cursor within the model display area, and the displayed first non-chassis model will follow the cursor's movement, enabling dragging of the first non-chassis model.

[0156] Subsequently, when the position of the first non-chassis model meets the conditions for attachment and display, the designer can perform a release operation (such as releasing with the left mouse button). Upon detecting this release operation, the system can determine that the second installation command has been triggered, and attach the first non-chassis model from its initial position when the second installation command was triggered to the position designated for placing the first non-chassis model within the displayed chassis model. That is, after the release operation is performed, the first non-chassis model displayed at its initial position jumps (or moves) to the position designated for placing the first non-chassis model, and at this time, the first non-chassis model is no longer displayed at its initial position.

[0157] The robot 3D vehicle model assembly method provided in this application, for a non-chassis model, allows the system to determine the position within the displayed chassis model for placing the non-chassis model using one of two adsorption position determination logics. Then, the non-chassis model is placed within the displayed chassis model.

[0158] The following section will first explain in detail the logic for determining the first adsorption location:

[0159] During the process of placing the first non-chassis model in the displayed chassis model to be utilized, the condition for using the first adsorption position determination logic is: the displayed chassis model to be utilized contains at least one preset adsorption point. Furthermore, any type of non-chassis model is allowed to be placed at each preset adsorption point.

[0160] In some embodiments, the position for placing the first non-chassis model in the displayed chassis model to be used is: the adsorption point closest to the initial position among the multiple preset adsorption points of the displayed chassis model to be used.

[0161] In this embodiment of the application, the chassis model to be used shows multiple preset adsorption points.

[0162] For any chassis model among the candidate models, the system can pre-record the positions of each preset adsorption point contained in that chassis model.

[0163] The adhesion points within a chassis model can be pre-set by the system developers based on the robot's actual development needs. For example, common mounting positions of different non-chassis models within the chassis model can be set as preset adhesion points. For instance, a certain type of non-chassis model might typically be positioned at any corner of the bottom of the chassis model, or it might be positioned at the center point of the chassis model. Accordingly, the system developers can set an adhesion point at each of these locations on the chassis model.

[0164] In one implementation, the multiple preset snap points in the displayed chassis model to be used include: the center point and / or vertex of the bounding box of the chassis model.

[0165] For example, multiple preset snap points in any chassis model may include: the center point of the bounding box of the chassis model, and 8 vertices.

[0166] In this way, preset snap points on the chassis model can be set based on the geometric features of the chassis model. Using common locations such as the center point and / or vertices of the chassis model's bounding box as preset snap points reduces the cost of setting them. It also ensures the intuitiveness of the preset snap points on the chassis model, allowing designers to quickly predict the positional relationships of each preset snap point on the chassis model, thus reducing operational costs.

[0167] Accordingly, in response to the second installation command, the system can determine the position (i.e., the initial position) of the first non-chassis model in the model display area when the second installation command is triggered. Then, the system can calculate the distance between each preset attachment point of the displayed chassis model to be used and the initial position, determine the attachment point closest to the initial position among multiple preset attachment points (which can be called the nearest attachment point corresponding to the initial position), and attach the first non-chassis model from the initial position to the position of the nearest attachment point corresponding to the initial position for display.

[0168] In one implementation, a non-chassis model is displayed at a preset adsorption point, indicating that the center point of the bounding box of the non-chassis model is located at the preset adsorption point.

[0169] When a non-chassis model is attached to a preset attachment point within a chassis model, the yaw, roll, and pitch angles of the non-chassis model relative to the chassis model are preset fixed values. For example, the yaw, roll, and pitch angles of the non-chassis model relative to the chassis model can all be 0 degrees.

[0170] In other words, the first non-chassis model is moved from its initial position when the second installation command is triggered to the position within the displayed chassis model used to place the first non-chassis model. Specifically, the center point of the first non-chassis model displayed in the model display area is changed from its initial position to the position of the nearest attachment point corresponding to the initial position.

[0171] Thus, when the system automatically adjusts the position of each non-chassis model, a uniform standard is used for adjustment to ensure the stability of the adjustment effect. Moreover, the position adjustment is based on the center point of the model's bounding box, without needing to consider the specific shape and structure of the model. Different models can determine a unique center point through the bounding box, eliminating the need to design separate alignment benchmarks for non-chassis models with different shapes and structures, thus ensuring the universality of the adsorption method.

[0172] Based on the above processing, the system can determine the nearest adsorption point corresponding to the initial position according to the distance between the initial position and each preset adsorption point, thus achieving automatic adsorption of the first non-chassis model. During the process of placing the first non-chassis model within the displayed chassis model to be used, the designer only needs to move the first non-chassis model to a general range, ensuring that the initial position is closest to the desired preset adsorption point relative to other preset adsorption points. Furthermore, the entire process of moving from the initial position to the final adsorption point is completed automatically by the system. This reduces the operational complexity for designers and ensures placement accuracy through automatic positioning, effectively improving the installation efficiency of the non-chassis model.

[0173] In some embodiments, prior to step S102, the method further includes:

[0174] Step 1: Display the first non-chassis model in the model display area according to the movement path indicated by the first drag command for the first non-chassis model.

[0175] Step 2: When the minimum distance between the first non-chassis model and each preset adsorption point in the displayed chassis model to be used is less than the first threshold, each preset adsorption point is displayed in the displayed chassis model to be used, and the preset adsorption point corresponding to the minimum distance is highlighted.

[0176] Step S102 includes:

[0177] In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently highlighted preset snapping point for display.

[0178] In this embodiment, the designer can drag the first non-chassis model displayed in the model display area, that is, trigger a first drag command for the first non-chassis model. Correspondingly, the system can display the first non-chassis model in the model display area according to the movement path indicated by the first drag command. It is understood that during the movement of the first non-chassis model in the model display area, the coordinates of the center point of the first non-chassis model in the preset three-dimensional coordinate system also change.

[0179] During the process of moving the first non-chassis model in the model display area, the system can calculate in real time the distance between the center point of the first non-chassis model and each preset adsorption point in the displayed chassis model to be used, thus obtaining the minimum distance between the displayed first non-chassis model and each preset adsorption point in the displayed chassis model to be used.

[0180] When the minimum distance between the displayed first non-chassis model and each preset adsorption point in the displayed chassis model to be used is less than a first threshold, the system can determine that the designer intends to place the first non-chassis model in the displayed chassis model to be used. At this time, the system can display each preset adsorption point in the displayed chassis model to be used and highlight the preset adsorption point corresponding to the minimum distance. For example, the system can display each preset adsorption point as a light-colored dot, and highlight the preset adsorption point corresponding to the minimum distance as a dark-colored dot (or a highlight).

[0181] When the second installation command is triggered, the currently highlighted preset snap-in point is the nearest snap-in point corresponding to the initial position. Accordingly, in response to the second installation command, the system snaps the first non-chassis model from the initial position when the second installation command was triggered to the currently highlighted preset snap-in point for display.

[0182] It is understandable that if the location of the currently highlighted preset adsorption point is the location where the designer needs to place the first non-chassis model, then the designer can determine that the location of the first non-chassis model at this time meets the adsorption display conditions.

[0183] In other words, although the designer's operating position may not be at the currently highlighted preset adsorption point when the second installation command is triggered, the system can confirm that the currently highlighted preset adsorption point is the position where the designer needs to place the first non-chassis model by judging the distance. Therefore, the designer does not need to manually drag the first non-chassis model to the currently highlighted preset adsorption point, which simplifies the operation.

[0184] Based on the above processing, the system implements visual interactive guidance. When a designer drags a non-chassis model closer to the displayed chassis model to be used, the system automatically displays the preset attachment points of the chassis model and highlights the attachment point where the first non-chassis model is automatically placed when the second installation command is triggered at the current position. This simplifies the designer's decision-making process, allowing them to intuitively perceive the final attachment position after releasing the first non-chassis model. This lowers the operational threshold for designers, avoids misjudging the attachment position leading to repeated adjustments, and improves the efficiency of 3D vehicle model building.

[0185] In some embodiments, after the designer triggers a non-chassis model selection command for any non-chassis model identifier in the model selection area, during the process of moving the operation position (e.g., the cursor position) from the model selection area to the model display area, when the system detects that the operation position has entered the model display interface, it can display each preset adsorption point in the displayed chassis model to be used, and highlight the preset adsorption point corresponding to the minimum distance.

[0186] In this way, the display of the adsorption points is triggered as soon as the operating position enters the model display area, rather than waiting until the non-chassis model gets close to the chassis model. This allows designers to intuitively perceive the position of each adsorption point in advance, as well as the final position of automatic adsorption. This lowers the operational threshold for designers, avoids misjudging the adsorption position and causing repeated adjustments, and improves the efficiency of 3D vehicle model building.

[0187] See Figure 2 , Figure 2 An example diagram illustrating the first process of placing a non-chassis model within a chassis model, as provided in this application embodiment. Figure 2In the first image from the left, it shows that designers can drag the non-chassis model 201 to the vicinity of the chassis model 202 using the cursor. Correspondingly, when the minimum distance between the preset adsorption points in the non-chassis model 201 and the chassis model 202 is less than a first threshold, the preset adsorption points (i.e., the 9 dots in the chassis model 202) are displayed in the chassis model, and the preset adsorption point corresponding to the minimum distance is highlighted (i.e., the white-filled dots in the chassis model 202).

[0188] If the designer needs to place the non-chassis model 201 at the center point of the chassis model 202, in the first image from the left, since the currently highlighted preset snap-in point (i.e., the white-filled dot in the chassis model 202 shown in the first image from the left) is not the position where the designer needs to place the first non-chassis model, the designer can continue to drag the non-chassis model closer to the position of the preset snap-in point where the first non-chassis model is needed, until the currently highlighted preset snap-in point is the preset snap-in point where the first non-chassis model is needed (i.e., the white-filled dot in the chassis model 202 shown in the second image from the left). At this point, it can be determined that the position of the first non-chassis model meets the snap-in display conditions.

[0189] When the position of the first non-chassis model meets the conditions for snapping and displaying, the designer can trigger the second installation command. Accordingly, in response to the second installation command for the currently dragged non-chassis model, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently highlighted preset snapping point for display (as shown in the third figure from the left).

[0190] In real-world scenarios, some non-chassis components (e.g., the aforementioned execution type components) also support the installation of other non-chassis components. Therefore, in this application, for a portion of the alternative non-chassis models (e.g., the non-chassis models of execution type components), the system can pre-record the positions of preset adsorption points contained in the non-chassis model.

[0191] The method for setting preset adsorption points in non-chassis models can be referenced from the method for setting preset adsorption points in chassis models, and will not be repeated here.

[0192] In one implementation, for any non-chassis model among the candidate models, the system can pre-record the model to be placed for that non-chassis model. Then, in response to an installation command for any currently dragged non-chassis model in the model display area, the system can determine whether the model to be placed for that non-chassis model exists among the models displayed in the model display area. If it does, preset attachment points are displayed in the model to be placed for that non-chassis model, and the preset attachment point corresponding to the minimum distance is highlighted.

[0193] In this way, the system can first determine the model that needs to be placed on the non-chassis model, and then display the adsorption points on the model that needs to be placed on the non-chassis model. This ensures that only adsorption points related to the current operation are displayed in the model display area, avoiding interference from invalid information and reducing the identification cost for designers.

[0194] In some embodiments, if the first non-chassis model needs to be installed within another non-chassis model (which may be referred to as the third non-chassis model), the method includes:

[0195] In response to a third installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the third installation command was triggered to the position in the displayed third non-chassis model used to place the first non-chassis model, thus obtaining a three-dimensional vehicle model.

[0196] The process of attaching the first non-chassis model from its initial position to the position where the first non-chassis model is placed in the displayed third non-chassis model can be referred to the relevant description of step S102 in the above embodiment, and will not be repeated here.

[0197] The following is a detailed explanation of the logic for determining the second adsorption location:

[0198] During the process of placing the first non-chassis model in the displayed chassis model to be utilized, the condition for using the second adsorption position determination logic is: the displayed chassis model to be utilized contains reserved space. Specifically, for each reserved space contained in the displayed chassis model to be utilized, the type of non-chassis model to be placed in that reserved space is pre-set during the construction of the chassis model.

[0199] Understandably, the chassis models among the candidate models can be divided into two categories. The first category of chassis models does not include reserved space. If the installed chassis model is a first-category model, the adsorption process for non-chassis models will be executed according to the first adsorption position determination logic described above. Conversely, the second category of chassis models includes reserved space. If the installed chassis model is a second-category model, the adsorption process for non-chassis models will be executed according to the second adsorption position determination logic.

[0200] In some embodiments, the chassis model to be used shown includes reserved space for placing non-chassis models; the location for placing the first non-chassis model is: a reserved space where the type of the non-chassis model to be placed is the same as that of the first non-chassis model.

[0201] In this embodiment, the chassis model to be utilized shown is the second type of chassis model described above. The chassis model to be utilized shown includes at least one reserved space. The size and location of the reserved space are determined based on the non-chassis model to be placed in the reserved space.

[0202] For each type of second-class chassis model, the system records: the type of non-chassis model to be placed in each reserved space contained in the chassis model, and the pose of the non-chassis model to be placed relative to the chassis model. It is understood that since the size of non-chassis models of the same type is fixed, once the pose of a non-chassis model of that type relative to the chassis model is determined, the space occupied by the bounding box of that type of non-chassis model within the chassis model (i.e., the reserved space) is also determined.

[0203] Correspondingly, the reserved space included in the displayed chassis model to be used can be one or more, wherein the position for placing the first non-chassis model is: the reserved space in the displayed chassis model to be used that is of the same type as the first non-chassis model (which can be called the reserved space matching the first non-chassis model).

[0204] Based on the above processing, during the process of placing the first non-chassis model in the displayed chassis model to be used, if the type of non-chassis model required to be placed in the reserved space contained in the chassis model to be used matches the first non-chassis model, the first non-chassis model is automatically placed in the corresponding reserved space, without the need for designers to manually adjust the position of the first non-chassis model, thus improving the efficiency of 3D vehicle model building.

[0205] In some embodiments, the method further includes:

[0206] Step a: In response to the first installation command, display the reserved space in the chassis model to be used in the model display area.

[0207] Before step S102, the method further includes:

[0208] Step b: In response to the second drag command for the first non-chassis model, display the first non-chassis model in the model display area, and highlight the reserved space that is of the same type as the first non-chassis model and is closest to it.

[0209] Step S102 includes:

[0210] In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently highlighted reserved space for display.

[0211] In this embodiment of the application, when the chassis model (i.e. the chassis model to be used) indicated by the first installation command contains reserved space, in response to the first installation command, the system can display the reserved space in the chassis model to be used in the model display area at the same time.

[0212] Designers can drag the first non-chassis model displayed in the model display area, that is, trigger a second drag command for the first non-chassis model.

[0213] It is understandable that, among the reserved spaces contained in the chassis model to be used, if there is only one reserved space where the type of non-chassis model to be placed is the same as that of the first non-chassis model, then, since this reserved space is the only reserved space that matches the first non-chassis model, the corresponding reserved space that matches the type of the non-chassis model to be installed must also be the reserved space that is closest to the first non-chassis model.

[0214] In other words, when the second installation command is triggered, regardless of the specific location (initial position) of the first non-chassis model in the model display area, the first non-chassis model will ultimately be placed in the uniquely matched reserved space. Correspondingly, the first non-chassis model displayed in the model display area does not need to move with the second drag command.

[0215] For example, when the user moves from the model selection area to the model display area, the system can determine that the user's operation is targeting the first non-chassis model. Accordingly, the system can display the first non-chassis model at the user's current location. Since only one of the reserved spaces within the chassis models to be used requires a non-chassis model of the same type as the first non-chassis model, the first non-chassis model will ultimately be placed in that uniquely matching reserved space. Therefore, even if the user's location changes, the system can maintain the displayed position of the first non-chassis model until a second installation command for the first non-chassis model is triggered.

[0216] Alternatively, the system can display the first non-chassis model based on the user's current location until a second installation command for the first non-chassis model is triggered. However, regardless of the exact location (initial position) of the first non-chassis model in the model display area when the second installation command is triggered, the first non-chassis model will ultimately be placed in the uniquely matched reserved space.

[0217] When there are multiple reserved spaces matching the first non-chassis model within the reserved spaces of the chassis model to be utilized, the position of the first non-chassis model in the model display area may change, and the reserved space closest to the first non-chassis model among the multiple reserved spaces matching the first non-chassis model may also change. In this case, the first non-chassis model displayed in the model display area needs to move following the second drag command. Correspondingly, the system can calculate in real time the distance between the multiple reserved spaces matching the first non-chassis model and the displayed first non-chassis model, thus determining the reserved space currently closest to the first non-chassis model among the multiple reserved spaces matching the first non-chassis model, and highlighting this reserved space (which can be called the most recently matched reserved space). For example, the system can display the boundaries of each preset space with dashed lines, and highlight the most recently matched reserved space by displaying its boundaries with solid lines (or highlighting it).

[0218] The distance between a reserved space and the first non-chassis model displayed can be expressed as: the distance between the center point of the reserved space and the center point of the first non-chassis model displayed in the preset three-dimensional coordinate system within the model display area.

[0219] Understandably, if the currently prominent reserved space is the location where the designer needs to place the first non-chassis model, then the designer can determine that the location of the first non-chassis model at this time meets the adsorption display conditions.

[0220] Based on the above processing, when there is only one reserved space matching the first non-chassis model, the system can automatically determine that reserved space as the location for placing the first non-chassis model. In this case, the first non-chassis model does not need to be dragged to determine its final placement position, thus simplifying the user's operation steps. When there are multiple reserved spaces matching the first non-chassis model, the system can dynamically highlight the nearest and type-matching space by calculating the distance between the first non-chassis model and each matching space in real time. Through special visual effects, it guides the designer to determine the timing of triggering the second installation command, allowing the designer to intuitively perceive the final position automatically attached after releasing the first non-chassis model. This reduces the operational threshold for designers, avoids misjudging the attachment position and causing repeated adjustments, and improves the efficiency of 3D vehicle model building.

[0221] See Figure 3 , Figure 3 An example diagram illustrating a second process for placing a non-chassis model within a chassis model, as provided in an embodiment of this application. Figure 3As shown in the first figure from the left, in response to the first installation command, the model display area can display each reserved space (i.e., reserved space 302 and reserved space 303) in the chassis model 301. In other words, the model display area displays the reserved spaces in the chassis model at the same time as displaying the chassis model.

[0222] As shown in the second figure from the left, by dragging the first non-chassis model 304 in the model display area, the system can highlight the reserved space (i.e., reserved space 303) that is the closest to the non-chassis model to be installed and has the same type as the first non-chassis model. Figure 3 In the middle, the reserved space 303 is the only reserved space that matches the first non-chassis model 304.

[0223] As shown in the third figure from the left, in response to the second installation command for the first non-chassis model 304 currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently protruding reserved space (i.e., reserved space 303) for display.

[0224] Understandably, the types of chassis models provided by the system (i.e., alternative models) are limited. If the chassis model required by the designer is not found in the alternative models, the designer can construct a chassis model through the following steps, and add preset space to the constructed chassis model for placing non-chassis models.

[0225] In some embodiments, the chassis model shown is constructed through the following steps:

[0226] Step 1: Obtain the dimensions of the chassis model input by the user, as well as the types and poses of the non-chassis models to be placed in the chassis model relative to the chassis model.

[0227] Step 2: Based on the type of the non-chassis model and its pose relative to the chassis model, determine the reserved space in the chassis model and the type of non-chassis model to be placed in each reserved space, thus obtaining the displayed chassis model to be used.

[0228] In this embodiment of the application, the designer (i.e. the user) can build the required chassis model (i.e. the second type of chassis model) in a customized manner according to the actual needs of the research and development scenario.

[0229] In one implementation, the system can display a window (which may be called the chassis model creation window) for obtaining the information needed to create a new chassis model. Accordingly, designers can enter the dimensions of the chassis model to be built, as well as the types and poses of the non-chassis models to be placed in the chassis model relative to the chassis model within the chassis model creation window.

[0230] The pose of a non-chassis model placed within the chassis model relative to the chassis model includes: the position and attitude of the non-chassis model relative to the chassis model. The position of the non-chassis model relative to the chassis model can be expressed as: the coordinates of the center point of the non-chassis model in the model coordinate system of the chassis model. The attitude of the non-chassis model relative to the chassis model can be expressed as: the angular differences between each coordinate axis of the non-chassis model's model coordinate system and the corresponding coordinate axes in the chassis model's model coordinate system (i.e., the yaw angle, roll angle, and pitch angle of the non-chassis model relative to the chassis model).

[0231] In addition, designers can enter other relevant information about the chassis model to be built in the chassis model creation window. For example, other relevant information may include: the name of the chassis model, the description of the chassis model, the type of the chassis model, the subtype of the chassis model, version information, etc.

[0232] See Figure 4 , Figure 4 This is an example diagram of a chassis model creation window provided in an embodiment of this application.

[0233] Figure 4 In the process of building a chassis model, designers can enter the following information in the chassis model creation window: the name of the chassis model, the description of the chassis model, the dimensions of the chassis model (i.e., length, width, and height), the type of each non-chassis model to be placed in the chassis model, and the pose of each non-chassis model relative to the chassis model. The figure only shows the information required for one preset space. Specifically, in the text box for Non-Chassis Model 1, the model identifier of the non-chassis model to be placed in the preset space is entered, and in the text box for Relative Pose 1, the relative pose of the non-chassis model to be placed in the preset space and the chassis model is entered. Designers can continue to enter more preset space information (e.g., Non-Chassis Model 2) by sliding up and down in the chassis model creation window; these are not shown individually here.

[0234] Accordingly, the system can determine the reserved space in the chassis model and the type of non-chassis model to be placed in each reserved space based on the type of the non-chassis model and its pose relative to the chassis model, thus obtaining a newly constructed chassis model to be utilized.

[0235] Based on the above processing, in actual 3D vehicle model construction scenarios, the poses of some non-chassis models relative to the chassis model are often universal. Therefore, designers can input the chassis model to be constructed and the relevant information of each preset space in the chassis model according to actual needs to build a universal chassis model. In this way, the system supports subsequent adjustments based on the chassis model, thereby reducing the repetitive workload of designers, improving the efficiency of 3D vehicle model construction, and ensuring that the constructed chassis model meets the requirements of 3D vehicle model construction in actual scenarios.

[0236] In addition to the first and second adsorption position determination logics mentioned above, this application also provides a method for accurately placing a non-chassis model, which will be described in detail below:

[0237] In some embodiments, after step S101, the method further includes:

[0238] Step S103: In response to the first selection command for any non-chassis model identifier in the model selection area, display the non-chassis model settings window.

[0239] Step S104: Obtain the installation position input by the user in the non-chassis model settings window.

[0240] Step S105: According to the obtained installation pose, display the second non-chassis model represented by the non-chassis model identifier in the model display area.

[0241] In this embodiment of the application, the designer can trigger a first selection instruction for any non-chassis model identifier through a specified interactive operation at any non-chassis model identifier.

[0242] For example, a designer can click on any non-chassis model identifier in the model selection area to trigger a first selection instruction for that non-chassis model identifier. Accordingly, the system can determine the triggering of the first selection instruction when it detects the click operation, and then determine the non-chassis model identifier indicated by the first selection instruction, thus determining the non-chassis model represented by that non-chassis model identifier (i.e., the second non-chassis model).

[0243] In one implementation, the system can provide visual feedback when it detects that the cursor has moved to any non-chassis model identifier displayed in the model selection area.

[0244] For example, when the system detects that the cursor has moved to any non-chassis model identifier displayed in the model selection area, it can display a semi-transparent graphic frame above the non-chassis model identifier, and display the word "Install" within the graphic frame. Accordingly, the user can click on the graphic frame to trigger the first selection command for that non-chassis model identifier.

[0245] See Figure 5 , Figure 5 This is a schematic diagram illustrating the feedback effect of displaying any model identifier in the model selection area provided in an embodiment of this application. Figure 5 When the cursor moves to the non-chassis model identifier, the system displays a semi-transparent graphic frame above the identifier, showing the word "Install" within it. The user can then click this graphic frame to trigger the first selection command for that non-chassis model identifier. Here, 5G-TE310 indicates the model number of the non-chassis model.

[0246] In response to the first selection command, the system can display a non-chassis model settings window for obtaining the pose of the second non-chassis model. Accordingly, the designer can enter the installation pose of the second non-chassis model in the chassis model settings window.

[0247] The installation pose of a non-chassis model input by the designer includes the position and orientation of the non-chassis model in the preset three-dimensional coordinate system.

[0248] Wherein, position is represented as the coordinate value of the center point of the non-chassis model in the preset three-dimensional coordinate system. Attitude is represented as the angle difference between each coordinate axis of the model coordinate system of the non-chassis model and the corresponding coordinate axis in the preset three-dimensional coordinate system.

[0249] See Figure 6 , Figure 6 This is an example diagram of a non-chassis model setting window provided in an embodiment of this application. Designers can input the pose of a second non-chassis model in the non-chassis model setting window. That is, the position of the center point of the second non-chassis model in a preset three-dimensional coordinate system (X coordinate, Y coordinate, and Z coordinate), in mm (millimeters). The attitude (roll angle, yaw angle, and pitch angle) of the non-chassis model relative to the preset three-dimensional coordinate system, in degrees (°). In addition, designers can also input the name of the second non-chassis model (…). Figure 6 (Taking MainContriller as an example). Data marked with an asterisk (*) is required.

[0250] Correspondingly, the system can display the second non-chassis model represented by the non-chassis model identifier in the model display area according to the obtained installation posture.

[0251] Based on the above processing, designers can set the precise pose of the non-chassis model displayed in the model display area by inputting the installation pose. Compared with the adsorption method, this improves the accuracy and precision of the installation pose of the non-chassis model, meeting the personalized needs of designers.

[0252] In some embodiments, prior to step S105, the method further includes:

[0253] Retrieve the associated model of the second non-chassis model indicated by the user in the non-chassis model settings window.

[0254] Here, the installation pose represents the pose of the second non-chassis model relative to the associated model. The associated model is either a chassis model or a non-chassis model currently displayed in the model display area.

[0255] Step S105 includes:

[0256] Based on the pose of the second non-chassis model relative to the associated model, the second non-chassis model is displayed in the associated model displayed in the model display area.

[0257] In this embodiment, the designer can set the associated model of the second non-chassis model in the non-chassis model settings window. The associated model of a non-chassis model represents the model to be placed on that non-chassis model.

[0258] Accordingly, in the non-chassis model settings window, the designer enters the pose of the second non-chassis model relative to the associated model. The system can then display the second non-chassis model in the associated model displayed in the model display area according to the pose of the second non-chassis model relative to the associated model.

[0259] like Figure 6 As shown, designers can also indicate (or select) the dependent mechanism (i.e., associated model) of the second non-chassis model in the non-chassis model settings window. For example, designers can select the associated model of the second non-chassis model from the drop-down box to the right of the dependent mechanism. Figure 6 (Taking the Q3-600LE-DIF as an example).

[0260] Accordingly, the pose input by the designer represents the pose of the second non-chassis model relative to the associated model. That is, the position (X, Y, and Z coordinates) of the center point of the second non-chassis model in the model coordinate system of the associated model, in mm (millimeters). The attitude (roll angle, yaw angle, and pitch angle) of the non-chassis model relative to the model coordinate system of the associated model is also input, in degrees (°).

[0261] Based on the above processing, for non-chassis models, designers can display the non-chassis model among the associated models in the model display area by setting its pose relative to the associated models. It's understandable that in actual robot installation scenarios, technicians often understand the installation relationships between multiple components by observing the poses of components mounted on other components. Therefore, determining the display method of the non-chassis model by setting its pose relative to the associated models aligns better with the designer's cognitive logic. Furthermore, it's not limited to mounting the non-chassis model on the chassis model, further improving the flexibility of non-chassis model installation.

[0262] In some embodiments, any model displayed in the model display area can be selected in any of the following ways.

[0263] Correspondingly, for method 1, the method also includes:

[0264] In response to a second selection command for any model in the model display area, the model indicated by the second selection command in the model display area is selected.

[0265] In this embodiment of the application, the designer can trigger a second selection instruction for any model in the model display area by means of a specified interactive operation at any model displayed in the model display area.

[0266] For example, a designer can click on any model in the model display area with the cursor to trigger a second selection command for that model. Accordingly, the system can determine the triggering of the second selection command upon detecting this click operation and mark the model indicated by the second selection command in the model display area as selected.

[0267] For Method 2: The interface also includes a model list area. The model list area displays the model identifier of the currently displayed model. The method also includes:

[0268] In response to a third selection command for any model identifier in the model list area, the model indicated by the third selection command in the model display area is selected.

[0269] In this embodiment of the application, the model list area in the model building interface displays the model identifier of the currently displayed model. Designers can trigger a third selection command for any model identifier in the model list area through a specified interactive operation at any of the model identifiers displayed in the model list area.

[0270] For example, a designer can click on any model icon displayed in the model list area to trigger a third selection command for that model icon. Correspondingly, the system can determine the triggering of the third selection command upon detecting this click and select the model indicated by the third selection command in the model display area.

[0271] In one implementation, when any model displayed in the model display area is selected, that model can be highlighted.

[0272] For example, when a model is selected, the model display area can show the model's bounding box and the model's coordinate system.

[0273] Additionally, the model's settings can be displayed in the model display area. For example, a model's settings may include: the model's name, the model's description, the model's position in the preset 3D coordinate system, and the model's position in the coordinate system of the associated models.

[0274] Based on the above processing, the system can respond to selection commands (i.e., second or third selection commands) for any currently displayed model, selecting the model requiring further processing. When the number of displayed models is small and their positions are sparse, designers can select the model requiring further processing by clicking on any model in the model display area, ensuring user convenience. When the number of displayed models is large and their positions are compact or overlapping, designers can select the model requiring further processing by clicking on any model icon in the model list area, ensuring user accuracy.

[0275] Subsequently, designers can perform subsequent pose adjustments on the selected model, further improving the operational efficiency and accuracy of the 3D vehicle model building process.

[0276] See Figure 7 , Figure 7 This is an example diagram showing a constructed 3D vehicle model displayed in a model display area, as provided in an embodiment of this application. Figure 7 In the center, the three dashed lines represent the X-axis, Y-axis, and Z-axis of the preset 3D coordinate system, respectively. The chassis model displayed in the model display area contains multiple non-chassis models (not listed here).

[0277] See Figure 8 ,exist Figure 7 On this basis, Figure 8This is an example diagram of a selected model provided in an embodiment of this application. Taking a non-chassis model representing a tray as an example, in response to a selection command for the non-chassis model, the model display area can display the bounding box of the model and the model coordinate system of the model. In addition, the system can also display the model's setting information in the model display area. For example, the setting information of a model may include: the name of the model (i.e., module name: lift-carrier), the description of the model (i.e., module description), the position of the model in a preset three-dimensional coordinate system (i.e., world coordinates: X:0mm Y:0mm Z:295mm), and the position of the model in the coordinate system of the associated model (i.e., relative coordinates: X:0mm Y:0mm Z:80mm). For the currently selected model in the figure, the system has not recorded the description of the model, therefore, the description of the model is empty.

[0278] In some embodiments, the method further includes:

[0279] Step 1: Display the model coordinate system of the selected model.

[0280] In this model, the model coordinate system takes the center point of the bounding box of the model as the origin, and the direction of each coordinate axis is consistent with the direction of the length, width and height of the bounding box of the model, respectively.

[0281] Step 2: In response to a move command triggered at any axis of the model coordinate system, move the selected model in the direction and distance indicated by the move command; and / or, in response to a rotation command triggered at any axis of the model coordinate system, rotate the selected model in the direction and angle indicated by the rotation command.

[0282] In this embodiment, for any selected model, the system can display the model's coordinate system. Accordingly, designers can adjust the model's pose using the displayed coordinate system.

[0283] In response to a move command triggered at any coordinate axis of the model coordinate system, the selected model is moved in the direction and distance indicated by the move command.

[0284] For example, a designer can trigger a movement command by clicking on the positive (or negative) portion of any coordinate axis in the model's coordinate system. The system can then determine the triggering of the movement command upon detecting the click and move the model a preset distance in the positive (or negative) direction of that coordinate axis.

[0285] Alternatively, designers can long-press the cursor on any coordinate axis in the model's coordinate system, either in the positive or negative direction. The system can then determine the distance the model moves based on the duration of the long press.

[0286] In response to a rotation command triggered at any axis of the model coordinate system, the selected model is rotated in the direction and angle indicated by the rotation command.

[0287] For example, for each coordinate axis, the interface can also display buttons for controlling the model's rotation around that coordinate axis (e.g., a clockwise rotation button and a counterclockwise rotation button).

[0288] Designers can click a button with the cursor to control the model's rotation clockwise (or counterclockwise) around the coordinate axis. Correspondingly, the system can detect this click and trigger a rotation command, rotating the model clockwise (or counterclockwise) around the coordinate axis by a preset angle.

[0289] Alternatively, designers can long-press the button used to control the model's rotation clockwise (or counterclockwise) around the coordinate axis. The system can then determine the rotation angle based on the duration of the long press.

[0290] Based on the above processing, designers can select a currently placed model and further adjust its pose using its coordinate system. Designers can adjust the model's pose intuitively (by clicking, long-pressing, etc.) and observe the model's pose after movement or rotation in real time. Compared to deleting and re-adding displayed models, this allows designers to adjust various models within a 3D vehicle more efficiently.

[0291] In one embodiment, for a model that is currently selected, the model's settings options can also be displayed in the model list area; the settings options are used to set the model's mounting pose.

[0292] It is understandable that the parameters in the settings options corresponding to the currently selected model indicate the current pose of the model in the model display area.

[0293] Correspondingly, if the designer needs to adjust the installation pose of the model, they can set a new installation pose through the model's settings options. Then, the system can update and display the model in the model display area according to the new installation pose set by the designer.

[0294] See Figure 9 , Figure 9 This is a schematic diagram illustrating a process for constructing a chassis model, as provided in an embodiment of this application.

[0295] User actions: 1. The user creates a new chassis model.

[0296] Designers can input the dimensions of the chassis model, the types of non-chassis models to be placed in the chassis model, and their poses relative to the chassis model into the system, so that the system can construct the chassis model.

[0297] System processing: 2. The system stores chassis model data.

[0298] The system receives and stores all the data of the chassis model input by the designer. Accordingly, the system can add the newly constructed chassis model in the model selection area.

[0299] User operation: 3. Open the model library and click on the newly created chassis model.

[0300] Users select the newly constructed chassis model from the model library (i.e., the model candidate area).

[0301] System processing: 4. The system obtains the information data of the model and installs it directly at the origin of the view.

[0302] The system can display the chassis model in the model display area based on the stored chassis model data, and the center point of the chassis model is located at the origin in the preset three-dimensional coordinate system.

[0303] User operation: 5. The user long presses and drags other models in the model library.

[0304] Designers can select non-chassis models from the model selection area. By long-pressing and dragging, the selected non-chassis model can be moved towards the model display area.

[0305] System processing: 6. The system determines the associated model data of the selected model and the chassis model.

[0306] In response to a second drag command for the first non-chassis model, the system can determine a preset space in the chassis model that matches the first non-chassis model.

[0307] See Figure 10 , Figure 10 This is a schematic diagram of a process for constructing a three-dimensional vehicle model, provided as an embodiment of this application.

[0308] User operation: 1. Open the model library and select the chassis model.

[0309] That is, designers can click on the model icon of the chassis model to be installed in the model selection area to trigger the first installation command.

[0310] System processing: 2. The system obtains the information data of the model and installs it directly at the origin of the view.

[0311] That is, in response to the first installation command, the system displays the chassis model to be used, as indicated by the chassis model identifier, in the model display area of ​​the setup interface. Furthermore, the center point of the chassis model to be used is located at the origin of the preset three-dimensional coordinate system.

[0312] User operation: 3. The user clicks to install other models in the model library.

[0313] That is, designers can click on the model icon of the non-chassis model to be installed in the model selection area to trigger the first selection command.

[0314] System processing: 4. The system obtains the information data of the model and sends a pop-up window with the parameter information required for the model installation.

[0315] That is, in response to the first selection command for any non-chassis model identifier in the model selection area, the non-chassis model settings window is displayed.

[0316] User operation: 5. The user fills in the name, associated organization, and location information parameters.

[0317] That is, the installation pose, associated model (i.e., associated mechanism), and name parameters entered by the user in the non-chassis model settings window.

[0318] System processing: 6. The system records the model's information.

[0319] That is, according to the obtained installation position, the second non-chassis model represented by the non-chassis model identifier is displayed in the model display area.

[0320] User operation: 7. Users can long press and drag other models in the model library.

[0321] That is, designers can click on the model icon of the non-chassis model (i.e., the first non-chassis model) to be installed in the model selection area and drag it to the model display area.

[0322] System processing: 8. The system records model information and binds the model with mouse position data.

[0323] That is, after the cursor (i.e. the mouse) enters the model display area, the first non-chassis model can be displayed at the cursor position and moved along with the cursor position.

[0324] User operation: 9. The user drags and drops the model to a position near the target model.

[0325] That is, the user drags the first non-chassis model to the vicinity of the model where the first non-chassis model is to be placed (i.e., the target model).

[0326] System processing: 10. The system calculates the location data of the selected model and the target model.

[0327] That is, when the minimum distance between the first non-chassis model and each preset adsorption point in the target model is less than the first threshold, each preset adsorption point is displayed in the target model, and the preset adsorption point corresponding to the minimum distance is highlighted.

[0328] User operation: 11. The user drags the model to the snap point position on the target model.

[0329] That is, the user drags the first non-chassis model onto the target model near the preset adsorption point used to place the first non-chassis model.

[0330] System processing: 12. The system calculates the adsorption point location data on the selected model and the target model.

[0331] That is, in response to the second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently highlighted preset snapping point for display.

[0332] Based on the same inventive concept, embodiments of this application provide a robot 3D vehicle model assembly device. See also Figure 11 , Figure 11 A structural diagram of a robot 3D vehicle model assembly device provided in an embodiment of this application. The device includes:

[0333] The first response module 1101 is used to respond to a first installation command for any chassis model identifier in the model selection area of ​​the building interface, and to display the chassis model to be used represented by the chassis model identifier in the model display area of ​​the building interface.

[0334] The second response module 1102 is used to respond to a second installation command for the first non-chassis model currently being dragged in the model display area, and to snap the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model to be used for placing the first non-chassis model, thereby obtaining a three-dimensional vehicle model.

[0335] In some embodiments, the position for placing the first non-chassis model in the displayed chassis model to be used is: the adsorption point closest to the initial position among the multiple preset adsorption points of the displayed chassis model to be used.

[0336] In some embodiments, the apparatus further includes:

[0337] The first dragging module is used to display the first non-chassis model in the model display area according to the movement path indicated by the first dragging command for the first non-chassis model before the first non-chassis model is attracted from the initial position when the second installation command is triggered to the position for placing the first non-chassis model in the displayed chassis model to be used, in response to the second installation command for the first non-chassis model currently being dragged in the model display area.

[0338] The first highlighting module is used to display each preset adsorption point in the displayed chassis model when the minimum distance between the displayed first non-chassis model and each preset adsorption point in the displayed chassis model to be used is less than a first threshold, and to highlight the preset adsorption point corresponding to the minimum distance.

[0339] The second response module 1102 is specifically used for:

[0340] In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently highlighted preset snapping point for display.

[0341] In some embodiments, the plurality of preset snap points in the displayed chassis model to be used include: the center point and / or vertex of the bounding box of the chassis model; and / or, a non-chassis model is displayed at a preset snap point indicating that: the center point of the bounding box of the non-chassis model is located at the preset snap point.

[0342] In some embodiments, the chassis model to be used shown includes reserved space for placing non-chassis models; the location for placing the first non-chassis model is: a reserved space where the type of the non-chassis model to be placed is the same as that of the first non-chassis model.

[0343] In some embodiments, the apparatus further includes:

[0344] The third response module is used to respond to the first installation command by displaying the reserved space in the chassis model to be used in the model display area;

[0345] The device further includes:

[0346] The second highlighting module is used to display the first non-chassis model in the model display area in response to the second dragging command for the first non-chassis model currently being dragged in the model display area, before the first non-chassis model is snapped from its initial position when the second installation command is triggered to the position for placing the first non-chassis model in the displayed chassis model to be used, in response to the second dragging command for the first non-chassis model, and to highlight the reserved space that is of the same type as the first non-chassis model and is closest to it;

[0347] The second response module 1102 is specifically used for:

[0348] In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently protruding reserved space for display.

[0349] In some embodiments, the chassis model shown is constructed through the following steps:

[0350] Obtain the dimensions of the chassis model input by the user, as well as the types and poses of the non-chassis models to be placed in the chassis model relative to the chassis model; based on the obtained types and poses of the non-chassis models relative to the chassis model, determine the reserved spaces in the chassis model and the types of non-chassis models to be placed in each reserved space, and obtain the displayed chassis model to be used.

[0351] In some embodiments, the apparatus further includes:

[0352] The fourth response module is used to display a non-chassis model setting window in response to a first selection command for any non-chassis model identifier in the model display area of ​​the building interface after the chassis model identifier is displayed in the model display area of ​​the building interface.

[0353] The pose acquisition module is used to acquire the installation pose input by the user in the non-chassis model settings window;

[0354] The display module is used to display the second non-chassis model represented by the non-chassis model identifier in the model display area according to the obtained installation posture.

[0355] In some embodiments, the apparatus further includes:

[0356] The associated model acquisition module is used to acquire the associated model of the second non-chassis model indicated by the user in the non-chassis model setting window before displaying the second non-chassis model represented by the non-chassis model identifier in the model display area according to the acquired installation pose; wherein, the installation pose represents the pose of the second non-chassis model relative to the associated model; the associated model is: a chassis model or non-chassis model currently displayed in the model display area;

[0357] The display module is specifically used for:

[0358] The second non-chassis model is displayed in the associated model displayed in the model display area according to the pose of the second non-chassis model relative to the associated model.

[0359] In some embodiments, the apparatus further includes:

[0360] The fifth response module is used to respond to a second selection instruction for any model in the model display area and determine the model indicated by the second selection instruction in the model display area as selected.

[0361] And / or, the building interface further includes a model list area; the model list area displays the model identifier of the model currently displayed in the model display area; the device further includes a sixth response module, used to respond to a third selection instruction for any model identifier in the model list area, and determine the model indicated by the third selection instruction in the model display area as selected.

[0362] In some embodiments, the apparatus further includes:

[0363] The model coordinate system display module is used to display the model coordinate system of the selected model. The model coordinate system of a model takes the center point of the model's bounding box as the origin, and the direction of each coordinate axis is consistent with the direction of the length, width and height of the model's bounding box, respectively.

[0364] The pose adjustment module is used to respond to a movement command triggered at any coordinate axis of the model coordinate system, and move the selected model according to the direction and distance indicated by the movement command; and / or, respond to a rotation command triggered at any coordinate axis of the model coordinate system, and rotate the selected model according to the direction and angle indicated by the rotation command.

[0365] This application also provides an electronic device, such as... Figure 12 As shown, it includes:

[0366] Memory 1201 is used to store computer programs;

[0367] The processor 1202, when executing the program stored in the memory 1201, implements the steps of any of the above-described robot 3D model building methods.

[0368] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 1202, the communication interface, and the memory 1201 communicating with each other via the communication bus.

[0369] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0370] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0371] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0372] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0373] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described robot three-dimensional model building methods.

[0374] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the robot 3D model building methods described above.

[0375] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0376] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0377] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments for apparatus, electronic devices, and computer-readable storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0378] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method for assembling a 3D robot vehicle, characterized in that, The method includes: In response to a first installation command for any chassis model identifier in the model selection area of ​​the building interface, the chassis model to be used, represented by the chassis model identifier, is displayed in the model display area of ​​the building interface. In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the position in the displayed chassis model to be used for placing the first non-chassis model, thereby obtaining a three-dimensional vehicle model.

2. The method according to claim 1, characterized in that, The position for placing the first non-chassis model in the displayed chassis model is: the adsorption point closest to the initial position among the multiple preset adsorption points of the displayed chassis model.

3. The method according to claim 2, characterized in that, Before the method further comprises, in response to a second installation command for a first non-chassis model currently being dragged in the model display area, snapping the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model for placing the first non-chassis model, the method includes: The first non-chassis model is displayed in the model display area according to the movement path indicated by the first drag command for the first non-chassis model; When the minimum distance between the first non-chassis model and each preset adsorption point in the displayed chassis model to be used is less than the first threshold, each preset adsorption point is displayed in the displayed chassis model to be used, and the preset adsorption point corresponding to the minimum distance is highlighted. The step of responding to a second installation command for a first non-chassis model currently being dragged in the model display area, and snapping the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model for placing the first non-chassis model, includes: In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently highlighted preset snapping point for display.

4. The method according to claim 2, characterized in that, The multiple preset snap-in points in the chassis model to be used shown include: the center point and / or vertex of the bounding box of the chassis model; And / or, a non-chassis model is displayed at a preset adsorption point, indicating that the center point of the bounding box of the non-chassis model is located at the preset adsorption point.

5. The method according to claim 1, characterized in that, The displayed chassis model to be used includes reserved space for placing non-chassis models; the location for placing the first non-chassis model is: a reserved space where the type of the non-chassis model to be placed is the same as that of the first non-chassis model.

6. The method according to claim 5, characterized in that, The method further includes: In response to the first installation command, the reserved space in the chassis model to be used is displayed in the model display area; Before the method further comprises, in response to a second installation command for a first non-chassis model currently being dragged in the model display area, snapping the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model for placing the first non-chassis model, the method includes: In response to a second drag command for the first non-chassis model, the first non-chassis model is displayed in the model display area, and the reserved space that is of the same type as the first non-chassis model and is closest to it is highlighted. The step of responding to a second installation command for a first non-chassis model currently being dragged in the model display area, and snapping the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model for placing the first non-chassis model, includes: In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently protruding reserved space for display.

7. The method according to claim 5, characterized in that, The chassis model shown is constructed through the following steps: Obtain the dimensions of the chassis model input by the user, as well as the types and poses of the non-chassis models to be placed in the chassis model relative to the chassis model; Based on the type of the non-chassis model and its pose relative to the chassis model, the reserved space in the chassis model and the type of non-chassis model to be placed in each reserved space are determined, resulting in the displayed chassis model to be used.

8. The method according to claim 1, characterized in that, After displaying the chassis model to be used, as represented by the chassis model identifier, in the model display area of ​​the construction interface, the method further includes: In response to a first selection command for any non-chassis model identifier in the model selection area, a non-chassis model settings window is displayed; Obtain the installation position input by the user in the non-chassis model settings window; According to the obtained installation position, the second non-chassis model represented by the non-chassis model identifier is displayed in the model display area.

9. The method according to claim 8, characterized in that, Before displaying the second non-chassis model represented by the non-chassis model identifier in the model display area according to the obtained installation pose, the method further includes: Obtain the associated model of the second non-chassis model indicated by the user in the non-chassis model settings window; wherein, the installation pose represents the pose of the second non-chassis model relative to the associated model; the associated model is: a chassis model or a non-chassis model currently displayed in the model display area; The step of displaying the second non-chassis model represented by the non-chassis model identifier in the model display area according to the obtained installation pose includes: The second non-chassis model is displayed in the associated model displayed in the model display area according to the pose of the second non-chassis model relative to the associated model.

10. The method according to any one of claims 1-9, characterized in that, The method further includes: In response to a second selection instruction for any model in the model display area, the model indicated by the second selection instruction in the model display area is determined to be selected; And / or, The setup interface also includes a model list area; the model list area displays the model identifier of the model currently displayed in the model display area; The method further includes: in response to a third selection instruction for any model identifier in the model list area, determining the model indicated by the third selection instruction in the model display area as selected.

11. The method according to claim 10, characterized in that, The method further includes: Displays the model coordinate system of the selected model; wherein, the model coordinate system of a model takes the center point of the model's bounding box as the origin, and the direction of each coordinate axis is consistent with the direction of the length, width and height of the model's bounding box, respectively; In response to a move command triggered at any coordinate axis of the model coordinate system, the selected model is moved in the direction and distance indicated by the move command; and / or, in response to a rotation command triggered at any coordinate axis of the model coordinate system, the selected model is rotated in the direction and angle indicated by the rotation command.

12. A robotic three-dimensional vehicle assembly device, characterized in that, The device includes: The first response module is used to respond to a first installation command for any chassis model identifier in the model selection area of ​​the building interface, and to display the chassis model to be used represented by the chassis model identifier in the model display area of ​​the building interface. The second response module is used to respond to a second installation command for the first non-chassis model currently being dragged in the model display area, and to snap the first non-chassis model from its initial position when the second installation command was triggered to the position in the displayed chassis model to be used for placing the first non-chassis model, thereby obtaining a three-dimensional vehicle model.

13. The apparatus according to claim 12, characterized in that, The position for placing the first non-chassis model in the displayed chassis model to be used is: the adsorption point closest to the initial position among the multiple preset adsorption points of the displayed chassis model to be used; And / or, The device further includes: The first dragging module is used to display the first non-chassis model in the model display area according to the movement path indicated by the first dragging command for the first non-chassis model before the first non-chassis model is attracted from the initial position when the second installation command is triggered to the position for placing the first non-chassis model in the displayed chassis model to be used, in response to the second installation command for the first non-chassis model currently being dragged in the model display area. The first highlighting module is used to display each preset adsorption point in the displayed chassis model when the minimum distance between the displayed first non-chassis model and each preset adsorption point in the displayed chassis model to be used is less than a first threshold, and to highlight the preset adsorption point corresponding to the minimum distance. The second response module is specifically used for: In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently highlighted preset snapping point for display. And / or, The multiple preset snap points in the chassis model to be used include: the center point and / or vertex of the bounding box of the chassis model; and / or, a non-chassis model is displayed at a preset snap point, indicating that: the center point of the bounding box of the non-chassis model is located at the preset snap point; And / or, The displayed chassis model to be used includes reserved space for placing non-chassis models; the location for placing the first non-chassis model is: reserved space where the type of the non-chassis model to be placed is the same as that of the first non-chassis model; And / or, The device further includes: The third response module is used to respond to the first installation command by displaying the reserved space in the chassis model to be used in the model display area; The device further includes: The second highlighting module is used to display the first non-chassis model in the model display area in response to the second dragging command for the first non-chassis model currently being dragged in the model display area, before the first non-chassis model is snapped from its initial position when the second installation command is triggered to the position for placing the first non-chassis model in the displayed chassis model to be used, in response to the second dragging command for the first non-chassis model, and to highlight the reserved space that is of the same type as the first non-chassis model and is closest to it; The second response module is specifically used for: In response to a second installation command for the first non-chassis model currently being dragged in the model display area, the first non-chassis model is snapped from its initial position when the second installation command was triggered to the currently protruding reserved space for display. And / or, The chassis model shown is constructed through the following steps: Obtain the dimensions of the chassis model input by the user, as well as the types and poses of the non-chassis models to be placed in the chassis model. Based on the obtained types and poses of the non-chassis models, determine the reserved spaces in the chassis model and the types of non-chassis models to be placed in each reserved space, and obtain the displayed chassis model to be used. And / or, The device further includes: The fourth response module is used to display a non-chassis model setting window in response to a first selection command for any non-chassis model identifier in the model display area of ​​the building interface after the chassis model identifier is displayed in the model display area of ​​the building interface. The pose acquisition module is used to acquire the installation pose input by the user in the non-chassis model settings window; The display module is used to display the second non-chassis model represented by the non-chassis model identifier in the model display area according to the obtained installation posture; And / or, The device further includes: The associated model acquisition module is used to acquire the associated model of the second non-chassis model indicated by the user in the non-chassis model setting window before displaying the second non-chassis model represented by the non-chassis model identifier in the model display area according to the acquired installation pose; wherein, the installation pose represents the pose of the second non-chassis model relative to the associated model; the associated model is: a chassis model or non-chassis model currently displayed in the model display area; The display module is specifically used for: According to the pose of the second non-chassis model relative to the associated model, the second non-chassis model is displayed in the associated model displayed in the model display area; And / or, The device further includes: The fifth response module is used to respond to a second selection instruction for any model in the model display area and determine the model indicated by the second selection instruction in the model display area as selected. And / or, the building interface further includes a model list area; the model list area displays the model identifier of the model currently displayed in the model display area; the device further includes: a sixth response module, used to respond to a third selection instruction for any model identifier in the model list area, and determine the model indicated by the third selection instruction in the model display area as selected; And / or, The device further includes: The model coordinate system display module is used to display the model coordinate system of the selected model. The model coordinate system of a model takes the center point of the model's bounding box as the origin, and the direction of each coordinate axis is consistent with the direction of the length, width and height of the model's bounding box, respectively. The pose adjustment module is used to respond to a movement command triggered at any coordinate axis of the model coordinate system, and move the selected model according to the direction and distance indicated by the movement command; and / or, respond to a rotation command triggered at any coordinate axis of the model coordinate system, and rotate the selected model according to the direction and angle indicated by the rotation command.

14. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-11.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-11.

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