Roaming method and device based on digital twin workshop, equipment and storage medium

Abstract

The invention provides a roaming method and device based on a digital twin workshop, equipment and a storage medium. Roaming configuration information of a next target roaming point location of a camera observation assembly in the digital twin workshop is acquired; the roaming configuration information comprises the position information of the target roaming point location in the digital twin workshop and the observation parameter information when the camera observation assembly moves to the target roaming point location, and when the camera observation assembly moves to the target roaming point location according to the position information of the target roaming point location, the target roaming point location is located in the digital twin workshop. And according to the observation parameter information corresponding to the target roaming point location, obtaining a corresponding workshop picture in the digital twin workshop, and synchronizing the workshop picture to the front-end equipment for display, thereby realizing a roaming function in the digital twin workshop.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a roaming method, apparatus, device and storage medium based on a digital twin workshop. Background Technology

[0002] Current production workshops typically require the regular dispatch of professional personnel to monitor and inspect the production and processing site. The traditional method of relying on specialists to regularly observe and record the real-time dynamics of equipment in the workshop is a waste of human resources. Therefore, digital twin technology has emerged.

[0003] Digital twin technology is a technique that creates a digital representation of a physical entity or system in a virtual space to achieve a comprehensive mapping and simulation of real-world objects. The digital twin workshop is a product of digital twin technology. It constructs an accurate digital model of a physical entity in a virtual space, including equipment, production lines, and processes, and uses technologies such as sensors, the Internet of Things, and big data analytics to achieve real-time data interaction and synchronization between the physical and virtual spaces, thereby achieving the purpose of monitoring, simulating, and optimizing the production process.

[0004] Therefore, how to conduct roaming based on digital twin workshops has become an urgent technical problem to be solved. Summary of the Invention

[0005] The purpose of this application is to provide a roaming method, apparatus, device, and storage medium based on a digital twin workshop to solve the above-mentioned technical problems.

[0006] On the one hand, a roaming method based on a digital twin workshop is provided, including: Obtain roaming configuration information for the next target roaming point of the camera observation component in the digital twin workshop; the roaming configuration information for the target roaming point includes the location information of the target roaming point in the digital twin workshop and the observation parameter information when the camera observation component moves to the target roaming point; the observation parameter information corresponding to the target roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the target roaming point; When the camera observation component is moved to the target roaming point according to the location information of the target roaming point, the corresponding workshop scene in the digital twin workshop is obtained according to the observation parameter information corresponding to the target roaming point. The workshop scene is synchronized to the front-end device for display.

[0007] In one embodiment, before acquiring the roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop, the method includes: Receive roaming path setting instructions; The roaming configuration information of multiple roaming points in the digital twin workshop is determined according to the roaming path setting instruction; the roaming configuration information of the roaming points includes the position information of the roaming points in the digital twin workshop and the observation parameter information when the camera observation component moves to the roaming point; the observation parameter information corresponding to the roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the roaming point; Configure each roaming point according to its roaming configuration information to obtain a list of roaming points; The step of obtaining the roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop includes: The target roaming point is determined based on the roaming point list, and the roaming configuration information of the target roaming point is obtained.

[0008] In one embodiment, the roaming configuration information of the target roaming point further includes at least one of target movement duration, target dwell time, and target explanation configuration information; the method further includes: The camera observation component is controlled to move from the previous roaming point to the target roaming point based on the target movement time. And / or, When the camera observation component is moved to the target roaming point according to the location information of the target roaming point, the camera observation component is controlled to stay at the target roaming point according to the target dwell time; And / or, When the camera observation component is moved to the target roaming point according to the location information of the target roaming point, the target interpretation configuration information is sent to the front-end device so that the front-end device can interpret according to the target interpretation configuration information.

[0009] In one embodiment, the list of roaming points includes the current roaming point and the target roaming point, and the step of moving the camera observation component to the target roaming point based on the location information of the target roaming point includes: The location information of the passing points is determined based on the location information of the current roaming point and the location information of the target roaming point, and the observation parameter information corresponding to each passing point is determined. Based on the location information of each of the aforementioned path points, the camera observation component is controlled to move from the current roaming point to the target roaming point via each of the aforementioned path points. When the camera observation component is moved to each of the aforementioned path points, the corresponding workshop image in the digital twin workshop is obtained based on the observation parameter information corresponding to the aforementioned path points, and the workshop image corresponding to each of the aforementioned path points is synchronized to the front-end device for display.

[0010] In one embodiment, determining the location information of the transit points based on the location information of the current roaming point and the location information of the target roaming point includes: The location information of the current roaming point and the location information of the target roaming point are smoothed using a first smoothing function, and the location information of each passing point is determined between the current roaming point and the target roaming point.

[0011] In one embodiment, determining the observation parameter information corresponding to each of the route points includes: The observation parameter information of each of the route points is determined based on at least one of the observation parameter information of the current roaming point and the observation parameter information of the target roaming point.

[0012] In one embodiment, determining the observation parameter information of each of the transit points based on at least one of the observation parameter information of the current roaming point and the observation parameter information of the target roaming point includes: The observation angle information corresponding to the current roaming point and the observation angle information corresponding to the target roaming point are smoothed using the second smoothing processing function to obtain the observation angle information corresponding to the camera observation component at each of the passing points. And / or, The focal length information corresponding to the current roaming point and the focal length information corresponding to the target roaming point are smoothed using a third smoothing function to obtain the focal length information corresponding to the camera observation component at each of the passing points.

[0013] On the other hand, a roaming device based on a digital twin factory is also provided, including: The first acquisition module is used to acquire the roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop; the roaming configuration information of the target roaming point includes the position information of the target roaming point in the digital twin workshop and the observation parameter information when the camera observation component moves to the target roaming point; the observation parameter information corresponding to the target roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the target roaming point. The second acquisition module is used to acquire the corresponding workshop scene in the digital twin workshop according to the observation parameter information corresponding to the target roaming point when the camera observation component is moved to the target roaming point according to the location information of the target roaming point. The synchronization module is used to synchronize the workshop screen to the front-end device for display.

[0014] On the other hand, an electronic device is also provided, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement any of the methods described above.

[0015] On the other hand, a computer-readable storage medium is also provided, which stores a computer program that, when executed by at least one processor, implements any of the methods described above.

[0016] The roaming method, apparatus, equipment, and storage medium based on digital twin workshops provided in this application acquire roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop. This roaming configuration information includes the position information of the target roaming point in the digital twin workshop and the observation parameter information when the camera observation component moves to the target roaming point. When the camera observation component is moved to the target roaming point according to the position information of the target roaming point, the corresponding workshop scene in the digital twin workshop is acquired according to the observation parameter information corresponding to the target roaming point, and the workshop scene is synchronized to the front-end device for display, thus realizing the function of roaming in the digital twin workshop. In addition, since the observation parameter information corresponding to the target roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the target roaming point, it is possible to present the workshop scene from multiple angles and / or multiple focal lengths, thereby improving the presentation effect of the workshop scene.

[0017] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The purposes and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit this disclosure. Attached Figure Description

[0018] 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 embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 A flowchart illustrating the roaming method based on a digital twin workshop provided in this application embodiment; Figure 2 This is a schematic diagram of the structure of the pawn component provided in an embodiment of this application; Figure 3 A flowchart illustrating the process of setting a roaming path provided in an embodiment of this application; Figure 4 A schematic diagram of the interface for setting the roaming path provided in an embodiment of this application; Figure 5 A schematic diagram of the structure of a roaming device based on a digital twin workshop provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] In related technologies, when implementing production process roaming based on digital twin workshops, camera observation components can be moved within the digital twin workshop. During the movement of the camera observation components, corresponding workshop images are obtained according to the observation parameters pre-set for the camera observation components. Since the observation parameters of the camera observation components are pre-set directly for the camera observation components, the corresponding observation parameters are the same at different points, resulting in a relatively simple presentation of the workshop images obtained during the roaming process.

[0022] In view of this, a roaming method based on a digital twin workshop is provided; please refer to [link / reference]. Figure 1 As shown, it includes: S11: Obtain the roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop.

[0023] In this embodiment of the application, the target roaming point refers to the roaming point that the camera observation component needs to travel to. The roaming configuration information of the target roaming point includes the location information of the target roaming point in the digital twin workshop and the observation parameter information when the camera observation component moves to the target roaming point; the observation parameter information corresponding to the target roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the target roaming point.

[0024] S12: When the camera observation component is moved to the target roaming point based on the location information of the target roaming point, the corresponding workshop scene in the digital twin workshop is obtained based on the observation parameter information corresponding to the target roaming point.

[0025] S13: Synchronize the workshop screen to the front-end equipment for display.

[0026] In this application embodiment, a new method for implementing digital twin workshop roaming is provided. Since the roaming configuration information is configured for the target roaming point, it becomes possible to configure corresponding roaming configuration information for multiple roaming points in the digital twin workshop. The roaming configuration information includes the observation angle information and / or focal length information when the camera observation component moves to the corresponding roaming point. Therefore, the observation parameters corresponding to the camera observation component may be different when it is at different roaming points. Compared with setting fixed observation parameters for the camera observation component, it makes it possible to enrich the content presentation of the workshop scene.

[0027] The roaming method provided in this application embodiment can be applied to backend devices. The digital twin workshop can be a three-dimensional virtual workshop built in Unreal Engine based on the physical workshop. Specifically, Unreal Engine can be deployed in the backend device, and the frontend device and the backend device can communicate with each other, thereby realizing the push of the corresponding workshop screen of the digital twin workshop in Unreal Engine to the frontend device for display. The frontend device can control and interact with the digital twin workshop through a browser.

[0028] It should be noted that front-end devices and back-end devices can be two independent physical entities. For example, front-end devices can be terminal devices such as computers, mobile phones, or tablets, while back-end devices can be cloud computing devices. Of course, front-end devices and back-end devices can also be integrated into a single physical entity. For example, front-end devices can be components or environments that host and run web front-end resources, while back-end devices can be components deployed in a digital twin workshop that can provide services to the front-end devices.

[0029] In this embodiment, parameters of on-site equipment in the physical workshop can be collected through an IoT system, a Kafka cluster can be built and configured, and corresponding topics can be set for the transmission of on-site data. Simultaneously, by adding physical attributes and constraints to the backend devices, the on-site data is used to simulate and recreate the movement and interaction behavior of the on-site equipment in the real world, achieving real-time 3D visualization of the on-site production process and information.

[0030] The camera observation component in this application embodiment is a character framework without physical form. It is a base class without a physical character but controllable, which is equivalent to a movable virtual camera in a digital twin workshop. For example, the camera observation component in this application embodiment can be a pawn component. By manipulating the pawn component, the position, angle and focal length of the virtual camera are actually adjusted, so that different images can be obtained.

[0031] The meaning of the observation angle information corresponding to the target roaming point is: the angle at which the camera observation component observes the digital twin workshop from the target roaming point; the meaning of the focal length information corresponding to the target roaming point is: the focal length at which the camera observation component observes the digital twin workshop from the target roaming point.

[0032] The pawn component can contain the following child components: Spring Arm component: Used to mount Camera component, which can be used to capture the corresponding workshop scene. Figure 2 The bold solid line represents the relative distance between the pawn component and the Spring Arm component. The magnitude of this value represents the focal length of the pawn component. Therefore, the focal length in this example also refers to the distance between the jib arm and the camera component. The angle of the camera component represents the observation angle of the camera observation component.

[0033] Floating Pawn Movement component: Used to implement the movement of the camera observation component.

[0034] The movement and observation functions of the camera observation component can be implemented through the Spring Arm component, Camera component, and Floating Pawn Movement component mentioned above. The camera observation component is used to simulate the visual experience of the observer. Controlling the movement of the camera observation component is actually adjusting the camera angle and / or focal length, thereby realizing the dynamic change of the camera perspective and immersive exploration of the twin scene.

[0035] In one embodiment, the pawn component may also include a Pixel Streaming Input component, which is used to enable communication between the front-end device and the back-end device. This allows the corresponding workshop scene of the digital twin workshop in the Unreal Engine of the back-end device to be pushed to the front-end device for display, and also allows the instructions issued by the user through the front-end device to be sent to the back-end device.

[0036] It should be noted that the roaming configuration information of the target roaming point can be pre-configured. When a roaming command is received for the target roaming point, the roaming configuration information can be directly obtained. The representation of the location information in the roaming configuration information includes, but is not limited to, at least one of three-dimensional coordinates, polar coordinates, and latitude and longitude coordinates. In this embodiment, the location information of the target roaming point can be represented by three-dimensional coordinates established based on a digital twin workshop, which is more accurate than representing it using latitude and longitude coordinates.

[0037] In one embodiment, a roaming path can be pre-set for the digital twin workshop. For an example, please refer to [link to example]. Figure 3 As shown, before step S11, the following steps may be included: S31: Receive roaming path setting instructions.

[0038] S32: Determine the roaming configuration information of multiple roaming points in the digital twin workshop based on the roaming path setting instructions.

[0039] The roaming configuration information for each roaming point includes the location information of the corresponding roaming point in the digital twin workshop and the observation parameter information when the camera observation component moves to the corresponding roaming point; the observation parameter information corresponding to each roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the corresponding roaming point.

[0040] In this embodiment, the roaming path setting instruction can directly include the roaming configuration information of each roaming point. That is, the roaming configuration information can be issued by the user. In this case, the user can input the location information of the roaming point and the corresponding observation parameter information through the front-end device. Therefore, in step S32, it is only necessary to extract the roaming configuration information of each roaming point from the roaming path setting instruction.

[0041] Of course, the roaming path setting instructions can include configuration selection information for each roaming point. The backend device can determine the roaming configuration information for each roaming point based on this configuration selection information. For example, a user can select a point from the digital twin workshop screen presented by the front-end device by clicking. This will trigger the backend device to automatically obtain the location information of that point in the digital twin workshop and use that point as a roaming point. The user can also trigger the backend device to obtain the corresponding observation angle information and / or focal length information by selecting the screen view and / or focal length. For example, after selecting a roaming point, the user can select the observation angle by using a button or icon and / or adjust the focal length by using the mouse wheel.

[0042] In this embodiment, users can complete the roaming configuration information of roaming points by clicking buttons, icons, etc. on the front-end device. The result is simple, efficient, and directly visualized, without requiring users to actively input specific roaming configuration information, making it easier for users to operate.

[0043] S33: Configure each roaming point according to its roaming configuration information to obtain a list of roaming points.

[0044] A list of roaming points constitutes a roaming path. Using the above method, roaming paths can be configured for the digital twin workshop. Based on the configured list of roaming points, step S11 can include the following: Determine the target roaming location based on the roaming location list, and obtain the roaming configuration information of the target roaming location.

[0045] Specifically, the current roaming point of the camera observation component can be determined, and the next roaming point after the current roaming point can be taken as the target roaming point according to the roaming point list.

[0046] In one embodiment, multiple roaming points can be pre-configured for the digital twin workshop, and corresponding roaming configuration information can be configured for each roaming point. The method of configuring roaming configuration information for each roaming point can refer to the method of configuring roaming configuration information for roaming points according to the roaming path setting instruction described above, and will not be repeated here.

[0047] In step S11, the roaming configuration information of the corresponding target roaming point can be obtained according to the currently received target roaming point selection instruction. The target roaming point selection instruction contains the identification information of the selected target roaming point. The identification information here refers to the unique identification information of the target roaming point, such as the name information, location information or unique number information of the target roaming point.

[0048] In this embodiment, corresponding roaming configuration information is configured for each roaming point. The roaming configuration information includes the observation angle information and / or focal length information when the camera observation component moves to the corresponding roaming point. Therefore, the observation parameters of the camera observation component may be different when it is at different roaming points. Compared with setting fixed camera parameters for the camera observation component, this enriches the way the workshop scene is presented. In addition, users can send a target roaming point selection command through the front-end device as needed, thereby triggering the front-end device to display the workshop scene corresponding to the target roaming point, providing users with a more flexible digital twin workshop roaming method.

[0049] In one embodiment, the roaming configuration information of the target roaming point further includes at least one of the target movement duration, target dwell time, and target explanation configuration information; correspondingly, the roaming method further includes: The camera observation component is controlled to move from the previous roaming point to the target roaming point based on the target movement duration. For example, if the target movement duration is 1 second, then during the roaming phase, when it is necessary to control the camera observation component to move to the target roaming point, the movement duration of the camera observation component from the previous roaming point to the target roaming point is 1 second. Therefore, the target movement duration characterizes the movement speed of the camera observation component corresponding to the target roaming point during the roaming phase.

[0050] And / or, When moving the camera observation component to the target roaming point based on its location information, the system controls the camera observation component to stay at the target roaming point according to the target dwell time, and / or sends the target interpretation configuration information to the front-end device so that the front-end device can provide interpretation based on the target interpretation configuration information. For example, if the target dwell time is 2 seconds, when the camera observation component is moved to the target roaming point, it is controlled to stay at the target roaming point for 2 seconds before moving to the next roaming point.

[0051] It should be noted that when multiple roaming points are pre-configured, the roaming configuration information for each roaming point may include at least one of the following: travel duration, dwell time, and explanation configuration information.

[0052] The narration configuration information in this application embodiment includes, but is not limited to, at least one of the following: introductory voice information, narration subtitle information, subtitle movement speed information, and subtitle effects information. For example, during the roaming phase, when the camera observation component moves to the target roaming point, if the target roaming point is configured with corresponding target narration configuration information, the front-end device, after receiving the target narration configuration information sent by the back-end device, can provide narration based on the target narration configuration information. For instance, when the front-end device displays the corresponding workshop scene, corresponding subtitles are displayed on the front-end device based on the narration subtitle information, subtitle movement speed information, and subtitle effects information, while simultaneously providing an audio narration based on the introductory voice information. When there are visitors, this roaming function allows visitors to have an immersive experience of the workshop tour.

[0053] It should be noted that the movement time corresponding to the roaming point in this embodiment can refer to the time required for the camera observation component to move from any other roaming point to the roaming point, or it can refer to the time required for the camera observation component to move from the roaming point to any other roaming point.

[0054] In one embodiment, the dwell time corresponding to a roaming point can be obtained based on the user's operations during the roaming path setting phase. For example, during the roaming path setting phase, the user can assess the initial observation duration at the roaming point based on needs such as inspections, and enter the corresponding duration value in the corresponding text box. The backend device can obtain the duration value entered by the user and configure it as the dwell time corresponding to the roaming point during the roaming phase. Alternatively, the user can choose not to enter the dwell time. When the camera observation component is moved to the roaming point, the backend device can obtain the actual dwell time of the camera observation component at that roaming point and configure the dwell time corresponding to the roaming point during the roaming phase based on the actual dwell time.

[0055] Similarly, the target dwell time corresponding to the target roaming point mentioned above can also be configured in the roaming path setting stage in the same way as described above, and will not be repeated here.

[0056] In one embodiment, the movement duration corresponding to the roaming point can also be obtained based on the user's operation during the roaming path setting phase. For example, during the roaming path setting phase, the backend device obtains the actual movement duration of the camera observation component from the previous roaming point to the current roaming point, and configures the movement duration corresponding to the roaming point during the roaming phase based on the actual movement duration; alternatively, the user can manually fill in the movement duration. For instance, during the roaming path setting phase, the user can assess the second observation duration from the previous roaming point to the current roaming point based on needs such as inspections, and fill in the corresponding duration value in the corresponding text box. The backend device can obtain the duration value filled in by the user and configure it as the movement duration from the previous roaming point to the current roaming point during the roaming phase.

[0057] Similarly, the target movement time corresponding to the target roaming point mentioned above can also be configured in the roaming path setting stage in the same way as described above, and will not be repeated here.

[0058] In this embodiment, the configuration of the movement duration and dwell duration corresponding to the roaming point is automatically completed based on the user's actual operation of the camera observation component during the roaming path setting stage. The user does not need to actively input the duration information, and the movement duration and dwell duration that meet the user's needs can be set for the roaming point, thus improving the user's setting efficiency.

[0059] In one embodiment, the list of roaming points includes the current roaming point and the target roaming point. Moving the camera observation component to the target roaming point based on its location information includes: Step 1: Determine the location information of the points along the route based on the location information of the current roaming point and the location information of the target roaming point, and determine the observation parameter information corresponding to each point along the route.

[0060] Step 2: Based on the location information of each transit point, control the camera observation component to move from the current roaming point to the target roaming point via each transit point. When moving the camera observation component to each transit point, obtain the corresponding workshop image in the digital twin workshop based on the observation parameter information corresponding to the transit point, and synchronize the workshop image corresponding to each transit point to the front-end device for display.

[0061] In this embodiment of the application, the location information of the passing points is determined based on the location information of the current roaming point and the target roaming point, so that the camera observation component can reach the target roaming point through each passing point.

[0062] It should be noted that the observation parameter information corresponding to each transit point includes the observation angle information and / or focal length information when the camera observation component moves to that transit point.

[0063] In step one above, the first smoothing function can be used to smooth the position information of the current roaming point and the position information of the target roaming point, and the position information of each passing point can be determined from the current roaming point and the target roaming point, thereby ensuring that the camera observation component can smoothly transition from the current roaming point to the target roaming point.

[0064] In one embodiment, the observation parameter information of each transit point can be determined based on at least one of the observation parameter information of the current roaming point and the observation parameter information of the target roaming point.

[0065] For example, the observation parameter information of the current roaming point can be directly used as the observation parameter information of each passing point, avoiding the problem of low operating efficiency caused by the camera observation component frequently adjusting the observation parameters during the movement.

[0066] For example, the historical roaming counts of the current roaming point and the target roaming point can be obtained. The observation parameters of each transit point can be determined based on the observation parameter information of the roaming point with the higher historical roaming count. For instance, the observation parameters of the roaming point with the higher historical roaming count can be used as the observation parameters for each transit point. A higher historical roaming count indicates that the roaming point is frequently accessed by users, and determining the observation parameters of each transit point based on the observation parameters of that roaming point better meets the user's observation needs.

[0067] For example, the second smoothing function is used to smooth the observation angle information corresponding to the current roaming point and the observation angle information corresponding to the target roaming point to obtain the observation angle information corresponding to the camera observation component at each passing point; and / or, the third smoothing function is used to smooth the focal length information corresponding to the current roaming point and the focal length information corresponding to the target roaming point to obtain the focal length information corresponding to the camera observation component at each passing point, thereby ensuring that the observation parameter information can be smoothly transitioned during the process of the camera observation component moving from the current roaming point to the target roaming point.

[0068] For example, the distance between the current roaming point and the target roaming point can be obtained. If this distance is less than or equal to a preset distance threshold, it indicates that the distance between the current roaming point and the target roaming point is relatively short, and even without smoothing the observation parameters, it will not affect the visual stability of the observed image. In this case, the historical roaming count of the current roaming point and the historical roaming count of the target roaming point can be obtained. The observation parameter information of each passing point can be determined based on the observation parameter information of the roaming point with the higher historical roaming count. For example, the observation parameter information of the roaming point with the higher historical roaming count can be used as the observation parameter information of each passing point. If the distance is greater than a preset distance threshold, it indicates that the distance between the current roaming point and the target roaming point is relatively short. Since the distance between the roaming points is relatively large, the observation parameters need to be smoothed to ensure the stability of the observation image. At this time, the second smoothing function can be used to smooth the observation angle information corresponding to the current roaming point and the target roaming point to obtain the observation angle information corresponding to the camera observation component at each roaming point; and / or, the third smoothing function can be used to smooth the focal length information corresponding to the current roaming point and the target roaming point to obtain the focal length information corresponding to the camera observation component at each roaming point. This ensures that the observation parameter information can be smoothly transitioned during the process of the camera observation component moving from the current roaming point to the target roaming point.

[0069] The first, second, and third smoothing functions mentioned above may be the same or different, and include, but are not limited to, at least one of the Lerp function, Smoothstep function, and Hermite interpolation function.

[0070] It should be noted that the roaming mentioned in the embodiments of this application includes both free movement within the digital twin workshop, such as the user being able to move the camera observation component to any roaming point according to their needs to achieve roaming observation of the digital twin workshop; and monitoring or detecting the digital twin workshop according to a predetermined route, that is, the roaming path mentioned above, such as the user being able to select a roaming path to conduct inspections of the digital twin workshop.

[0071] In one embodiment, the roaming configuration information of the roaming point may further include a purpose tag set for the roaming point. The purpose tag is used to indicate whether the roaming point is used only as a roaming point or as a roaming inspection point.

[0072] For roaming points used solely as roaming points, during the roaming phase, when the camera observation component moves to the roaming point, the backend device needs to return the corresponding workshop view to the frontend device. For roaming points used as roaming inspection points, during the roaming phase, when the camera observation component moves to the roaming point, the frontend device not only needs to return the corresponding workshop view but also the corresponding inspection observation data. The type of inspection observation data to be returned for this roaming point can be preset, such as equipment data from the field equipment corresponding to this roaming point.

[0073] To make it easier to understand, the following explanation will focus on the user's perspective when setting the roaming path through the front-end device.

[0074] By employing Unreal Pixel Streaming, users can browse the entire digital twin workshop through a front-end device. Users can access the settings interface by clicking the "Roaming / Inspection Path Settings" button on the front-end device. Please refer to [link / reference]. Figure 4As shown, this settings interface can include: a button named "Add Path", a drop-down menu named "Please Select Edit Roaming Path", and three buttons named "Add Point", "Save", and "Delete" for viewpoint (angle) configuration. Clicking the "Add Path" button will pop up the configuration interface: Section 1 contains three forms: "Route Name", "Route Code", and "Whether to Loop", and allows users to enter three pieces of information in the text boxes of the forms: the route name uses Chinese to indicate its purpose, the route code must start with an English letter and be unique, and whether to loop is no by default, and if looping is required, select "Yes" from the drop-down menu; and Section 2 includes functions such as roaming point location acquisition, where Section 2 contains all information about roaming points: text prompts with icons for "Get Location", "Move", and "Delete", as well as 9 forms including "Point", "Location", "Angle", "Focus", "Media", "Movement Time", "Dwell Time", "Narration Subtitles", and "Subtitle Movement Speed" and corresponding text input boxes, where the value of "Point" is automatically set to 1, and increments sequentially thereafter. Added path setting method: When a user browses to roaming point 1 in the digital twin workshop, assuming that the roaming / inspection needs to pass through this roaming point and is satisfied with the viewpoint, clicking the "Get Location" icon to the right of the roaming point will trigger the backend device to send the location information, angle information, and focal length information corresponding to the roaming point to the frontend device. This information will be automatically filled into the text input boxes of the "Location," "Angle," and "Focus" forms, respectively. The focal length represents the distance of the field of view and can be adjusted using the mouse wheel. If the user is not satisfied with the current roaming point, they can delete the newly recorded roaming point by clicking the "Delete" icon to the right of the point. Alternatively, the user can continue browsing to a satisfactory roaming point and viewpoint and then click the "Get Location" icon to the right of the new roaming point to complete the acquisition and recording of the new roaming point's location. The movement duration is the time taken to move from the previous point to this point, and the dwell time is the observation time spent at this point. Both of these times can be filled in by the user as needed. By clicking the "Upload File" icon to the right of "Media", the audio file can be uploaded to the backend device. After uploading, the audio file path will be automatically filled in the text input box of the "Media" form, and the text input box of the "Narration Subtitles" form can be filled in with text. When the camera roams to this roaming point, the entered text will be displayed in the lower part of the page and will be displayed according to the speed of the subtitle movement. Clicking the "Move" icon will move the camera observation component to this roaming point. Clicking the "Save" button will save the roaming configuration information of the set roaming point to the backend device, for example, it can be saved to the data table of the backend device.

[0075] Clicking the "Add Location" button will bring up the configuration interface for Roaming Location 2, where the "Location" value will be automatically updated to 2. Follow the same method as setting Roaming Location 1 to complete the setting of the new roaming location. Similarly, you can continue to complete the setting of other new roaming locations in the same way. At this point, a new roaming path set up by the user is completed.

[0076] The inspection path is a special type of roaming path that requires the backend equipment to return inspection observation data. Therefore, the inspection path can be set up in the same way as the roaming path, except that the three forms "Media", "Narration Subtitles" and "Subtitle Movement Speed" do not need to be set.

[0077] In this embodiment, when deploying a digital twin workshop in the backend equipment, the spatial transformation attribute values ​​of the model can be used to express the model's positional relationship within the digital twin workshop. The model in the digital twin workshop refers to a virtual object constructed to achieve a digital mapping of the physical workshop, including but not limited to equipment, buildings, and camera observation components. The spatial transformation attribute values ​​include position, rotation, and scaling. Position can be represented by world coordinates (XYZ values), rotation can be represented by Euler angles to indicate the object's orientation or rotation angle, and scaling can be represented by a scaling factor. When the model's position in the digital twin workshop changes, its spatial transformation attribute values ​​also change accordingly.

[0078] When a user clicks the "Roaming / Inspection Path Settings" button on the front-end device's page to enter the settings interface, and then clicks the "Get Location" icon, the front-end device can send "GetCurrentCameraInfo" to the back-end device through the Pixel Streaming Input component to trigger the back-end device to obtain the roaming configuration information of the current roaming point. For example, the backend device can call the `Get Json String Value` function to check whether the received roaming path setting command contains a pre-defined field, such as "GetCurrentCameraInfo". If the result is true, the backend device is triggered to send the corresponding roaming configuration information of the roaming point to the frontend device. First, the backend device uses the pre-packaged `Get Actor Location` function, `Get Actor Rotation` function, and `Get Target Arm Length` function to obtain the current position information, observation angle information, and focal length information of the camera observation component, respectively. Then, it uses the `Append` function to assemble the obtained position information, observation angle information, and focal length information into a JSON string. Finally, it sends the assembled JSON string to the frontend device through the `Pixel Streaming Input` component. The frontend device receives and parses the JSON string and automatically fills the corresponding information into the text input boxes of the three forms on the corresponding page of the frontend device: "Location", "Angle", and "Focal Length".

[0079] In one embodiment, roaming paths and inspection paths can be configured separately. To simplify operation, an icon with the text "Roaming / Inspection List" is designed on the front-end device's page. Clicking this icon will pop up a list of all roaming / inspection paths in this digital twin workshop. Each list element contains a path "route name" and a start button. Because all path information can be synchronously transmitted and written to the back-end device's data table when a roaming / inspection path is added or modified and the save button is pressed in the previous step, and the front-end device can access the back-end device's data table in real time, the list can be updated synchronously and reflected when a roaming / inspection path is added or the route name changes.

[0080] After completing the roaming / inspection path settings, if the user clicks the "Roaming / Inspection List" icon and selects the start button for one of the paths, the front-end device can read the information of this path from the data table of the back-end device and assemble it into a JSON string. This JSON string represents the roaming path information and may contain "RoamingCamera" key-value pairs. The front-end device sends a roaming start command to the back-end device through the Pixel Streaming Input component. This roaming start command contains the JSON string and a message indicating roaming start.

[0081] After receiving the roaming start command from the front-end device, the back-end device, if determining that the conditions for triggering the roaming / inspection function are met based on the command, will initiate the corresponding roaming / inspection function. During the roaming / inspection process, users can click the pause and end buttons at any time. For example, if a user needs to stop to examine a device in detail during the inspection, they can click the pause button. After completing the examination, clicking the pause button again will resume the roaming / inspection from the paused point. If the user needs to immediately end the roaming / inspection of the current route, they can click the end button.

[0082] For example, the backend device can analyze the received roaming start command to determine whether the received roaming start command contains a preset target field, that is, whether it contains a message used to indicate roaming start, such as whether it contains the "RoamingCamera" field. If so, the JSON string is deserialized, and the processed data structure can contain: a key-value pair with the field key "State" (roaming state), and an array of key-value pairs with the fields key "view point Name", "Location", "Rotation", "ArmLength", "DwllTime", and "MoveTime".

[0083] The field key "State" (roaming state) has four possible values: "Start", "Stop", "Resume", and "Pause". The value is determined by the button pressed by the user on a certain roaming / inspection path on the front-end device's page. In this example, since the received command is a roaming start command, the value of the field key "State" is "Start".

[0084] By splitting the key-value pair collection array, we can obtain the key-value pairs corresponding to each field. That is, we can obtain key-value pairs with the field key "State" and key-value pairs with keys such as "view point name" and "Location".

[0085] In this embodiment, different operations can be performed on different values ​​of "State" using a Switch On String (conditional branch node). When the value of "State" is "Start", the CLEAR node is used to clear the created map (array) type variable Roaming Camera Info. Roaming Camera Info is connected to a For Each Loop (loop node) and performs the same processing on each roaming point: First, the "Location" and "Rotation" data of each roaming point are transformed, and a Transform spatial transformation data is created by calling the Make Transform node. Then, it is assembled into a structure with the "ArmLength", "DwllTime", and "MoveTime" data of this roaming point. Finally, the "view point Name" of this roaming point is used as the key, and the structure is used as the value. The key and value are assembled into a map type data. Each map data is added to the variable Roaming Camera Info. The output pin of For Each Loop is connected to the custom target point value function Pawn Roaming.

[0086] The Pawn Roaming function logic is as follows: It creates an integer variable `Index` and initializes it to 0. Using the `SET` node, it sets the boolean variable `Roaming` to `True`. The `KEYS` node retrieves all keys ("view point Name") from the `Roaming CameraInfo` variable and outputs a `keys` array. The `GET` node retrieves the element at index `Index` ("view point Name") from the `keys` array and uses it as input to the `FIND` node. It then searches for the same key (the element at index in the `keys` array) in the `Roaming CameraInfo` variable. If the specified key (the element at index in the `keys` array) is found in the `Roaming CameraInfo` variable, it outputs the boolean value `True` and the value of the key (the element at index in the `keys` array). If the specified key (the element at index in the `keys` array) is not found in the `Roaming CameraInfo` variable, it returns the boolean value `False`. The output pin of the FIND node is connected to the branch node. The True pin of the branch is connected to the custom Switch Pawn Transform function that moves the Pawn. The False pin of the branch node is connected to the SET node, which sets the variable Roaming to False, and is connected to the Send Message node, which sends a field message to the front-end page indicating the end of the roaming.

[0087] Switch Pawn Transform function logic: 1. Set the values ​​of each variable: Split the structure data from the key's value (the element at the index in the keys array) found and output using the FIND node in the previous step into Location, Rotation, ArmLength, MoveTime, and DwllTime data. Then, use the SET node to assign these values ​​to the variables Location New (target point location), Rotation New (target point angle), ArmLength New (target point focal length), MoveTime, and DwllTime, respectively. Use the Get Actor Location and Get Control Rotation functions to obtain the current position and angle of the pawn component (i.e., the camera observation component), and use the SET node to assign these values ​​to the Location Current (current point position) and Rotation Current (current point angle) variables, respectively. Finally, obtain the current focal length of the pawn component through the Spring Arm component of the pawn component, and use the SET node to assign it to the CurrentArmLength (current point focal length) variable.

[0088] 2. Move the pawn based on variable values: Use the equal node to compare the MoveTime variable with 0, connect to the Branch node. If the comparison result is True, connect the SET node to set the MoveTime variable to a preset default value, and then connect the Set Play Rate function. The preset default value can be 0.01. This preset default value prevents program errors caused by the user forgetting to set the movement duration. If the comparison result is False, directly connect to the Set Play Rate function. The value of the MoveTime variable is passed to the Set Play Rate function to control the roaming speed. Then connect to the Timeline node. The output pins of the Timeline node are connected in series with the Set Actor Location function, the Set Control Rotation function, and the Set Target ArmLength function. Within the specified time (MoveTime variable value), the pawn's position, angle, and focal length are continuously updated frame by frame. At this time, the pawn moves from the current point to the target point, thus realizing roaming.

[0089] The `Location Current` and `Location New` variables serve as the two input values ​​for the `Lerp` function. The output pin of the `Lerp` function is connected to one input pin of the `Set Actor Location` function. The `Lerp` function is used to achieve a smooth transition in position during movement. Similarly, the `Set Control Rotation` function uses the `RotationCurrent` and `Rotation New` variables to perform Lerp calculations to achieve a smooth transition in angle. The `Set TargetArm Length` function similarly uses the `Current Arm Length` and `ArmLength New` variables to perform Lerp calculations to achieve a smooth transition in focal length.

[0090] In the previous step, the output pin of the Timeline node is connected to the Branch node to check the Roaming variable. If the Roaming value is True, the Delay function is called. The input of the Delay function is the DwllTime variable. Its function is to stop and observe after the pawn reaches the target point. Then, it connects to the auto-incrementing node of the index variable and connects to the Pawn Roaming function with the index variable as input to realize the recursive call, that is, to execute the above operation again, thereby completing the roaming / inspection of all points on the path.

[0091] When a user presses the End or Pause button on a specific path on the front-end device's page, the Init RoamingData function outputs a value of "Stop" or "Pause" for the key "State". The Switch On String performs different operations depending on the value of "State". When "State" is "Stop" or "Pause", a Stop node is connected, followed by a SET node, setting the Roaming variable to False. This prevents the index variable from incrementing, allowing the roaming / inspection to end or pause at the previous target point. If the user presses the Continue button, the Init Roaming Data function outputs a value of "resume" for the key "State". A Go On node is then connected, followed by a SET node, setting the Roaming variable to True. The index variable increments, and the Switch Pawn Transform function, which moves the Pawn, is executed, allowing the roaming / inspection to continue.

[0092] The roaming method provided in this application allows users to quickly customize the location, observation parameters, and other parameter information of each roaming point in the roaming / inspection path by performing simple operations on the front-end device, such as clicking buttons, moving the mouse, and entering numbers on the keyboard. Furthermore, users can use the pre-built twin scene to preview the effect of each parameter in three-dimensional visualization, which improves the efficiency of setting up and user satisfaction.

[0093] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0094] In one embodiment, based on the same inventive concept, please refer to... Figure 5 As shown, a roaming device based on a digital twin factory is provided, comprising: The first acquisition module 501 is used to acquire roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop; the roaming configuration information of the target roaming point includes the position information of the target roaming point in the digital twin workshop and the observation parameter information when the camera observation component moves to the target roaming point; the observation parameter information corresponding to the target roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the target roaming point. The second acquisition module 502 is used to acquire the corresponding workshop scene in the digital twin workshop according to the observation parameter information corresponding to the target roaming point when the camera observation component is moved to the target roaming point according to the location information of the target roaming point. The synchronization module 503 is used to synchronize the workshop screen to the front-end device for display.

[0095] In one embodiment, the roaming device further includes a roaming path setting module, configured to receive a roaming path setting instruction; determine roaming configuration information of multiple roaming points in the digital twin workshop according to the roaming path setting instruction; the roaming configuration information of the roaming points includes the location information of the roaming points in the digital twin workshop and the observation parameter information when the camera observation component moves to the roaming point; the observation parameter information corresponding to the roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the roaming point; configure each roaming point according to the roaming configuration information of each roaming point to obtain a roaming point list; and the acquisition module 401 is configured to determine the target roaming point according to the roaming point list and acquire the roaming configuration information of the target roaming point.

[0096] In one embodiment, the roaming configuration information of the target roaming point further includes at least one of target movement duration, target dwell duration, and target interpretation configuration information; the roaming device further includes a control module, configured to control the camera observation component to move from the previous roaming point to the target roaming point according to the target movement duration; and / or, when the camera observation component is moved to the target roaming point according to the location information of the target roaming point, to control the camera observation component to stay at the target roaming point according to the target dwell duration; and / or, when the camera observation component is moved to the target roaming point according to the location information of the target roaming point, to send the target interpretation configuration information to the front-end device, so that the front-end device can perform interpretation according to the target interpretation configuration information.

[0097] In one embodiment, the roaming point list includes the current roaming point and the target roaming point. The control module is used to determine the location information of the passing points based on the location information of the current roaming point and the location information of the target roaming point, and to determine the observation parameter information corresponding to each passing point. Based on the location information of each passing point, the control module moves the camera observation component from the current roaming point to the target roaming point via each passing point. When the camera observation component is moved to each passing point, the control module acquires the corresponding workshop image in the digital twin workshop based on the observation parameter information corresponding to the passing point, and synchronizes the workshop image corresponding to each passing point to the front-end device for display.

[0098] In one embodiment, the control module is used to smooth the location information of the current roaming point and the location information of the target roaming point using a first smoothing processing function, and to determine the location information of each passing point between the current roaming point and the target roaming point.

[0099] In one embodiment, the control module is used to determine the observation parameter information of each of the route points based on at least one of the observation parameter information of the current roaming point and the observation parameter information of the target roaming point.

[0100] In one embodiment, the control module is used to smooth the observation angle information corresponding to the current roaming point and the observation angle information corresponding to the target roaming point using a second smoothing function to obtain the observation angle information corresponding to the camera observation component at each of the passing points; and / or, to smooth the focal length information corresponding to the current roaming point and the focal length information corresponding to the target roaming point using a third smoothing function to obtain the focal length information corresponding to the camera observation component at each of the passing points.

[0101] In one embodiment, please refer to Figure 6 As shown, an electronic device is provided, including a processor 601 and a memory 602. The memory 602 stores a computer program, and the processor 601 executes the computer program to implement the steps of the method described above, which will not be repeated here.

[0102] The processor 601 can be an integrated circuit chip with signal processing capabilities. The processor 601 can be a general-purpose processor, including a CPU (Central Processing Unit), an NP (Network Processor), etc.; it can also be a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0103] The memory 602 may include, but is not limited to, RAM (Random Access Memory), ROM (Read Only Memory), PROM (Programmable Read Only Memory), EPROM (Erasable Programmable Read-Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory).

[0104] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the application of the present application. Specific electronic devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0105] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium, such as a floppy disk, optical disk, hard disk, flash memory, USB flash drive, SD (Secure Digital) card, MMC (Multi-Media Card), etc., in which one or more programs implementing the above steps are stored. These one or more programs can be executed by one or more processors to implement the steps of the methods in the above embodiments, which will not be repeated here.

[0106] Based on the same inventive concept, embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements any of the methods described above.

[0107] The program code for executing the computer program product of this application can be written in any combination of one or more programming languages. The program code can be executed entirely on the user device, partially on the user device, as a standalone software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0108] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, etc.) containing computer-usable program code.

[0109] This application is described with reference to flowchart illustrations and / or block diagrams of the methods, apparatus (systems), and computer-readable storage media according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0110] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0111] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of user-operated steps to be executed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0112] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of this application. Therefore, the drawings only show components relevant to this application and are not drawn according to the actual number, shape, and size of components in implementation. In actual implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex. The structures, proportions, sizes, etc., shown in the accompanying drawings are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the implementation conditions of this application. Therefore, they have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size, without affecting the effect and purpose that this application can produce, should still fall within the scope of the technical content disclosed in this application. At the same time, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of this application. Changes or adjustments in their relative relationships, without substantially changing the technical content, should also be considered within the scope of implementation of this application.

[0113] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the document does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0114] As illustrated herein, unless the context clearly indicates otherwise, the words “a,” “an,” “an,” and / or “the” do not specifically refer to the singular and may also include the plural. Generally speaking, the terms “comprising” and “including” only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0115] The definitions used herein, such as the terms “having,” “may have,” “comprising,” or “may include,” indicate the presence of the corresponding function, operation, element, etc., and do not limit the presence of one or more other functions, operations, elements, etc. Furthermore, it should be understood that the terms “comprising” or “having” as used herein indicate the presence of the features, figures, steps, operations, elements, components, or combinations thereof described in the specification, without excluding the presence or addition of one or more other features, figures, steps, operations, elements, components, or combinations thereof.

[0116] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. For statements regarding the described objects, please refer to the claims or the context of the embodiments. The use of such prefixes should not constitute unnecessary limitations. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0117] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0118] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A roaming method based on a digital twin workshop, characterized in that, include: Obtain the roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop; The roaming configuration information of the target roaming point includes the location information of the target roaming point in the digital twin workshop and the observation parameter information when the camera observation component moves to the target roaming point; the observation parameter information corresponding to the target roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the target roaming point; When the camera observation component is moved to the target roaming point according to the location information of the target roaming point, the corresponding workshop scene in the digital twin workshop is obtained according to the observation parameter information corresponding to the target roaming point. The workshop scene is synchronized to the front-end device for display.

2. The roaming method based on a digital twin workshop according to claim 1, characterized in that, Before acquiring the roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop, the method includes: Receive roaming path setting instructions; The roaming configuration information of multiple roaming points in the digital twin workshop is determined according to the roaming path setting instruction; the roaming configuration information of the roaming points includes the position information of the roaming points in the digital twin workshop and the observation parameter information when the camera observation component moves to the roaming point; the observation parameter information corresponding to the roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the roaming point; Configure each roaming point according to its roaming configuration information to obtain a list of roaming points; The step of obtaining the roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop includes: The target roaming point is determined based on the roaming point list, and the roaming configuration information of the target roaming point is obtained.

3. The roaming method based on a digital twin workshop according to claim 2, characterized in that, The roaming configuration information of the target roaming point also includes at least one of the target movement duration, target dwell time, and target explanation configuration information, and the method further includes: The camera observation component is controlled to move from the previous roaming point to the target roaming point based on the target movement time. And / or, When the camera observation component is moved to the target roaming point according to the location information of the target roaming point, the camera observation component is controlled to stay at the target roaming point according to the target dwell time; And / or, When the camera observation component is moved to the target roaming point according to the location information of the target roaming point, the target interpretation configuration information is sent to the front-end device so that the front-end device can interpret according to the target interpretation configuration information.

4. The roaming method based on a digital twin workshop according to claim 2, characterized in that, The list of roaming points includes the current roaming point and the target roaming point. Moving the camera observation component to the target roaming point based on its location information includes: The location information of the passing points is determined based on the location information of the current roaming point and the location information of the target roaming point, and the observation parameter information corresponding to each passing point is determined. Based on the location information of each of the aforementioned path points, the camera observation component is controlled to move from the current roaming point to the target roaming point via each of the aforementioned path points. When the camera observation component is moved to each of the aforementioned path points, the corresponding workshop image in the digital twin workshop is obtained based on the observation parameter information corresponding to the aforementioned path points, and the workshop image corresponding to each of the aforementioned path points is synchronized to the front-end device for display.

5. The roaming method based on a digital twin workshop according to claim 4, characterized in that, The step of determining the location information of the transit points based on the location information of the current roaming point and the location information of the target roaming point includes: The location information of the current roaming point and the location information of the target roaming point are smoothed using a first smoothing function, and the location information of each passing point is determined between the current roaming point and the target roaming point.

6. The roaming method based on a digital twin workshop according to claim 4, characterized in that, The determination of the observation parameter information corresponding to each of the aforementioned route points includes: The observation parameter information of each of the route points is determined based on at least one of the observation parameter information of the current roaming point and the observation parameter information of the target roaming point.

7. The roaming method based on a digital twin workshop according to claim 6, characterized in that, The step of determining the observation parameter information of each of the transit points based on at least one of the observation parameter information of the current roaming point and the observation parameter information of the target roaming point includes: The observation angle information corresponding to the current roaming point and the observation angle information corresponding to the target roaming point are smoothed using the second smoothing processing function to obtain the observation angle information corresponding to the camera observation component at each of the passing points. And / or, The focal length information corresponding to the current roaming point and the focal length information corresponding to the target roaming point are smoothed using a third smoothing function to obtain the focal length information corresponding to the camera observation component at each of the passing points.

8. A roaming device based on a digital twin factory, characterized in that, include: The first acquisition module is used to acquire the roaming configuration information of the next target roaming point of the camera observation component in the digital twin workshop; The roaming configuration information of the target roaming point includes the location information of the target roaming point in the digital twin workshop and the observation parameter information when the camera observation component moves to the target roaming point; the observation parameter information corresponding to the target roaming point includes the observation angle information and / or focal length information when the camera observation component moves to the target roaming point; The second acquisition module is used to acquire the corresponding workshop scene in the digital twin workshop according to the observation parameter information corresponding to the target roaming point when the camera observation component is moved to the target roaming point according to the location information of the target roaming point. The synchronization module is used to synchronize the workshop screen to the front-end device for display.

9. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by at least one processor, implements the method as described in any one of claims 1-7.

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