A dynamic geographic map management system, method, terminal and storage medium

Abstract

The application discloses the technical field of airport lawn intelligentization, and relates to a dynamic geographic map management system and method, a terminal and a storage medium, which aims at solving the problems that the existing technology is usually a static map, and it is difficult to support intelligent editing of a fenced area and other work, and it is difficult to support agile response and precise control under a complex work scene. The system comprises a perception layer, a transmission layer, a processing layer, a storage layer and an application layer. The perception layer is used for collecting geographic fence point cloud data. The transmission layer is used for transmitting the geographic fence point cloud data to the processing layer and the application layer. The application can realize intelligentization, self-adaptation and collaborative management of map data, support intelligent editing of a fenced area, realize intelligent management of the whole life cycle of an airport lawn map, and significantly improve the automation level, response speed and system robustness of mowing work.

Description

Technical Field

[0001] This invention relates to a dynamic geographic map management system, method, terminal, and storage medium, belonging to the field of intelligent airport lawn technology. Background Technology

[0002] In the field of intelligent airport lawn maintenance, lawn mowing robots need to perform precise, efficient, and safe tasks in dynamic, unstructured environments, typically requiring collaboration with maps. Currently, the industry generally faces the following pain points: Static maps are disconnected from the environment: Relying on pre-set maps cannot adapt to the spatiotemporal dynamics of airport lawns, such as temporary obstacle placement, adjustments to lawn functional zones, and dynamic changes in construction areas, leading to robot path deviations and reduced efficiency; Low level of intelligent fence management: Fence area adjustments rely on manual on-site surveying and offline data import, resulting in cumbersome processes, long cycles, and accumulated errors, making rapid response and precise control difficult; Significant contradiction between system heterogeneity and real-time requirements: The lack of efficient collaboration mechanisms between data acquisition, processing, and display ends leads to asynchronous data flow and high latency, failing to meet the demands of high-concurrency, low-latency operation monitoring; Rigid map update mechanisms: Relying on periodic batch updates prevents continuous perception and real-time modeling of the dynamic environment, resulting in a severe disconnect between the map and the real-world scene.

[0003] As can be seen from the above, the maps currently used for airport lawns are usually static maps, which are difficult to support intelligent editing of fenced areas and cannot support agile response and precise control in complex operation scenarios, thus failing to meet actual usage needs. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a dynamic geographic map management system, method, terminal and storage medium. Through the cooperation of the perception layer and transmission layer, the system sequentially performs perception, aggregation, management, push and optimization work, thereby forming a five-order closed-loop control model. This enables intelligent, adaptive and collaborative management of map data across the entire link, while also supporting intelligent editing of fenced areas. It achieves intelligent management of the entire lifecycle of airport lawn maps, significantly improving the automation level, response speed and system robustness of lawn mowing operations.

[0005] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution: In a first aspect, the present invention provides a dynamic geographic map management system, comprising a perception layer, a transmission layer, a processing layer, a storage layer, and an application layer; The perception layer is used to collect point cloud data of geofences; The transport layer is used to transmit the geofence point cloud data to the processing layer and the application layer; The processing layer is used to process the geofence point cloud data, obtain the fence area, and transmit the fence area to the storage layer. The storage layer is used to store the fenced area and transmit the fenced area to the application layer; The application layer is used to receive function instructions and transmit the function instructions to the processing layer. The application layer is used to display the geofence point cloud data and the fence area.

[0006] Furthermore, the perception layer includes an RTK-GNSS positioning module for collecting geofence point cloud data.

[0007] Furthermore, the transport layer includes a Netty TCP server and a WebSocket push gateway. The Netty TCP server is used to transmit the geofence point cloud data to the processing layer. The Netty TCP server works in conjunction with the WebSocket push gateway to transmit the geofence point cloud data to the application layer.

[0008] Furthermore, the data processing includes data cleaning, spatial aggregation, topology construction, and path optimization.

[0009] Furthermore, the storage layer includes a PostGIS spatial database cluster.

[0010] Furthermore, the functional instructions include real-time rendering, interactive editing, task assignment, and status monitoring.

[0011] Secondly, the present invention provides a dynamic geographic map management method, comprising: Step a: Obtain geofence point cloud data; Step b: Use a point cloud clustering algorithm based on time series and spatial density to process the geofence point cloud data and obtain the processed data; Step c: Based on the processed data, use the Delaunay triangulation algorithm and the Alpha Shape algorithm to generate GeoJSON polygons to obtain the fenced area; Step d: Store the fenced area to the storage layer and mark it as an L1 level original area; Step e: Transfer the L1 level raw region to the application layer; Step f: In response to the function instruction, execute the working steps corresponding to the function instruction.

[0012] Furthermore, the function instructions include segmentation, deletion, patching, and no operation; The execution steps corresponding to the function instructions include: If the function instruction is cut and patch, then polygon Boolean operations are used to add, delete and modify the L1 level original region, update the L1 level original region and repeat step f; If the function instruction is to segment, the target region is selected based on the L1 level original region, and an adaptive segmentation algorithm based on area and perimeter is used to split the target region into multiple L2 sub-regions. A parent-child relationship between the target region and the sub-region is established, the L1 level original region is updated, and step f is repeated. If the function command is to delete, then delete the L1 level original region and / or L2 sub-region; If the function command is "no operation", the task ends.

[0013] Thirdly, the present invention provides a terminal, including a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to the second aspect.

[0014] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in the second aspect.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This dynamic geographic map management system, through the cooperation of the perception layer and the transmission layer, sequentially performs perception, aggregation, management, push and optimization, thereby forming a five-order closed-loop control model. It realizes intelligent, adaptive and collaborative management of map data across the entire link, while supporting intelligent editing of fenced areas. It achieves intelligent management of the entire lifecycle of airport lawn maps, significantly improving the automation level, response speed and system robustness of lawn mowing operations. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a dynamic geographic map management system provided according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the specific process of a dynamic geographic map management system provided according to an embodiment of the present invention. Detailed Implementation

[0017] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0018] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Example 1:

[0019] like Figure 1 and Figure 2 As shown, the present invention provides a dynamic geographic map management system, including a perception layer, a transmission layer, a processing layer, a storage layer and an application layer; The perception layer is used to collect point cloud data of geofences; The transport layer is used to transmit the geofence point cloud data to the processing layer and the application layer; The processing layer is used to process the geofence point cloud data, obtain the fence area, and transmit the fence area to the storage layer; the data processing includes data cleaning, spatial aggregation, topology construction and path optimization, and optionally, it also includes area adaptive management; The storage layer is used to store the fenced area and transmit the fenced area to the application layer; The application layer is used to receive function instructions and transmit the function instructions to the processing layer. The application layer is used to display the geofence point cloud data and the fence area.

[0020] Specifically, the system adopts a high-performance TCP communication server based on Netty (an asynchronous event-driven network application framework) to build a multi-channel, low-latency, and highly reliable end-to-cloud data link. It receives multimodal geofence data streams reported by vehicle terminals in real time and persists them to the spatial database in real time through an asynchronous non-blocking mechanism. The multimodal geofence data stream includes latitude and longitude, fence type, area code, and timestamp.

[0021] In this embodiment, the perception layer includes an RTK-GNSS positioning module (Real-time Dynamic Carrier Phase Differential Global Navigation Satellite System) for collecting geofence point cloud data; the transmission layer includes a Netty TCP server and a WebSocket (a protocol for full-duplex communication over a single TCP connection) push gateway, based on Netty's asynchronous non-blocking I / O model and adaptive protocol adaptation mechanism, supporting tens of thousands of concurrent terminal accesses and millisecond-level data synchronization; the transmission layer also includes a load balancer for handling server pressure, the Netty TCP server for transmitting the geofence point cloud data to the processing layer, and the Netty TCP server working in conjunction with the WebSocket push gateway for transmitting the geofence point cloud data to the application layer; optionally, the processing layer includes a streaming data processing module, a spatial data aggregation engine, a topology builder and optimizer, a regional adaptive management middleware, and a task scheduling and path planning module.

[0022] In this embodiment, the storage layer includes a PostGIS (a spatial geographic information extension of the open-source object-relational database management system PostgreSQL) spatial database cluster, supporting distributed storage, spatial indexing, and transaction consistency assurance; the functional instructions include integrated functions for real-time rendering, interactive editing, task assignment, and status monitoring; optionally, the storage layer specifically includes a PostGIS master node, data shards and replicas, spatial indexing and engine, and transaction logs and recovery; the application layer specifically includes a real-time fence editing tool, a job monitoring and alarm panel, a task assignment and collaboration window, and a multi-layer map rendering engine.

[0023] This application utilizes a perception layer and a transmission layer to sequentially perform perception, aggregation, management, push, and optimization, thereby forming a five-order closed-loop control model. This enables intelligent, adaptive, and collaborative management of map data across the entire chain, while also supporting intelligent editing of fenced areas. It achieves intelligent management of the entire lifecycle of airport lawn maps, significantly improving the automation level, response speed, and system robustness of lawn mowing operations.

[0024] This application proposes a real-time modeling method for dynamic airport lawn maps based on multi-source heterogeneous data fusion for dynamic geographic map management systems, breaking through the adaptability bottleneck of traditional static maps in dynamic environments; it constructs a high-concurrency geographic information system architecture with end-to-end cloud collaboration, achieving low-latency and high-reliability collaboration across the entire link from data acquisition to visualization; it designs an adaptive area management mechanism based on topology awareness, supporting intelligent editing, multi-granularity segmentation, dynamic merging, and hierarchical control of fenced areas; and it realizes a real-time visualization and collaborative decision support system across the entire link, improving the real-time performance, accuracy, and human-machine collaboration efficiency of operation monitoring. Example 2:

[0025] This invention provides a dynamic geographic map management method, comprising: Step a: Obtain geofence point cloud data; Step b: Use a point cloud clustering algorithm based on time series and spatial density to process the geofence point cloud data and obtain the processed data; Step c: Based on the processed data, use the Delaunay triangulation algorithm (an algorithm that divides a set of planar points into a triangular mesh) and the Alpha Shape algorithm (a computational method for extracting geometric boundaries from a set of discrete points) to generate GeoJSON (a format for encoding various geographic data structures) polygons to obtain the fenced area; Step d: Store the fenced area to the storage layer and mark it as an L1 level original area; Step e: Transfer the L1 level raw region to the application layer; Step f: In response to the function instruction, execute the working steps corresponding to the function instruction.

[0026] Specifically, it also includes a vehicle-mounted terminal for collecting geofence point cloud data. The vehicle-mounted terminal collects geofence point cloud data in real time through an RTK-GNSS positioning system. After multi-sensor data fusion and data compression and encryption, the data is uploaded to the server in real time through a TCP-based adaptive retransmission protocol. The server uses a streaming processing engine to store the data in real time and triggers WebSocket push. After receiving the signal from the vehicle-mounted terminal that the data collection is complete, the server automatically triggers a point cloud clustering algorithm based on time series and spatial density to obtain and process the data. Based on the processed data, it generates closed polygons through Delaunay triangulation and Alpha Shape algorithms, constructs a topologically complete GeoJSON fence entity, and marks it as an L1 level original region.

[0027] The function commands include segment, delete, cut and patch, and no operation; The execution steps corresponding to the function instructions include: If the function instruction is cut and patch, then polygon Boolean operations are used to add, delete and modify the L1 level original region, update the L1 level original region and repeat step f; If the function instruction is to segment, the target region is selected based on the L1 level original region, and an adaptive segmentation algorithm based on area and perimeter is used to split the target region into multiple L2 sub-regions. A parent-child relationship between the target region and the sub-region is established, the L1 level original region is updated, and step f is repeated. If the function command is to delete, then delete the L1 level original region and / or L2 sub-region; If the function command is "no operation", the task ends.

[0028] Specifically, fence cutting and patching is implemented based on polygon Boolean operations to add, delete, and modify fences, supporting real-time conflict detection and topology consistency maintenance; segmentation adopts an adaptive segmentation algorithm based on area and perimeter, intelligently splitting the target area into multiple L2-level sub-regions to optimize task allocation and path planning; functional instructions also include one-click batch region generation: based on a MapReduce-style parallel processing framework (a programming model and software framework for parallel computing of large-scale datasets on distributed clusters), it realizes batch aggregation and storage of unprocessed fence data, improving system initialization efficiency; this application achieves millisecond-level synchronous rendering of map data through an incremental data push mechanism based on WebSocket; the front-end cockpit supports multi-layer overlay, real-time editing, path simulation, and job monitoring, constructing a human-machine collaborative intelligent decision-making closed loop.

[0029] In one possible implementation, a high-concurrency Netty server is used to enable simultaneous access from multiple vehicle terminals and real-time data entry; efficient geographic data storage and querying are achieved based on a PostGIS spatial database; and real-time push and dynamic visualization of map data are achieved through WebSocket.

[0030] This application integrates time series clustering, Delaunay triangulation, and Alpha Shape boundary extraction to achieve fully automated modeling from discrete point clouds to topologically complete polygons; based on polygon Boolean operations, region segmentation optimization algorithms, and hierarchical version control, it realizes intelligent editing and lifecycle management of fenced areas; and adopts WebSocket incremental push, front-end vector rendering, and multi-layer fusion technology to build a human-machine collaborative intelligent operation monitoring platform. Example 3:

[0031] This invention also provides a terminal, including a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method described in Embodiment 2. Example 4:

[0032] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method described in Embodiment 2.

[0033] Since the storage medium provided in this embodiment of the invention can execute the method provided in embodiment two of the invention, it has the corresponding functional modules and beneficial effects for executing the method.

[0034] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0035] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0036] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0037] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0038] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A dynamic geographic map management system, characterized in that, It includes the perception layer, transmission layer, processing layer, storage layer, and application layer; The perception layer is used to collect point cloud data of geofences; The transport layer is used to transmit the geofence point cloud data to the processing layer and the application layer; The processing layer is used to process the geofence point cloud data, obtain the fence area, and transmit the fence area to the storage layer. The storage layer is used to store the fenced area and transmit the fenced area to the application layer; The application layer is used to receive function instructions and transmit the function instructions to the processing layer. The application layer is used to display the geofence point cloud data and the fence area.

2. The dynamic geographic map management system according to claim 1, characterized in that, The perception layer includes an RTK-GNSS positioning module for collecting geofence point cloud data.

3. The dynamic geographic map management system according to claim 1, characterized in that, The transport layer includes a NettyTCP server and a WebSocket push gateway. The NettyTCP server is used to transmit the geofence point cloud data to the processing layer. The NettyTCP server works in conjunction with the WebSocket push gateway to transmit the geofence point cloud data to the application layer.

4. The dynamic geographic map management system according to claim 1, characterized in that, The data processing includes data cleaning, spatial aggregation, topology construction, and path optimization.

5. The dynamic geographic map management system according to claim 1, characterized in that, The storage layer includes a PostGIS spatial database cluster.

6. The dynamic geographic map management system according to claim 1, characterized in that, The functional commands include real-time rendering, interactive editing, task assignment, and status monitoring.

7. A dynamic geographic map management method, characterized in that, include: Step a: Obtain geofence point cloud data; Step b: Use a point cloud clustering algorithm based on time series and spatial density to process the geofence point cloud data and obtain the processed data; Step c: Based on the processed data, use the Delaunay triangulation algorithm and the Alpha Shape algorithm to generate GeoJSON polygons to obtain the fenced area; Step d: Store the fenced area to the storage layer and mark it as an L1 level original area; Step e: Transfer the L1 level raw region to the application layer; Step f: In response to the function instruction, execute the working steps corresponding to the function instruction.

8. The dynamic geographic map management method according to claim 7, characterized in that, The function commands include segment, delete, cut and patch, and no operation; The execution steps corresponding to the function instructions include: If the function instruction is cut and patch, then polygon Boolean operations are used to add, delete and modify the L1 level original region, update the L1 level original region and repeat step f; If the function instruction is to segment, the target region is selected based on the L1 level original region, and an adaptive segmentation algorithm based on area and perimeter is used to split the target region into multiple L2 sub-regions. A parent-child relationship between the target region and the sub-region is established, the L1 level original region is updated, and step f is repeated. If the function command is to delete, then delete the L1 level original region and / or L2 sub-region; If the function command is "no operation", the task ends.

9. A terminal, characterized in that, Including processor and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to any one of claims 7 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 7 to 8.

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