Ultra-low altitude three-dimensional map generation method, device, equipment, flying body and medium

Abstract

Embodiments of the present application provide a kind of ultra-low altitude three-dimensional map generation method, device, equipment, flying body and medium, the method includes: from the pre-stored three-dimensional environment database, the static element data of the target area where the current position of flying body is located is acquired;The static element data is used to characterize the static object in the target area;From the three-dimensional environment database, the dynamic element data corresponding to the dynamic object detected by the flying body is acquired;The dynamic element data is used to characterize the three-dimensional model of the dynamic object;According to the static element data and the dynamic element data, the three-dimensional map of the target area is generated.

Description

Technical Field

[0001] This invention relates to the field of map building technology, and more specifically, to a method, apparatus, device, flying body, and medium for generating ultra-low-altitude three-dimensional maps. Background Technology

[0002] With the development of flying vehicle technology, more and more flying vehicles can fly at ultra-low altitudes. Ultra-low altitude flight refers to flight activities with an altitude below 152 meters, including but not limited to: military training, tactical evasion, map drawing and geological exploration, agricultural operations, sightseeing tourism, scientific research, and traffic monitoring. It is evident that the flying vehicles involved include both manned and unmanned aircraft. Regardless of the type, when flying at ultra-low altitudes, there may be obstacles such as buildings, forests, and other flying vehicles. In such cases, operators must guide the flying vehicle or allow it to autonomously avoid obstacles to prevent accidents.

[0003] During obstacle avoidance maneuvers, operators typically refer to ground navigation maps to understand the surrounding environment before implementing obstacle avoidance control. However, the ground navigation map... Figure 1 Generally, these are two-dimensional maps, which fail to accurately or intuitively represent the changes in the height of obstacles. Therefore, in complex flight environments with large terrain variations during ultra-low-altitude flight, operators cannot accurately understand the surrounding environment of the aircraft based on ground navigation maps, which may lead to safety accidents. Summary of the Invention

[0004] In view of this, in order to at least solve the technical problem that current ground navigation maps are not applicable to complex flight environments with large terrain undulations, resulting in significant safety hazards for low-altitude flight of aircraft, the purpose of this invention is to provide a method, apparatus, device, aircraft, and medium for generating ultra-low-altitude three-dimensional maps.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0006] A first aspect of this invention provides a method for generating ultra-low-altitude three-dimensional maps, comprising:

[0007] Static element data of the target area where the flight vehicle is currently located is obtained from a pre-stored 3D environment database; the static element data is used to characterize static objects in the target area.

[0008] From the three-dimensional environment database, dynamic element data corresponding to the dynamic objects detected by the flying body is obtained; the dynamic element data is used to characterize the three-dimensional model of the dynamic objects.

[0009] A 3D map of the target area is generated based on the static element data and the dynamic element data.

[0010] In an optional implementation, the static element data includes terrain data, surface data, and feature data;

[0011] The step of generating a 3D map of the target area based on the static element data and the dynamic element data includes:

[0012] Generate a three-dimensional terrain grid map of the target area based on the terrain data;

[0013] Generate a surface texture map of the target area based on the surface data;

[0014] A 3D model of static objects in the target area is generated based on the ground feature data, and a 3D model of dynamic objects in the target area is generated based on the dynamic element data.

[0015] The surface texture map is attached to the surface of the three-dimensional terrain mesh map, and the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects are rendered at the corresponding positions of the surface texture map to obtain the three-dimensional map of the target area.

[0016] In an optional implementation, the ground feature data includes the location information of the take-off and landing points and a three-dimensional model of the take-off and landing points;

[0017] The step of generating a three-dimensional still model of static objects in the target area based on the ground feature data includes:

[0018] Based on the current position of the flying vehicle and the position information of the take-off and landing point, determine the current distance between the flying vehicle and the take-off and landing point;

[0019] When the current distance is less than or equal to a set distance threshold, the 3D model of the take-off and landing point is attached to the corresponding position of the surface texture map;

[0020] When the current distance is greater than the set distance threshold, the 3D model of the take-off and landing point is suspended above the corresponding position of the ground texture map.

[0021] In an optional implementation, the feature data includes the location information of buildings and three-dimensional models of buildings; the three-dimensional models of buildings are expressed in volumetric boxes.

[0022] In an optional implementation, the step of acquiring dynamic element data corresponding to the dynamic object detected by the flying body includes:

[0023] Based on the detection data of the dynamic object detected by the flying body, the type and size of the dynamic object are determined;

[0024] Retrieve dynamic element data that is the same type and size as the dynamic object from the three-dimensional environment database.

[0025] In an optional implementation, the step of attaching the surface texture map to the surface of the three-dimensional terrain mesh map, and rendering the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects at the corresponding positions of the surface texture map to obtain a three-dimensional map of the target area includes:

[0026] In a three-dimensional virtual space, the surface texture map is attached to the surface of the three-dimensional terrain mesh map, and the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects are rendered at the corresponding positions of the surface texture map.

[0027] Based on the current position of the flying object, render the three-dimensional model of the flying object at the corresponding position in the three-dimensional virtual space, and place a virtual camera at a set position above and behind the three-dimensional model of the flying object;

[0028] The virtual camera's viewpoint is controlled based on the current flight trend of the flying object, and the three-dimensional image within the virtual camera's viewpoint is used as a three-dimensional map of the target area.

[0029] A second aspect of the present invention provides an ultra-low altitude three-dimensional map generation apparatus, comprising:

[0030] The acquisition module is configured to: acquire static element data of the target area where the current position of the flight object is located from a pre-stored three-dimensional environment database; acquire dynamic element data corresponding to the dynamic object detected by the flight object from the three-dimensional environment database; wherein, the static element data is used to characterize the static object in the target area; and the dynamic element data is used to characterize the three-dimensional model of the dynamic object.

[0031] The processing module is configured to generate a three-dimensional map of the target area based on the static element data and the dynamic element data.

[0032] A third aspect of the present invention provides an electronic device including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the ultra-low altitude three-dimensional map generation method provided in the first aspect above.

[0033] A fourth aspect of the present invention provides a flying body, including a body, and a detection module, a positioning module, a display module and the electronic equipment provided in the third aspect above, all installed on the body;

[0034] The detection module is used to detect dynamic objects around the machine body;

[0035] The positioning module is used to detect the current position of the machine body;

[0036] The electronic device is used to generate a three-dimensional map of the target area where the body is currently located based on the detection data detected by the detection module and the location information detected by the positioning module, and to display the three-dimensional map in the display module.

[0037] A fifth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the ultra-low altitude three-dimensional map generation method provided in the first aspect.

[0038] The ultra-low altitude 3D map generation method, apparatus, device, aircraft, and medium provided in this invention significantly reduce the data processing burden during 3D map generation. This is achieved by retrieving static element data from a pre-stored 3D environment database for static objects in the target area during the 3D map generation process. This eliminates the need for the aircraft to collect static object data in real-time, thus reducing the data acquisition burden on both the aircraft and the processing equipment. Furthermore, this reduces the performance requirements on the processing equipment and improves the efficiency of 3D map generation. Additionally, dynamic element data is obtained from the aforementioned 3D environment database based on dynamic objects collected by the aircraft, thereby obtaining dynamic object data. The system generates a 3D map of the target area by combining a 3D model of the object with static and dynamic element data. This eliminates the need to reconstruct the 3D model of the dynamic object based on the data collected from the aircraft. Instead, the corresponding 3D model can be directly obtained from the 3D environment database, omitting the process of constructing the 3D model of the dynamic object. This improves the efficiency of 3D map generation, reduces the data processing burden and the performance requirements of related processing equipment, and allows the generated 3D map to include information on both static and dynamic objects in the target area. This enables users navigating based on the 3D map to clearly understand the environmental information around the aircraft, thus improving flight safety.

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This diagram illustrates a structural block diagram of an electronic device provided by an embodiment of the present invention.

[0042] Figure 2 The flowchart illustrates a method for generating ultra-low-altitude 3D maps according to an embodiment of the present invention.

[0043] Figure 3 This diagram illustrates the stacking relationship of three-dimensional composite visual elements according to an embodiment of the present invention.

[0044] Figure 4 A schematic diagram of a three-dimensional map provided by an embodiment of the present invention is shown;

[0045] Figure 5 The diagram shows a functional block diagram of an ultra-low altitude three-dimensional map generation device provided in an embodiment of the present invention. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0048] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0049] To address the technical problem that current ground navigation maps are unsuitable for complex flight environments with significant terrain variations, leading to substantial safety hazards during low-altitude flight, this invention provides an ultra-low-altitude 3D map generation method. During the generation of a 3D map of the target area where the flight vehicle is located, static object data in the target area is retrieved from a pre-stored 3D environment database. This eliminates the need for the flight vehicle to collect static object data in real-time, significantly reducing the data processing burden during 3D map generation and the data acquisition burden on the flight vehicle. This reduces the performance requirements of related processing equipment and improves the efficiency of 3D map generation. Furthermore, by using dynamic objects collected by the flight vehicle, data can be extracted from the aforementioned 3D environment... The system retrieves relevant dynamic element data from the database to obtain a 3D model of the dynamic object. Then, it combines the static and dynamic element data to generate a 3D map of the target area. It is evident that there is no need to reconstruct the 3D model of the dynamic object based on the dynamic object data collected from the aircraft. Instead, the corresponding 3D model can be directly obtained from the 3D environment database, omitting the process of constructing the 3D model of the dynamic object. This is beneficial to further improve the efficiency of 3D map generation, further reduce the data processing burden and the performance requirements of related processing equipment, and also allows the generated 3D map to contain information on both static and dynamic objects in the target area. As a result, users who navigate based on this 3D map can clearly understand the environmental information around the aircraft, which is beneficial to improving flight safety.

[0050] The ultra-low altitude 3D map generation method provided by this invention can be applied to electronic devices. Please refer to [link / reference]. Figure 1This is a structural block diagram of an electronic device. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0051] The memory is used to store programs or data. The memory may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc.

[0052] The processor is used to read / write data or programs stored in memory and to perform the corresponding functions.

[0053] The communication module is used to establish communication connections between electronic devices and other communication terminals via a network, and to send and receive data via the network.

[0054] It should be understood that, Figure 1 The structure shown is only a schematic diagram of an electronic device; the electronic device may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0055] In some embodiments, the electronic device may be configured in an aircraft, such as a manned aircraft, to display a three-dimensional map generated in real time based on the aircraft's position on the cockpit display module to provide navigation for the pilot; it may also be configured in a terminal device for controlling the flight of the aircraft and set separately from the aircraft to display the generated three-dimensional map on the terminal device, so that the user can control the aircraft to fly safely through the three-dimensional map.

[0056] The following combination Figure 2 The method for generating ultra-low-altitude three-dimensional maps provided in the embodiments of the present invention will be described below. Figure 2This is a flowchart of a method for generating ultra-low-altitude 3D maps according to an embodiment of the present invention. The method includes:

[0057] In step S100, static element data of the target area where the flight vehicle is currently located is obtained from a pre-stored three-dimensional environment database; the static element data is used to characterize static objects in the target area.

[0058] In step S200, dynamic element data corresponding to the dynamic object detected by the flying body is obtained from the three-dimensional environment database; the dynamic element data is used to characterize the three-dimensional model of the dynamic object.

[0059] In step S300, a three-dimensional map of the target area is generated based on the static element data and the dynamic element data.

[0060] The following explanation uses a manned aircraft as an example to illustrate the working principles of steps S100 to S300 above:

[0061] During flight, the aircraft's location information can be obtained in real time through positioning modules configured on the aircraft, such as GPS or RTK modules. The aircraft's current position can be determined based on the location information obtained by the positioning module during flight.

[0062] After obtaining the current position of the flying object each time, a corresponding three-dimensional map can be generated through steps S100 to S300. As can be seen, the three-dimensional map will be updated as the position of the flying object changes, thereby ensuring that the pilot can understand the environmental information of the area where the flying object is currently located based on the three-dimensional map, thus improving flight safety.

[0063] In the process of generating a 3D map, step S100 can be executed first to determine the corresponding target area based on the current position of the flying object. In order to facilitate the definition of the target area and the storage and retrieval of the target area, the target area can be a rectangular area. The rectangular area can be an area formed by taking the current position of the flying object as the center point and expanding outward from the center point by a set distance. For example, the target area can be a square area with a side length of 1 kilometer, centered on the current position of the flying object, but it is not limited to this.

[0064] It should be understood that the set distance mentioned above can be set according to the device performance, as long as it can meet the real-time requirements of 3D map generation and the device operation requirements. This embodiment of the invention does not limit this.

[0065] Since the current position of the flying object is known, the position information of the target area formed based on the current position and the set distance must also be known. Furthermore, the 3D environment database also stores the position information of static elements, such as latitude and longitude. Therefore, static element data located in the target area can be obtained from the pre-stored 3D environment database. This static element data represents static objects in the target area, and these static objects can include at least one of the following: terrain elements, surface elements, and feature elements, but are not limited to these. Terrain elements can include at least one of the following: topography, water systems, and roads, but are not limited to these. Surface elements can include at least one of the following: farmland, bare land, and grassland, but are not limited to these. Feature elements can include at least one of the following: trees, buildings, poles, power lines, power towers, hills, and flight operation point markers (e.g., take-off and landing point markers). Thus, static element data can include terrain data, surface data, and feature data. This can be understood as storing terrain data, surface data, and feature data in the form of map tiles to form the aforementioned 3D environment database.

[0066] As described above, the 3D environment database can be pre-stored on a server. During the generation of a 3D map, the database can be accessed from the server to obtain the required static element data. However, this method relies heavily on the stability of the wireless communication network. Therefore, to further improve the stability and efficiency of data acquisition, in some embodiments, the pre-built 3D environment database can be pre-stored in the aircraft's memory. Thus, when the aircraft needs to access the 3D environment database, it can access it directly from the memory without relying on the wireless communication network. Furthermore, the 3D environment database can be pre-built from image data captured by aerial photography equipment; the construction principle can be found in related technologies. Additionally, to ensure timely updates to the 3D environment database and further guarantee flight safety, new image data can be periodically captured by aerial photography equipment, updating the 3D environment database accordingly.

[0067] During flight, detection modules mounted on the aircraft, such as image acquisition modules or radar modules, can acquire information about dynamic objects around the aircraft. Based on this, when the detection module detects relevant data about a dynamic object, it is assumed that a dynamic object exists around the aircraft. At this point, step S200 is executed to retrieve the dynamic element data corresponding to the dynamic object from the 3D environment database based on the detection data, thus obtaining a 3D model of the dynamic object. It is evident that the 3D environment database can also store 3D models of dynamic objects, including but not limited to: people, cars, other flying vehicles, flying animals, and land animals.

[0068] To accurately represent dynamic objects detected by the aircraft, it is necessary to pre-construct three-dimensional models corresponding to various dynamic objects and store them in a three-dimensional environment database. This inevitably leads to a significant data processing burden in the construction of the three-dimensional models, and the storage of the three-dimensional models also occupies a lot of space, which will affect the data retrieval efficiency to a certain extent, and thus affect the generation efficiency of the three-dimensional map. Therefore, in order to solve this technical problem, in some embodiments, the ultra-low altitude three-dimensional map generation method provided by the present invention also provides a corresponding solution, that is, when constructing the three-dimensional model of the dynamic object, a limited number of three-dimensional models can be constructed according to the type and size of the dynamic object. For example, for human-type dynamic objects, only a human-shaped three-dimensional model can be constructed. As long as the aircraft detects a human body, it can be represented by this human-shaped three-dimensional model. The height and width of the human-shaped three-dimensional model can be adaptively adjusted according to the height and width of the detected human body. For dynamic objects of the flying type, a finite number of flying object models can be constructed based on the size of the target flying object. For example, for a flying object whose size is within the range of a typical passenger plane, a 3D model of a passenger plane can be constructed; for a flying object whose size is within the range of a typical agricultural flying object, a 3D model of an agricultural flying object can be constructed; and for a flying object whose size is within the range of an aerial photography flying object, a 3D model of an aerial photography flying object can be constructed. In other words, when the detected dynamic object is another flying object, the size range in which it falls can be determined based on the size of the flying object, and the flying object model corresponding to that size range can be selected as the model of the detected flying object. The same principle applies to other types of dynamic objects.

[0069] Based on this, step S200 above, the step of obtaining dynamic element data corresponding to the dynamic object detected by the flying body, may include:

[0070] In step S210, the type and size of the dynamic object are determined based on the detection data of the dynamic object detected by the flying body;

[0071] In step S220, dynamic element data of the same type and size as the dynamic object are obtained from the three-dimensional environment database.

[0072] For an understanding of steps S210 and S220 above, please refer to the relevant descriptions above, which will not be repeated here. The principles for determining the type and size of a dynamic object based on detection data can be found in related technologies. For example, if the detection data is obtained by an image acquisition module, the dynamic object, its type, and size can be identified using image processing algorithms in related technologies. If the detection data is obtained by radar, the dynamic object, its type, and size can be identified using radar data processing algorithms in related technologies.

[0073] After obtaining static element data and dynamic element data through steps S100 and S200 respectively, step S300 can be executed to generate a 3D map of the target area based on the static element data and dynamic element data. The map generation principle can be found in related technologies. However, to further improve the efficiency of 3D map generation, in some embodiments, the ultra-low altitude 3D map generation method provided by this invention also provides related optimization schemes. That is, step S300, the step of generating a 3D map of the target area based on the static element data and the dynamic element data, includes:

[0074] In step S310, a three-dimensional terrain grid map of the target area is generated based on the terrain data;

[0075] In step S320, a surface texture map of the target area is generated based on the surface data;

[0076] In step S330, a three-dimensional model of static objects in the target area is generated based on the ground feature data, and a three-dimensional model of dynamic objects in the target area is generated based on the dynamic element data.

[0077] In step S340, the surface texture map is attached to the surface of the three-dimensional terrain mesh map, and the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects are rendered at the corresponding positions of the surface texture map to obtain a three-dimensional map of the target area.

[0078] The working principles of steps S310 to S340 are explained below:

[0079] After obtaining the static element data and the dynamic element data, steps S310 to S330 can be executed in parallel or serially. When executing serially, the execution order of steps S310 to S330 is not limited.

[0080] Since the height of terrain elements can vary greatly and terrain elements are also continuous and indivisible, by representing terrain elements in the form of a continuous entity network in step S310 and generating a three-dimensional terrain grid map of the target area based on the terrain data, entities such as water systems and roads in the terrain elements can be smoothly connected with the terrain, preventing problems such as mutual clipping or suspension between terrain elements.

[0081] In the pilot's real-time flight view, the altitude requirement for surface elements is low, but the two-dimensional position requirement is high. Therefore, through step S320, surface elements are expressed in the form of ground maps, and surface texture maps of the target area are generated based on surface data. These maps are then attached to a three-dimensional terrain grid map, enabling the pilot to quickly identify the scale of the environment in which the aircraft is located and its own position by the relative position of the aircraft and surface elements.

[0082] Ground features are bounded objects that can be expressed independently. The obtained ground feature data and dynamic element data already have corresponding 3D models in the 3D environment database. Therefore, during the execution of step S330, the 3D model of the static object can be obtained directly based on the ground feature data, and the 3D model of the dynamic object can be obtained based on the dynamic element data.

[0083] After obtaining all elements of the target area through steps S310 to S330, step S340 can be executed to attach the surface texture map to the surface of the 3D terrain mesh map, and render the 3D models of static objects and dynamic objects at their respective positions on the surface texture map, such as... Figure 3 As shown, Figure 3 This is a schematic diagram of the stacking relationship of three-dimensional composite scene elements provided by an embodiment of the present invention. By stacking and fusing three-dimensional composite scene elements such as three-dimensional models of ground features including static and dynamic objects, surface texture maps, and three-dimensional terrain mesh maps in sequence, a three-dimensional map of the target area can be obtained.

[0084] It should be added that, in the above, rendering the 3D model of the dynamic object at the corresponding position on the ground texture map has the following meaning: when the dynamic object is a dynamic object moving on the ground, its corresponding 3D model will be rendered at the corresponding position on the surface of the ground texture map; when the dynamic object is a dynamic object moving in the air, its corresponding 3D model will be rendered at the corresponding position above the ground texture map.

[0085] As can be seen, the 3D map generation scheme shown in steps S310 to S340 has already achieved a good map generation efficiency. However, in some embodiments, to further improve the efficiency of 3D map generation, the 3D models of certain types of ground features can be further abstracted. That is, when the ground feature data includes the location information and 3D model of a building, the 3D model of the building can be expressed as a volumetric box. In other words, according to the category of ground features, and provided that the height, length, width, and type are accurately expressed, the 3D model of a building can be abstracted into a volumetric box with accurate length, width, and height, such as... Figure 4 As shown, Figure 4This is a schematic diagram of a three-dimensional map provided by an embodiment of the present invention. It can be seen that buildings have been abstracted and represented as volumetric boxes of corresponding sizes. Furthermore, as described above, other geographic features are also optimized and represented as a finite number of corresponding three-dimensional models.

[0086] This allows the data of geographic features to be unified into four data types during transmission: points, lines, surfaces, and volumes. For example, taking the point data type as an example, the 3D model of a rod-shaped object can be formed by a set of point data with height attributes. Therefore, during data transmission, it can be transmitted in the form of point data, which can reduce the performance pressure of real-time transmission and also help to further improve the efficiency of 3D map generation.

[0087] To enhance the realism of the generated 3D maps and improve user experience, please refer to the following embodiments. Figure 4 It can also make sky elements appear in 3D maps, and the sky elements can be created using skybox technology.

[0088] Since takeoff and landing of aircraft generally take place at pre-set takeoff and landing points, in order to facilitate pilots quickly knowing the locations of takeoff and landing points near the aircraft for takeoff and landing operations, in some embodiments of the ultra-low altitude 3D map generation method provided by this invention, the display of takeoff and landing points is also optimized. That is, when the ground feature data includes the location information of the takeoff and landing points and the 3D model of the takeoff and landing points, the step S330 above, which generates a 3D static model of a static object in the target area based on the ground feature data, may include:

[0089] In step S331, the current distance between the flying body and the take-off and landing point is determined based on the current position of the flying body and the position information of the take-off and landing point;

[0090] In step S332, when the current distance is less than or equal to a set distance threshold, the 3D model of the take-off and landing point is attached to the corresponding position of the surface texture map;

[0091] In step S333, when the current distance is greater than the set distance threshold, the 3D model of the take-off and landing point is suspended above the corresponding position of the ground texture map.

[0092] Understandably, display strategies can be tailored to the distance between ground features and the aircraft. For example, in the aforementioned display of takeoff and landing points, when the distance between the aircraft and the takeoff / landing point is close (i.e., the current distance is less than or equal to a set distance threshold), to avoid obstructing the pilot's view due to the floating display of the takeoff / landing point, step S332 attaches the 3D model of the takeoff / landing point to the corresponding position on the ground texture map. Conversely, when the distance between the aircraft and the takeoff / landing point is far (i.e., the current distance is greater than the set distance threshold), to prevent the takeoff / landing point from remaining attached to the ground and becoming difficult to see clearly, step S333 floats the 3D model of the takeoff / landing point above the corresponding position on the ground texture map. This display strategy not only ensures accurate information representation but also improves the reliability and efficiency of information transmission to the pilot, thus better assisting the aircraft in flight.

[0093] The distance threshold mentioned above can be set based on experience or experimentation, for example, 200 meters, but is not limited to this.

[0094] Because the position of an aircraft changes rapidly during flight, it is necessary to ensure the consistency between the 3D map and the current position of the aircraft. Therefore, in some embodiments, the ultra-low altitude 3D map generation method provided by this invention also offers an optimization scheme for the 3D map generation process. Specifically, in step S340 above, the step of attaching the surface texture map to the surface of the 3D terrain mesh map and rendering the 3D models of the static object and the dynamic object respectively at the corresponding positions of the surface texture map to obtain the 3D map of the target area includes:

[0095] In step S341, in the three-dimensional virtual space, the surface texture map is attached to the surface of the three-dimensional terrain mesh map, and the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects are rendered at the corresponding positions of the surface texture map.

[0096] In step S342, based on the current position of the flying object, the three-dimensional model of the flying object is rendered at the corresponding position in the three-dimensional virtual space, and a virtual camera is configured at a position set above and behind the three-dimensional model of the flying object.

[0097] In step S343, the viewpoint of the virtual camera is controlled according to the current flight trend of the flying body, and the three-dimensional image within the viewpoint of the virtual camera is used as a three-dimensional map of the target area.

[0098] Understandably, the generation of a 3D map relies on 3D images within the field of view of a virtual camera in a 3D virtual space. The principles behind step S341 can be found in the relevant descriptions above, and will not be repeated here.

[0099] After completing the compositing and rendering of static and dynamic objects in the target area in step S341, step S342 can be executed to render the 3D model of the flying object at the corresponding position in the 3D virtual space, and bind the virtual camera to the 3D model of the flying object. That is, the virtual camera will move with the flying object, and its relative position to the flying object will remain unchanged—the virtual camera is set at a position above and behind the flying object, which can be set according to actual needs or experience. This allows the generated 3D map to also include the model of the flying object and information about the surrounding environment, such as... Figure 4 As shown, the three-dimensional map at this time presents the environmental information around the aircraft from a third-person perspective, which allows the pilot to have a clearer judgment on the relative size and relative position of the aircraft and its surrounding environment, which is conducive to further improving flight safety.

[0100] After rendering the 3D model of the flying object and configuring the virtual camera in step S342, step S343 can be executed to control the virtual camera's perspective according to the current flight trend of the flying object, and use the 3D image within the virtual camera's perspective as a 3D map of the target area. It is understood that adjusting the angle of the virtual camera relative to the ground according to the current flight trend of the flying object creates different camera movements, allowing the generated 3D map to adapt to the current flight trend and display corresponding environmental information. For example, when the flying object is flying straight forward, the virtual camera faces forward and is at a downward angle, for example, an angle of 25° with the ground, but not limited to this. When the flying object is flying straight backward, the virtual camera faces backward, and the angle between the camera and the ground is greater than the angle when the flying object is flying straight forward, for example, an angle of 35° with the ground, but not limited to this. Similarly, when the flying object is flying to the left front, the virtual camera faces to the left front, and the angle with the ground can be the same as or different from the angle when the flying object is flying straight forward; this embodiment of the invention does not limit this. Other flight trends operate on similar principles, and will not be explained in detail here.

[0101] It is worth noting that the technical features or technical solutions in any of the above embodiments of the present invention can be combined with each other, as long as there is no contradiction in the combination.

[0102] In addition, embodiments of the present invention also provide a flight body, including a body, and a detection module, a positioning module, a display module and electronic devices installed on the body.

[0103] The detection module is used to detect dynamic objects around the machine body.

[0104] The positioning module is used to detect the current position of the machine body.

[0105] The electronic device is used to generate a three-dimensional map of the target area where the aircraft is currently located, based on the detection data detected by the detection module and the position information detected by the positioning module, using the ultra-low altitude three-dimensional map generation method in any of the above embodiments, and then display the three-dimensional map in the display module. The principle of the three-dimensional map generation can be found in the relevant descriptions of the ultra-low altitude three-dimensional map generation method in any of the above embodiments, and will not be elaborated upon here.

[0106] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of an ultra-low altitude 3D map generation device is given below. Optionally, the ultra-low altitude 3D map generation device can adopt the above-described... Figure 1 The device structure of the electronic device is shown. Further, please refer to... Figure 5 , Figure 5 This is a functional block diagram of an ultra-low altitude 3D map generation device provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the ultra-low altitude 3D map generation device provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The ultra-low altitude 3D map generation device 500 includes:

[0107] The acquisition module 510 is configured to: acquire static element data of the target area where the current position of the flight object is located from a pre-stored three-dimensional environment database; acquire dynamic element data corresponding to the dynamic object detected by the flight object from the three-dimensional environment database; wherein the static element data is used to characterize the static object in the target area; and the dynamic element data is used to characterize the three-dimensional model of the dynamic object.

[0108] The processing module 520 is configured to generate a three-dimensional map of the target area based on the static element data and the dynamic element data.

[0109] In some embodiments, the static element data includes terrain data, surface data, and feature data. Accordingly, the process by which the processing module 520 generates a 3D map of the target area based on the static element data and the dynamic element data is configured as follows:

[0110] Generate a three-dimensional terrain grid map of the target area based on the terrain data;

[0111] Generate a surface texture map of the target area based on the surface data;

[0112] A 3D model of static objects in the target area is generated based on the ground feature data, and a 3D model of dynamic objects in the target area is generated based on the dynamic element data.

[0113] The surface texture map is attached to the surface of the three-dimensional terrain mesh map, and the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects are rendered at the corresponding positions of the surface texture map to obtain the three-dimensional map of the target area.

[0114] In some embodiments, the ground feature data includes location information of the take-off and landing points and a three-dimensional model of the take-off and landing points. Accordingly, the process by which the processing module 520 generates a three-dimensional model of the static objects in the target area based on the ground feature data is configured as follows:

[0115] Based on the current position of the flying vehicle and the position information of the take-off and landing point, determine the current distance between the flying vehicle and the take-off and landing point;

[0116] When the current distance is less than or equal to a set distance threshold, the 3D model of the take-off and landing point is attached to the corresponding position of the surface texture map;

[0117] When the current distance is greater than the set distance threshold, the 3D model of the take-off and landing point is suspended above the corresponding position of the ground texture map.

[0118] In some embodiments, the feature data includes the location information of buildings and three-dimensional models of buildings; the three-dimensional models of buildings are expressed in volumetric boxes.

[0119] In some embodiments, the process by which the acquisition module 510 acquires dynamic element data corresponding to the dynamic object detected by the flying body is configured as follows:

[0120] Based on the detection data of the dynamic object detected by the flying body, the type and size of the dynamic object are determined;

[0121] Retrieve dynamic element data that is the same type and size as the dynamic object from the three-dimensional environment database.

[0122] In some embodiments, the process by which the processing module 520 attaches the surface texture map to the surface of the three-dimensional terrain mesh map and renders the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects at the corresponding positions of the surface texture map to obtain a three-dimensional map of the target area is configured as follows:

[0123] In a three-dimensional virtual space, the surface texture map is attached to the surface of the three-dimensional terrain mesh map, and the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects are rendered at the corresponding positions of the surface texture map.

[0124] Based on the current position of the flying object, render the three-dimensional model of the flying object at the corresponding position in the three-dimensional virtual space, and place a virtual camera at a set position above and behind the three-dimensional model of the flying object;

[0125] The virtual camera's viewpoint is controlled based on the current flight trend of the flying object, and the three-dimensional image within the virtual camera's viewpoint is used as a three-dimensional map of the target area.

[0126] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory shown is either stored in or embedded in the operating system (OS) of the electronic device, and can be... Figure 1 The processor executes the commands. Meanwhile, the data and program code required to execute these modules can be stored in memory.

[0127] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0128] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0129] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0130] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for generating ultra-low-altitude 3D maps, characterized in that, include: Retrieve static element data of the target area where the flight object is currently located from a pre-stored 3D environment database; The static element data is used to characterize static objects in the target area; From the three-dimensional environment database, dynamic element data corresponding to the dynamic objects detected by the flying body is obtained; the dynamic element data is used to characterize the three-dimensional model of the dynamic objects. A 3D map of the target area is generated based on the static element data and the dynamic element data.

2. The method according to claim 1, characterized in that, The static element data includes terrain data, surface data, and feature data; The step of generating a 3D map of the target area based on the static element data and the dynamic element data includes: Generate a three-dimensional terrain grid map of the target area based on the terrain data; Generate a surface texture map of the target area based on the surface data; A 3D model of static objects in the target area is generated based on the ground feature data, and a 3D model of dynamic objects in the target area is generated based on the dynamic element data. The surface texture map is attached to the surface of the three-dimensional terrain mesh map, and the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects are rendered at the corresponding positions of the surface texture map to obtain the three-dimensional map of the target area.

3. The method according to claim 2, characterized in that, The ground feature data includes the location information of the take-off and landing points and a three-dimensional model of the take-off and landing points; The step of generating a three-dimensional still model of static objects in the target area based on the ground feature data includes: Based on the current position of the flying vehicle and the position information of the take-off and landing point, determine the current distance between the flying vehicle and the take-off and landing point; When the current distance is less than or equal to a set distance threshold, the 3D model of the take-off and landing point is attached to the corresponding position of the surface texture map; When the current distance is greater than the set distance threshold, the 3D model of the take-off and landing point is suspended above the corresponding position of the ground texture map.

4. The method according to claim 2, characterized in that, The ground feature data includes the location information of buildings and the three-dimensional models of buildings; the three-dimensional models of buildings are expressed in volume boxes.

5. The method according to claim 1, characterized in that, The step of acquiring dynamic element data corresponding to the dynamic object detected by the flying body includes: Based on the detection data of the dynamic object detected by the flying body, the type and size of the dynamic object are determined; Retrieve dynamic element data that is the same type and size as the dynamic object from the three-dimensional environment database.

6. The method according to claim 2, characterized in that, The step of attaching the surface texture map to the surface of the 3D terrain mesh map, and rendering the 3D models of the static objects and the 3D models of the dynamic objects at the corresponding positions of the surface texture map to obtain the 3D map of the target area includes: In a three-dimensional virtual space, the surface texture map is attached to the surface of the three-dimensional terrain mesh map, and the three-dimensional models of the static objects and the three-dimensional models of the dynamic objects are rendered at the corresponding positions of the surface texture map. Based on the current position of the flying object, render the three-dimensional model of the flying object at the corresponding position in the three-dimensional virtual space, and place a virtual camera at a set position above and behind the three-dimensional model of the flying object; The virtual camera's viewpoint is controlled based on the current flight trend of the flying object, and the three-dimensional image within the virtual camera's viewpoint is used as a three-dimensional map of the target area.

7. A low-altitude three-dimensional map generation device, characterized in that, include: The acquisition module is configured to: retrieve static element data of the target area where the flight object's current position is located from a pre-stored 3D environment database; Dynamic element data corresponding to the dynamic objects detected by the flying body are obtained from the three-dimensional environment database; wherein, the static element data is used to characterize the static objects in the target area; and the dynamic element data is used to characterize the three-dimensional model of the dynamic objects. The processing module is configured to generate a three-dimensional map of the target area based on the static element data and the dynamic element data.

8. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor to implement the method of any one of claims 1 to 6.

9. A flying body, characterized in that, It includes a body, and a detection module, a positioning module, a display module, and the electronic device as described in claim 8, all installed on the body. The detection module is used to detect dynamic objects around the machine body; The positioning module is used to detect the current position of the machine body; The electronic device is used to generate a three-dimensional map of the target area where the body is currently located based on the detection data detected by the detection module and the location information detected by the positioning module, and to display the three-dimensional map in the display module.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 6.

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