Beidou grid data generation method, system and device based on target building three-dimensional model and medium

Abstract

The invention relates to a geographic information technology, and provides a target building three-dimensional model-based Beidou grid data generation method, which comprises the steps of obtaining point cloud data of a three-dimensional model of a target building, carrying out denoising processing on the point cloud data to obtain denoised point cloud data, constructing a denoising model according to the denoised point cloud data, and generating Beidou grid data according to the denoised point cloud data. Inputting the de-noising model into a pre-divided three-dimensional grid space, identifying a three-dimensional grid colliding with the de-noising model in the three-dimensional grid space to obtain a collision grid set, obtaining a Beidou three-dimensional grid position code of a preset building vertex corresponding to the three-dimensional grid, obtaining a vertex three-dimensional position code, and storing the vertex three-dimensional position code in the collision grid set; and calculating a Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code, and converting the Beidou short position codes into Beidou three-dimensional grid position codes to obtain Beidou grid data of the target building. The invention further provides a Beidou grid data generation system and device based on the target building three-dimensional model and a medium. According to the invention, the Beidou grid data generation efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the field of geographic information technology, and in particular to a Beidou grid data generation method, system, equipment and medium based on a three-dimensional model of a target building. Background Art

[0002] With the continuous development of science and technology, satellite positioning technology plays a vital role in many fields. As a global satellite navigation system independently developed by my country, the Beidou satellite navigation system has been widely used in many fields such as civil and military. Its high-precision positioning service provides reliable spatial location information support for people's lives and production activities.

[0003] In the field of architecture, there is an increasing demand for accurate description and data processing of target buildings. Traditional methods of acquiring and processing architectural data often have certain limitations. For example, the architectural data representation method based on two-dimensional drawings is difficult to fully and accurately reflect the real spatial form and complex structure of the building. When it comes to the spatial analysis, intelligent management of buildings, and the integration and application with other geographic information systems (GIS), the expressiveness and practicality of two-dimensional data are obviously insufficient. The emergence of three-dimensional model technology has improved this situation to a certain extent. It can intuitively present the three-dimensional form and internal structure of the building, and provide richer information for architectural design, construction management, and later operation and maintenance. However, the existing three-dimensional building model data has a low degree of integration with the Beidou positioning system data, and it is difficult to directly use the high-precision positioning information of the Beidou satellite navigation system for effective data association and analysis.

[0004] Therefore, in the current data processing environment, the organic combination of the three-dimensional model of the target building and the Beidou grid data can meet the actual needs of precise positioning, real-time monitoring and efficient management of building resources in smart city construction. However, the existing Beidou grid data generation method mainly relies on measuring the building vertex positions in sequence to obtain the Beidou grid location code, which is inefficient. Summary of the invention

[0005] The present invention provides a Beidou grid data generation method, system, equipment and medium based on a target building three-dimensional model, the main purpose of which is to solve the problem of low efficiency of the existing Beidou grid data generation method.

[0006] To achieve the above object, the present invention provides a Beidou grid data generation method based on a target building three-dimensional model, comprising:

[0007] Acquire a three-dimensional model of a target building, and acquire point cloud data of the three-dimensional model;

[0008] Performing denoising processing on the point cloud data to obtain denoised point cloud data, and constructing a denoising model based on the denoised point cloud data;

[0009] Divide the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code to obtain a three-dimensional grid space;

[0010] Inputting the denoising model into the three-dimensional grid space, using a collision detection algorithm to identify three-dimensional grids in the three-dimensional grid space that collide with the denoising model, and obtaining a collision grid set;

[0011] Obtain the Beidou 3D grid position code of the 3D grid corresponding to the preset building vertex of the target building to obtain the vertex 3D position code;

[0012] Calculate the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain a short position code set;

[0013] Each Beidou short location code in the short location code set is converted into a Beidou three-dimensional grid location code to obtain Beidou grid data of the target building.

[0014] Optionally, the performing denoising processing on the point cloud data to obtain denoised point cloud data includes:

[0015] Sampling the point cloud data according to a preset sampling interval to obtain a sampling data set;

[0016] Calculate the difference between adjacent data in the sampled data set, and if the difference between adjacent data is less than a preset maximum threshold and greater than a preset minimum threshold, calculate the average value of two adjacent data;

[0017] The original data between the adjacent data in the point cloud data are replaced according to the average value to obtain denoised point cloud data.

[0018] Optionally, dividing the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code to obtain the three-dimensional grid space includes:

[0019] Divide the three-dimensional space into two-dimensional planes using the minimum level size as intervals to obtain a first division result;

[0020] Dividing the first division result perpendicular to the two-dimensional plane with the minimum level size as an interval to obtain a second division result;

[0021] The second division result is divided in a third dimension with the minimum level size as an interval to obtain a three-dimensional grid space.

[0022] Optionally, the using a collision detection algorithm to identify the three-dimensional grids in the three-dimensional grid space that collide with the denoising model to obtain a collision grid set includes:

[0023] Establishing a three-dimensional coordinate system in the three-dimensional grid space;

[0024] Acquire the three-dimensional coordinates of all vertices of the denoising model according to the three-dimensional coordinate system;

[0025] Establishing a model coordinate range according to the three-dimensional coordinates;

[0026] The grid coordinates of all three-dimensional grids in the three-dimensional grid space are obtained, and all three-dimensional grids within the model coordinate range are identified according to the grid coordinates to obtain a collision grid set.

[0027] Optionally, the obtaining of the Beidou 3D grid position code of the 3D grid corresponding to the preset building vertex of the target building includes:

[0028] Obtaining the longitude and latitude information of the three-dimensional grid corresponding to the preset building vertices of the target building;

[0029] The following formula is used to calculate the column number and row number of each level in the Beidou two-dimensional grid location code according to the latitude and longitude information to obtain the Beidou two-dimensional grid location code:

[0030] λ L-1 =λ L-2 +(a L-1 -1)×Δ L-1 λ

[0031] φ L-1 =φ L-2 +(b L-1 -1)×Δ L-1 φ

[0032]

[0033]

[0034] Among them, λ L-1 Indicates the longitude of the building vertex at the L-1 level Beidou 2D grid, φ L-1 Indicates the latitude of the building vertex at the L-1 level Beidou two-dimensional grid, L-1 Indicates the column number of the building vertex in the Beidou two-dimensional grid at level L-1, b L-1 Indicates the row number of the building vertex in the Beidou two-dimensional grid at level L-1, Δ L-1 λ represents the longitude difference of the Beidou two-dimensional grid at level L-1, Δ L-1φ represents the latitude difference of the Beidou two-dimensional grid of the L-1th level, [] represents rounding of the quotient, Lng represents the longitude contained in the longitude and latitude information, and Lat represents the latitude contained in the longitude and latitude information;

[0035] The Beidou two-dimensional grid position code is encoded in the altitude domain to obtain a Beidou three-dimensional grid position code.

[0036] Optionally, calculating the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain the short position code set includes:

[0037] Calculating the mesh offset of each three-dimensional mesh in the collision mesh set using the three-dimensional position code of the vertex as a reference position;

[0038] Obtain the specific place name of the location corresponding to the vertex three-dimensional location code;

[0039] The Beidou short location code of each three-dimensional grid is generated according to the grid offset with reference to the specific place name to obtain a short location code set.

[0040] Optionally, converting each Beidou short location code in the short location code set into a Beidou three-dimensional grid location code to obtain Beidou grid data of the target building includes:

[0041] The specific place name corresponding to each Beidou short location code in the short location code set is converted into a Beidou reference location code corresponding to the vertex three-dimensional location code to obtain the Beidou grid data of the target building.

[0042] In order to solve the above problems, the present invention also provides a Beidou grid data generation system based on a target building three-dimensional model, the system comprising:

[0043] A model building module, used to obtain a three-dimensional model of a target building, obtain point cloud data of the three-dimensional model, perform denoising on the point cloud data to obtain denoised point cloud data, and build a denoising model based on the denoised point cloud data;

[0044] A space division module is used to divide the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code to obtain a three-dimensional grid space;

[0045] A model detection module, used for inputting the denoising model into the three-dimensional grid space, identifying the three-dimensional grids in the three-dimensional grid space that collide with the denoising model using a collision detection algorithm, and obtaining a collision grid set;

[0046] A data calculation module is used to obtain the Beidou three-dimensional grid position code of the three-dimensional grid corresponding to the building vertex preset in the target building, obtain the vertex three-dimensional position code, and calculate the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain a short position code set;

[0047] The data conversion module is used to convert each Beidou short location code in the short location code set into a Beidou three-dimensional grid location code to obtain the Beidou grid data of the target building.

[0048] In order to solve the above problem, the present invention further provides an electronic device, the electronic device comprising:

[0049] at least one processor;

[0050] and, a memory communicatively coupled to the at least one processor;

[0051] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the Beidou grid data generation method described above.

[0052] In order to solve the above problems, the present invention also provides a computer-readable storage medium, in which at least one computer program is stored. The at least one computer program is executed by a processor in an electronic device to implement the above-mentioned Beidou grid data generation method.

[0053] The embodiment of the present invention obtains the three-dimensional model of the target building, obtains the point cloud data of the three-dimensional model, performs denoising on the point cloud data, obtains denoised point cloud data, constructs a denoising model according to the denoised point cloud data, divides the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code, obtains a three-dimensional grid space, inputs the denoising model into the three-dimensional grid space, uses a collision detection algorithm to identify the three-dimensional grids in the three-dimensional grid space that collide with the denoising model, obtains a collision grid set, obtains the Beidou three-dimensional grid position code of the three-dimensional grid corresponding to the building vertex preset in the target building, obtains the vertex three-dimensional position code, calculates the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code, obtains a short position code set, converts each Beidou short position code in the short position code set into a Beidou three-dimensional grid position code, and obtains the Beidou grid data of the target building. Therefore, the Beidou grid data generation method, system, electronic device and computer-readable storage medium proposed by the present invention can solve the problem of low efficiency of the existing Beidou grid data generation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A schematic diagram of a process flow of a Beidou grid data generation method provided by an embodiment of the present invention;

[0055] Figure 2 A functional module diagram of a Beidou grid data generation system provided by an embodiment of the present invention;

[0056] Figure 3 A schematic diagram of the structure of an electronic device for implementing the Beidou grid data generation method provided in one embodiment of the present invention.

[0057] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0059] The embodiment of the present application provides a Beidou grid data generation method based on a three-dimensional model of a target building. The execution subject of the Beidou grid data generation method includes but is not limited to at least one of the electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided by the embodiment of the present application. In other words, the Beidou grid data generation method can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms.

[0060] Reference Figure 1 FIG. 1 is a flow chart of a method for generating Beidou grid data based on a target building three-dimensional model according to an embodiment of the present invention. In this embodiment, the Beidou grid data generation method includes:

[0061] S1. Obtain a three-dimensional model of a target building, and obtain point cloud data of the three-dimensional model.

[0062] In the embodiment of the present invention, the point cloud data refers to a set of vectors in a three-dimensional coordinate system, and these vectors usually represent points on the surface of an object.

[0063] In the embodiment of the present invention, the point cloud data of the three-dimensional model is obtained by establishing a three-dimensional coordinate system and obtaining the coordinate vector of each point of the three-dimensional model in the three-dimensional coordinate system.

[0064] In the embodiment of the present invention, by acquiring the three-dimensional model of the target building and obtaining the point cloud data of the three-dimensional model, the efficiency of subsequent denoising processing of the point cloud data is improved.

[0065] S2. Perform denoising processing on the point cloud data to obtain denoised point cloud data, and construct a denoising model based on the denoised point cloud data.

[0066] In the embodiment of the present invention, the denoising process is performed on the point cloud data to improve the smoothness of the data and the rated accuracy of the subsequent model establishment.

[0067] In the embodiment of the present invention, the denoising process is performed on the point cloud data to obtain the denoised point cloud data, including:

[0068] Sampling the point cloud data according to a preset sampling interval to obtain a sampling data set;

[0069] Calculate the difference between adjacent data in the sampled data set, and if the difference between adjacent data is less than a preset maximum threshold and greater than a preset minimum threshold, calculate the average value of two adjacent data;

[0070] The original data between the adjacent data in the point cloud data are replaced according to the average value to obtain denoised point cloud data.

[0071] In the embodiment of the present invention, the preset sampling interval can be set according to demand. A sampling interval that is too large can improve data processing efficiency, but at the same time will reduce data accuracy; a sampling interval that is too small can improve data accuracy, but will reduce data processing efficiency.

[0072] In the embodiment of the present invention, the constructing of the denoising model according to the denoised point cloud data may be to use three-dimensional modeling software to establish the denoising model according to the denoised point cloud data.

[0073] In the embodiment of the present invention, denoising processing is performed on the point cloud data to obtain denoised point cloud data, and a denoising model is constructed according to the denoised point cloud data, thereby improving the efficiency of subsequently obtaining a collision mesh set.

[0074] S3. Divide the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code to obtain a three-dimensional grid space.

[0075] In the embodiment of the present invention, the minimum level size of the Beidou three-dimensional grid location code is 1.5 centimeters.

[0076] In the embodiment of the present invention, the three-dimensional grid division of the preset three-dimensional space according to the minimum level size of the Beidou three-dimensional grid position code to obtain the three-dimensional grid space includes:

[0077] Divide the three-dimensional space into two-dimensional planes using the minimum level size as intervals to obtain a first division result;

[0078] Dividing the first division result perpendicular to the two-dimensional plane with the minimum level size as an interval to obtain a second division result;

[0079] The second division result is divided in a third dimension with the minimum level size as an interval to obtain a three-dimensional grid space.

[0080] In the embodiment of the present invention, the three-dimensional grid space is obtained by dividing the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code, thereby improving the efficiency of obtaining the collision grid set.

[0081] S4. Input the denoising model into the three-dimensional grid space, and use a collision detection algorithm to identify three-dimensional grids in the three-dimensional grid space that collide with the denoising model to obtain a collision grid set.

[0082] In an embodiment of the present invention, the denoising model is input into the three-dimensional grid space, and a collision detection algorithm is used to identify the three-dimensional grid in the three-dimensional grid space that collides with the denoising model. This is done by establishing a three-dimensional coordinate system in the three-dimensional grid space, and judging whether the three-dimensional grid collides with the denoising model based on the coordinates of each three-dimensional grid and the coordinates of each vertex of the denoising model.

[0083] In the embodiment of the present invention, the method of using a collision detection algorithm to identify the three-dimensional grids in the three-dimensional grid space that collide with the denoising model to obtain a collision grid set includes:

[0084] Establishing a three-dimensional coordinate system in the three-dimensional grid space;

[0085] Acquire the three-dimensional coordinates of all vertices of the denoising model according to the three-dimensional coordinate system;

[0086] Establishing a model coordinate range according to the three-dimensional coordinates;

[0087] The grid coordinates of all three-dimensional grids in the three-dimensional grid space are obtained, and all three-dimensional grids within the model coordinate range are identified according to the grid coordinates to obtain a collision grid set.

[0088] In an embodiment of the present invention, the denoising model is input into the three-dimensional grid space, and a collision detection algorithm is used to identify three-dimensional grids in the three-dimensional grid space that collide with the denoising model to obtain a collision grid set, thereby improving the efficiency of subsequent calculation of the Beidou short position code of each grid.

[0089] S5. Obtain the Beidou three-dimensional grid position code of the three-dimensional grid corresponding to the building vertex preset by the target building to obtain the vertex three-dimensional position code.

[0090] In the embodiment of the present invention, the preset building vertices of the target building can be preset according to requirements.

[0091] In an embodiment of the present invention, the Beidou three-dimensional grid position code, also known as the Beidou grid code, is a new type of global spatial position framework and coding method, which is developed on the basis of the GeoSOT earth space partition theory. This theory divides the earth and near-Earth space into high-precision three-dimensional grids, thus providing a basis for the identification and coding of various spatial positions.

[0092] In detail, the Beidou three-dimensional grid position can assign a globally unique one-dimensional integer digital code to any grid of varying sizes with a maximum accuracy of 1.5 centimeters in the earth's space from the center of the earth to 60,000 kilometers above the ground, and can establish an intrinsic relationship with any physical object and various different data in the same area.

[0093] In the embodiment of the present invention, the step of obtaining the Beidou 3D grid position code of the 3D grid corresponding to the building vertex preset by the target building includes:

[0094] Obtaining the longitude and latitude information of the three-dimensional grid corresponding to the preset building vertices of the target building;

[0095] The following formula is used to calculate the column number and row number of each level in the Beidou two-dimensional grid location code according to the latitude and longitude information to obtain the Beidou two-dimensional grid location code:

[0096] λ L-1 =λ L-2 +(a L-1 -1)×Δ L-1 λ

[0097] φ L-1 =φ L-2 +(b L-1 -1)×Δ L-1 φ

[0098]

[0099]

[0100] Among them, λ L-1Indicates the longitude of the building vertex at the L-1 level Beidou 2D grid, φ L-1 Indicates the latitude of the building vertex at the L-1 level Beidou two-dimensional grid, L-1 Indicates the column number of the building vertex in the Beidou two-dimensional grid at level L-1, b L-1 Indicates the row number of the building vertex in the Beidou two-dimensional grid at level L-1, Δ L-1 λ represents the longitude difference of the Beidou two-dimensional grid at level L-1, Δ L-1 φ represents the latitude difference of the Beidou two-dimensional grid of the L-1th level, [] represents rounding of the quotient, Lng represents the longitude contained in the longitude and latitude information, and Lat represents the latitude contained in the longitude and latitude information;

[0101] The Beidou two-dimensional grid position code is encoded in the altitude domain to obtain a Beidou three-dimensional grid position code.

[0102] In detail, the height domain encoding of the Beidou two-dimensional grid position code refers to adding height dimension information to the Beidou two-dimensional grid position code of each three-dimensional grid according to the height information of each three-dimensional grid.

[0103] In the embodiment of the present invention, the Beidou three-dimensional grid position code of the three-dimensional grid corresponding to the building vertices preset by the target building is obtained to obtain the vertex three-dimensional position code, thereby improving the efficiency of subsequent generation of Beidou short position code.

[0104] S6. Calculate the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain a short position code set.

[0105] In the embodiment of the present invention, the Beidou short location code is a simplified representation of the Beidou grid location code, which is mainly used to quickly and accurately represent and transmit location information. It is defined in combination with the place name address, has the characteristics of short length, easy transmission, easy storage, etc., and is suitable for scenarios where the location information accuracy is not high or fast transmission is required.

[0106] In detail, the Beidou short location code is a special case of the Beidou reference location code. When the Beidou reference location code corresponds to a specific place name, the place name can be used to replace the Beidou reference location code to form the Beidou short location code.

[0107] In the embodiment of the present invention, the step of calculating the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain the short position code set includes:

[0108] Calculating the mesh offset of each three-dimensional mesh in the collision mesh set using the three-dimensional position code of the vertex as a reference position;

[0109] Obtain the specific place name of the location corresponding to the vertex three-dimensional location code;

[0110] The Beidou short location code of each three-dimensional grid is generated according to the grid offset with reference to the specific place name to obtain a short location code set.

[0111] In an embodiment of the present invention, generating the Beidou short location code of each three-dimensional grid based on the grid offset with reference to the specific place name means using the specific place name to replace the Beidou reference location code of each three-dimensional grid, and then splicing it with the grid offset corresponding to each three-dimensional grid to obtain the Beidou short location code of each three-dimensional grid.

[0112] In the embodiment of the present invention, the Beidou short position code of each three-dimensional grid in the collision grid set is calculated according to the vertex three-dimensional position code to obtain a short position code set, thereby improving the efficiency of obtaining Beidou grid data.

[0113] S7. Convert each Beidou short location code in the short location code set into a Beidou three-dimensional grid location code to obtain Beidou grid data of the target building.

[0114] In an embodiment of the present invention, each Beidou short location code in the short location code set is converted into a Beidou three-dimensional grid location code to obtain the Beidou grid data of the target building, which is achieved by converting the specific place name in each Beidou short location code in the short location code set into a corresponding Beidou reference location code to obtain a complete Beidou location code.

[0115] In the embodiment of the present invention, converting each Beidou short location code in the short location code set into a Beidou three-dimensional grid location code to obtain Beidou grid data of the target building includes:

[0116] The specific place name corresponding to each Beidou short location code in the short location code set is converted into a Beidou reference location code corresponding to the vertex three-dimensional location code to obtain the Beidou grid data of the target building.

[0117] In an embodiment of the present invention, the Beidou grid data includes a Beidou three-dimensional grid position code of any position of the target building.

[0118] In the embodiment of the present invention, the Beidou grid data of the target building is obtained by converting each Beidou short location code in the short location code set into a Beidou three-dimensional grid location code, thereby improving the efficiency of obtaining the Beidou grid data of the target building.

[0119] like Figure 2 , which is a functional module diagram of a Beidou grid data generation system based on a target building three-dimensional model provided by an embodiment of the present invention.

[0120] The Beidou grid data generation system 100 of the present invention can be installed in an electronic device. According to the functions to be implemented, the Beidou grid data generation system 100 can include a model building module 101, a space division module 102, a model detection module 103, a data calculation module 104 and a data conversion module 105. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0121] In this embodiment, the functions of each module / unit are as follows:

[0122] The model building module 101 is used to obtain a three-dimensional model of a target building, obtain point cloud data of the three-dimensional model, perform denoising on the point cloud data to obtain denoised point cloud data, and build a denoising model based on the denoised point cloud data;

[0123] The space division module 102 divides the preset three-dimensional space into three-dimensional grids using the minimum level size according to the Beidou three-dimensional grid position code to obtain a three-dimensional grid space;

[0124] The model detection module 103 is used to input the denoising model into the three-dimensional grid space, identify the three-dimensional grids in the three-dimensional grid space that collide with the denoising model using a collision detection algorithm, and obtain a collision grid set;

[0125] The data calculation module 104 is used to obtain the Beidou 3D grid position code of the 3D grid corresponding to the building vertex preset in the target building, obtain the vertex 3D position code, and calculate the Beidou short position code of each 3D grid in the collision grid set according to the vertex 3D position code to obtain the short position code set;

[0126] The data conversion module 105 is used to convert each Beidou short location code in the short location code set into a Beidou three-dimensional grid location code to obtain Beidou grid data of the target building.

[0127] In detail, each module described in the Beidou grid data generation system 100 described in the embodiment of the present invention is used in the same manner as described above. Figures 1 to 3 The same technical means are used as the Beidou grid data generation method described in , and can produce the same technical effects, so I will not go into details here.

[0128] like Figure 3 , which is a schematic diagram of the structure of an electronic device of a Beidou grid data generating method provided in an embodiment of the present invention.

[0129] The electronic device 1 may include a processor 10, a memory 11, a communication bus 12 and a communication interface 13, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a Beidou grid data generation program.

[0130] The processor 10 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or a plurality of integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips. The processor 10 is the control core (ControlUnit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and executes or executes programs or modules (such as Beidou grid data generation programs, etc.) stored in the memory 11, and calls data stored in the memory 11 to execute various functions of the electronic device and process data.

[0131] The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 11 may be an internal storage unit of an electronic device, such as a mobile hard disk of the electronic device. In other embodiments, the memory 11 may also be an external storage device of an electronic device, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 11 may also include both an internal storage unit of the electronic device and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device, such as the code of the Beidou grid data generation program, but also can be used to temporarily store data that has been output or is to be output.

[0132] The communication bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0133] The communication interface 13 is used for communication between the above-mentioned electronic device and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device and other electronic devices. The user interface may be a display (Display), an input unit (such as a keyboard (Keyboard)), and optionally, the user interface may also be a standard wired interface, a wireless interface. Optionally, in this embodiment, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visual user interface.

[0134] The figure only shows an electronic device with components. Those skilled in the art will understand that the structure shown in the figure does not constitute a limitation on the electronic device, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0135] For example, although not shown, the electronic device may also include a power source (such as a battery) for supplying power to each component. Preferably, the power source may be logically connected to the at least one processor 10 through a power management system, so that the power management system can realize functions such as charging management, discharging management, and power consumption management. The power source may also include any components such as one or more DC or AC power sources, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators. The electronic device may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0136] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0137] The Beidou grid data generation program stored in the memory 11 in the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve:

[0138] Acquire a three-dimensional model of a target building, and acquire point cloud data of the three-dimensional model;

[0139] Performing denoising processing on the point cloud data to obtain denoised point cloud data, and constructing a denoising model based on the denoised point cloud data;

[0140] Divide the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code to obtain a three-dimensional grid space;

[0141] Inputting the denoising model into the three-dimensional grid space, using a collision detection algorithm to identify three-dimensional grids in the three-dimensional grid space that collide with the denoising model, and obtaining a collision grid set;

[0142] Obtain the Beidou 3D grid position code of the 3D grid corresponding to the preset building vertex of the target building to obtain the vertex 3D position code;

[0143] Calculate the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain a short position code set;

[0144] Each Beidou short location code in the short location code set is converted into a Beidou three-dimensional grid location code to obtain Beidou grid data of the target building.

[0145] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to the description of the relevant steps in the corresponding embodiment of the accompanying drawings, which will not be repeated here.

[0146] Furthermore, if the module / unit integrated in the electronic device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or system capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0147] The present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, the computer program can implement:

[0148] Acquire a three-dimensional model of a target building, and acquire point cloud data of the three-dimensional model;

[0149] Performing denoising processing on the point cloud data to obtain denoised point cloud data, and constructing a denoising model based on the denoised point cloud data;

[0150] Divide the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code to obtain a three-dimensional grid space;

[0151] Inputting the denoising model into the three-dimensional grid space, using a collision detection algorithm to identify three-dimensional grids in the three-dimensional grid space that collide with the denoising model, and obtaining a collision grid set;

[0152] Obtain the Beidou 3D grid position code of the 3D grid corresponding to the preset building vertex of the target building to obtain the vertex 3D position code;

[0153] Calculate the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain a short position code set;

[0154] Each Beidou short location code in the short location code set is converted into a Beidou three-dimensional grid location code to obtain Beidou grid data of the target building.

[0155] In the embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0156] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0157] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0158] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0159] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0160] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Among them, artificial intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0161] In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or systems stated in a system claim can also be implemented by one unit or system through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A Beidou grid data generation method based on a target building three-dimensional model, characterized in that: The method comprises: Acquire a three-dimensional model of a target building, and acquire point cloud data of the three-dimensional model; Performing denoising processing on the point cloud data to obtain denoised point cloud data, and constructing a denoising model based on the denoised point cloud data; Divide the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code to obtain a three-dimensional grid space; Inputting the denoising model into the three-dimensional grid space, using a collision detection algorithm to identify three-dimensional grids in the three-dimensional grid space that collide with the denoising model, and obtaining a collision grid set; Obtain the Beidou 3D grid position code of the 3D grid corresponding to the preset building vertex of the target building to obtain the vertex 3D position code; Calculate the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain a short position code set; Each Beidou short location code in the short location code set is converted into a Beidou three-dimensional grid location code to obtain Beidou grid data of the target building.

2. The Beidou grid data generation method according to claim 1, wherein: The performing denoising processing on the point cloud data to obtain denoised point cloud data comprises: Sampling the point cloud data according to a preset sampling interval to obtain a sampling data set; Calculate the difference between adjacent data in the sampled data set, and if the difference between adjacent data is less than a preset maximum threshold and greater than a preset minimum threshold, calculate the average value of two adjacent data; The original data between the adjacent data in the point cloud data are replaced according to the average value to obtain denoised point cloud data.

3. The Beidou grid data generation method according to claim 1, characterized in that: The method of dividing the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code to obtain the three-dimensional grid space includes: Divide the three-dimensional space into two-dimensional planes using the minimum level size as intervals to obtain a first division result; Dividing the first division result perpendicular to the two-dimensional plane with the minimum level size as an interval to obtain a second division result; The second division result is divided in a third dimension with the minimum level size as an interval to obtain a three-dimensional grid space.

4. The Beidou grid data generation method according to claim 1, wherein: The method of using a collision detection algorithm to identify three-dimensional grids in the three-dimensional grid space that collide with the denoising model to obtain a collision grid set includes: Establishing a three-dimensional coordinate system in the three-dimensional grid space; Acquire the three-dimensional coordinates of all vertices of the denoising model according to the three-dimensional coordinate system; Establishing a model coordinate range according to the three-dimensional coordinates; The grid coordinates of all three-dimensional grids in the three-dimensional grid space are obtained, and all three-dimensional grids within the model coordinate range are identified according to the grid coordinates to obtain a collision grid set.

5. The Beidou grid data generation method according to claim 1, characterized in that: The step of obtaining the Beidou 3D grid position code of the 3D grid corresponding to the preset building vertex of the target building includes: Obtaining the longitude and latitude information of the three-dimensional grid corresponding to the preset building vertices of the target building; The following formula is used to calculate the column number and row number of each level in the Beidou two-dimensional grid location code according to the latitude and longitude information to obtain the Beidou two-dimensional grid location code: l L-1 =λ L-2 +(a L-1 -1)×D L-1 l f L-1 =φ L-2 +(b L-1 -1)×D L-1 f Among them, λ L-1 Indicates the longitude of the positioning corner point of the building vertex in the Beidou two-dimensional grid at level L-1, φ L-1 Indicates the latitude of the building vertex at the L-1 level Beidou two-dimensional grid, L-1 Indicates the column number of the building vertex in the Beidou two-dimensional grid at level L-1, b L-1 Indicates the row number of the building vertex in the Beidou two-dimensional grid at level L-1, Δ L-1 λ represents the longitude difference of the Beidou two-dimensional grid at level L-1, Δ L-1 φ represents the latitude difference of the Beidou two-dimensional grid of the L-1th level, [] represents rounding of the quotient, Lng represents the longitude contained in the longitude and latitude information, and Lat represents the latitude contained in the longitude and latitude information; The Beidou two-dimensional grid position code is encoded in the altitude domain to obtain a Beidou three-dimensional grid position code.

6. The Beidou grid data generation method according to claim 1, characterized in that: The step of calculating the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain a short position code set includes: Calculating the mesh offset of each three-dimensional mesh in the collision mesh set using the three-dimensional position code of the vertex as a reference position; Obtain the specific place name of the location corresponding to the vertex three-dimensional location code; The Beidou short location code of each three-dimensional grid is generated according to the grid offset with reference to the specific place name to obtain a short location code set.

7. The Beidou grid data generation method according to claim 6, characterized in that: The step of converting each Beidou short location code in the short location code set into a Beidou three-dimensional grid location code to obtain Beidou grid data of the target building includes: The specific place name corresponding to each Beidou short location code in the short location code set is converted into a Beidou reference location code corresponding to the vertex three-dimensional location code to obtain the Beidou grid data of the target building.

8. A Beidou grid data generation system based on a target building three-dimensional model, characterized in that: The system comprises: A model building module, used to obtain a three-dimensional model of a target building, obtain point cloud data of the three-dimensional model, perform denoising on the point cloud data to obtain denoised point cloud data, and build a denoising model based on the denoised point cloud data; A space division module is used to divide the preset three-dimensional space into three-dimensional grids according to the minimum level size of the Beidou three-dimensional grid position code to obtain a three-dimensional grid space; A model detection module, used for inputting the denoising model into the three-dimensional grid space, identifying the three-dimensional grids in the three-dimensional grid space that collide with the denoising model using a collision detection algorithm, and obtaining a collision grid set; A data calculation module is used to obtain the Beidou three-dimensional grid position code of the three-dimensional grid corresponding to the building vertex preset in the target building, obtain the vertex three-dimensional position code, and calculate the Beidou short position code of each three-dimensional grid in the collision grid set according to the vertex three-dimensional position code to obtain a short position code set; The data conversion module is used to convert each Beidou short location code in the short location code set into a Beidou three-dimensional grid location code to obtain the Beidou grid data of the target building.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the Beidou grid data generation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the Beidou grid data generation method as described in any one of claims 1 to 7 is implemented.

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