CN110618700A - Three-dimensional geographic information system for community distribution and unmanned aerial vehicle track path planning application method - Google Patents
Three-dimensional geographic information system for community distribution and unmanned aerial vehicle track path planning application method Download PDFInfo
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- CN110618700A CN110618700A CN201910786734.XA CN201910786734A CN110618700A CN 110618700 A CN110618700 A CN 110618700A CN 201910786734 A CN201910786734 A CN 201910786734A CN 110618700 A CN110618700 A CN 110618700A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a three-dimensional geographic information system for community distribution and an unmanned aerial vehicle track path planning application method.A system layer comprises a distributed server cluster and is used for distributed data storage; the data layer comprises a three-dimensional geographic information database, the three-dimensional geographic information database comprises a geometric position information database and a semantic information database, the geometric position information database describes three-dimensional geographic information of a community, and the three-dimensional geographic information of the community comprises geographic information of which the entity is higher than a set height and brief texture information of the entity on a corresponding height; a semantic information database describing semantic information of entities in the community; and the logical object layer comprises a plurality of entity objects. The invention can realize the construction of a large-scale area, has strong concurrency, generates a large amount of data which can be used as a data source for big data analysis, and has strong expandability and quick data updating.
Description
Technical Field
The invention belongs to the technical field of logistics and geographic information, and particularly relates to a three-dimensional geographic information system for community distribution and an unmanned aerial vehicle track path planning application method.
Background
The existing three-dimensional geometric position information database is mostly used for generating digital earth surface models, many of the three-dimensional geometric position information databases only have ornamental value and decision value, parameterization of three-dimensional data is a hotspot of current research, however, the three-dimensional data parameterization is produced in an oriented mode, and a special three-dimensional geometric position information database constructed by combining full-automatic distribution of unmanned aerial vehicles is urgently needed to be provided.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a three-dimensional geographic information system for community distribution and an unmanned aerial vehicle track path planning application method.
The technical scheme adopted by the invention is as follows:
a three-dimensional geographic information system for community distribution, comprising:
the system layer comprises a distributed server cluster and is used for storing distributed data;
the data layer comprises a three-dimensional geographic information database storing a central three-dimensional geographic position of each outdoor home decoration receiving device, a three-dimensional geographic position of a fixed point of an automatic community unmanned cabinet and a three-dimensional geographic information model of an unmanned plane airline flight area, wherein the three-dimensional geographic information database comprises a geometric position information database and a semantic information database, the geometric position information database describes three-dimensional geographic information of the community, and the three-dimensional geographic information of the community comprises geographic information of which the entity is higher than a set height and brief texture information of the entity on the corresponding height; a semantic information database describing semantic information of entities in the community;
and the logical object layer comprises a plurality of entity objects.
On the basis of the technical scheme, the three-dimensional geographic information system for community distribution comprises the entities, wherein the entities comprise buildings, trees, telegraph poles and outdoor home decoration receiving devices.
On the basis of the technical scheme, the three-dimensional geographic information system is used for community distribution, and the brief texture information on the corresponding height comprises geometric feature data of points, lines and surfaces.
On the basis of the technical scheme, the three-dimensional geographic information system is used for community distribution, and the points store the end point positions and the boundary corner points of the entity; the line stores entity edge information and consists of a plurality of points; the surface storage entity surface range information is composed of a plurality of lines.
On the basis of the technical scheme, the three-dimensional geographic information system for community distribution is used, and the semantic information of the entity comprises the following steps: floor information of the building, building type, use, number and balcony/window orientation, the affiliated user id of the outdoor home delivery device, the affiliated balcony/window location and balcony/window type.
The three-dimensional geographic information system for community distribution further comprises an application layer, wherein the application layer comprises a geographic information storage module, a community three-dimensional geographic information rendering module, an outdoor home decoration receiving device management module, a user permission and information module and a graphic basic operation module;
the geographic information storage module is used for updating the three-dimensional geographic information of the community;
the community three-dimensional geographic information rendering module is used for rendering the community three-dimensional geographic information;
the outdoor home decoration receiving device management module is used for managing semantic information of the outdoor home decoration receiving device;
the user authority and information module is used for managing user authority and information;
and the graphics basic operation module is used for performing basic operation on the image.
The unmanned aerial vehicle track path planning application method for the three-dimensional geographic information system for community distribution comprises the following steps:
s101, storing a central three-dimensional geographic position of each outdoor home decoration receiving device, a three-dimensional geographic position of a community automatic unmanned cabinet fixed point and a three-dimensional geographic information model of an unmanned plane flight area by a three-dimensional geographic information database, and rendering community three-dimensional geographic information;
s102, ordering by a user, retrieving a central three-dimensional geographic position of an outdoor home decoration receiving device of a target user, a three-dimensional geographic position of a community automatic unmanned cabinet fixed point, three-dimensional geographic positions of all possible encountered obstacles and a current posture of the unmanned aerial vehicle according to indexes, and planning a flight path of the unmanned aerial vehicle by the system according to data in a three-dimensional geographic information model by combining global planning and local obstacle avoidance;
and S103, the unmanned aerial vehicle performs distribution flight according to a flight path planning result.
The three-dimensional geographic location includes a longitude, latitude, and altitude location.
On the basis of the technical scheme, the unmanned aerial vehicle track path planning application method for the three-dimensional geographic information system for community distribution calls geographic information of trees, telegraph poles and buildings higher than the set height and brief texture information on the corresponding height from the geometric position information database during global planning and local obstacle avoidance, sets the distance between the level of the unmanned aerial vehicle and the obstacle to be greater than a threshold value, and sets the flight height of the unmanned aerial vehicle not to exceed the highest height of the building.
On the basis of the technical scheme, the unmanned aerial vehicle track path planning application method of the three-dimensional geographic information system for community distribution comprises the following steps:
s1011, establishing a pyramid index to perform urban intra-regional division and urban division on communities in the geometric position information database;
s1012, describing three-dimensional community geographic information in the divided communities, wherein the three-dimensional community geographic information comprises geographic information of which the entity is higher than a set height and brief texture information on a corresponding height, and the brief texture information on the corresponding height comprises geometric feature data of points, lines and planes;
and S1013, updating the three-dimensional geographic information of the community in real time.
The invention has the beneficial effects that:
the invention combines distributed server cluster to store distributed data, the geometric position information database can store large-scale three-dimensional geographic information data, and because of strong specialization, the data object constructed by the invention has pertinence and directionality on the precision requirement of rendering effect, thereby realizing construction of large-scale regions and having strong concurrency.
The large amount of data generated by the invention can also be used as a data source for big data analysis, and the value of the data can be reflected for the data analysis and big data industry.
The invention has strong expandability, can meet the functions of basic geometric position information databases such as GIS increase, deletion, modification, check and the like, can expand the functions, such as carrying out fine modeling and storage in individual communities for special requirements, storing position information of balconies/windows and outdoor home decoration receiving devices, searching whether fuzzy identification can be carried out or not, and the like.
The invention can avoid the problem of data updating, and the existing three-dimensional/two-dimensional geographic information data needs to deal with earth surface information which changes constantly because of rapid development in the current times. The invention provides high-availability and feasible data error correction and updating capability, and because the geographic information is changed from moment to moment, the geographic information storage module carries out special data updating and can deal with the change of the three-dimensional geographic information under the condition of space-time change.
Drawings
FIG. 1 is a system block diagram of a three-dimensional geographic information system for community distribution according to an embodiment of the present invention.
Fig. 2 is a scene diagram of an unmanned aerial vehicle track path planning application of a three-dimensional geographic information system for community distribution according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Example (b):
as shown in fig. 1-2, the three-dimensional geographic information system for community distribution of this embodiment is a three-dimensional geographic information system capable of supporting full-automatic community distribution and supporting a bottom layer of truly delivered goods to home related to geographic information, and includes:
the system layer comprises a distributed server cluster and is used for storing distributed data;
the data layer comprises a three-dimensional geographic information database storing a central three-dimensional geographic position of each outdoor home decoration receiving device, a three-dimensional geographic position of a community automatic unmanned cabinet fixed point and a three-dimensional geographic information model of an unmanned plane airline flight area, wherein the three-dimensional geographic information database comprises a geometric position information database and a semantic information database, the geometric position information database describes three-dimensional geographic information of a community, and road network information of the ground and information of low and short objects on the ground are not stored because of being irrelevant to detailed information of the ground, the three-dimensional geographic information of the community comprises geographic information with an entity height higher than a set height and brief texture information of the entity on a corresponding height, and the three-dimensional geographic information is distributed aiming at the community and has specificity, so only the brief texture information is needed, and high-precision texture information is not needed; a semantic information database describing semantic information of entities in the community;
and the logical object layer comprises a plurality of entity objects.
Such entities include buildings, trees, utility poles, and outdoor home furnishing receiving devices.
The brief texture information at the corresponding height includes geometric feature data of points, lines and planes.
The points store the end point positions and the boundary angular points of the entity in order to depict the whole shape of the entity; the line stores entity edge information, consists of a plurality of points and represents the boundary of an entity; the surface storage entity surface range information is composed of a plurality of lines.
The surface of the tree is described by an ellipsoid, and the trunk part of the tree is described by a cylinder.
The semantic information of the entity includes: floor information of the building, building type, use, number and balcony/window orientation, the affiliated user id of the outdoor home delivery device, the affiliated balcony/window location and balcony/window type.
The three-dimensional geographic information system for community distribution further comprises an application layer, wherein the application layer comprises a geographic information warehousing module, a community three-dimensional geographic information rendering module, an outdoor home decoration receiving device management module, a user right and information module and a graphic basic operation module;
the geographic information storage module is used for updating the three-dimensional geographic information of the community;
the community three-dimensional geographic information rendering module is used for rendering the community three-dimensional geographic information;
the outdoor home decoration receiving device management module is used for managing semantic information of the outdoor home decoration receiving device;
the user authority and information module is used for managing user authority and information;
and the graphics basic operation module is used for performing basic operation on the image.
The invention combines distributed server cluster to store distributed data, the geometric position information database can store large-scale three-dimensional geographic information data, and because of strong specialization, the data object constructed by the invention has pertinence and directionality on the precision requirement of rendering effect, thereby realizing construction of large-scale regions and having strong concurrency.
The large amount of data generated by the invention can also be used as a data source for big data analysis, and the value of the data can be reflected for the data analysis and big data industry.
The invention has strong expandability, can meet the functions of basic geometric position information databases such as GIS increase, deletion, modification, check and the like, can expand the functions, such as carrying out fine modeling and storage in individual communities for special requirements, storing position information of balconies/windows and outdoor home decoration receiving devices, searching whether fuzzy identification can be carried out or not, and the like.
The invention can avoid the problem of data updating, and the existing three-dimensional/two-dimensional geographic information data needs to deal with earth surface information which changes constantly because of rapid development in the current times. The invention provides high-availability and feasible data error correction and updating capability, and because the geographic information is changed from moment to moment, the geographic information storage module carries out special data updating and can deal with the change of the three-dimensional geographic information under the condition of space-time change.
The unmanned aerial vehicle track path planning application method for the three-dimensional geographic information system for community distribution comprises the following steps:
s101, storing a central three-dimensional geographic position of each outdoor home decoration receiving device, a three-dimensional geographic position of a community automatic unmanned cabinet fixed point and a three-dimensional geographic information model of an unmanned plane flight area by a three-dimensional geographic information database, and rendering community three-dimensional geographic information;
s102, ordering by a user, retrieving a central three-dimensional geographic position of an outdoor home decoration receiving device of a target user, a three-dimensional geographic position of a community automatic unmanned cabinet fixed point, three-dimensional geographic positions of all possible encountered obstacles and a current posture of the unmanned aerial vehicle according to indexes, and planning a flight path of the unmanned aerial vehicle by the system according to data in a three-dimensional geographic information model by combining global planning and local obstacle avoidance;
and S103, the unmanned aerial vehicle performs distribution flight according to a flight path planning result.
And during global planning and local obstacle avoidance, calling the geographical information that the height of trees, telegraph poles and buildings is higher than the set height and the brief texture information on the corresponding height from the geometrical position information database, setting the distance between the level of the unmanned aerial vehicle and the obstacle to be more than a threshold value, and setting the flight height of the unmanned aerial vehicle not to exceed the highest height of the building.
Threshold value: the safety distance of the measuring unit is calculated by judging the relevant parameters of the unmanned aerial vehicle measured by the measuring unit, including the acceleration, the precision of the GPS coordinate, the precision and the measuring range of the ultrasonic sensor, the optical flow sensor and the camera, and the safety distance is the threshold value.
Setting the flying height of the unmanned aerial vehicle not to exceed the highest height of the building-the barometer is used for rough control (Pa) of the hovering height, so a safe highest height D + D is set for the highest height according to the precision of the barometer, wherein D is the highest height of the building, and D is the maximum error range of the height of the barometer.
The geometric position information database and the semantic information database of the three-dimensional geographic information system for community distribution classify entity objects, are mainly divided into ground object forms such as buildings, trees, telegraph poles and outdoor home decoration receiving devices, carry out good space geometry and semantic description on the ground objects, and are very suitable for carrying out unmanned aerial vehicle flight path planning in the later period.
The method for rendering the three-dimensional geographic information of the community comprises the following steps:
s201, establishing a pyramid index to perform urban division and urban division on communities in the geometric position information database;
s202, three-dimensional community geographic information is described in the divided communities, the three-dimensional community geographic information comprises geographic information that an entity is higher than a set height and brief texture information on a corresponding height, and the brief texture information on the corresponding height comprises geometric feature data of points, lines and planes;
and S203, updating the three-dimensional geographic information of the community in real time.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.
Claims (9)
1. Three-dimensional geographic information system for community distribution, characterized by: the method comprises the following steps:
the system layer comprises a distributed server cluster and is used for storing distributed data;
the data layer comprises a three-dimensional geographic information database storing a central three-dimensional geographic position of each outdoor home decoration receiving device, a three-dimensional geographic position of a fixed point of an automatic community unmanned cabinet and a three-dimensional geographic information model of an unmanned plane airline flight area, wherein the three-dimensional geographic information database comprises a geometric position information database and a semantic information database, the geometric position information database describes three-dimensional geographic information of the community, and the three-dimensional geographic information of the community comprises geographic information of which the entity is higher than a set height and brief texture information of the entity on the corresponding height; a semantic information database describing semantic information of entities in the community;
and the logical object layer comprises a plurality of entity objects.
2. The three-dimensional geographic information system for community distribution of claim 1, wherein: the entities include buildings, trees, utility poles, and outdoor home furnishing receiving devices.
3. The three-dimensional geographic information system for community distribution of claim 1, wherein: the brief texture information at the respective heights includes geometric feature data of points, lines, and planes.
4. The three-dimensional geographic information system for community distribution of claim 3, wherein: the point stores an entity endpoint position and a boundary corner point; the line stores entity edge information and consists of a plurality of points; the surface storage entity surface range information is composed of a plurality of lines.
5. The three-dimensional geographic information system for community distribution of claim 4, wherein: the semantic information of the entity includes: floor information of the building, building type, use, number and balcony/window orientation, the affiliated user id of the outdoor home delivery device, the affiliated balcony/window location and balcony/window type.
6. The three-dimensional geographic information system for community distribution of claim 4, wherein: the three-dimensional geographic information system for community distribution further comprises an application layer, wherein the application layer comprises a geographic information warehousing module, a community three-dimensional geographic information rendering module, an outdoor home decoration receiving device management module, a user right and information module and a graphic basic operation module;
the geographic information storage module is used for updating the three-dimensional geographic information of the community;
the community three-dimensional geographic information rendering module is used for rendering the community three-dimensional geographic information;
the outdoor home decoration receiving device management module is used for managing semantic information of the outdoor home decoration receiving device;
the user authority and information module is used for managing user authority and information;
and the graphics basic operation module is used for performing basic operation on the image.
7. The unmanned aerial vehicle track route planning application method of the three-dimensional geographic information system for community distribution as claimed in any one of claims 1-6, wherein: the method comprises the following steps:
s101, storing a central three-dimensional geographic position of each outdoor home decoration receiving device, a three-dimensional geographic position of a community automatic unmanned cabinet fixed point and a three-dimensional geographic information model of an unmanned plane flight area by a three-dimensional geographic information database, and rendering community three-dimensional geographic information;
s102, ordering by a user, retrieving a central three-dimensional geographic position of an outdoor home decoration receiving device of a target user, a three-dimensional geographic position of a community automatic unmanned cabinet fixed point, three-dimensional geographic positions of all possible encountered obstacles and a current posture of the unmanned aerial vehicle according to indexes, and planning a flight path of the unmanned aerial vehicle by the system according to data in a three-dimensional geographic information model by combining global planning and local obstacle avoidance;
and S103, the unmanned aerial vehicle performs distribution flight according to a flight path planning result.
8. The unmanned aerial vehicle track route planning application method for the three-dimensional geographic information system for community distribution as claimed in claim 7, wherein: and during global planning and local obstacle avoidance, calling the geographical information that the height of trees, telegraph poles and buildings is higher than the set height and the brief texture information on the corresponding height from the geometrical position information database, setting the distance between the level of the unmanned aerial vehicle and the obstacle to be more than a threshold value, and setting the flight height of the unmanned aerial vehicle not to exceed the highest height of the building.
9. The unmanned aerial vehicle track route planning application method for the three-dimensional geographic information system for community distribution as claimed in claim 7, wherein: the method for rendering the three-dimensional geographic information of the community comprises the following steps:
s1011, establishing a pyramid index to perform urban intra-regional division and urban division on communities in the geometric position information database;
s1012, describing three-dimensional community geographic information in the divided communities, wherein the three-dimensional community geographic information comprises geographic information of which the entity is higher than a set height and brief texture information on a corresponding height, and the brief texture information on the corresponding height comprises geometric feature data of points, lines and planes;
and S1013, updating the three-dimensional geographic information of the community in real time.
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| CN114115327A (en) * | 2021-09-28 | 2022-03-01 | 佛山中科云图智能科技有限公司 | Air route planning method and planning device based on DSM model |
| CN116261121A (en) * | 2023-05-05 | 2023-06-13 | 山东省地质矿产勘查开发局八〇一水文地质工程地质大队(山东省地矿工程勘察院) | Unmanned aerial vehicle geological mapping data transmission method and system |
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