CN117849788A - Mapping system of geological topography digital twin scene based on three-dimensional modeling - Google Patents
Mapping system of geological topography digital twin scene based on three-dimensional modeling Download PDFInfo
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Abstract
The invention discloses a mapping system of a geological topography digital twin scene based on three-dimensional modeling, which relates to the technical field of geological mapping and comprises an unmanned plane, a survey radar module, a charging platform, a control module, a survey data analysis module and a digital twin scene module; the unmanned aerial vehicles are provided with a plurality of survey radar modules, and each unmanned aerial vehicle is provided with a survey radar module for surveying geology of a target area to obtain survey data comprising a source address and generation time; this mapping system of geological topography digital twin scene based on three-dimensional modeling surveys radar module, charging platform, control module through setting up unmanned aerial vehicle, surveys unmanned aerial vehicle along the intermittent detection of route flight through different batches, reduces every unmanned aerial vehicle's power consumption for unmanned aerial vehicle's flight distance has been prolonged, makes things convenient for unmanned aerial vehicle to survey the target area.
Description
Technical Field
The invention relates to the technical field of geological mapping, in particular to a mapping system of a geological topography digital twin scene based on three-dimensional modeling.
Background
Geological mapping is a collective term for all of the mapping work involved in conducting geological and mineral surveys and the compilation of their outcome drawings. The digital twin is to fully utilize data such as a physical model, sensor update, operation history and the like, integrate simulation processes of multiple disciplines, multiple physical quantities, multiple scales and multiple probabilities, and complete mapping in a virtual space so as to reflect the full life cycle process of corresponding entity equipment. Digital twinning is a beyond-the-reality concept that can be seen as a digital mapping system of one or more important, mutually dependent equipment systems.
The prior art with the publication number of CN117557926A discloses a mapping data processing system based on digital twinning, which relates to the technical field of mapping data processing and solves the technical problem of data fusion among different acquisition devices, and comprises an image resolution end, a data detection end, a mapping data fusion end and a data output end.
However, the establishment of the digital twin scene requires frequent and periodic survey of geology of the target area so as to update the digital twin scene in time, so that synchronism of image data reflected by the digital twin scene and actual geological conditions is improved, because the cost of surveying the target area frequently for a long time is high, the cost of surveying manually is high and is not in line with the actual conditions, unmanned aerial vehicles are generally used for surveying, and for the case that the target area to be surveyed is large, the continuous voyage of the unmanned aerial vehicles is insufficient to support one complete survey, and the regional and fractional surveying is required for the target area, which leads to the reduction of surveying efficiency.
Disclosure of Invention
The invention aims to provide a mapping system of a geological topography digital twin scene based on three-dimensional modeling, which aims to solve the defects in the prior art.
In order to achieve the above object, the present invention provides the following technical solutions: a mapping system of a geological terrain digital twin scene based on three-dimensional modeling comprises an unmanned plane, a survey radar module, a charging platform, a control module, a survey data analysis module and a digital twin scene module;
the unmanned aerial vehicles are multiple, the number of the unmanned aerial vehicles can be set according to actual needs, and each unmanned aerial vehicle is provided with a survey radar module for surveying geology of a target area to obtain survey data comprising a source address and generation time;
the plurality of charging platforms are distributed in the target area and are used for providing charging service for the unmanned aerial vehicle;
the control module is used for setting a route of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly according to the route, and controlling the unmanned aerial vehicle to take off, land and charge;
the control module is also used for controlling the survey radar module to conduct intermittent survey;
the survey data analysis module is used for summarizing the survey data obtained by each survey radar module to obtain a survey data set, and analyzing the survey data set to obtain total survey data of a target area;
the digital twin scene module is used for carrying out three-dimensional modeling based on total survey data to obtain a digital twin model of a target area;
the digital twinning scene module is further configured to update the digital twinning model based on the updated total survey data after the total survey data is updated.
Further, the intermittent survey specifically includes the steps of:
obtaining the route distance from a route starting point to a charging platform adjacent to the route starting point, and obtaining the corresponding route distance from each two adjacent charging platforms and the route end point to the adjacent charging platform, wherein the route distance represents the route length from one point to the other point on the route instead of the straight line distance of two points;
the method comprises the steps of obtaining a total unmanned aerial vehicle batch, equally dividing the air sections, enabling the number of the equally divided sections to be equal to the total unmanned aerial vehicle batch, obtaining a survey section, namely, the length to be surveyed of a surveying radar module on each unmanned aerial vehicle on each air section distance is equal to the corresponding air section distance/total unmanned aerial vehicle batch, wherein the air sections can be continuous or discontinuous, the time that the unmanned aerial vehicles of different batches fly through the same air section is the same, namely, the average speed of the unmanned aerial vehicles is the same, for example, the surveying radar module of the unmanned aerial vehicle can fly at a uniform speed when working so as to ensure the surveying precision, and fly at a speed which is higher than that of the surveying when not surveying so as to save time and improve efficiency, and meanwhile, the power when the surveying speed is not greater than the charging power of a charging platform, and a quick charging technology is adopted by a preferable charging platform and a battery;
the unmanned aerial vehicle and the survey section of each batch are associated one by one, and when the unmanned aerial vehicle passes through the survey section with which each flight section is associated, the control module controls the survey radar module on the unmanned aerial vehicle to survey, and the unmanned aerial vehicle leaves the survey section, and the control module controls the survey radar module on the unmanned aerial vehicle to stop surveying, namely, the unmanned aerial vehicles of different batches start the survey radar module to survey geology only when passing through the survey section with which the unmanned aerial vehicle is associated, the unmanned aerial vehicles of each batch together complete the geological survey of each flight section, thereby effectively reducing the survey of each flight section of each unmanned aerial vehicle, and saving electric quantity so that the electric quantity of the unmanned aerial vehicle is enough to fly the whole flight section.
Further, each charging platform is located on a airliner; the number of charging platforms on each route is set based on the battery capacity of the unmanned aerial vehicle and the radar module surveyed thereon, the power of the unmanned aerial vehicle and the radar module surveyed thereon, the length of the route, the total batch of unmanned aerial vehicles and the speed.
Further, each charging platform is located on a airliner; the number of the charging platforms on each air route is set based on the battery capacity of the unmanned aerial vehicle and the radar module surveyed on the unmanned aerial vehicle, the power of the unmanned aerial vehicle and the radar module surveyed on the unmanned aerial vehicle, the length of the air route, the total batch and the speed of the unmanned aerial vehicle, and the method specifically comprises the following steps:
the method comprises the steps of obtaining the power, the route length and the total batch and the speed of the unmanned aerial vehicle and the radar module for surveying, calculating the electric energy required by the unmanned aerial vehicle and the radar module for surveying the complete route to obtain the total energy consumption, and calculating the total energy consumption according to the following formula:
total energy consumption = (mpmachine + prade) L voyage/(mv),
wherein m represents the total batch of unmanned aerial vehicles, P represents the power of the unmanned aerial vehicles, P represents the power of a survey radar module, L represents the length of a route, and v represents the speed of the unmanned aerial vehicles;
and acquiring the battery capacity of the unmanned aerial vehicle and the radar module for surveying thereon, and calculating the required complete charging times based on the total energy consumption, wherein the number of charging platforms required by the corresponding airlines is greater than or equal to the complete charging times, and the unmanned aerial vehicle and the battery of the radar module for surveying thereon are initially regarded as full electric quantity.
Further, when the number of charging platforms required by the corresponding airlines is greater than the number of complete charging times, the number of charging platforms is set according to the charge amount of the unmanned aerial vehicle on the charging platforms each time, the charge amount is represented by a percentage of the battery capacity, and the charge amount is obtained through the following formula:
a (n+b) battery capacity=n battery capacity,
the method comprises the following steps: a=n/(n+b),
where a represents the charge amount, i.e., the percentage of battery capacity, n represents the number of complete charges, b represents the amount by which the charging platform is more than the number of complete charges, and b is preferably equal to 1 in view of the cost of the charging platform.
Further, the system further comprises a cost calculation module, wherein the cost calculation module is used for acquiring the establishment unit price cost of the charging platform, the maintenance unit price cost of the charging platform, the unit price cost and the maintenance cost of the unmanned aerial vehicle and the survey radar module;
the cost calculation module is further used for obtaining the area of the target area, calculating the length of a total route to be surveyed based on the surveying area of the surveying radar module, dividing the total route into a plurality of routes equally, taking the number of routes and the total batch of unmanned aerial vehicles of each route as independent variables, calculating the minimum value of the dependent variables, obtaining the number of routes corresponding to the minimum total cost and the total batch number of unmanned aerial vehicles of each route, and obtaining the number of charging platforms of each route based on the relation among the total batch of unmanned aerial vehicles, the complete charging times and the charging amount, thereby facilitating the unmanned aerial vehicles to detect the target area, improving the detection efficiency of the unmanned aerial vehicles, and controlling the construction and maintenance costs of the unmanned aerial vehicles, the charging platforms and the like.
Further, the survey data analysis module sums the survey data obtained by each survey radar module to obtain a survey data set, and analyzes the survey data set to obtain total survey data of the target area, and specifically includes the following steps:
acquiring a source address of survey data to obtain a survey radar module which emits the survey data;
acquiring generation time of the survey data, and obtaining a position corresponding to the survey data by corresponding the survey data to the set survey section according to the sequence of the generation time and a survey radar module for sending the survey data;
and arranging the survey data according to the position sequence, analyzing the overlapped parts of the survey data adjacent to the position, and fusing the overlapped parts to obtain the total survey data.
Further, the digital twin scene module updates the digital twin model based on the updated total survey data, specifically comprising the steps of:
extracting modeling data based on expert rules, wherein the modeling data is data needed for establishing the digital twin model;
training a correlation rule mining model based on historical total survey data and modeling data to obtain a modeling data correlation algorithm;
extracting modeling data from survey data based on a modeling data association algorithm to obtain new modeling data;
associating various data of modeling data with corresponding portions of the digital twin model, respectively;
obtaining modeling data corresponding to the digital twin model, comparing the modeling data with the newly built data, and obtaining corresponding modeling data change amount if a difference exists;
and adjusting a digital twin model corresponding part associated with modeling data corresponding to the modeling data change amount according to the modeling data change amount, and updating the digital twin model.
1. Compared with the prior art, the mapping system of the geological topography digital twin scene based on the three-dimensional modeling provided by the invention has the advantages that the unmanned aerial vehicle, the survey radar module, the charging platform and the control module are arranged, the power consumption of each unmanned aerial vehicle is reduced through the intermittent detection of the unmanned aerial vehicle in different batches along the air route, the flight distance of the unmanned aerial vehicle is prolonged, the unmanned aerial vehicle can conveniently detect the target area, the unmanned aerial vehicle in different batches can detect different areas, the unmanned aerial vehicle in all batches can complete the detection of the target area without retracting the unmanned aerial vehicle, the detection efficiency of the unmanned aerial vehicle is improved, and the continuous voyage of the unmanned aerial vehicle is further improved through the charging platform arranged in the air route.
2. Compared with the prior art, the mapping system of the geological topography digital twin scene based on the three-dimensional modeling provided by the invention has the advantages that unmanned aerial vehicles in different batches can arrive at a charging platform successively by taking off at intervals, the charging position of the unmanned aerial vehicle platform can be reduced by controlling the charging speed and the interval time, the cost is reduced, and the charging waiting time is reduced.
3. Compared with the prior art, the mapping system of the geological terrain digital twin scene based on the three-dimensional modeling provided by the invention has the advantages that the survey data analysis module and the digital twin scene module are arranged, the data required by modeling can be automatically extracted from the survey data, and the established three-dimensional model is modified and updated to achieve the digital twin effect.
4. Compared with the prior art, the mapping system of the geological topography digital twin scene based on the three-dimensional modeling, provided by the invention, has the advantages that the cost calculation module is arranged to calculate the minimum value of the multiple functions, so that the unmanned aerial vehicle can conveniently detect the target area, the detection efficiency of the unmanned aerial vehicle is improved, and meanwhile, the construction and maintenance costs of the unmanned aerial vehicle, the charging platform and the like are controlled.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a block diagram of a system architecture according to an embodiment of the present invention;
FIG. 2 is a general route diagram of a target area according to an embodiment of the present invention.
Reference numerals illustrate:
1. a target area; 2. a lane; 3. a general route; 4. a survey radar module; 5. area of survey.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. Furthermore, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Embodiments of the disclosure and features of embodiments may be combined with each other without conflict.
As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Embodiments described herein may be described with reference to plan and/or cross-sectional views with the aid of idealized schematic diagrams of the present disclosure. Accordingly, the example illustrations may be modified in accordance with manufacturing techniques and/or tolerances. Thus, the embodiments are not limited to the embodiments shown in the drawings, but include modifications of the configuration formed based on the manufacturing process. Thus, the regions illustrated in the figures have schematic properties and the shapes of the regions illustrated in the figures illustrate the particular shapes of the regions of the elements, but are not intended to be limiting.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Referring to fig. 1-2, a mapping system of a geological topography digital twin scene based on three-dimensional modeling comprises an unmanned plane, a survey radar module 4, a charging platform, a control module, a survey data analysis module and a digital twin scene module;
the number of unmanned aerial vehicles is multiple, the number of unmanned aerial vehicles can be set according to actual needs, and each unmanned aerial vehicle is provided with a survey radar module 4 for surveying geology of a target area to obtain survey data comprising a source address and generation time;
the plurality of charging platforms are distributed in the target area and used for providing charging service for the unmanned aerial vehicle;
the control module is used for setting a route of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly according to the route, and controlling the unmanned aerial vehicle to take off, land and charge;
each charging platform is positioned on the aviation line; the number of charging platforms on each route is set based on the battery capacity of the unmanned aerial vehicle and the upper survey radar module 4 thereof, the power of the unmanned aerial vehicle and the upper survey radar module 4 thereof, the length of the route, the total batch and the speed of the unmanned aerial vehicle, and the method specifically comprises the following steps:
the power, the route length and the total batch and the speed of the unmanned aerial vehicle and the upper survey radar module 4 of the unmanned aerial vehicle are obtained, the electric energy required by the unmanned aerial vehicle and the upper survey radar module 4 of the unmanned aerial vehicle to survey the complete route is calculated, the total energy consumption is obtained, and the total energy consumption can be calculated by the following formula:
total energy consumption = (mpmachine + prade) L voyage/(mv) (1),
wherein m represents the total batch of unmanned aerial vehicles, P represents the power of the survey radar module 4, L represents the length of the route, and v represents the speed of the unmanned aerial vehicles;
acquiring the battery capacity of the unmanned aerial vehicle and the survey radar module 4 on the unmanned aerial vehicle, calculating the required complete charging times based on the total energy consumption, dividing the obtained total energy consumption by the acquired battery capacity, and rounding up the obtained value, wherein if the obtained value is 4.136, rounding up to 5, the theoretical number of times of the complete charging is obtained; the number of the charging platforms needed by the corresponding airlines is greater than or equal to the complete charging times, so that the unmanned aerial vehicle can fly to the full range of the airlines after the charging platforms charge the unmanned aerial vehicle, wherein the number of the preferred charging platforms is greater than the number of times of completing charging, so that the full range of the unmanned aerial vehicle is prevented from being influenced by battery loss and electric energy loss caused by friction, wind resistance, transmission and the like, the charging amount and the charging time of the unmanned aerial vehicle on the charging platforms each time can be reduced, and the unmanned aerial vehicle and a battery on the unmanned aerial vehicle are initially regarded as full power.
When the number of charging platforms needed by the corresponding airlines is greater than the complete charging times, the number of the charging platforms is set according to the charging amount of the unmanned aerial vehicle on the charging platforms each time, the charging amount is represented by the percentage of the battery capacity, and the charging amount is obtained through the following formula:
a (n+b) battery capacity=n battery capacity (2),
the method comprises the following steps: a=n/(n+b),
where a represents the charge amount, i.e., the percentage of battery capacity, n represents the number of complete charges, b represents the amount by which the charging platform is more than the number of complete charges, and b is preferably equal to 1 in view of the cost of the charging platform. Through increasing a platform that charges, reducible unmanned aerial vehicle charges at every platform that charges, shortens the charge time and further improves the efficiency that surveys. For example, a=50% can be achieved, that is, the unmanned aerial vehicle is charged by 50% of the battery capacity each time the unmanned aerial vehicle charges the charging platform, and 50% of the electric quantity can be quickly charged to the battery of the unmanned aerial vehicle through the quick charging technology.
Unmanned aerial vehicles of different batches take off at intervals successively for unmanned aerial vehicles can arrive at a charging platform successively, and charging positions of the unmanned aerial vehicle platform can be reduced by controlling charging speed, interval time and flying speed, so that cost is reduced, and charging waiting time is shortened.
For example, the battery capacity of the unmanned aerial vehicle is 5000mAh, the working voltage is 15.4V, the charging platform supports 50-120W of charging power, one route is provided with 6 charging platforms, 5 batches of unmanned aerial vehicles are provided with 5 charging positions for each charging platform to meet the charging requirement of 5 batches of 5 unmanned aerial vehicles, each route from a starting point and a terminal point to the charging platform adjacent to the charging platforms is divided into 5 route segments, the 5 batches of unmanned aerial vehicles are associated with the 5 route segments one by one, the time required for the unmanned aerial vehicles to fly through the 5 route segments and complete the survey of one route segment is 20 minutes, and the consumed electric quantity is 50%, namely 2500mAh;
in one embodiment, the charging time, that is, the charging speed power is 77W, the interval time is that one unmanned aerial vehicle takes off every 6 minutes, the calculated 50% charging time is 2500×15.4/1000/77=0.5 (h), that is, 30min, that is, after the unmanned aerial vehicle of the last batch arrives at the charging platform, the unmanned aerial vehicle of the first batch is not charged, so 5 charging positions are needed, if only the unmanned aerial vehicle of the 5 th batch of 4 charging positions is arranged, waiting is needed until the unmanned aerial vehicle of the first batch is charged, and the whole charging time is prolonged;
in one embodiment, the charging speed power is 100W, the calculated charging time is 23.1min, namely, the unmanned aerial vehicle of the first batch is charged after the unmanned aerial vehicle of the last batch reaches the charging platform, so that only 4 charging positions are needed, and the effects of reducing the charging positions of the unmanned aerial vehicle platform and reducing the cost are realized;
in one embodiment, the charging time, namely the charging speed and the power are 77W, the interval time is that one unmanned aerial vehicle takes off every 8, the charging time is 30min, namely the unmanned aerial vehicle of the first batch is charged after the unmanned aerial vehicle of the last batch reaches the charging platform, so that 4 charging positions are needed, and the effects of reducing the charging positions of the unmanned aerial vehicle platform and reducing the cost are realized;
it is not difficult to think of increasing the charging power and extending the interval time while properly increasing or decreasing the flight speed of the unmanned aerial vehicle on which the survey radar module 4 is not operating, so that the unmanned aerial vehicle of the last batch is charged by the unmanned aerial vehicle that arrives first when arriving, to reduce the charging station, and to reduce the cost.
The system further comprises a cost calculation module, wherein the cost calculation module is used for acquiring the establishment unit price cost of the charging platform, the maintenance unit price cost of the charging platform, and the unit price cost and the maintenance cost of the unmanned aerial vehicle and the survey radar module 4;
the cost calculation module is further used for obtaining the area of the target area 1, calculating the length of the total route 3 to be surveyed based on the surveying area 5 of the surveying radar module 4, wherein the surveying area 5 of the surveying radar module 4 is the position of the circle center of a circle and is the position of the surveying radar module 4 and the unmanned aerial vehicle, the diameter of the circle can be obtained through the surveying area 5, the target area 1 can be divided into a plurality of channels 2 uniformly, the width of each channel 2 is the diameter of the obtained circle, the head and the tail of the central lines of two adjacent channels 2 are connected by lines to form a serpentine line, and the length of the serpentine line is the length of the total route 3; the method comprises the steps of dividing a total route 3 into a plurality of routes uniformly, taking the number of the routes and the total batch of unmanned aerial vehicles of each route as independent variables, taking the total cost as dependent variable, and calculating the minimum value of the dependent variable, wherein the calculated minimum value is common knowledge in the prior art and is directly applied without modification, so that the technical scheme is not specifically repeated, the technical scheme is not puzzled based on the prior art, and the number of routes corresponding to the minimum total cost and the total batch number of unmanned aerial vehicles of each route are obtained; obtaining the number of charging platforms of each route based on the relation among the total batch of the unmanned aerial vehicle, the complete charging times and the charging amount, and obtaining the number of charging platforms of each route according to the equal relation between the formula (1) and the formula (2) and the formula (1) and the formula (2); according to the calculated number of charging platforms and the calculated number of unmanned aerial vehicle total batches, the number of charging platforms arranged on each route is the calculated number of charging platforms, and the calculated number of unmanned aerial vehicle batches is the calculated number of unmanned aerial vehicle total batches, so that the unmanned aerial vehicle can conveniently detect the target area 1, the detection efficiency of the unmanned aerial vehicle is improved, and meanwhile, the construction and maintenance costs of the unmanned aerial vehicle, the charging platforms and the like are controlled.
The control module is also used for controlling the survey radar module 4 to conduct intermittent surveys, and specifically comprises the following steps:
obtaining the route distance from a route starting point to a charging platform adjacent to the route starting point, and obtaining the corresponding route distance from each two adjacent charging platforms and the route end point to the adjacent charging platform, wherein the route distance represents the route length from one point to the other point on the route instead of the straight line distance of two points;
the method comprises the steps of obtaining a total unmanned aerial vehicle batch, equally dividing the air sections, enabling the number of the equally divided sections to be equal to the total unmanned aerial vehicle batch, obtaining a survey section, namely, the length to be surveyed of a survey radar module 4 on each unmanned aerial vehicle on each air section distance is equal to the corresponding air section distance/total unmanned aerial vehicle batch, wherein the air sections can be continuous or discontinuous, the time that the unmanned aerial vehicles of different batches fly through the same air section is the same, namely, the average speed of the unmanned aerial vehicles is the same, for example, the survey radar module 4 of the unmanned aerial vehicle can fly at a uniform speed when working so as to ensure the survey precision, and fly at a speed greater than that of the survey when not surveying, so that the time is saved, the efficiency is improved, meanwhile, the power when the speed is increased is not greater than the charging power of a charging platform, and a quick charging technology is adopted by a preferred charging platform and a battery;
the unmanned aerial vehicle of each batch is associated with the survey section one by one, when the unmanned aerial vehicle passes through the survey section with which each flight section is associated, the control module controls the survey radar module 4 on the unmanned aerial vehicle to survey, the unmanned aerial vehicle leaves the survey section, the control module controls the survey radar module 4 on the unmanned aerial vehicle to stop surveying, namely, the unmanned aerial vehicles of different batches start the survey radar module 4 to survey geology only when passing through the survey section with which the unmanned aerial vehicle is associated, the unmanned aerial vehicles of each batch jointly complete the geological survey of each flight section, the survey measurement of each flight section of each unmanned aerial vehicle is effectively reduced, and therefore electric quantity is saved, and the electric quantity of the unmanned aerial vehicle is enough to fly through the whole flight section.
The survey data analysis module is used for summarizing the survey data obtained by each survey radar module 4 to obtain a survey data set, and analyzing the survey data set to obtain total survey data of a target area;
the survey data analysis module sums the survey data obtained by each survey radar module 4 to obtain a survey data set, and analyzes the survey data set to obtain total survey data of the target region, and specifically comprises the following steps:
acquiring a source address of the survey data, obtaining a survey radar module 4 that emits the survey data;
acquiring the generation time of the survey data, and obtaining the position corresponding to the survey data by corresponding the survey data to the set survey segments according to the sequence of the generation time and the survey radar module 4 for sending out the survey data;
the method comprises the steps of arranging survey data according to a position sequence, analyzing coincident parts of the survey data adjacent to each other in position, and fusing the coincident parts to obtain total survey data, wherein the coincident parts are fused into common knowledge in the prior art and are directly applied without modification, so that specific details are not needed in the technical scheme, and the technical scheme is not bothered based on the technical scheme in the prior art.
The digital twin scene module is used for carrying out three-dimensional modeling based on the total survey data to obtain a digital twin model of the target area;
the digital twin scene module is further configured to update the digital twin model based on the updated total survey data after the total survey data is updated, and specifically includes the steps of:
extracting modeling data based on expert rules, wherein the modeling data is data needed for establishing a digital twin model;
training a correlation rule mining model based on historical total survey data and modeling data to obtain a modeling data correlation algorithm;
extracting modeling data from survey data based on a modeling data association algorithm to obtain new modeling data;
associating various data of the modeling data with corresponding parts of the digital twin model respectively;
obtaining modeling data corresponding to the digital twin model, comparing the modeling data with the newly built data, and obtaining corresponding modeling data change amount if the difference exists;
according to the modeling data change amount, a digital twin model corresponding part associated with modeling data corresponding to the modeling data change amount is adjusted, and the digital twin model is updated, wherein simple modification of the three-dimensional model through data can be realized through a computer program, and the computer program of the part is common knowledge in the prior art, so that specific details are not repeated in the technical scheme, and the technical scheme is not bothered based on the prior art.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
Claims (8)
1. The utility model provides a mapping system of geological topography digital twin scene based on three-dimensional modeling which characterized in that: the system comprises an unmanned aerial vehicle, a survey radar module, a charging platform, a control module, a survey data analysis module and a digital twin scene module;
the unmanned aerial vehicles are multiple, and each unmanned aerial vehicle is provided with a survey radar module for surveying geology of a target area to obtain survey data comprising a source address and generation time;
the plurality of charging platforms are distributed in the target area and are used for providing charging service for the unmanned aerial vehicle;
the control module is used for setting a route of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly according to the route, and controlling the unmanned aerial vehicle to take off, land and charge;
the control module is also used for controlling the survey radar module to conduct intermittent survey;
the survey data analysis module is used for summarizing the survey data obtained by each survey radar module to obtain a survey data set, and analyzing the survey data set to obtain total survey data of a target area;
the digital twin scene module is used for carrying out three-dimensional modeling based on total survey data to obtain a digital twin model of a target area;
the digital twinning scene module is further configured to update the digital twinning model based on the updated total survey data after the total survey data is updated.
2. A mapping system for a digital twin scene of geologic topography based on three-dimensional modeling as defined in claim 1, wherein: the intermittent survey specifically comprises the following steps:
acquiring the route distance from a route starting point to a charging platform adjacent to the route starting point, and acquiring the corresponding distance from each two adjacent charging platforms and the route distance from a route ending point to the charging platform adjacent to the route starting point;
acquiring a total batch of unmanned aerial vehicles, equally dividing the aeronautical segments, wherein the number of the equally divided segments is equal to that of the total batch of the unmanned aerial vehicles, obtaining a survey segment, and the time for the unmanned aerial vehicles in different batches to finish the same aeronautical segment is the same;
and the unmanned aerial vehicles of each batch are associated with the survey sections one by one, when passing through the survey sections associated with the unmanned aerial vehicles of each navigation section, the control module controls the survey radar modules on the unmanned aerial vehicles to survey, the unmanned aerial vehicles leave the survey sections, and the control module controls the survey radar modules on the unmanned aerial vehicles to stop surveying.
3. A mapping system for a digital twin scene of geologic topography based on three-dimensional modeling as defined in claim 2, wherein: each charging platform is positioned on an airliner; the number of charging platforms on each route is set based on the battery capacity of the unmanned aerial vehicle and the radar module surveyed thereon, the power of the unmanned aerial vehicle and the radar module surveyed thereon, the length of the route, the total batch of unmanned aerial vehicles and the speed.
4. A mapping system for a digital twin scene of geologic topography based on three-dimensional modeling as defined in claim 3, wherein: each charging platform is positioned on a aviation line; the number of the charging platforms on each air route is set based on the battery capacity of the unmanned aerial vehicle and the radar module surveyed on the unmanned aerial vehicle, the power of the unmanned aerial vehicle and the radar module surveyed on the unmanned aerial vehicle, the length of the air route, the total batch and the speed of the unmanned aerial vehicle, and the method specifically comprises the following steps:
acquiring the power, the route length and the total batch and speed of the unmanned aerial vehicle and the survey radar module on the unmanned aerial vehicle, calculating the electric energy required by the unmanned aerial vehicle and the survey radar module on the unmanned aerial vehicle to survey the complete route, and obtaining the total energy consumption;
and acquiring the battery capacity of the unmanned aerial vehicle and the radar module surveyed on the unmanned aerial vehicle, calculating the required complete charging times based on the total energy consumption, wherein the number of charging platforms required by corresponding airlines is greater than or equal to the complete charging times.
5. A mapping system for a digital twin scene of geologic topography based on three-dimensional modeling as defined in claim 4, wherein: and when the number of the charging platforms needed by the corresponding airlines is larger than the complete charging times, the number of the charging platforms is set according to the charging amount of the unmanned aerial vehicle on the charging platforms each time, and the charging amount is represented by the percentage of the battery capacity.
6. A mapping system for a digital twin scene of geologic topography based on three-dimensional modeling as defined in claim 5, wherein: the system further comprises a cost calculation module, wherein the cost calculation module is used for acquiring the establishment unit price cost of the charging platform, the maintenance unit price cost of the charging platform, the unit price cost and the maintenance cost of the unmanned aerial vehicle and the survey radar module;
the cost calculation module is further used for obtaining the area of a target area, calculating the length of a total route to be surveyed based on the surveying area of the surveying radar module, dividing the total route into a plurality of routes equally, taking the number of routes and the total batch of unmanned aerial vehicles of each route as independent variables, calculating the minimum value of the dependent variables, obtaining the number of routes corresponding to the minimum total cost and the total batch number of unmanned aerial vehicles of each route, and obtaining the number of charging platforms of each route based on the relation among the total batch of unmanned aerial vehicles, the complete charging times and the charging quantity.
7. A mapping system for a digital twin scene of geologic topography based on three-dimensional modeling as defined in claim 2, wherein: the survey data analysis module gathers the survey data obtained by each survey radar module to obtain a survey data set, and analyzes the survey data set to obtain total survey data of a target area, and specifically comprises the following steps:
acquiring a source address of survey data to obtain a survey radar module which emits the survey data;
acquiring generation time of the survey data, and obtaining a position corresponding to the survey data by corresponding the survey data to the set survey section according to the sequence of the generation time and a survey radar module for sending the survey data;
and arranging the survey data according to the position sequence, analyzing the overlapped parts of the survey data adjacent to the position, and fusing the overlapped parts to obtain the total survey data.
8. A mapping system for a digital twin scene of geologic topography based on three-dimensional modeling as defined in claim 7, wherein: the digital twin scene module updates the digital twin model based on the updated total survey data, and specifically comprises the following steps:
extracting modeling data based on expert rules, wherein the modeling data is data needed for establishing the digital twin model;
training a correlation rule mining model based on historical total survey data and modeling data to obtain a modeling data correlation algorithm;
extracting modeling data from survey data based on a modeling data association algorithm to obtain new modeling data;
associating various data of modeling data with corresponding portions of the digital twin model, respectively;
obtaining modeling data corresponding to the digital twin model, comparing the modeling data with the newly built data, and obtaining corresponding modeling data change amount if a difference exists;
and adjusting a digital twin model corresponding part associated with modeling data corresponding to the modeling data change amount according to the modeling data change amount, and updating the digital twin model.
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