CN114882181A - Surface mine unmanned three-dimensional map generation method and system - Google Patents
Surface mine unmanned three-dimensional map generation method and system Download PDFInfo
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Abstract
The invention discloses an unmanned three-dimensional map generation method and system for an open mine, which are characterized by collecting multi-source geographic data of the open mine at different space-time scales from multiple directions and multiple angles, and establishing an open mine geographic model comprising a vector type thematic service map, a grid type image map and a grid type topographic map according to the multi-source geographic data; determining thematic service map data, tile data and dynamic map data according to the surface mine geographic model; and acquiring a browsed coordinate range through the front end, acquiring corresponding tile data according to the coordinate range and the acquired map zoom level parameter, and splicing and superposing the corresponding tile data, thematic service map data and dynamic map data at the front end to obtain a three-dimensional map. The advantages are that: the three-dimensional map is formed by effectively combining the three-dimensional terrain, the static map data and the dynamic map data, so that the display of real-time attribute information and high-precision spatial information is realized, and the management efficiency is improved.
Description
Technical Field
The invention relates to an unmanned three-dimensional map generation method and system for a surface mine, and belongs to the technical field of visualization and real-time generation.
Background
Due to the particularity and complexity of the unmanned transportation operation of the surface mine, the realization of the unmanned transportation management system of the surface mine faces a plurality of technical challenges, wherein the efficient monitoring of the real-time running state of vehicles in the mine is important for realizing the unmanned management, and the map has spatial characteristics which make the map an effective carrier for realizing the monitoring function.
Existing research has some problems and limitations:
use unmanned aerial vehicle as the instrument of gathering geographic data among the prior art, the emphasis lies in quick update, and the quality of gathering data receives influence such as topography coverage condition, weather great, and the shooting scope can not accurate control. Common driving roads and areas of the surface mine cannot be distinguished and identified, and the method is not suitable for unmanned transportation scenes of the surface mine.
In the prior art, a general three-dimensional map slicing process is adopted, and the process of using a thinning algorithm to reduce the data volume is complex and time-consuming for a surface mine with a small area range.
In the visualization method in the prior art, the combined condition data input by a user is compared with the data in the data storage unit one by using condition judgment, and the result of the screening equality is output to a user side browser.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an unmanned three-dimensional map generation method and system for a surface mine.
In order to solve the technical problem, the invention provides a method for generating an unmanned three-dimensional map of a surface mine, which comprises the following steps:
multi-source geographic data of different space-time scales of the surface mine are collected in a multi-azimuth and multi-angle mode, and a surface mine geographic model comprising a vector type thematic service map, a grid type image map and a grid type topographic map is established according to the multi-source geographic data;
processing a vector type thematic service map in a surface mine geographic model by a vehicle end and storing the processed thematic service map as thematic service map data;
sequentially carrying out fusion processing and slicing processing on the grid type image map and the grid type topographic map in the surface mine geographic model to obtain image map tile data in a JPEG format and topographic map tile data in a JSON format;
collecting the position and the posture of a vehicle with a node to be positioned, reading data of the position and the posture by a space data unit and an attribute data unit, and performing coordinate system conversion and attribute integration to obtain dynamic map data;
and acquiring a browsed coordinate range through the front end, acquiring corresponding image map tile data and topographic map tile data according to the coordinate range and the acquired map zoom level parameters, and splicing and superposing the corresponding image map tile data, topographic map tile data, thematic service map data and dynamic map data at the front end to obtain the three-dimensional map.
Further, the multi-source geographic data of different space-time scales of the open mine of diversified multi-angle collection includes:
acquiring terrain scanning data obtained by scanning a laser radar installed on a vehicle in work;
the method comprises the steps of obtaining navigation sheet data by timing cruise of the unmanned aerial vehicle;
the terrain scanning data and the aerial photograph data form multi-source geographic data.
Further, the fusion process includes:
converting the multi-source geographic data into a geographic reference coordinate system;
filtering the multi-source geographic data after the coordinate system is converted, removing noise points and outliers, extracting characteristic points and constructing a three-dimensional point cloud model;
analyzing the three-dimensional point cloud model, generating TIN grid data, and constructing high-precision DEM data according to the TIN grid data;
and obtaining public DEM data from a public platform, and fusing the public DEM data with the high-precision DEM data to obtain fused DEM data in a TIFF format.
Further, when the high-precision DEM data are fused, the high-precision DEM data are fused at the data coordinate range overlapping part, and public DEM data are adopted in the peripheral area, so that a three-dimensional terrain with a larger coverage area is established.
Further, the slicing process includes:
dividing the fused DEM data into tile units with the same size in a cutting mode under different proportional size levels to form a pyramid-shaped multi-resolution hierarchical model; the geographical range represented from the bottom layer to the top layer of the tile pyramid in the multi-resolution hierarchical model is unchanged, and the next-level tile is formed by four-way division of the tiles at the previous level; the map origin coordinates of the tile are longitude-180 degrees and latitude 90 degrees, located in the lower left corner of the first level tile.
Furthermore, each file of the image map tile data is 256 pixels by 256, the files are organized into a hash file set in a stage, row and column mode and stored, each tile has a unique index number, and the files of the tiles are published through a web server to serve as a map.
Further, the obtaining of the corresponding tile data according to the coordinate range and the level parameter includes:
determining longitude and latitude coordinates (lng, lat) according to the coordinate range, and calculating tile row and column number coordinates (tileX, tileY) according to the longitude and latitude coordinates (lng, lat) and the map Level, wherein the formula is as follows:
tileX= (lng+180)/360×2Level
tileY= (1/2−ln(tan(lat×π/180)+sec(lat×π/180))/2×π)×2Level；
and acquiring corresponding tile data according to the tile row and column number coordinates.
Further, when the space or attribute of the equipment is updated, the vehicle end sends a message to inform the cluster, and at the moment, the latest space and attribute data are obtained and the same identification equipment is re-rendered at the front end, so that the real-time information is refreshed.
Further, the method also comprises the following steps: map display, comprising:
when the map is loaded, the three-dimensional terrain is located at the bottommost layer by default, the image layer and the thematic service layer are sequentially overlapped upwards and attached to the three-dimensional terrain, the height of the three-dimensional terrain varies with the elevation in the terrain data, wherein the loading and unloading area and the road in a mine are represented, the layers of the nodes are sequentially upwards according to the overlapping sequence of the surface, the line and the point, the dynamic map data are located at the topmost layer, and the dynamic map data are structured and rendered into equipment icons and information panels in the mine.
An unmanned three-dimensional map generation system for a surface mine, comprising:
the system comprises a construction module, a data acquisition module and a data processing module, wherein the construction module is used for collecting multi-source geographic data of different space-time scales of an open mine in a multi-azimuth and multi-angle manner, and establishing an open mine geographic model comprising a vector type thematic service map, a grid type image map and a grid type topographic map according to the multi-source geographic data;
the system comprises a first processing module, a second processing module and a third processing module, wherein the first processing module is used for storing a thematic service map of a vector type in a surface mine geographic model as thematic service map data after vehicle end processing;
the second processing module is used for sequentially performing fusion processing and slicing processing on the grid type image map and the grid type topographic map in the surface mine geographic model to obtain JPEG-format image map tile data and JSON-format topographic map tile data;
the third processing module is used for acquiring the position and the posture of the vehicle with the node to be positioned, reading data of the position and the posture by the space data unit and the attribute data unit, and performing coordinate system conversion and attribute integration to obtain dynamic map data;
and the superposition module is used for acquiring a browsed coordinate range through the front end, acquiring corresponding image map tile data and topographic map tile data according to the coordinate range and the acquired map zoom level parameters, and splicing and superposing the corresponding image map tile data, topographic map tile data, thematic service map data and dynamic map data at the front end to obtain the three-dimensional map.
The invention has the following beneficial effects:
the system receives and processes dynamic data provided by a vehicle end positioning device and an interface, effectively combines a remote sensing image, an unmanned aerial vehicle and digital elevation model topographic information to form a three-dimensional map, realizes the display of real-time attribute information and high-precision spatial information on the basis of the three-dimensional map, and is used for an unmanned surface mine administrator to remotely monitor the operation condition of equipment in a mine, thereby improving the management efficiency.
Drawings
FIG. 1 is a flow chart of a system implementation of the present invention;
FIG. 2 is a flow chart of the three-dimensional terrain processing of the present invention;
FIG. 3 is a schematic diagram of a map model slice of the present invention;
FIG. 4 is a schematic diagram of a multi-source map overlay in the system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
An unmanned three-dimensional map generation method for a surface mine, as shown in fig. 1, includes:
and step S1, acquiring modeling basic data and constructing a three-dimensional geographic model. And multi-source geographic data of different space-time scales acquired in a multi-azimuth and multi-angle mode are acquired by using terrain scanning equipment or an unmanned aerial vehicle, and a surface mine geographic model is established.
And step S2, storing and processing the geographic model. And receiving the map file acquired and processed by the vehicle end, importing the map file into a spatial database, and storing the map file into different types of element tables. The method has the advantages that fusion processing and slicing processing are carried out on various geographic data such as images and three-dimensional terrains, and the method is convenient to use in follow-up visualization. And slicing to obtain tile directory files, and publishing the tile directory files as map services.
And step S3, the sensor collects monitoring data. The position and the posture of the vehicle with the node to be positioned are acquired by utilizing a GNSS (global navigation satellite system), the acquired data are read by the space data unit and the attribute data unit and then are transmitted to the database server, and the database server stores the space data unit and the attribute data. And reading data by the space data unit and the attribute data unit, and transmitting the data to the server. The sensor transmits monitoring data to the server through communication modes such as a GPS, a Beidou satellite and a mobile data network, and the server automatically receives the data and stores the data in a corresponding database table.
And S4, visualizing the data. And the front end displays a three-dimensional map in a splicing manner at the front end according to the browsed coordinate range and the tile data corresponding to the map zoom level parameter request, shows the three-dimensional terrain structure of the mine, and can zoom, move and rotate freely during viewing. Meanwhile, the front end structurizes the received monitoring data and renders the monitoring data into equipment icons and information panels in the mine. When the space or attribute of the equipment with the same identifier is updated, the equipment sends a message to inform the cluster of acquiring the latest data and re-rendering the latest data at the front end, and refreshing the real-time information.
The map zoom level parameter is typically in the range of 0-20, where at each level the map has a corresponding spatial resolution (the actual ground distance represented by a pixel on the screen), the higher the level, the smaller the spatial resolution. The map display range is the largest at the 0-level, and the global map can be viewed. When the level increases, the map is enlarged and the display area becomes smaller. The level parameters are obtained from a front-end browser, and the user zooms in to the level I when viewing the map, namely the current level. And determining the map viewing level and the rectangular coordinate range through a browser window of a user, and calculating the tiles needing to be requested by taking the map viewing level and the rectangular coordinate range as parameters.
Step S1, fusing the multiple geographic data to generate a three-dimensional terrain, as shown in fig. 2, the specific steps are as follows:
and S11, digging, transporting and assisting original three-dimensional point cloud data obtained by scanning a laser radar installed on a vehicle in working, filtering the original data through a series of algorithms, removing noise points and outliers, extracting characteristic points and the like, and establishing a three-dimensional point cloud model. And (4) screening aerial photographs obtained by the unmanned aerial vehicle cruise at regular time, and then establishing dense point cloud.
And S12, converting the acquired data into a geographic reference coordinate system, and extracting key information from the geographic reference coordinate system to construct a model. Generating TIN grid data through analysis of point cloud data, and constructing DEM (digital elevation model) data through interpolation and the like;
and S13, obtaining public DEM data with the precision of 30 meters from a public platform such as a geospatial data cloud, fusing the public DEM data with the self-collected high-precision DEM data generated in the step S12, and establishing a terrain model with a larger coverage area by taking the self-collected data as the main data and the public data as the secondary data when the data coordinate ranges are overlapped. The fused three-dimensional terrain is derived into a TIFF format.
In step S2, as shown in fig. 3, the method of the terrain slicing process specifically includes:
the map is divided into tile units with the same size in a cutting mode under different scale levels to form a pyramid-shaped multi-resolution hierarchical model. The geographical range represented from the bottom layer to the top layer of the tile pyramid is unchanged, the next-level tile is formed by four-way division of the tiles at the previous level, the higher the level is, the more the number of the tiles forming the map is, and the more detailed the geographical content can be displayed. The Origin (Origin) coordinate of the tile map is-180 degrees, 90 degrees, located in the lower left corner of tile 0, 0.
In the using process of the map service, tiles in the area where the specific longitude and latitude are located need to be obtained, namely, the conversion of longitude and latitude coordinates, tile coordinates and pixel coordinates is carried out.
Calculating tile row and column number coordinates (tileX, tileY) according to the requested longitude and latitude coordinates (lng, lat) and the map zoom Level (Level), wherein the formula is as follows:
tileX=(lng+180)/360×2Level
tileY=(1/2−ln(tan(lat×π/180)+sec(lat×π/180))/2×π)×2Level
and acquiring corresponding tile data according to the tile row and column number coordinates.
The sliced data is stored in png format, with each tile file being 256 x 256 pixels. The hash file set is organized in a 'level, row and column' mode and stored in a server side, and each tile has a unique index number. The tile file is published as a map service through a web server.
In step S3, collecting monitoring data by a sensor, specifically:
the high-precision positioning device is mounted on a collected vehicle to collect position data. And the communication module is used for preprocessing the acquired topographic information and position information and converting coordinates, and then sending the three-dimensional high-precision position under the geodetic coordinates to the server device through time synchronization.
The vehicle-mounted terminal system acquires attribute information such as vehicle running conditions and vehicle-mounted equipment running states and sends the attribute information to the server device.
And the server transmits the monitoring information to the front end through the event stream platform.
The data visualization diagram of step S4 is shown in fig. 4, and further includes:
the method for storing the spatial data by the server specifically comprises the following steps: the image and terrain slice data are stored in a disk in a hierarchical file directory mode; the map layer element vector data is stored in a spatial database in a spatial table mode; the real-time information is stored in the attribute database in a relational table manner.
The front-end map display enables the plane data to be more stereo and the expression content to be richer by overlapping different types of map data such as three-dimensional terrain, static state, dynamic state and the like.
When the map is loaded, the terrain is defaulted to be positioned at the bottommost layer, and other static and dynamic layers are covered on the terrain. And S2, displaying the terrain tile map established in the step S2 on the client, namely, obtaining tiles of the grids at the corresponding level by calculating the row and column numbers according to the visual range and the level requested by the client. The client requests the tile by specifying the concatenation domain name + file number index through the HTTP-based REST interface, as the client's request for the x row y column tile at resolution level z is [ tile service url ]/z/x/y.png. The requested tiles are tiled at the client to form a terrain map describing elevation data.
The static image map layers and the thematic service map layers are sequentially superposed upwards and attached to the terrain, the height of each static image map layer and the thematic service map layer changes along with the elevation in terrain data, loading and unloading areas and roads in a mine are represented, and the map layers of the nodes are sequentially upwards according to the superposition sequence of surfaces, lines and points. The dynamic monitoring data is located at the uppermost layer.
When the layers with different contents are superposed and capped, the layers are displayed by using rendering modes such as data enhancement, transparency, symbolization and the like.
Correspondingly, the invention also provides an unmanned three-dimensional map generation system for the surface mine, which comprises the following components:
the system comprises a construction module, a data acquisition module and a data processing module, wherein the construction module is used for collecting multi-source geographic data of different space-time scales of the surface mine from multiple directions and multiple angles, and establishing a surface mine geographic model comprising a vector type thematic service map, a grid type image map and a grid type topographic map according to the multi-source geographic data;
the system comprises a first processing module, a second processing module and a third processing module, wherein the first processing module is used for storing a thematic service map of a vector type in a surface mine geographic model as thematic service map data after vehicle end processing;
the second processing module is used for sequentially carrying out fusion processing and slicing processing on the raster type image map and the raster type topographic map in the surface mine geographic model to obtain JPEG-format image map tile data and JSON-format topographic map tile data;
the third processing module is used for acquiring the position and the posture of the vehicle with the node to be positioned, reading data of the position and the posture by the space data unit and the attribute data unit, and performing coordinate system conversion and attribute integration to obtain dynamic map data;
and the superposition module is used for acquiring a browsed coordinate range through the front end, acquiring corresponding image map tile data and topographic map tile data according to the coordinate range and the acquired map zoom level parameters, and splicing and superposing the corresponding image map tile data, topographic map tile data, thematic service map data and dynamic map data at the front end to obtain the three-dimensional map.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may 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, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may 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, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
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 such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An unmanned three-dimensional map generation method for a surface mine is characterized by comprising the following steps:
multi-source geographic data of different space-time scales of the surface mine are collected in a multi-azimuth and multi-angle mode, and a surface mine geographic model comprising a vector type thematic service map, a grid type image map and a grid type topographic map is established according to the multi-source geographic data;
processing a vector type thematic service map in a surface mine geographic model by a vehicle end and storing the processed thematic service map as thematic service map data;
sequentially carrying out fusion processing and slicing processing on the grid type image map and the grid type topographic map in the surface mine geographic model to obtain image map tile data in a JPEG format and topographic map tile data in a JSON format;
collecting the position and the posture of a vehicle with a node to be positioned, reading the data of the position and the posture by a space data unit and an attribute data unit, and performing coordinate system conversion and attribute integration to obtain dynamic map data;
and acquiring a browsed coordinate range through the front end, acquiring corresponding image map tile data and topographic map tile data according to the coordinate range and the acquired map zoom level parameters, and splicing and superposing the corresponding image map tile data, topographic map tile data, thematic service map data and dynamic map data at the front end to obtain the three-dimensional map.
2. The method for generating the unmanned surface mine three-dimensional map according to claim 1, wherein the multi-azimuth multi-angle acquisition of the multi-source geographic data of the surface mine at different time-space scales comprises:
acquiring terrain scanning data obtained by scanning a laser radar installed on a vehicle in work;
the method comprises the steps of obtaining navigation sheet data by timing cruise of the unmanned aerial vehicle;
and the terrain scanning data and the aerial photograph data form multi-source geographic data.
3. The method according to claim 2, wherein the fusion process includes:
converting the multi-source geographic data into a geographic reference coordinate system;
filtering the multi-source geographic data after the coordinate system is converted, removing noise points and outliers, extracting characteristic points and constructing a three-dimensional point cloud model;
analyzing the three-dimensional point cloud model, generating TIN grid data, and constructing high-precision DEM data according to the TIN grid data;
and obtaining public DEM data from a public platform, and fusing the public DEM data with the high-precision DEM data to obtain fused DEM data in a TIFF format.
4. The method for generating the unmanned three-dimensional map of the surface mine according to claim 3, wherein when the high-precision DEM data is fused, the high-precision DEM data is used for fusing a data coordinate range overlapping part, and public DEM data is used for establishing a three-dimensional terrain with a larger coverage area in a peripheral area.
5. The method of claim 4, wherein the slicing process comprises:
dividing the fused DEM data into tile units with the same size in a cutting mode under different proportional size levels to form a pyramid-shaped multi-resolution hierarchical model; the geographical range represented from the bottom layer to the top layer of the tile pyramid in the multi-resolution hierarchical model is unchanged, and the next-level tile is formed by four-way division of the tiles at the previous level; the map origin coordinates of the tile are longitude-180 degrees and latitude 90 degrees, located in the lower left corner of the first level tile.
6. The unmanned surface mine three-dimensional map generation method of claim 1, wherein each of the image map tile data files is 256 by 256 pixels, the image map tile data files are organized in a hierarchical, row and column manner as a hash file set for storage, each tile has a unique index number, and the tile file is published through a web server to serve as a map.
7. The method for generating the unmanned three-dimensional map of the surface mine according to claim 1, wherein the obtaining of the corresponding tile data according to the coordinate range and the level parameter comprises:
determining longitude and latitude coordinates (lng, lat) according to the coordinate range, and calculating tile row and column number coordinates (tileX, tileY) according to the longitude and latitude coordinates (lng, lat) and the map Level, wherein the formula is as follows:
tileX= (lng+180)/360×2Level
tileY= (1/2−ln(tan(lat×π/180)+sec(lat×π/180))/2×π)×2Level；
and acquiring corresponding tile data according to the tile row and column number coordinates.
8. The surface mine unmanned three-dimensional map generation method according to claim 1,
when the space or attribute of the equipment is updated, the vehicle end sends a message to inform the cluster, at the moment, the latest space and attribute data are obtained and the same identification equipment is re-rendered at the front end, and the real-time information is refreshed.
9. The surface mine unmanned three-dimensional map generation method of claim 1, further comprising: map display, comprising:
when the map is loaded, the three-dimensional terrain is located at the bottommost layer by default, the image layer and the thematic service layer are sequentially overlapped upwards and attached to the three-dimensional terrain, the height of the three-dimensional terrain varies with the elevation in the terrain data, wherein the loading and unloading area and the road in a mine are represented, the layers of the nodes are sequentially upwards according to the overlapping sequence of the surface, the line and the point, the dynamic map data are located at the topmost layer, and the dynamic map data are structured and rendered into equipment icons and information panels in the mine.
10. An unmanned three-dimensional map generation system for a surface mine, comprising:
the system comprises a construction module, a data acquisition module and a data processing module, wherein the construction module is used for collecting multi-source geographic data of different space-time scales of the surface mine from multiple directions and multiple angles, and establishing a surface mine geographic model comprising a vector type thematic service map, a grid type image map and a grid type topographic map according to the multi-source geographic data;
the system comprises a first processing module, a second processing module and a third processing module, wherein the first processing module is used for storing a thematic service map of a vector type in a surface mine geographic model as thematic service map data after vehicle-end processing;
the second processing module is used for sequentially carrying out fusion processing and slicing processing on the raster type image map and the raster type topographic map in the surface mine geographic model to obtain JPEG-format image map tile data and JSON-format topographic map tile data;
the third processing module is used for acquiring the position and the posture of the vehicle with the node to be positioned, reading data of the position and the posture by the space data unit and the attribute data unit, and performing coordinate system conversion and attribute integration to obtain dynamic map data;
and the superposition module is used for acquiring a browsed coordinate range through the front end, acquiring corresponding image map tile data and topographic map tile data according to the coordinate range and the acquired map zoom level parameter, and splicing and superposing the corresponding image map tile data, topographic map tile data, thematic service map data and dynamic map data at the front end to obtain a three-dimensional map.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116342827A (en) * | 2023-05-26 | 2023-06-27 | 厦门精图信息技术有限公司 | Map element three-dimensional presentation system and method |
| CN117029804A (en) * | 2023-08-07 | 2023-11-10 | 自然资源部重庆测绘院 | Mining area topography automatic updating method based on vehicle positioning information |
| CN117292085A (en) * | 2023-11-27 | 2023-12-26 | 浙江大学 | Entity interaction control method and device supporting three-dimensional modeling |
| CN117557681A (en) * | 2024-01-09 | 2024-02-13 | 山东鲁邦地理信息工程有限公司 | High-precision topographic map generation method and device based on multi-source mapping data |
| CN117029804B (en) * | 2023-08-07 | 2024-04-26 | 自然资源部重庆测绘院 | Mining area topography automatic updating method based on vehicle positioning information |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116342827A (en) * | 2023-05-26 | 2023-06-27 | 厦门精图信息技术有限公司 | Map element three-dimensional presentation system and method |
| CN116342827B (en) * | 2023-05-26 | 2023-08-08 | 厦门精图信息技术有限公司 | Map element three-dimensional presentation system and method |
| CN117029804A (en) * | 2023-08-07 | 2023-11-10 | 自然资源部重庆测绘院 | Mining area topography automatic updating method based on vehicle positioning information |
| CN117029804B (en) * | 2023-08-07 | 2024-04-26 | 自然资源部重庆测绘院 | Mining area topography automatic updating method based on vehicle positioning information |
| CN117292085A (en) * | 2023-11-27 | 2023-12-26 | 浙江大学 | Entity interaction control method and device supporting three-dimensional modeling |
| CN117292085B (en) * | 2023-11-27 | 2024-02-09 | 浙江大学 | Entity interaction control method and device supporting three-dimensional modeling |
| CN117557681A (en) * | 2024-01-09 | 2024-02-13 | 山东鲁邦地理信息工程有限公司 | High-precision topographic map generation method and device based on multi-source mapping data |
| CN117557681B (en) * | 2024-01-09 | 2024-04-16 | 山东鲁邦地理信息工程有限公司 | High-precision topographic map generation method and device based on multi-source mapping data |
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