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

Abstract

The present application relates to geographic information technology, and provide a kind of based on target building three-dimensional model's Beidou grid data generation method, comprising: obtaining the point cloud data of the three-dimensional model of target building, point cloud data is carried out denoising processing and obtains denoising point cloud data, denoising model is constructed according to denoising point cloud data, denoising model is input into the three-dimensional grid space of pre-division, identify the three-dimensional grid of three-dimensional grid space with denoising model collision, obtain collision grid set, obtain the Beidou three-dimensional grid position code of the three-dimensional grid corresponding to the preset building vertex, obtain vertex three-dimensional position code, according to vertex three-dimensional position code calculate the Beidou short position code of each three-dimensional grid in collision grid set, Beidou short position code is converted into Beidou three-dimensional grid position code, obtain the Beidou grid data of target building.The present application also proposes a kind of based on target building three-dimensional model's Beidou grid data generation system, equipment and medium.The present application can improve Beidou grid data generation efficiency.

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. The Beidou Satellite Navigation System, a global satellite navigation system independently developed by my country, has been widely used in various fields, including civil and military. Its high-precision positioning services provide reliable spatial location information support for people's daily lives and production activities.

[0003] In the field of architecture, there is a growing demand for accurate descriptions and data processing of target buildings. Traditional methods for acquiring and processing architectural data often have limitations. For example, architectural data representation based on two-dimensional drawings cannot fully and accurately reflect the building's true spatial form and complex structure. When it comes to spatial analysis, intelligent management, and integration with other geographic information systems (GIS), the expressiveness and practicality of two-dimensional data are clearly insufficient. The emergence of three-dimensional modeling technology has improved this situation to a certain extent. It can intuitively present the three-dimensional form and internal structure of a building, providing richer information for architectural design, construction management, and subsequent operations and maintenance. However, the existing three-dimensional building model data has a low degree of integration with the Beidou positioning system data, making it 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, organically combining the 3D model of the target building with Beidou grid data can meet practical needs such as the precise positioning, real-time monitoring, and efficient management of building resources in smart city construction. However, existing Beidou grid data generation methods mainly rely on sequentially measuring the positions of building vertices to obtain Beidou grid location codes, 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-mentioned object, the present invention provides a method for generating Beidou grid data based on a target building three-dimensional model, comprising:

[0007] Obtaining a three-dimensional model of a target building and obtaining point cloud data of the three-dimensional model;

[0008] Performing denoising 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, and 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;

[0011] Obtaining 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, performing denoising 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 sampled data set;

[0016] Calculating the difference between adjacent data in the sampled data set, and if the difference between the adjacent data is less than a preset maximum threshold and greater than a preset minimum threshold, calculating the average value of the 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] Performing a two-dimensional plane division on the three-dimensional space using the minimum level size as an interval to obtain a first division result;

[0020] Dividing the first division result perpendicularly to the two-dimensional plane using 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 identifying the three-dimensional grids in the three-dimensional grid space that collide with the denoising model by using a collision detection algorithm comprises:

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

[0024] obtaining 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] obtaining grid coordinates of all three-dimensional grids in the three-dimensional grid space, and identifying all three-dimensional grids in the model coordinate range according to the grid coordinates to obtain a collision grid set.

[0027] Optionally, the obtaining of the Beidou three-dimensional grid location code of the three-dimensional grid corresponding to the preset building vertex of the target building comprises:

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

[0029] calculating column number and row number of each level in the Beidou two-dimensional grid location code according to the longitude and latitude information by using the following formula 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] wherein λ L-1 represents longitude of a positioning corner of the building vertex in the Beidou two-dimensional grid of the L-1 level, φ L-1 represents latitude of the positioning corner of the building vertex in the Beidou two-dimensional grid of the L-1 level, a L-1 represents column number of the positioning corner of the building vertex in the Beidou two-dimensional grid of the L-1 level, b L-1 represents row number of the positioning corner of the building vertex in the Beidou two-dimensional grid of the L-1 level, Δ L-1 λ represents longitude difference of the Beidou two-dimensional grid of the L-1 level, and Δ L-1φ represents the latitude difference of the Beidou two-dimensional grid at level L-1, [] 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 a mesh offset of each three-dimensional mesh in the collision mesh set using the vertex three-dimensional position code 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 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, configured 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 construct 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, configured to 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, thereby obtaining a collision grid set;

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

[0047] The data conversion module is configured to convert each Beidou short position code in the short position code set into a Beidou three-dimensional grid position code, thereby obtaining the Beidou grid data of the target building.

[0048] To solve the above problems, the present application further provides an electronic device, which comprises:

[0049] at least one processor;

[0050] and a memory in communication connection with the at least one processor;

[0051] wherein 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 to enable the at least one processor to execute the Beidou grid data generation method described above.

[0052] To solve the above problems, the present application further provides a computer readable storage medium, which stores at least one computer program, and the at least one computer program is executed by a processor in an electronic device to implement the Beidou grid data generation method described above.

[0053] The embodiment of the present application obtains a three-dimensional model of a target building, obtains point cloud data of the three-dimensional model, performs denoising processing on the point cloud data to obtain denoised point cloud data, constructs a denoised model according to the denoised point cloud data, performs three-dimensional grid division on a preset three-dimensional space according to the minimum level size of a Beidou three-dimensional grid position code, obtains a three-dimensional grid space, inputs the denoised model into the three-dimensional grid space, identifies three-dimensional grids in the three-dimensional grid space that collide with the denoised model by using a collision detection algorithm, obtains a collision grid set, obtains a Beidou three-dimensional grid position code of a preset building vertex corresponding to a three-dimensional grid of the target building, obtains a vertex three-dimensional position code, calculates a 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 provided by the present application can solve the problem of low efficiency of the existing Beidou grid data generation method. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 A schematic diagram of a process for generating Beidou grid data according to an embodiment of the present invention;

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

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

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

[0058] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended 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 and a terminal 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 (CDNs), 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 generally 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 a three-dimensional model of a target building and obtaining 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 performed on the point cloud data can improve the smoothness of the data and improve the rated accuracy of the subsequent model establishment.

[0067] In an embodiment of the present invention, performing denoising on the point cloud data to obtain denoised point cloud data includes:

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

[0069] Calculating the difference between adjacent data in the sampled data set, and if the difference between the adjacent data is less than a preset maximum threshold and greater than a preset minimum threshold, calculating the average value of the 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 an 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 reduce data accuracy; a sampling interval that is too small can improve data accuracy but 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 based on 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 an embodiment of the present invention, the step of dividing a 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:

[0077] Performing a two-dimensional plane division on the three-dimensional space using the minimum level size as an interval to obtain a first division result;

[0078] Dividing the first division result perpendicularly to the two-dimensional plane using 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, a three-dimensional grid space is obtained by dividing a 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 a 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 an embodiment of the present invention, 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:

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

[0085] Obtaining 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] 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 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.

[0090] In the embodiment of the present invention, the preset building vertices of the target building can be pre-set according to needs.

[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 global spatial position framework and coding method developed based on the GeoSOT earth space segmentation theory. This theory divides the earth and near-Earth space into a high-precision three-dimensional grid, 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 mutual relationship with any physical object and various different data within the same area.

[0093] In an embodiment of the present invention, obtaining the Beidou 3D grid position code of the 3D grid corresponding to the preset building vertex of 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 based on 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’s positioning corner point in the Beidou 2D grid at level L-1, φ L-1 Indicates the latitude of the building vertex's positioning corner point in the Beidou 2D grid at level L-1, a 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 2D grid at level L-1, Δ L-1 φ represents the latitude difference of the Beidou two-dimensional grid at level L-1, [] 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, performing height domain encoding on 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 3D grid position code of the 3D grid corresponding to the preset building vertices of the target building is obtained to obtain the vertex 3D position code, thereby improving the efficiency of subsequent generation of the 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 this embodiment of the present invention, the Beidou short location code is a simplified representation of the Beidou grid location code, primarily used to quickly and accurately represent and transmit location information. Defined by combining place names and addresses, it is short, easy to transmit, and store, making it suitable for scenarios where location accuracy is not a priority or where 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 an embodiment of the present invention, 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 a mesh offset of each three-dimensional mesh in the collision mesh set using the vertex three-dimensional position code 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, thereby obtaining a complete Beidou location code.

[0115] In an 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 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 location 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 described in the present invention can be installed in an electronic device. Depending on the functionality implemented, the Beidou grid data generation system 100 may include a model construction module 101, a spatial partitioning module 102, a model detection module 103, a data calculation module 104, and a data conversion module 105. A module, also referred to as a unit, is a series of computer program segments that can be executed by an electronic device processor and perform a fixed function. These segments are stored in the electronic device's memory.

[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 configured to 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, thereby obtaining a collision grid set;

[0125] The data calculation module 104 is configured to obtain the Beidou 3D grid position code of the 3D grid corresponding to the building vertex preset of 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 based on the vertex 3D position code to obtain a short position code set;

[0126] The data conversion module 105 is configured 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 in the Beidou grid data generation system 100 described in the embodiment of the present invention adopts the same Figures 1 to 3 The same technical means are used to generate Beidou grid data as described in , and can produce the same technical effects, so I will not go into details here.

[0128] like Figure 3 , which is a structural diagram of an electronic device for the Beidou grid data generation method provided by 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. It 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] In some embodiments, the processor 10 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips. The processor 10 is the control core (Control Unit) of the electronic device, connecting the various components of the entire electronic device using various interfaces and lines, and executing the programs or modules (such as the Beidou grid data generation program, etc.) stored in the memory 11, as well as calling the data stored in the memory 11, to perform 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 magnetic 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. Furthermore, the memory 11 may also include both an internal storage unit and an external storage device of the electronic 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 can also 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. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is configured to enable 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)), 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 further include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 10 via a power management system, thereby implementing functions such as charge management, discharge management, and power consumption management through the power management system. The power source may further include any components such as one or more DC or AC power sources, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, etc. The electronic device may further include a variety of sensors, a Bluetooth module, a Wi-Fi module, etc., which will not be described in detail 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 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve the following:

[0138] Obtaining a three-dimensional model of a target building and obtaining point cloud data of the three-dimensional model;

[0139] Performing denoising 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, and 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;

[0142] Obtaining 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 modules / units integrated into the electronic device 1 are implemented as software functional units and sold or used as independent products, they 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 drive, a magnetic disk, an optical disk, a computer memory, or 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. When the computer program is executed by a processor of an electronic device, the computer program can implement:

[0148] Obtaining a three-dimensional model of a target building and obtaining point cloud data of the three-dimensional model;

[0149] Performing denoising 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, and 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;

[0152] Obtaining 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 herein, it should be understood that the disclosed devices, systems, and methods may be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the module division is merely a logical functional division, and actual implementation may employ other division methods.

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

[0157] In addition, the functional modules in various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional modules.

[0158] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, 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, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and all changes that come within the meaning and range of equivalents of the claims are intended to be embraced therein. Any reference to a figure in a claim should not be construed as limiting the claim to which it relates.

[0160] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. 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 achieve optimal results.

[0161] Furthermore, 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 recited in a system claim may also be implemented by a single unit or system through software or hardware. Terms such as "first" and "second" are used to indicate names and do not imply any particular order.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. 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 solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions 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: Obtaining a three-dimensional model of a target building and obtaining point cloud data of the three-dimensional model; Performing denoising 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, and 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; Obtaining 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 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 sampled data set; Calculating the difference between adjacent data in the sampled data set, and if the difference between the adjacent data is less than a preset maximum threshold and greater than a preset minimum threshold, calculating the average value of the 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, wherein: The step 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: Performing a two-dimensional plane division on the three-dimensional space using the minimum level size as an interval to obtain a first division result; Dividing the first division result perpendicularly to the two-dimensional plane using 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; Obtaining 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; 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, wherein: The obtaining of 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 based on 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 building vertex’s positioning corner point in the Beidou 2D grid at level L-1, φ L-1 Indicates the latitude of the building vertex's positioning corner point in the Beidou 2D grid at level L-1, a 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 2D grid at level L-1, Δ L-1 φ represents the latitude difference of the Beidou two-dimensional grid at level L-1, [] 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, wherein: 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 a mesh offset of each three-dimensional mesh in the collision mesh set using the vertex three-dimensional position code 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, wherein: The 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 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, configured 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 construct 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, configured to 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, thereby obtaining a collision grid set; a data calculation module, configured to obtain a Beidou 3D grid position code of a 3D grid corresponding to a preset building vertex of the target building, obtain a vertex 3D position code, and calculate a Beidou short position code of each 3D grid in the collision grid set based on the vertex 3D 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 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 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 according to any one of claims 1 to 7 is implemented.

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