WO2021163881A1

WO2021163881A1 - Data processing method and system, device, and readable storage medium

Info

Publication number: WO2021163881A1
Application number: PCT/CN2020/075695
Authority: WO
Inventors: 黄振昊; 石仁利; 何纲
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-02-18
Filing date: 2020-02-18
Publication date: 2021-08-26

Abstract

A data processing method and system, a device, and a readable storage medium. The method comprises: a terminal sends a data obtaining request to a server, wherein the data obtaining request comprises a map data type and quality requirement information (S501); a server receives the data obtaining request from the terminal (S502); obtain map data corresponding to the data obtaining request (S503); send the map data to the terminal (S504); the terminal receives the map data from the server and corresponding to the data obtaining request (S505); obtain an operation region selected by a user on the map data (S506); and output, according to the map data, a flight course covering the operation region (S507). The problem that the flight course of an unmanned aerial vehicle conflicts with actual scene objects, and safety risks of the unmanned aerial vehicle are reduced.

Description

Data processing method and system, equipment and readable storage medium

Technical field

This application relates to image processing technology, in particular to a data processing method and system, equipment and readable storage medium.

Background technique

Before the UAV operates, it is generally necessary to set the first route of the UAV on the map so that the UAV can operate according to the planned route. In the prior art, a two-dimensional map of a work scene is generally displayed on a terminal. You can refer to Figure 1 or, as shown in Figure 2, a pseudo three-dimensional map formed by tilting the two-dimensional map at an angle. Plan the route of the drone on a three-dimensional map or a pseudo three-dimensional map.

It can be understood that two-dimensional maps and pseudo three-dimensional maps generally have relatively accurate latitude and longitude information, but the elevation information is missing or inaccurate. This easily leads to conflicts between the route planned by the user (the route of section AB) and the objects in the actual operation scene, and the route planned by the user may directly collide with the objects in the scene, as shown in Figure 3. Therefore, in the existing route planning schemes, it is easy to cause mistakes in route planning, which can easily lead to safety risks for drones.

Summary of the invention

This application provides a data processing method and system, equipment, and readable storage medium, which are used to solve the problem of the conflict between the flight path of the drone and the actual scene object, and reduce the safety risk of the drone.

In the first aspect, this application provides a data processing method applied to a terminal, including:

Sending a data acquisition request to a server; wherein the data acquisition request includes map data type and quality requirement information; the server stores various types and qualities of three-dimensional map data;

Receiving map data corresponding to the data acquisition request from the server;

Acquiring the work area selected by the user on the map data;

According to the map data, a route covering the work area is output.

In a second aspect, the present application provides a data processing method applied to a server, the server stores three-dimensional map data of various types and qualities; the method includes:

Receiving a data acquisition request from the first terminal, the data acquisition request including map data type and quality requirement information;

Acquiring first map data corresponding to the data acquisition request;

The first map data is sent to the first terminal, so that the first terminal obtains the operation area selected by the user on the first map data, and outputs a route covering the operation area.

In a third aspect, this application provides a data processing method, the method including:

Receiving second map data uploaded by the user; wherein the second map data is one of multiple types and qualities of three-dimensional map data;

Store the second map data.

In a fourth aspect, this application provides a terminal device, including:

Memory

Processor; and

Computer program;

Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the following method:

Receiving the first map data corresponding to the data acquisition request from the server;

Acquiring the work area selected by the user on the first map data;

According to the first map data, a route covering the work area is output.

In the fifth aspect, this application provides a server, including:

Memory; the memory stores various types and qualities of three-dimensional map data;

Processor; and

Computer program;

Wherein, the computer program is stored in the memory, and is configured to be executed by the processor in the following method:

Acquiring first map data corresponding to the data acquisition request;

In a sixth aspect, this application provides a data processing device, including:

Processor; and

Computer program;

Store the second map data.

In the specific implementation of the sixth aspect, the data processing device is a terminal device or a server.

In a seventh aspect, this application provides a data processing system, including:

The terminal is used to execute the method as described in the first aspect;

The server is used to execute the method described in the second aspect.

In an eighth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method according to the first aspect or the second aspect.

With the data processing method and system, equipment and readable storage medium provided in this application, the server can store various types and qualities of three-dimensional map data, so that when the terminal needs to use the map data, such as outputting a flight route, it can send it to the server Send a data acquisition request to request the server to feed back 3D map data with certain map data types or quality requirements, and the terminal can provide the user with 3D map data; for example, the terminal can acquire the work area selected by the user on these 3D map data , And output the route covering the operating area. Since the three-dimensional map data has accurate elevation information, compared with the pseudo three-dimensional map in the prior art, this solution can avoid the conflict between the first route of the drone and the actual scene object. , To reduce the safety risk of drones.

Description of the drawings

The drawings herein are incorporated into the specification and constitute a part of the specification, show embodiments consistent with the disclosure, and are used together with the specification to explain the principle of the disclosure.

Fig. 1 is a schematic diagram of a map of a route planning scene in the prior art;

Fig. 2 is a schematic diagram of a map of another route planning scenario in the prior art;

Figure 3 is a schematic diagram of another route planning scenario in the prior art;

4 is a schematic diagram of the architecture of a data processing system provided by an embodiment of the application;

FIG. 5 is a schematic diagram of the interaction flow of a data processing method provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a route planning scenario provided by an embodiment of the application;

FIG. 7 is a schematic diagram of the interaction flow of another data processing method provided by an embodiment of the application;

FIG. 8 is a schematic diagram of another route planning scenario provided by an embodiment of the application;

FIG. 9 is a schematic diagram of another route planning scenario provided by an embodiment of the application;

FIG. 10 is a schematic diagram of another route planning scenario provided by an embodiment of the application;

11 is a schematic diagram of the interaction flow of another data processing method provided by an embodiment of the application;

FIG. 12 is a schematic diagram of a third map data provided by an embodiment of this application;

FIG. 13 is a schematic diagram of the physical structure of a terminal provided by an embodiment of this application;

14 is a schematic diagram of the physical structure of a server provided by an embodiment of the application;

FIG. 15 is a schematic diagram of the physical structure of a data processing device provided by an embodiment of the application.

Through the above drawings, the specific embodiments of the present disclosure have been shown, which will be described in more detail below. These drawings and text description are not intended to limit the scope of the concept of the present disclosure in any way, but to explain the concept of the present disclosure for those skilled in the art by referring to specific embodiments.

Detailed ways

The exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

The data processing method provided in this application can be applied to the schematic diagram of the data processing system architecture shown in FIG. 4. As shown in Fig. 4, the data processing system includes: a server 11 and terminal devices (121 and 122). The number of terminal devices (or terminals for short) may be one or more. FIG. 4 illustrates the terminal 121 and the terminal 122.

It should be noted that the data processing system shown in Figure 4 can be applied to different network standards, for example, it can be applied to Global System of Mobile Communication (GSM), Code Division Multiple Access, CDMA for short), Wideband Code Division Multiple Access (WCDMA for short), Time Division-Synchronous Code Division Multiple Access (TD-SCDMA for short), Long Term Evolution (for short) LTE) system and future network standards such as 5G. Optionally, the foregoing data processing system may be a system in a 5G data processing system in a scenario of ultra-reliable and low latency communications (Ultra-Reliable and Low Latency Communications, URLLC) transmission.

Therefore, optionally, the aforementioned server may be a base station (Base Transceiver Station, referred to as BTS) and/or a base station controller in GSM or CDMA, or a base station (NodeB, referred to as NB) in WCDMA and/or wireless network control The Radio Network Controller (RNC) can also be an Evolutional Node B (eNB or eNodeB) in LTE, or a relay station or access point, or a base station (gNB) in the future 5G network. The application is not limited here.

The aforementioned terminal may be a wireless terminal or a wired terminal. A wireless terminal may be a device that provides voice and/or other service data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. A wireless terminal can communicate with one or more core network devices via a radio access network (Radio Access Network, RAN). The wireless terminal can be a mobile terminal, such as a mobile phone (or “cellular” phone) and a mobile terminal. The computer, for example, may be a portable, pocket-sized, handheld, built-in computer or vehicle-mounted mobile device, which exchanges language and/or data with the wireless access network. For another example, the wireless terminal may also be a Personal Communication Service (PCS) phone, a cordless phone, a Session Initiation Protocol (SIP) phone, and a wireless local loop (Wireless Local Loop, WLL) station. , Personal Digital Assistant (PDA) and other equipment. Wireless terminal can also be called system, subscriber unit (Subscriber Unit), subscriber station (Subscriber Station), mobile station (Mobile Station), mobile station (Mobile), remote station (Remote Station), remote terminal (Remote Terminal), connection The access terminal (Access Terminal), user terminal (User Terminal), user agent (User Agent), and user equipment (User Device or User Equipment) are not limited here.

Exemplarily, the data processing system shown in FIG. 4 may also include an unmanned aerial vehicle 13. As shown in FIG. 4, the terminal 121 can generate the flight route of the drone 13 and send the flight route to the drone 13 so that the drone 13 can fly according to the flight route.

The specific application scenario of this application is a related scenario of using a terminal to perform route planning for a drone.

Specifically, the embodiments of the present application can be applied to any scenario in which a drone flight route is planned in advance, that is, it can be applied to a scenario in which the drone executes a flight mission of any first route.

Exemplarily, the embodiments of the present application may be specifically applied to drone surveying and mapping scenarios. In this scenario, the flight route of the drone can be planned in advance, so that the drone can complete the surveying and mapping task based on the flight route.

Exemplarily, the embodiments of the present application may be specifically applied to drone security scenarios. In this scenario, the flight route of the drone can be planned in advance, so that the drone can complete the security task based on the flight route.

Exemplarily, the embodiments of the present application may also be applied to scenarios of drone flight tests (or automatic flight competitions, etc.). In this scenario, it is also necessary to set the flight route of the UAV in advance, so as to test the performance (or other aspects) of the UAV based on the flight mission.

Specifically, when planning a route for a UAV, it is generally implemented based on a map of the work site. As before, route planning in the prior art is generally implemented based on two-dimensional map data (as shown in Figure 1) or pseudo three-dimensional map data (as shown in Figure 2). Specifically, the terminal displays the map data, and the user can perform operations in the map data to select the flight route of the drone. However, due to the missing or inaccurate elevation data of the two-dimensional map (or pseudo three-dimensional map), neither the user nor the terminal can accurately determine the position between the route and the features (objects in the map, including but not limited to ground buildings). relation. This may lead to the conflict scenario shown in Figure 3. As shown in Figure 3, on the flight path of the UAV, there happens to be a ground structure blocking the flight path of the UAV, and the AB section of the flight path coincides with the location of the ground structure. If the drone is flying in accordance with the flight route, it will undoubtedly hit this ground structure.

The technical solution provided by this application aims to solve the above technical problems of the prior art.

The technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

The embodiment of the present application provides a data processing method, which is applied to a data processing system including a terminal and a server.

In this data processing system, various types and qualities of three-dimensional map data are stored in the server. The source of these three-dimensional map data will be detailed later.

The three-dimensional map data involved in the embodiments of this application may include, but is not limited to: Digital Orthophoto Map (DOM) data, point cloud data, model data, and Digital Surface Model (DSM) data One or more of.

Among them, DOM is a digital orthographic image set that performs digital differential correction and mosaic on aviation (or aerospace) photos, and crops and outputs according to a certain range of map frames. DOM data has both the geometric accuracy of the map and the features of the image. It is a three-dimensional image that contains elevation information.

Point cloud data is a collection of point data in a three-dimensional space, called a point cloud, which can be achieved by a three-dimensional laser scanner (based on the principle of laser measurement), a camera scanner (based on the principle of photogrammetry), or a three-dimensional coordinate measuring machine, etc. Measured by the device. Point cloud data is also a three-dimensional data with elevation information.

Model data refers to three-dimensional model data. In actual scenarios, based on different processing methods for map data and different models used, the obtained model data may also be different, which is not particularly limited in the embodiments of the present application. Exemplarily, the model data may include but is not limited to:

DSM refers to a ground elevation model that includes the heights of buildings, bridges, and trees on the ground. In addition to surface information, DSM also possesses elevation information of various places.

The server may store the aforementioned one type or multiple types of three-dimensional map data. In addition, the quality of each type of three-dimensional map data stored in the server may be different or the same, which is related to the data source of the three-dimensional map data, which will be described in detail later.

In a specific implementation scenario, the quality of the three-dimensional map data can be evaluated by one or more of definition and resolution. Exemplarily, the quality of 3D map data can be divided into three levels of "high-medium-low". It can be understood that the resolution of high-quality 3D map data is the highest, the image is clearer and more accurate, and the resolution of medium quality is the second. Low-quality resolution is the worst.

In the aforementioned data processing system, any terminal and any server can perform data interaction and processing according to the data processing method provided in the embodiment of the present application. For ease of description, a data interaction process between a terminal (denoted as the first terminal) and a server is taken as an example to describe the data processing method provided in the embodiment of the present application.

Exemplarily, as shown in FIG. 5, the method may include the following steps:

S501: The first terminal sends a data acquisition request to the server; where the data acquisition request includes map data type and quality requirement information.

The first terminal may request the server to obtain three-dimensional map data. In addition, the first terminal may also identify the type and quality of the three-dimensional map data to be acquired. Exemplarily, the data acquisition request sent by the first terminal may carry identification information of "DSM data" and "high" to request high-quality DSM data from the server.

In the embodiment of the present application, the data acquisition request may carry location information, or it may not carry location information. At this time, the location information may be the information of the geographic location where the first terminal is currently located, or it may also be the location information of any geographic location selected by the user, which is not particularly limited. Based on the difference in whether the data acquisition request carries location information, the first map data subsequently received by the first terminal also has a difference, which will be described in detail later.

S502: The server receives a data acquisition request from the first terminal.

S503: The server obtains first map data corresponding to the data obtaining request.

As before, there are multiple types and qualities of three-dimensional map data stored in the server. In this step, only data that meets the map data type and quality requirements in the data acquisition request needs to be acquired.

It should be noted that in some possible embodiments, if the data acquisition request does not indicate the type and quality, the server can acquire all currently stored three-dimensional map data as the first map data and send it to the first terminal. Alternatively, the first map data can also be determined according to default settings (preset one or more qualities, and preset one or more data). For example, when the data acquisition request does not indicate the type and quality, the server may acquire high-quality point cloud data as the first map data. For another example, when the data acquisition request does not indicate the type and quality, the server may acquire DOM data and DSM data of high, medium, and low quality as the first map data. Do not exhaustively.

In this step, based on whether the data acquisition request carries location information, the following differences exist when the server acquires the first map data:

If the data acquisition request carries location information, at this time, the server can acquire the area map data of the area indicated by the location information. At this time, the first map data is three-dimensional map data of a partial area (a partial area indicated by the specific location location information).

or,

In a possible embodiment, if the data acquisition request does not carry location information, the server can acquire data that meets its type and quality requirements from the three-dimensional map data of the entire region. At this time, if the entire area map meets the type and quality requirements and the type and quality requirements, the first map data obtained by the server is the three-dimensional map data of the entire area. Or, if the map data of only part of the area in the full area map meets the type and quality requirements of the data acquisition request, the first map data obtained by the server is a three-dimensional map of a part of the area (part of the area that meets the type and quality requirements) data.

In another possible embodiment, if the data acquisition request does not carry location information, the server may also acquire the area map data of the area where the current location of the first terminal is located. At this time, the first map data acquired by the server is three-dimensional map data of a partial area (a partial area where the first terminal is currently located). In this embodiment, the current location of the first terminal may be acquired by the server through automatic real-time monitoring, or it may be sent by the first terminal to the server in advance or in addition, or it may be measured or reported by other equipment. of.

S504: The server sends the first map data to the first terminal.

The purpose of this step is to enable the first terminal to obtain the operation area selected by the user on the first map data and output a route covering the operation area. As shown in S505 ~ S507.

S505: The first terminal receives the first map data corresponding to the data acquisition request from the server.

S506: The first terminal obtains the work area selected by the user on the first map data.

After receiving the first map data fed back by the server, the first terminal can output the first map data on the display screen and collect the user's operation information in the first map data, thereby obtaining user selections based on the collected operation information The operating area.

When the first terminal outputs and displays the first map data, the first map data can be directly displayed. At this time, the image quality of the first map data is consistent with the quality requirement carried in the data acquisition request.

In addition to another embodiment, before or after the first terminal displays the first map data, the user may have the authority to adjust the quality of the map data. At this time, in response to receiving the instruction to adjust the map quality, the first terminal may adjust the quality of the first map data to the target quality.

Exemplarily, if the first terminal sends a data acquisition request to the server to request high-quality three-dimensional map data, after the first terminal receives the first map data, if the user instructs to view a medium-quality map, the first terminal will A terminal can also process the resolution of the first map data, and display the first map data of medium quality to the first map data of medium quality.

Compared with the implementation in the prior art in which the user selects the work area based on the two-dimensional map data or pseudo three-dimensional map data output by the terminal, the first map data in this solution comes from the three-dimensional map data stored in the server, which is relatively more accurate The elevation information is convenient for users to view and identify, and it is also helpful to assist users to actively avoid risky locations.

S507: The first terminal outputs a route covering the work area according to the first map data.

In the embodiment of this application, the route covering the operation area may be automatically generated by the first terminal based on the first map data and the operation area, or it may be selected by the user, or it may be the first terminal in the operation area. It is adjusted based on the route selected by the user.

The first terminal can automatically generate a route covering the operation area according to a preset rule. Exemplarily, the preset rule may be: the bow shape covers the operation area (the interval between two adjacent routes in the bow shape route can also be preset), and there is no conflict with the ground features. Exemplarily, the preset rule may also be: the back shape covers the work area and does not conflict with the features. Exemplarily, the preset rule may also: cover the work area in a m-shaped manner, and there is no conflict with the ground features.

Fig. 6 shows a schematic diagram of the route output by the data processing method provided by the embodiment of the present application. In the embodiment of the present application, the first terminal may output a route as shown in FIG. 6, the route surrounds the ground building, can cover the working area around the ground building, and has no conflict with the ground building. Therefore, the drone will not collide with the ground structure when flying on the route, which reduces the safety risk of the drone during the flight.

Fig. 6 and Fig. 3 are the output routes for the same geographical area, and the two can be compared for example. In Figure 3, there is a conflict between the AB section of the route and the ground structure, which causes the drone to collide with the ground structure when flying on the route, which is likely to cause the drone to crash, and it may also cause ground structures. As a result, objects are damaged and there is a greater safety risk.

In addition, FIG. 7 also shows another possible embodiment of the present application. As shown in FIG. 7, the foregoing S507 may include the following steps:

S5071: The first terminal obtains the first route selected by the user on the work area.

In the implementation process of this embodiment, after outputting the first map data, the first terminal collects the user's operation information on the first map data, and according to the collected operation information, determines the operation area and the first route selected by the user .

Exemplarily, the user can select multiple points (points in the three-dimensional space coordinate system) in the first map data (three-dimensional map data), so that the first terminal can connect these points according to the user's click order to obtain the user The first route selected.

Exemplarily, the user may draw a line in the first map data (three-dimensional map data), and the first terminal may use the line drawn by the user as the first route. For example, the first terminal may obtain the movement track (line drawn by the user) of the user's finger in the first map data to obtain the first route. For another example, the first terminal may obtain the movement track of the "brush" (a drawing tool provided by the first terminal) to obtain the first route.

In addition, it should be noted that when the user performs an operation in the first map data, the first terminal may also respond to the user's operation to show the user different viewing angles. For example, the first terminal may display a top view by default, and may also display a side view in response to operation information of the user switching views, for example, operation information of sliding down. For another example, when the first terminal displays the side view, it can also respond to the user's operation information of switching the view angle, for example, the operation information of sliding to the left (or right) to display the left view (or the current view) from the right side of the current position. Left view to the right of the location).

In addition, when the user performs an operation in the first map data, the first terminal may also respond to the user's operation information to enlarge or reduce the displayed map area. For example, in response to the user's two-finger expansion operation, the area between the two fingers is enlarged; or, in response to the user's two-finger shrink operation, the currently displayed area is reduced.

The operation modes of the aforementioned operation information can be changed in actual scenes and customized presets, which are not particularly limited in the embodiment of the present application.

S5072: Firstly, detect whether the first route conflicts with the first map data.

If not, that is, when the first route does not conflict with the first map data, execute S5073;

If so, that is, when the first route conflicts with the first map data, S5074 is executed.

In a specific implementation scenario, the first terminal can obtain the route elevation of the first route, and the first terminal can also obtain the location corresponding to the first route based on the first map data (three-dimensional map data with elevation information), The elevation of (recorded as map elevation). In other words, the map elevation comes from the first map data.

On this basis, the first terminal can detect whether there is a conflict position on the first route. Among them, the conflict location refers to the location where the route elevation is less than or equal to the map elevation.

Then, when there is a conflict position in the first route, it is determined that the first route conflicts with the first map data.

Still take the embodiment shown in FIG. 3 as an example. In the AB section of the route in Figure 3, the route elevation of the AB section of the route is smaller than the map elevation of the ground building at the location, then the AB section of the route and the ground building conflict, that is, the flight route and the first map data There is a conflict.

Conversely, when the first route does not have a conflicting position, that is, when the route elevation of the first route is greater than the map elevation of the feature, the first route does not conflict with the first map data.

Take the embodiment shown in FIG. 6 as an example. For any position in the flight route shown in Fig. 6, the route elevation is greater than the map elevation of the feature at that position, and the flight route does not conflict with the first map data.

S5073: The first terminal outputs the first route.

At this time, if the first route selected by the user does not conflict with the map data, the first route selected by the user can be used as the route covering the operation area and output by the first terminal.

S5074: The first terminal outputs an alarm prompt.

Exemplarily, if the scene shown in Figure 3 is the first route selected by the user, at this time, the first route conflicts with the ground buildings in the first map data. At this time, an alarm prompt can be output to remind the user .

Therefore, based on the alarm prompt output by the first terminal, the user can actively modify the first route. Therefore, the first terminal can repeatedly execute the steps of S5071 to S5074 (or S5071 to S5073) until the route that does not conflict with the first map data is obtained and output.

In another embodiment of this scenario, the first terminal may also realize automatic adjustment of the first route. As shown in FIG. 7, when the judgment result of the method in S5072 is yes, that is, when the first route conflicts with the first map data, in addition to S5074, the following steps may be included:

S5075: The first terminal adjusts the first route to the second route; the second route does not conflict with the first map data.

In this step, the first terminal may adjust the route elevation of the first route on the basis of the geographic coordinates of the route selected by the user to realize the adjustment of the first route.

Exemplarily, FIG. 8 shows a schematic diagram of a route adjustment effect. FIG. 8A is a side view of the first route 81, FIG. 8B is a side view of the second route 82, and features 83 are also included in 8A and 8B. As shown in FIG. 8A, the first route 81 passes through one of the taller features 831, and there is a conflict between the two. At this time, the first terminal may adjust the first route 81 to the second route 82. Compared with the first route 81, the elevation of the route near the feature 831 in the second route 82 is higher than the map elevation of the feature 831, so that there is no conflict between the second route 82 and the feature 831, and the second route 82 is with the feature 831. 83 have no conflicts. Arrows indicate the direction of flight. For ease of understanding, there may or may not be arrows in the actual scene.

When the drone is flying on the second route 82, the drone will start from point C1, and fly upward at point C2 before reaching the feature 831, until point C3, then fly forward, and then after reaching point C4 , Fly down to point C5, then continue to fly forward through point C6. It is understandable that the waypoint of the first route 81 selected by the user is: C1→C2→C5→C6; and the waypoint of the second route 82 adjusted by the first terminal is: C1→C2→C3→C4→C5→C6 On the basis of the original first route 81, waypoints C3 and C4 are added. In the C3→C4 segment, the route elevation of the drone is higher than the map elevation of the ground object 831, which avoids the drone and the ground. The safety issue of the collision of object 831.

In the embodiment shown in FIG. 8, there is a safe distance L1 between the waypoint C2 and the ground object 831 (not shown in FIG. 8). This safety distance L1 can be preset in the first terminal in advance to prevent the risk of damage or collision caused by the close proximity of the drone to the ground object, and to protect the safety of the drone and the ground object. Correspondingly, there is also a safety distance L2 (not shown in FIG. 8) between the waypoint C5 and the ground object 831, and L1 and L2 may be the same or different.

In addition, the embodiment shown in FIG. 8 is only a possible embodiment. In the implementation scenario of this solution, there may be other adjustment methods.

Exemplarily, for the situation shown in FIG. 8A, the safety distance L1 may be longer, and the UAV may tilt upward in the process from the waypoint C2 to the waypoint C3.

Exemplarily, the route elevation of the first route can also be raised as a whole. Fig. 9 shows this situation, and the scene shown in Fig. 9A is consistent with Fig. 8A, and will not be described in detail. At this time, the first terminal can raise the overall route elevation of the first route 81 to obtain the second route 82 as shown in FIG. 9B. At this time, the geographic coordinates of the second route 82 and the first route 81 are exactly the same. As shown in FIG. 9B, the route elevation of the second route 82 is greater than that of the first route 81, and the route elevation of the second route 82 is also Map elevation higher than feature 831.

Exemplarily, in addition to raising the altitude of the route, the first terminal may also adjust the first route in a manner similar to that shown in FIG. 6 by bypassing conflicting features. Figure 10 shows this situation. Fig. 10A is a top view of the scene shown in Fig. 8A. In this scenario, if the first route 81 conflicts with the features 831, the first terminal can add waypoints C7 and C8, and the adjusted second route is: C1→C2→C7→C8→C5→C6. At this time, at any position on the second route, the route elevation is higher than the map elevation at the current position, and the second route does not conflict with the first map data.

S5076: The first terminal outputs the second route.

Based on the adjusted second route and the first map data without conflict, the first terminal can directly output the second route.

In summary, in the foregoing embodiments, the route covering the operating area output by the first terminal may be a fixed-altitude route or a variable-altitude route.

Among them, the fixed altitude route means that all the waypoints in the route are located at the same absolute altitude, that is, the route elevation of any two waypoints is the same, as shown in Figure 9B and Figure 10B. When flying on a fixed altitude route, the UAV does not need to fly upwards or downwards.

When the first terminal outputs and displays the fixed altitude route, it may only display the two end points of the fixed altitude route.

Increasing altitude route means that there are at least two route elevations in the route, as shown in Figure 8B. When the UAV is flying on a changing altitude route, it needs to adjust the upward or detailed flight direction at the position of the waypoint where the altitude of the route changes.

When the first terminal outputs and displays the increased route, it can set multiple waypoints on each route according to the preset distance and/or ratio, so that the user can move (for example, drag or slide) the waypoints To adjust the altitude and position of the route.

In the process of outputting and displaying the route by the first terminal, the first terminal can also display the position (or The three-dimensional space coordinates or elevation information of waypoints and endpoints are convenient for users to view or understand route information.

The sources of various types and qualities of 3D map data stored on the server side are now explained.

In the embodiment of the present application, the three-dimensional map data stored on the server side may be derived from the three-dimensional map data uploaded by the terminal.

It should be noted that, for ease of description and to distinguish it from the foregoing embodiment, the second terminal is now taken as an example to describe the storage of three-dimensional map data on the server side. In an actual scenario, the second terminal may also be any terminal in the data processing system shown in FIG. 4. In the embodiment of the present application, the first terminal and the second terminal may be the same terminal or different terminals, which is not particularly limited.

Exemplarily, FIG. 11 shows another schematic diagram of interaction between a server and a terminal. The method includes the following steps:

S1101: The second terminal obtains second map data, where the second map data is three-dimensional map data.

In the embodiments of the present application, the second map data may be derived from visual data collected during the operation of the drone; or, the second map data may be derived from point cloud data scanned by lidar, which may be mounted on a vehicle or In an unmanned aerial vehicle; or, the second map data may be derived from the mapping process of the second terminal.

In an exemplary embodiment, the second terminal may use drawing software for drawing. In this process, the user can also select the quality of the drawing (or model building), for example, it can be divided into three types: high, medium, and low. block. In this embodiment, the intermediate data that may be generated by the second terminal during the drawing process may include, but is not limited to: DOM data, DSM data, point cloud data, 3D (3 dimensional) model data, and so on. On this basis, the second terminal can use all intermediate data as the second map data, or only part of the data (customizable presets or subjective selection by the user, without restrictions on this) as the second map data.

S1102: The second terminal sends second map data to the server.

This step is for the server to store the second map data, as in the subsequent steps S1103 to S1105.

S1103: The server receives second map data from the second terminal.

S1104: The server performs quality inspection on the second map data, and obtains third map data that meets a preset quality requirement.

The server can perform quality inspection on the data uploaded by the user, so that only the third map data that meets the preset quality requirements is stored. In this way, when the server subsequently sends the three-dimensional map data to the terminal, it can ensure that the three-dimensional map data used by the terminal has a certain quality and will not affect the use due to poor quality. For example, in the embodiment shown in FIG. 5, the first map data received by the first terminal is three-dimensional map data that meets the preset quality requirement.

In a possible embodiment, when the second map data is point cloud data, the server may obtain the point cloud density of each unit area in the second map data, and then obtain the unit area where the point cloud density reaches the first threshold. Data to get the third map data. In other words, the data of the unit area where the point cloud density does not reach the first threshold is filtered out. In this way, it is ensured that the given unit area in the third map data has sufficient point cloud features.

Among them, the unit area can be preset according to actual needs. Exemplarily, a spatial area of N cubic meters may be used as a unit area to calculate the point cloud density per N cubic meters, and N may be any value greater than 0, for example, it may be 1.

In addition, the server may also obtain the blur degree of each unit area in the second map data, and then obtain the data of the unit area whose blur degree reaches the second threshold to obtain the third map data.

Exemplarily, the resolution of the unit area may be used as the degree of blurring. In this way, when performing this step, the three-dimensional map data with a lower resolution can be deleted, and the three-dimensional map data with a higher resolution can be obtained as the third map data. Wherein, when the resolution reaches the second threshold, the resolution is higher; when the resolution does not reach the second threshold, the resolution is lower.

It should be noted that, in the embodiments of the present application, there are two possible situations of "reached" and "not reached". In a possible implementation, reached means greater than or equal to the corresponding threshold; not reached means less than the corresponding threshold. Another possible realization of employees, reached means greater than the corresponding threshold; not reached means less than or equal to the corresponding threshold.

Exemplarily, the third map data can also be filtered out of the second map data by manual processing. At this time, after the server receives the second map data, it can output the second map data and receive the developer's operating instructions for the second map data to cut out or filter out some data whose quality does not meet the preset quality requirements, and obtain The third map data.

Exemplarily, for the DOM data, the developer checks whether the edges of the map are distorted or blurred, and instructs the server to cut out the distorted part of the data and the blurred part of the data, so that the third map data can be obtained after the server performs corresponding processing. Exemplarily, for the model data, it is possible to cut out the part of the data where the texture is obviously blurred and the splicing place is obviously distorted. Exemplarily, for DSM data, the server may also remove unclear data, fuzzy data, and distorted data in DSM according to user instructions. Moreover, the server can also perform further removal processing on the point cloud data according to the user's instruction. No longer.

S1105: The server stores the third map data.

In the embodiment of the present application, the server may separately store each third map data according to the data category, data quality, etc. of the third map data.

For the third map data of any type and quality, the server can also store it in different regions. This facilitates data search and transmission. For example, when a terminal requests to obtain data, the server can send and feed back data in an area to the terminal.

In a possible embodiment, the server may divide the third map data into multiple area data according to the geographic coordinates of the third map data, and then obtain the proportion of each area data in the area to which it belongs, so that: In the third map data, filter the area data whose ratio is less than the preset ratio threshold, and store the filtered third map data.

Exemplarily, FIG. 12 shows a schematic diagram of a third map data. As shown in FIG. 12A, the third map data is a pentagonal irregular area, which is divided into areas according to a preset grid (one grid is one area) to obtain multiple grid data. Then, in each grid, obtain the proportion of the third map data in the grid, so as to filter out the grids whose proportions do not meet the proportion threshold, and retain the grids whose proportions are greater than or equal to the proportion threshold . At this time, the filtered data is shown in Figure 12B. In this way, the server only stores the third map data in the shaded area shown in FIG. 12B. Exemplarily, the ratio threshold may be 4/5 (80%).

In the embodiment of this application, when the server stores the third map data, it can also determine whether the data of the same location (or area) is currently stored. If so, it can combine the data collection time to bring the collection time closer to the current time data Store it.

In an exemplary embodiment, the server may detect whether the fourth map data exists in the server, and the fourth map data has the same geographic location as the third map data. Then, when there is fourth map data, it is determined whether the first time is later than the second time, the first time is the collection time of the third map data, and the second time is the collection time of the fourth map data.

Thus, when the first time is later than the second time, the fourth map data is updated to the third map data. That is, the fourth map data can be replaced with the third map data. In addition to another embodiment, when the first time is later than the second time, the third map data can also be stored directly. At this time, the third map data does not cover the fourth map data, and there is a Data collected at two different moments of the geographic location.

Conversely, when the first moment is earlier than the second moment, the third map data can be discarded.

Among them, the time of data collection comes from the second terminal. That is, in addition to sending the second map data to the server, the second terminal can also send the collection time of the second map data to the server. The information of the collection time can be sent together with the second map data, or sent separately. Specifically, the data collection time can include, but is not limited to: the software modeling operation time for modeling (for the three-dimensional map data obtained during the model operation), the latest collection time of the data collection operation (for the direct data collection One or more of three-dimensional map data).

In addition, the second terminal may also send other related information of the second map data to the server. Exemplarily, other related information may also include, but is not limited to, one or more of operator information and identification information of the second terminal (which can be used to indicate the source of the data).

Based on the foregoing processing, the server can implement iterative update of the data in each grid, avoiding the adverse effect of expired data on the terminal application data.

In any of the foregoing embodiments, before the server performs quality inspection on the second map data, it can also verify whether the second terminal has the data upload permission, so that the server will execute the subsequent steps only when the second terminal has the data upload permission.

Among them, the data upload authority can be maintained through an authorized form preset in the server. The server determines whether the second terminal is one of the authorized forms. If it is, the second terminal has the data upload permission; otherwise, it does not. The authorized form can be preset by the user, or can be automatically added after automatic authorization by the server. The authorization conditions and methods of the server and the terminal are not discussed here, and the presets can be customized in the actual scene.

It should be noted that this permission verification step can be performed before S1104 or before S1103 in the process shown in FIG. 11. In a possible embodiment, the server can verify whether the second terminal has the data upload permission before receiving the second map data. If it does not, the server may not receive the second map data or perform subsequent steps. In another embodiment, the server may verify the authority when or after receiving the second map data. If the second terminal has the authority to upload data, S1104 is executed; otherwise, the subsequent steps are not executed. In this embodiment, if the second terminal does not have the data upload authority, the server may also discard or delete the received second map data.

As before, the second terminal can be any terminal in the data processing system. Therefore, the aforementioned second terminal can also be the first terminal in the embodiment shown in FIG.

Based on the foregoing processing, the server can receive and store the three-dimensional map data uploaded from each terminal, and provide the three-dimensional map data for the terminal when it requests to obtain the data, thereby realizing data sharing in the data processing system.

In addition to the foregoing embodiments, the three-dimensional map data may be actively uploaded by the user. In other words, the server can directly receive the three-dimensional map data uploaded by the user and store the three-dimensional map data. In addition, the terminal can also receive three-dimensional map data uploaded by the user. After that, the terminal can store the three-dimensional map data, and/or, the terminal sends the three-dimensional map data to the server.

Among them, if the terminal sends three-dimensional map data to the server, after the server receives the three-dimensional map data from the terminal, it can perform one or more of the quality inspection and data upload authority as shown in Figure 11, and store the Three-dimensional map data with preset quality requirements.

In addition, in another embodiment of the embodiment of the present application, the terminal can also undertake one or more of quality inspection and data upload authority, and store three-dimensional map data that meets preset quality requirements, and/or , To send the three-dimensional map data that meets the preset quality requirements to the server. In this case, after receiving the 3D map data from the terminal, the server can directly store the 3D map data. Since the three-dimensional map data sent by the terminal also meets the preset quality requirements, this can also ensure that the three-dimensional map data stored in the server meets the preset quality requirements.

Of course, in this embodiment, the server can also use the method shown in FIG. 11 to perform a second inspection on the three-dimensional map data uploaded by the terminal (which has met the preset quality requirements). In this scenario, the preset quality requirement of the terminal and the preset quality requirement of the server may be the same or different. In terms of processing types, only part of the processing can be performed between the server and the terminal. For example, the terminal can perform quality inspection on the three-dimensional map data uploaded by the user, store and upload the three-dimensional map data that meets the quality requirements to the server; and the server can verify the data upload authority of the terminal when the data is received, and then, in the terminal When you have the data upload permission, store the data uploaded by the terminal.

Based on the foregoing embodiment, an implementation manner in which a terminal or a server (hereinafter referred to as a data processing device) directly receives three-dimensional map data uploaded by a user and stores the three-dimensional map data will now be described. For ease of understanding, the definition and name of each noun are consistent with the embodiment shown in FIG. 11.

In the embodiment of the present application, the data processing device may receive the second map data uploaded by the user, and store the second map data.

In this embodiment, the second map data includes one or more of digital orthophoto map data, point cloud data, model data, and digital surface model data. Do not repeat it.

On the basis of this embodiment, when storing the second map data, the data processing device can also perform quality inspection on the second map data to obtain third map data that meets the preset quality requirements, and then store the third map data.

Wherein, when the data processing device performs quality inspection on the second map data, when the second map data is point cloud data, the point cloud density of each unit area in the second map data can be acquired, and then the point cloud density can be acquired The data of the unit area that reaches the first threshold is obtained to obtain the third map data.

Alternatively, when the data processing device performs quality inspection on the second map data, it can obtain the degree of blurring of each unit area in the second map data, and then obtain the data of the unit area where the degree of blurriness reaches the second threshold to obtain all The third map data.

Regarding the method of quality inspection, please refer to the previous article, which will not be repeated here.

In addition to another embodiment, the data processing device may also verify whether the user has the data upload permission, so that when the user has the data upload permission, the second map data is stored. Conversely, when the user does not have the data upload permission, there is no need to store the second map data. In some embodiments, the data processing device may also discard the second map data.

In addition to another embodiment, when storing the third map data, it can also be detected whether there is fourth map data in the server. The location is the same. Therefore, when the fourth map data exists, it is determined whether the first time is later than the second time, the first time is the collection time of the third map data, and the second time is the fourth map The data collection time, and further, when the first time is later than the second time, the fourth map data is updated to the third map data. Otherwise, there is no need to store the second map data. In some embodiments, the data processing device may also discard the second map data.

When the data processing device specifically stores the second map data (or the third map data, the second map data is taken as an example here), the second map data can be divided into the geographic coordinates of the second map data. Multiple area data, and then obtain the proportion of each of the area data in the area to which it belongs, so that, in the second map data, filter the area data whose ratio is less than a preset ratio threshold, Furthermore, the filtered second map data is stored. For specific implementation methods, please refer to the preceding text, which will not be described in detail.

In this way, based on the quality inspection of the server or the terminal, the data upload authority inspection, and the duplication inspection (check whether the fourth map data is available), the server can receive and store the three-dimensional map data that meets the preset quality requirements. Therefore, when a terminal requests three-dimensional map data, the server can use the three-dimensional map data stored in itself to respond or give feedback.

In addition, the three-dimensional map data stored on the server side can also be derived from Shuttle Radar Topography Mission (SRTM) data. Among them, the SRTM data is jointly measured by NASA and the National Surveying and Mapping Agency (NIMA) of the Department of Defense. The SRTM data uses 16-bit values to represent the elevation value. The maximum positive elevation is 9000m, and the negative elevation is sea level. Below 12000m. SRTM data can cover more than 80% of the world's land surface, and the measurement data can cover the whole of China in China.

On this basis, when the server receives the data acquisition request and acquires the first map data, it may preferentially acquire the three-dimensional map data corresponding to the data acquisition request among the data uploaded by each terminal. When there is no three-dimensional map data that satisfies the data acquisition request among the data uploaded by each terminal, the server then acquires the data corresponding to the data acquisition request from the SRTM data as the first map data.

In addition to another embodiment, the SRTM data may not be stored in the server, and the server may download the data by request. At this time, when S503 is executed, the server can detect whether there is three-dimensional map data corresponding to the data acquisition request in itself (that is, in the server). If it exists, just use these three-dimensional map data as the first map data. Conversely, when there is no three-dimensional map data, you can request SRTM data from the SRTM server, and after receiving the SRTM data from the SRTM server, obtain the data corresponding to the data acquisition request from the SRTM data as the first map data.

It can be understood that some or all of the steps or operations in the above-mentioned embodiments are only examples, and the embodiments of the present application may also perform other operations or various operation variations. In addition, the various steps can be executed in a different order presented in the foregoing embodiment, and it is possible that not all operations in the foregoing embodiment are to be performed.

When used in this application, although the terms "first", "second", etc. may be used in this application to describe various routes, these routes should not be limited by these terms. These terms are only used to distinguish one route from another. For example, without changing the meaning of the description, the first route can be called the second route, and likewise, the second route can be called the first route, as long as all occurrences of the "first route" are renamed consistently and all occurrences The "Second Route" can be renamed consistently. The first route and the second route are both routes, but they may not be the same route.

The terms used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates, the singular forms "a" (a), "an" (an), and "" (the) are intended to also include plural forms. Similarly, the term "and/or" as used in this application refers to any and all possible combinations that include one or more of the associated lists. In addition, when used in this application, the term "comprise" (comprise) and its variants "comprises" and/or including (comprising) and the like refer to the stated features, wholes, steps, operations, elements, and/or The existence of components does not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components, and/or groups of these.

Based on the data processing method provided in the foregoing method embodiment, the embodiment of the present application further provides an embodiment of an apparatus that implements each step and method in the foregoing method embodiment.

The embodiment of the present application provides a terminal device (or a terminal for short). Please refer to FIG. 13. The terminal device 1300 includes:

Memory 1310;

Processor 1320; and

Computer program;

The computer program is stored in the memory 1310 and is configured to be executed by the processor 1320 to implement the method described on the terminal device side (including the first terminal device and the second terminal device) in the foregoing embodiment.

Exemplarily, the processor 1320 may be used to execute the following methods:

Acquiring the work area selected by the user on the first map data;

According to the first map data, a route covering the work area is output.

Among them, the number of processors 1320 in the terminal device 1300 may be one or more, and the processors 1320 may also be referred to as a processing unit, which can implement certain control functions. The processor 1320 may be a general-purpose processor or a special-purpose processor. In an optional design, the processor 1320 may also store instructions, and the instructions may be executed by the processor 1320, so that the terminal device 1300 executes the methods described in the foregoing method embodiments.

In yet another possible design, the terminal device 1300 may include a circuit, and the circuit may implement the sending or receiving or communication function in the foregoing method embodiment.

Optionally, the number of memories 1310 in the terminal device 1300 may be one or more, and instructions or intermediate data are stored in the memory 1310, and the instructions may be executed on the processor 1320, so that the terminal device 1300 executes the method described in the foregoing method embodiment. Optionally, the memory 1310 may also store other related data. Optionally, instructions and/or data may also be stored in the processor 1320. The processor 1320 and the memory 1310 can be provided separately or integrated together.

In addition, as shown in FIG. 13, the terminal device 1300 is also provided with a transceiver 1330, where the transceiver 1330 may be called a transceiver unit, a transceiver, a transceiver circuit, or a transceiver, etc., for communicating with the test equipment Or other first terminal equipment to perform data transmission or communication, which will not be repeated here.

As shown in FIG. 13, the memory 1310, the processor 1320, and the transceiver 1330 are connected and communicated through a bus.

If the terminal device 1300 is used to implement the method corresponding to FIG. 5, for example, the transceiver 1330 may send a data acquisition request to the server, and the transceiver 1330 may receive the first map data. The processor 1320 is used to complete corresponding determination or control operations. Optionally, the processor 1320 may also store corresponding instructions in the memory 1310. For the specific processing manner of each component, reference may be made to the related description on the terminal device side in the foregoing embodiment.

At this time, in the terminal device 1300, the transceiver 1330 can be used to: send a data acquisition request to the server; wherein the data acquisition request includes map data type and quality requirement information; the server stores multiple types and quality of information Three-dimensional map data; and, for receiving the first map data corresponding to the data acquisition request from the server; the processor 1320, for acquiring the work area selected by the user on the first map data And, according to the first map data, outputting a route covering the operation area.

In an exemplary embodiment, the first map data includes one or more of digital orthophoto map data, point cloud data, model data, and digital surface model data.

In an exemplary embodiment, the processor 1320 may be further configured to adjust the quality of the first map data to the target quality in response to receiving an instruction to adjust the map quality.

In an exemplary embodiment, the processor 1320 is specifically configured to: obtain the first route selected by the user on the work area; detect whether the first route conflicts with the first map data; When the time, the transceiver 1330 is configured to: when the first flight route does not conflict with the first map data, output the first flight route; or, when the first flight route conflicts with the first map data, Output alarm prompt.

In an exemplary embodiment, the processor 1320 is specifically configured to: obtain the route elevation of the first route; detect whether there is a conflict position on the first route, and the route elevation of the conflict position is less than or equal to the map Elevation, the map elevation comes from the first map data; when the conflicting position exists on the first route, it is determined that the first route conflicts with the first map data.

In an exemplary embodiment, the processor 1320 is further configured to: when the first route conflicts with the first map data, adjust the first route to a second route; the second route The route does not conflict with the first map data; the transceiver 1330 is used to output the second route.

In an exemplary embodiment, the route covering the operation area is a fixed-altitude route or a variable-altitude route.

In an exemplary embodiment, the processor 1320 may be further configured to: obtain second map data, where the second map data is three-dimensional map data; and send the second map data to the server, so that all The server stores the second map data.

The embodiment of the present application also provides a server. Please refer to FIG. 14. The server 1400 includes:

A memory 1410; the memory stores various types and qualities of three-dimensional map data;

Processor 1420; and

Computer program;

The computer program is stored in the memory 1410 and is configured to be executed by the processor 1420 to implement the method described on the server side in the foregoing embodiment.

Exemplarily, the processor 1420 may be used to execute the following methods:

Acquiring first map data corresponding to the data acquisition request;

The number of processors 1420 in the server 1400 may be one or more, and the processors 1420 may also be referred to as processing units, which may implement certain control functions. The processor 1420 may be a general-purpose processor or a special-purpose processor. In an optional design, the processor 1420 may also store instructions, and the instructions may be executed by the processor 1420, so that the server 1400 executes the methods described in the foregoing method embodiments.

In another possible design, the server 1400 may include a circuit, and the circuit may implement the sending or receiving or communication function in the foregoing method embodiment.

Optionally, the number of memories 1410 in the server 1400 may be one or more, and instructions or intermediate data are stored on the memory 1410, and the instructions may be executed on the processor 1420, so that the server 1400 can execute The method described in the above method embodiment. Optionally, the memory 1410 may also store other related data. Optionally, instructions and/or data may also be stored in the processor 1420. The processor 1420 and the memory 1410 can be provided separately or integrated together.

In addition, as shown in FIG. 14, the server 1400 is also provided with a transceiver 1430, where the transceiver 1430 may be called a transceiver unit, transceiver, transceiver circuit, or transceiver, etc., used to communicate with test equipment or The other first server devices perform data transmission or communication, which will not be repeated here.

As shown in FIG. 14, the memory 1410, the processor 1420, and the transceiver 1430 are connected and communicate with each other through a bus.

If the server 1400 is used to implement the method corresponding to FIG. 5, for example, the transceiver 1430 may receive the data acquisition request, and the transceiver 1430 may also be used to send the first map data to the terminal. The processor 1420 is used to complete corresponding determination or control operations. Optionally, the processor 1420 may also store corresponding instructions in the memory 1410. For the specific processing method of each component, refer to the related description on the server side in the foregoing embodiment.

At this time, in the server 1400, the transceiver 1430 can be used to: receive a data acquisition request from the first terminal, where the data acquisition request includes map data type and quality requirement information; the processor 1420 can be used to acquire and The first map data corresponding to the data acquisition request; and, for sending the first map data to the first terminal, so that the first terminal acquires the data selected by the user on the first map data Operation area, and output the route covering the operation area.

In an exemplary embodiment, the transceiver 1430 is further configured to receive second map data from a second terminal, where the second map data is three-dimensional map data; the processor 1420 is further configured to 2. Performing quality inspection on the map data to obtain third map data that meets the preset quality requirements; and, for storing the third map data.

In an exemplary embodiment, the processor 1420 is further configured to: before performing quality inspection on the second map data, verify whether the second terminal has the right to upload data; when the second terminal has the When the data upload permission is granted, the quality inspection of the second map data is performed.

In an exemplary embodiment, when the second map data is point cloud data, the processor 1420 is specifically configured to: obtain the point cloud density of each unit area in the second map data; The third map data is obtained by the data of the unit area where the cloud density reaches the first threshold.

In an exemplary embodiment, the processor 1420 is specifically configured to: obtain the degree of blur of each unit area in the second map data; obtain data of the unit area where the degree of blur reaches a second threshold, to obtain the The third map data.

In an exemplary embodiment, the processor 1420 is specifically configured to: divide the third map data into a plurality of area data according to the geographic coordinates of the third map data; The proportion occupied by the area; in the third map data, filtering the area data whose proportion is less than a preset proportion threshold; storing the filtered third map data.

In an exemplary embodiment, the processor 1420 is specifically configured to: detect whether fourth map data exists in the server, and the fourth map data has the same geographic location as the third map data; In the fourth map data, determining whether the first time is later than the second time, where the first time is the collection time of the third map data, and the second time is the collection time of the fourth map data; When the first time is later than the second time, the fourth map data is updated to the third map data.

In an exemplary embodiment, the processor 1420 is specifically configured to: detect whether the three-dimensional map data corresponding to the data acquisition request exists in the server; when the three-dimensional map data does not exist, In the space shuttle radar topographic surveying and mapping SRTM data, data corresponding to the data acquisition request is acquired as the first map data.

In addition, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method as described in the method embodiment.

The embodiment of the present application provides a data processing device. Please refer to FIG. 15. The data processing device 1500 includes:

Memory 1510;

Processor 1520; and

Computer program;

Wherein, the computer program is stored in the memory 1510, and is configured to be executed by the processor 1520 in the following method:

Store the second map data.

In an exemplary embodiment, the processor 1520 is specifically configured to: perform quality inspection on the second map data to obtain third map data that meets a preset quality requirement; and store the third map data.

In another exemplary embodiment, when the second map data is point cloud data, the processor 1520 is specifically configured to: obtain the point cloud density of each unit area in the second map data; and obtain the The data of the unit area where the point cloud density reaches the first threshold is obtained to obtain the third map data.

In another exemplary embodiment, the processor 1520 is specifically configured to: obtain the degree of blur of each unit area in the second map data; obtain data of the unit area where the degree of blur reaches a second threshold, and obtain The third map data.

In another exemplary embodiment, the processor 1520 is specifically configured to: divide the second map data into a plurality of area data according to the geographic coordinates of the second map data; and obtain each of the area data The proportion occupied in the area; in the second map data, filtering the area data whose proportion is less than a preset proportion threshold; storing the filtered second map data.

In another exemplary embodiment, the processor 1520 is specifically configured to: detect a memory (when the data processing device 1500 is a server, the memory is a server or a server readable memory; when the data processing device 1500 is a terminal When the memory is the terminal or the memory readable by the terminal, whether there is fourth map data, the fourth map data and the third map data have the same geographic location; when the fourth map data exists, it is determined Whether the first time is later than the second time, the first time is the collection time of the third map data, and the second time is the collection time of the fourth map data; when the first time is later than the At the second moment, the fourth map data is updated to the third map data.

In another exemplary embodiment, the processor 1520 is specifically configured to: before the storing the second map data, verify whether the user has the data upload permission; when the user has the data upload permission, Store the second map data.

In another exemplary embodiment, the second map data includes one or more of digital orthophoto map data, point cloud data, model data, and digital surface model data.

In the embodiment of the present application, the data processing device 1500 shown in FIG. 15 may specifically be a terminal device or a server. The terminal device is a personal PC, mobile phone, tablet, or remote control.

Specifically, the number of processors 1520 in the data processing device 1500 may be one or more, and the processors 1520 may also be referred to as processing units, which may implement certain control functions. The processor 1520 may be a general-purpose processor or a special-purpose processor. In an optional design, the processor 1520 may also store instructions, and the instructions may be executed by the processor 1520 so that the data processing device 1500 executes the methods described in the foregoing method embodiments.

In yet another possible design, the data processing device 1500 may include a circuit, and the circuit may implement the sending or receiving or communication function in the foregoing method embodiment.

Optionally, the number of memories 1510 in the data processing device 1500 may be one or more, and instructions or intermediate data are stored in the memory 1510, and the instructions may be executed on the processor 1520 so that the data The processing device 1500 executes the method described in the foregoing method embodiment. Optionally, the memory 1510 may also store other related data. Optionally, instructions and/or data may also be stored in the processor 1520. The processor 1520 and the memory 1510 may be provided separately or integrated together.

In addition, as shown in FIG. 15, the data processing device 1500 is also provided with a transceiver 1530, where the transceiver 1530 may be called a transceiver unit, a transceiver, a transceiver circuit, or a transceiver, etc., for testing The device or another first terminal device device performs data transmission or communication, which will not be repeated here.

As shown in FIG. 15, the memory 1510, the processor 1520, and the transceiver 1530 are connected and communicate with each other through a bus.

If the data processing device 1500 is used to implement the uploading method corresponding to the aforementioned three-dimensional map data, for example, the transceiver 1530 may receive the three-dimensional map data uploaded by the user.

And, an embodiment of the present application provides a data processing system. Please refer to FIG. 4. The data system includes:

The terminal device is used to execute the method described on the terminal side in the foregoing embodiment;

The server is used to execute the method described on the server side in the foregoing embodiment.

In the data processing system, the functional block diagram of the terminal can be seen in FIG. 13, and the entity structure diagram can be seen in FIG. 15; the functional block diagram of the server can be seen in FIG. 14, and the entity structure diagram can be seen in FIG. 16. I will not repeat them here.

Since each module in this embodiment can execute the method shown in the method embodiment, for parts that are not described in detail in this embodiment, reference may be made to the relevant description of the method embodiment.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. Scope.

Claims

A data processing method, characterized in that it is applied to a terminal, and the method includes:

Sending a data acquisition request to a server; wherein the data acquisition request includes map data type and quality requirement information; the server stores various types and qualities of three-dimensional map data;

Receiving the first map data corresponding to the data acquisition request from the server;

Acquiring the work area selected by the user on the first map data;

According to the first map data, a route covering the work area is output.
The method according to claim 1, wherein the first map data comprises one or more of digital orthophoto map data, point cloud data, model data, and digital surface model data.
The method according to claim 1, wherein the method further comprises:

In response to receiving the instruction to adjust the map quality, the quality of the first map data is adjusted to the target quality.
The method according to any one of claims 1 to 3, wherein the outputting a route covering the operation area according to the first map data comprises:

Acquiring the first route selected by the user on the operation area;

Detecting whether the first route conflicts with the first map data;

When the first route does not conflict with the first map data, output the first route;

When the first route conflicts with the first map data, an alarm prompt is output.
The method according to claim 4, wherein the detecting whether the first flight route conflicts with the first map data comprises:

Acquiring the route elevation of the first route;

Detecting whether there is a conflict position on the first route, the route elevation of the conflict position is less than or equal to the map elevation, and the map elevation comes from the first map data;

When the conflict position exists on the first route, it is determined that the first route conflicts with the first map data.
The method according to claim 4, wherein the outputting a route covering the operation area according to the first map data further comprises:

When the first route conflicts with the first map data, adjust the first route to a second route; the second route does not conflict with the first map data;

Output the second route.
The method according to claim 4, wherein the route covering the operation area is a fixed-altitude route or a variable-altitude route.
The method according to claim 1, wherein the method further comprises:

Acquiring second map data, where the second map data is three-dimensional map data;

Sending the second map data to the server, so that the server stores the second map data.
A data processing method, characterized in that it is applied to a server, and the server stores three-dimensional map data of various types and qualities; the method includes:

Receiving a data acquisition request from the first terminal, the data acquisition request including map data type and quality requirement information;

Acquiring first map data corresponding to the data acquisition request;

The first map data is sent to the first terminal, so that the first terminal obtains the operation area selected by the user on the first map data, and outputs a route covering the operation area.
The method according to claim 9, wherein the first map data comprises one or more of digital orthophoto map data, point cloud data, model data, and digital surface model data.
The method according to claim 9 or 10, wherein the method further comprises:

Receiving second map data from a second terminal, where the second map data is three-dimensional map data;

Performing quality inspection on the second map data to obtain third map data that meets a preset quality requirement;

Store the third map data.
The method according to claim 11, characterized in that, before the quality inspection on the second map data, the method further comprises:

Verifying whether the second terminal has data upload permission;

When the second terminal has the data upload permission, quality inspection is performed on the second map data.
The method according to claim 12, wherein when the second map data is point cloud data, the performing quality inspection on the second map data comprises:

Acquiring the point cloud density of each unit area in the second map data;

Obtain the data of the unit area where the point cloud density reaches the first threshold to obtain the third map data.
The method according to claim 12, wherein said performing quality inspection on said second map data comprises:

Acquiring the degree of blurring of each unit area in the second map data;

The data of the unit area where the degree of blur reaches a second threshold is acquired to obtain the third map data.
The method according to claim 11, wherein said storing said third map data comprises:

Dividing the third map data into a plurality of area data according to the geographic coordinates of the third map data;

Acquiring the proportion of each of the area data in the area to which it belongs;

In the third map data, filtering the area data whose ratio is less than a preset ratio threshold;

Store the filtered third map data.
The method according to claim 11, wherein said storing said third map data comprises:

Detecting whether there is fourth map data in the server, where the fourth map data and the third map data have the same geographic location;

When the fourth map data exists, it is determined whether the first time is later than the second time, the first time is the collection time of the third map data, and the second time is the time of the fourth map data. Collection time

When the first time is later than the second time, the fourth map data is updated to the third map data.
The method according to claim 9 or 10, wherein the obtaining the first map data corresponding to the data obtaining request comprises:

Detecting whether the three-dimensional map data corresponding to the data acquisition request exists in the server;

When the three-dimensional map data does not exist, in the space shuttle radar topographic surveying and mapping SRTM data, data corresponding to the data acquisition request is acquired as the first map data.
A data processing method, characterized in that it comprises:

Receiving second map data uploaded by the user; wherein the second map data is one of multiple types and qualities of three-dimensional map data;

Store the second map data.
The method according to claim 18, wherein said storing said second map data comprises:

Performing quality inspection on the second map data to obtain third map data that meets a preset quality requirement;

Store the third map data.
The method according to claim 19, wherein when the second map data is point cloud data, the performing quality inspection on the second map data comprises:

Acquiring the point cloud density of each unit area in the second map data;

Obtain the data of the unit area where the point cloud density reaches the first threshold to obtain the third map data.
The method according to claim 19, wherein the performing quality inspection on the second map data comprises:

Acquiring the degree of blurring of each unit area in the second map data;

The data of the unit area where the degree of blur reaches a second threshold is acquired to obtain the third map data.
The method according to claim 18, wherein said storing said second map data comprises:

Dividing the second map data into a plurality of area data according to the geographic coordinates of the second map data;

Acquiring the proportion of each of the area data in the area to which it belongs;

In the second map data, filtering the area data whose ratio is less than a preset ratio threshold;

Store the filtered second map data.
The method according to claim 19, wherein said storing said third map data comprises:

Detecting whether there is fourth map data in the memory, where the fourth map data has the same geographic location as the third map data;

When the fourth map data exists, it is determined whether the first time is later than the second time, the first time is the collection time of the third map data, and the second time is the time of the fourth map data. Collection time

When the first time is later than the second time, the fourth map data is updated to the third map data.
The method according to claim 18, characterized in that, before the storing the second map data, the method further comprises:

Verifying whether the user has data upload permission;

When the user has the data upload permission, the second map data is stored.
The method according to any one of claims 18-24, wherein the second map data comprises: one or more of digital orthophoto map data, point cloud data, model data, and digital surface model data kind.
A terminal device, characterized in that it comprises:

Memory

Processor; and

Computer program;

Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the following method:

Sending a data acquisition request to a server; wherein the data acquisition request includes map data type and quality requirement information; the server stores various types and qualities of three-dimensional map data;

Receiving the first map data corresponding to the data acquisition request from the server;

Acquiring the work area selected by the user on the first map data;

According to the first map data, a route covering the work area is output.
A server, characterized in that it comprises:

Memory; the memory stores various types and qualities of three-dimensional map data;

Processor; and

Computer program;

Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the following method:

Receiving a data acquisition request from the first terminal, the data acquisition request including map data type and quality requirement information;

Acquiring first map data corresponding to the data acquisition request;

The first map data is sent to the first terminal, so that the first terminal obtains the operation area selected by the user on the first map data, and outputs a route covering the operation area.
A data processing system, characterized in that it comprises:

Terminal, used to execute the method according to any one of claims 1 to 8;

The server is used to execute the method according to any one of claims 9 to 17.
A data processing device, characterized in that it comprises:

Memory; the memory stores various types and qualities of three-dimensional map data;

Processor; and

Computer program;

Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the following method:

Receiving second map data uploaded by the user; wherein the second map data is one of multiple types and qualities of three-dimensional map data;

Store the second map data.
The device according to claim 29, wherein the data processing device is a terminal device or a server.
A computer-readable storage medium, characterized in that a computer program is stored thereon,

The computer program is executed by a processor to implement the method according to any one of claims 1 to 25.