CN110455265A - RTK setting-out system, method and device - Google Patents
RTK setting-out system, method and device Download PDFInfo
- Publication number
- CN110455265A CN110455265A CN201910802424.2A CN201910802424A CN110455265A CN 110455265 A CN110455265 A CN 110455265A CN 201910802424 A CN201910802424 A CN 201910802424A CN 110455265 A CN110455265 A CN 110455265A
- Authority
- CN
- China
- Prior art keywords
- image
- camera
- rtk
- processor
- setting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Studio Devices (AREA)
Abstract
This application involves a kind of RTK setting-out systems, method and device.Wherein, RTK setting out method includes RTK host, data recorder, processor, the first camera, the second camera set on RTK host bottom.Processor constructs the first AR image and shows on data recorder according to layout point information, the first image and the first vector data of the first thecamera head；When processor detects that RTK host reaches preset value at a distance from layout point, the second image and the second vector data that processor is transmitted according to layout point information, second camera construct the 2nd AR image and show on data recorder.When the image of location marker in monitoring the 2nd AR image, on RTK host is overlapped with the virtual image of layout point, then the prompt for terminating setting-out is issued.By RTK setting-out system provided by the present application, so that setting-out personnel in specific operation process, can carry out auxiliary setting-out with reference to object, it is intuitive and easily operated.
Description
Technical field
This application involves technical field of mapping, more particularly to a kind of RTK setting-out system, method and device.
Background technique
In mapping and engineering field, setting-out refers to the geographical coordinate of the specific position (i.e. layout point) on Known designs figure, makes
With specific measuring device, the position measurements exported by it determine the Job Operations of the actual position of layout point.
During realization, inventor has found that at least there are the following problems in traditional technology: setting out method traditional at present,
Can not intuitive judgment moving direction and moving distance, needing repeatedly to move RTK host can just be such that it tends at a distance from layout point
Zero, process is complicated and setting-out required time is long.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide one kind and enable to setting-out process intuitive RTK setting-out system
System, method and device.
To achieve the goals above, on the one hand, the embodiment of the invention provides a kind of RTK setting-out systems, including RTK master
Mechanical, electrical sub- handbook, processor, the first camera, the second camera set on RTK host bottom；Processor respectively with electronic hand
Book, RTK host, the first camera and second camera electrical connection；
When processor receives externally input layout point information, start the first camera；Processor receives the first camera shooting
First image of head transmission, and obtain the first vector data for positioning the first camera；Processor according to layout point information,
First image and the first vector data construct the first AR image and show on data recorder；
When processor detects that RTK host reaches preset value at a distance from layout point, processor closes the first camera,
And starting second camera；Processor receives the second image of second camera transmission, and obtains for positioning second camera
The second vector data；Processor according to layout point information, the second image and the second vector data, construct the 2nd AR image and
It is shown on data recorder；
The image of location marker of the processor in monitoring the 2nd AR image, on RTK host and layout point
When virtual image is overlapped, then the prompt for terminating setting-out is issued.
It in one of the embodiments, further include first direction detection device and second direction detection device；First direction
Detection device is used to detect the orientation information of the first camera；Second direction detection device is set on RTK host；Processor difference
It is electrically connected with first direction detection device with second direction detection device；
First vector data includes the coordinate and orientation information of the first camera；Second vector data includes second camera
Coordinate and orientation information；
Processor obtains the orientation information of the first camera by first direction detection device, and by the coordinate of RTK host
Coordinate as the first camera；
Processor obtains the orientation information of second camera by second direction detection device；Processor obtains RTK host
With the relative position information of second camera, and the coordinate of information and RTK host depending on the relative position generates second camera
Coordinate.
Processor is according to layout point information, the first vector data in one of the embodiments, obtain the first camera with
First relative direction of layout point；And according to the first relative direction, the virtual image of layout point is drawn on the first image, is obtained
First AR image；
Processor obtains the second opposite side of second camera and layout point according to layout point information, the second vector data
To；And according to the second relative direction, the virtual image of layout point is drawn on the second image, obtains the 2nd AR image.
Processor is shown on data recorder after zooming in and out processing to the first AR image in one of the embodiments,；
Processor is shown on data recorder after zooming in and out processing to the 2nd AR image.
Processor zooms in and out the first AR image according to the first scaling in one of the embodiments,；First contracting
Putting ratio is to be obtained according to the optical parameter of the first camera；
Processor zooms in and out the 2nd AR image according to the second scaling；Second scaling is according to the second camera shooting
The optical parameter of head obtains.
Processor obtains the coordinate of centering rod bottom and the coordinate of layout point in one of the embodiments, and according to right
The coordinate of middle bar bottom and the coordinate of layout point, obtain centering rod bottom at a distance from layout point；When distance is less than preset threshold
When, processor issues the prompt of effective setting-out.
Location marker is centering rod in one of the embodiments, and centering rod is set to the bottom of RTK host.
On the one hand, the embodiment of the invention provides a kind of RTK setting out method based on above-mentioned RTK setting-out system, comprising:
When receiving externally input layout point information, start the first camera；
The first image of the first thecamera head is received, and obtains the first vector data for positioning the first camera；
According to the first image and the first vector data, constructs the first AR image and shown on data recorder；
When detecting that RTK host reaches preset value at a distance from layout point, the first camera is closed, and starts second and takes the photograph
As head；
The second image of second camera transmission is received, and obtains the second vector data for positioning second camera；
According to the second image and the second vector data, constructs the 2nd AR image and shown on data recorder；
The image of location marker in monitoring the 2nd AR image, on RTK host and the virtual graph of layout point
When as being overlapped, then the prompt for terminating setting-out is issued.
On the one hand, the embodiment of the invention also provides a kind of RTK laying out apparatus, comprising:
Camera starting module when for receiving externally input layout point information, starts the first camera；And it is used for
When detecting that RTK host reaches preset value at a distance from layout point, the first camera is closed, and start second camera；
AR image construction module for receiving the first image of the first thecamera head, and is obtained and is taken the photograph for positioning first
As the first vector data of head；According to the first image and the first vector data, constructs the first AR image and shown on data recorder
Show；And the second image for receiving second camera transmission, and obtain the second vector data for positioning second camera；
According to the second image and the second vector data, constructs the 2nd AR image and shown on data recorder；
Monitoring modular, image for the location marker in monitoring the 2nd AR image, on RTK host with put
When the virtual image of sampling point is overlapped, then the prompt for terminating setting-out is issued.
On the other hand, the embodiment of the invention also provides a kind of computer readable storage medium, it is stored thereon with computer
Program, the step of above-mentioned RTK setting out method is realized when computer program is executed by processor.
A technical solution in above-mentioned technical proposal is had the following advantages and beneficial effects:
RTK setting-out system provided by the present application, including RTK host, data recorder, processor, the first camera, be set to institute
State the second camera of RTK host bottom.The back of first camera setting and data recorder, allows setting-out process by list
People operates.Pass through the first image of the first thecamera head and the first vector data for positioning the first camera, place
Reason obtains the first AR image, and the first AR image is shown on data recorder, so that setting-out personnel are in specific operation process,
Auxiliary setting-out can be carried out with reference to object.It, can be with when processor detects that RTK host reaches preset value at a distance from layout point
Second camera by being set to RTK host bottom carries out obtaining image and generates the 2nd AR image, the positioning accuracy of RTK host
Height, second camera are set on RTK host, can obtain the accurate positioning of second camera by the position location of RTK host,
Therefore pass through the second image and the second vector data of second camera, life of the second camera transmission being set on RTK host
At the 2nd AR image, can accurately carry out setting-out.The bottom of RTK host is provided with location marker, is marked by the positioning
Knowing object progress setting-out can be further that is, so that the positioning identifier object image on RTK host is overlapped with the virtual image of layout point
Raising oxygen evolution rate.
Detailed description of the invention
By being more particularly described for preferred embodiment of the present application shown in the drawings, the above and other mesh of the application
, feature and advantage will become more fully apparent.Identical appended drawing reference indicates identical part in all the attached drawings, and does not carve
Meaning draws attached drawing by actual size equal proportion scaling, it is preferred that emphasis is shows the purport of the application.
Fig. 1 is the first schematic diagram of RTK setting-out system in one embodiment；
Fig. 2 is the second schematic diagram of RTK setting-out system in one embodiment；
Fig. 3 is the flow diagram of RTK setting out method in one embodiment；
Fig. 4 is AR picture construction schematic diagram in one embodiment；
Fig. 5 is the first schematic block diagram of RTK setting-out system in one embodiment；
Fig. 6 is the second schematic block diagram of RTK setting-out system in one embodiment；
Fig. 7 is the structure chart of RTK laying out apparatus in one embodiment.
Specific embodiment
The application in order to facilitate understanding is described more fully the application below with reference to relevant drawings.In attached drawing
Give the preferred embodiment of the application.But the application can realize in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to disclosure of this application.
It should be noted that it can be directly to separately when an element is considered as " connection " another element
One element and it is in combination be integrated, or may be simultaneously present centering elements.Term as used herein " installation ", " one
End ", " other end " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.Term used in the description of the present application is intended merely to describe specific reality
Apply the purpose of example, it is not intended that in limitation the application.Term " and or " used herein includes one or more relevant institutes
Any and all combinations of list of items.
In the conventional technology, can not intuitively be judged to which direction by digital plane topographic map in data recorder and
It is mobile how long distance could be by the position of RTK host mobility to layout point." up north and down south is generallyd use on digital plane topographic map
The constant bearing of left west and right east ", can intuitively check RTK position of host machine between layout point on digital topography map at a distance from
And it is in the projection components of east-west direction and North and South direction；However the four corners of the world direction of real world and specific quantity list
Position length actually have actually how long, be not difficult to judge by object of reference.Therefore user usually requires gradually to move RTK master
Machine, the variation of the RTK host after movement on reference number topographic map and layout point relative position, adjusts one under RTK host every time
The orientation and moving distance of moved further, needing gradually repeatedly to move RTK host just can make it go to zero with layout point distance, mistake
Journey is complicated and cumbersome.And RTK setting-out system provided by the present application, it can effectively solve the problems, such as traditional technology.
In one embodiment, as shown in Figure 1, providing a kind of RTK setting-out system, including RTK host 10, data recorder
20, processor 30, the first camera 40, the second camera 50 set on RTK host bottom；Processor 30 respectively with data recorder
20, the first camera 40 and the electrical connection of second camera 50 and RTK host 10；
When processor 30 receives externally input layout point information, start the first camera 40；Processor 30 receives the
First image of one camera 40 transmission, and obtain the first vector data for positioning the first camera 40；Processor 30
According to layout point information, the first image and the first vector data, constructs the first AR image and shown on data recorder 20；
When processor 30 detects that RTK host 10 reaches preset value at a distance from layout point, processor 30 closes first
Camera 40, and start second camera 50；Processor 30 receives the second image that second camera 50 transmits, and obtains and be used for
Position the second vector data of second camera 50；Processor 30 according to layout point information, the second image and the second vector data,
It constructs the 2nd AR image and is shown on data recorder 20；
The image of location marker of the processor 30 in monitoring the 2nd AR image, on RTK host 10 and setting-out
When the virtual image of point is overlapped, then the prompt for terminating setting-out is issued.
Wherein, RTK host generally built-in GNSS (Global Navigation Satellite System, global location
Satellite system), sustainable output RTK host present position；Data recorder is display medium, for checking the equipment such as RTK host
The data of output；Location marker is used as setting-out, in the 2nd AR image, the image and layout point of location marker
Virtual image be overlapped, that is, issue terminate setting-out prompt, it can be assumed that terminating for setting-out.
Specifically, location marker can arbitrarily characterize the device of RTK position of host machine, and it can be centering rod, it can
Think that laser projection in the point on ground, can be stick-like object, be not specifically limited herein.RTK host is of virtually certain
Spatial form, therefore during carrying out setting-out to RTK host, the shape size of RTK host itself also influences whether setting-out standard
Exactness, and the bottom of location marker is a specific point in the 2nd AR image, is carrying out setting-out by the 2nd AR image
In the process, setting-out accuracy can be improved.In a specific embodiment, location marker is centering rod, and centering rod is set to RTK
The bottom of host.
It is not limited here, in a specific embodiment, the first camera is fixed on the specific location of first camera
The back of data recorder, fixed form can be clamping, welding, bonding, can also preset an appearance in the shell of data recorder
Chamber of receiving is not specifically limited herein for placing the first camera.Second camera is set to the bottom of RTK host, has at one
In body embodiment, the first camera is fixed on the back of data recorder, and fixed form can be clamping, welding, bonding, can also be with
An accommodating chamber is preset for placing second camera in the shell of RTK host, is not specifically limited herein.It is specific real at one
It applies in example, the first camera can be same camera with second camera.It is closed in the first camera, needs to open second and take the photograph
When as head, the first camera can be removed and installed at second camera position.In a specific embodiment, when second
When the direction of camera can be rotated by mechanical structure, the first camera can also be substituted by second camera, i.e., will
Second camera rotates the image for allowing to take other directions.
Processor is electrically connected with data recorder and RTK host respectively, and connection type can be to be attached by serial ports,
It can be communication connection, be not specifically limited herein.Layout point information includes the position of layout point, specifically or layout point
Coordinate.First vector data includes the coordinate and orientation information of the first camera, can pass through any one technology of this field
Means get first vector data, for example, can get the first camera by the GPS chip that data recorder carries
The coordinate of RTK host can also be regarded as the coordinate of the first camera by coordinate.For another example the can be obtained by attitude transducer
The orientation information of one camera can also obtain the orientation information of the first camera by electronic compass, also or pass through posture
A variety of combinations of sensor, electronic compass and direction sensor carry out the acquisition of the first camera orientation information.According to layout point
Information, the first image and the first vector data, can construct the first AR image, and the first AR image may include the virtual of layout point
Image and the first image.
Processor can detect the distance of RTK host and layout point by any one technological means of this field, one
In a specific embodiment, the coordinate of processor available RTK host and layout point to RTK host and is put by handling coordinate
The distance of sampling point carries out indirect gain.Second vector data includes the coordinate and orientation information of second camera；This can be passed through
Any one technological means of field obtains the second vector data.
According to layout point information, the second image and the second vector data, the 2nd AR image can be constructed, the 2nd AR image can
To include the virtual image and the second image of layout point, the second image includes the image of location marker.When location marker
When image is overlapped with the virtual image of layout point, then the prompt for terminating setting-out is issued.
RTK setting-out system provided in this embodiment, the back of the first camera setting and data recorder, so that setting-out process
It can be operated by one.Pass through the first image of the first thecamera head and the first vector for positioning the first camera
Data, processing obtains the first AR image, and the first AR image is shown on data recorder, so that setting-out personnel are in concrete operations
In the process, auxiliary setting-out can be carried out with reference to object.Detect that RTK host reaches preset value at a distance from layout point in processor
When, it can carry out obtaining image and the 2nd AR image of generation by being set to the second camera of RTK host bottom, RTK host
Positioning accuracy is high,
Second camera is set on RTK host, can obtain the accurate of second camera by the position location of RTK host
Positioning, therefore the second vector number of the second image of the transmission of the second camera by being set on RTK host and second camera
According to, generate the 2nd AR image, can accurately carry out setting-out.The bottom of RTK host is provided with location marker, fixed by this
Bit identification object carries out setting-out, i.e., so that the positioning identifier object image on RTK host is overlapped with the virtual image of layout point, Ke Yijin
The raising oxygen evolution rate of one step.
It in one embodiment, further include first direction detection device as shown in Fig. 2, providing a kind of RTK setting-out system
60 and second direction detection device 70；First direction detection device 60 is set on data recorder 20；Second direction detection device 70
On RTK host 10；Processor 30 is electrically connected with first direction detection device 60 with second direction detection device 70 respectively；
First vector data includes the coordinate and orientation information of the first camera 40；Second vector data includes the second camera shooting
First 50 coordinate and orientation information；
Processor 30 obtains the orientation information of the first camera 40 by first direction detection device 60, and by RTK host
Coordinate of 10 coordinate as the first camera 40；
Processor 30 obtains the orientation information of second camera 50 by second direction detection device 70；Processor 30 obtains
The relative position information of RTK host 10 and second camera 50, and the coordinate of information and RTK host 10 depending on the relative position, it is raw
At the coordinate of second camera.
Wherein, first direction detection device is the equipment for detecting the first camera orientation information, can be electronics sieve
One of disk, attitude transducer, direction sensor are either a variety of, are not specifically limited herein.Second direction detection device
It can be one in electronic compass, attitude transducer, direction sensor for the equipment for monitoring second camera orientation information
Kind is either a variety of, is not specifically limited herein.
Processor obtains the orientation information of the first camera by first direction detection device, and specific data flow can be
First direction detection device detects the orientation information of the first camera, and the orientation information of the first camera is then transferred to place
Manage device；Or first direction detection device detects the orientation information of the first camera, and by the direction of the first camera
Information is stored in a storage medium, and processor actively gets the orientation information of the first camera from storage medium.
Second camera is set on RTK host, therefore the relative position information of second camera and RTK host is unique
, which can preset.By the coordinate of relative position information and RTK host, it can be generated second and take the photograph
As the coordinate of head.
RTK setting-out system provided in this embodiment, using the coordinate of RTK host as the coordinate of the first camera, convenient, nothing
Additional positioning device need to be increased and can satisfy the positioning accuracy of data recorder, while having saved cost-benefit in the setting-out system
The popularization and use of system.The coordinate that second camera is generated by the relative position of RTK host and second camera, can accurately obtain
The coordinate of second camera is taken, so that the accuracy of layout point in the 2nd AR image is improved, it is further to improve the accurate of setting-out
Degree.
In one embodiment, processor obtains the first camera and setting-out according to layout point information, the first vector data
First relative direction of point；And according to the first relative direction, the virtual image of layout point is drawn on the first image, obtains first
AR image；
Processor obtains the second opposite side of second camera and layout point according to layout point information, the second vector data
To；And according to the second relative direction, the virtual image of layout point is drawn on the second image, obtains the 2nd AR image.
Specifically, getting the first relative direction of the first camera and layout point, according to the first relative direction, will put
The actual geographic coordinate of sampling point is converted to the coordinate in the first image, and the virtual image of the layout point is shown in the first image
It shows and.The second relative direction for getting second camera and layout point, according to the first relative direction, by the reality of layout point
Geographical coordinate is converted to the coordinate in the second image, and the virtual image of the layout point is shown in the second image.
Since layout point is invisible on its true geographical location, by being drawn on the first AR image and the 2nd AR image
The virtual image of layout point defines so that setting-out process is more clear.
Processor is shown on data recorder after zooming in and out processing to the first AR image in one of the embodiments,；
Processor is shown on data recorder after zooming in and out processing to the 2nd AR image.
Specifically, processor can zoom in and out place to the first AR image using any one technological means of this field
Reason, by scaling processing, the image that data recorder can be made to show includes more information, thus during setting-out,
Possess more objects of reference, so that setting-out process is more simple and clear.
Processor zooms in and out the first AR image according to the first scaling in one of the embodiments,；First contracting
Putting ratio is to be obtained according to the optical parameter of the first camera；
Processor zooms in and out the 2nd AR image according to the second scaling；Second scaling is according to the second camera shooting
The optical parameter of head obtains.
Wherein, optical parameter may include camera focal length, camera from the ground height, camera optical axis and ground level it
Between angle and camera visual angle.
Processor obtains the coordinate of centering rod bottom and the coordinate of layout point in one of the embodiments, and according to right
The coordinate of middle bar bottom and the coordinate of layout point, obtain centering rod bottom at a distance from layout point；When distance is less than preset threshold
When, processor issues the prompt of effective setting-out.
Specifically, the coordinate of centering rod bottom coordinate and layout point is obtained, to obtain centering rod bottom and layout point
Distance, secondary determination is carried out to the accuracy of setting-out in this manner, to ensure that oxygen evolution rate.It is specific at one
In example, centering rod bottom includes plan range at a distance from layout point
In one embodiment, as shown in figure 3, providing the RTK setting out method based on above-mentioned RTK setting-out system, comprising:
S310 when receiving externally input layout point information, starts the first camera；
S320 receives the first image of the first thecamera head, and obtains the first vector for positioning the first camera
Data；According to the first image and the first vector data, constructs the first AR image and shown on data recorder；
S330 closes the first camera, and start when detecting that RTK host reaches preset value at a distance from layout point
Second camera；
S340, receives the second image of second camera transmission, and obtains the second vector for positioning second camera
Data；According to the second image and the second vector data, constructs the 2nd AR image and shown on data recorder；
S350, the image of the location marker in monitoring the 2nd AR image, on RTK host and the void of layout point
When quasi- picture registration, then the prompt for terminating setting-out is issued.
It should be understood that although each step in the flow chart of Fig. 3 is successively shown according to the instruction of arrow, this
A little steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these steps
It executes there is no the limitation of stringent sequence, these steps can execute in other order.Moreover, at least part in Fig. 3
Step may include that perhaps these sub-steps of multiple stages or stage are executed in synchronization to multiple sub-steps
It completes, but can execute at different times, the execution sequence in these sub-steps or stage, which is also not necessarily, successively to be carried out,
But it can be executed in turn or alternately at least part of the sub-step or stage of other steps or other steps.
In order to be further described the technical solution of the application, special principle and use process with the application RTK setting-out system,
Illustrate that the application implements process:
As shown in figure 4, AR realization principle is as follows in this programme: together by RTK host, angle detecting integration of equipments, then
Position and the direction of camera can be calculated；For each point on the image of camera shooting, can calculate in camera
The heart to the corresponding true geographical location of the point direction compared to camera central vision orientation relative direction；Conversely, for
One true geographical location can obtain the position in the image of thecamera head by the direction inverse of camera to the position
On coordinate.Via above process, position of the calculating loft point on AR image and it can be depicted as layout point virtual image, given
The reference of user's offer layout point position.
As shown in figure 5, camera is integrated in RTK host bottom when second camera is set to RTK host, AR image is real
When be back on data recorder and shown.RTK host integrated GNSS system, attitude transducer and direction sensor are (i.e.
Second direction detection device) precision with higher, therefore layout point virtual image also has degree of precision in the AR realized, together
When layout point near object and texture can be used as object of reference.It is closer that this mode is mainly used in user distance layout point
When, it is more fine to assist carrying out that user observes the relative position gap of RTK bottom direction centering rod bottom and layout point
Setting-out operation.On centering rod also can integrated camera, to support the RTK host of existing non-integrated camera.
As shown in fig. 6, camera is located at the back of data recorder when the first camera is set to the back of data recorder,
The also integrated direction sensor of the data recorder and attitude transducer (i.e. first direction detection device) simultaneously.Setting-out operation usually by
Single to carry out, handbook and RTK position of host machine are very close, therefore using the position of RTK host as the position of handbook, by these
Data source can realize AR effect.Since screen is integrated with camera on handbook, camera central vision direction and electronics
The display screen normal direction of handbook is to be overlapped；The image that the camera is shot is shown again after scaling appropriate, is used
Family observe layout point actual position when sight and viewing screen on layout point virtual image sight relatively, sight closer to
Both screen center (camera view center) error is smaller, and sight is from screen center (camera view center) Shi Zehui farther out
The range that can be shown beyond screen；By this method, when user's movement handbook, if layout point virtual image appears in screen
On, then user can determine itself to layout point direction and the handbook back side normal direction relatively, layout point virtual image
Then the two relatively close from screen center is closer.Direction guide is carried out when handbook AR is mainly used for from layout point farther out.
When setting-out personnel are when using the RTK setting-out system, concrete operations process is as follows:
Handbook connects RTK host；
Select layout point；
Handbook enables the first camera, and user checks direction of the layout point on the first AR image using data recorder, to
Layout point is mobile；
When user enters away from the closer range of layout point, the first camera stops, and second camera enables, and shows the
Two AR images；
By RTK host A R observe layout point and centering rod bottom relative position, reference layout point near object of reference,
Fine setting-out operation is carried out, until middle bar bottom is overlapped with layout point virtual image；
The centering rod bottom coordinate and layout point grid deviation that RTK is measured are less than threshold value, setting-out success.
In one embodiment, as shown in fig. 7, providing a kind of RTK laying out apparatus, comprising: camera starting module
710, AR image construction module 720 and monitoring modular 730, in which:
Camera starting module 710 when for receiving externally input layout point information, starts the first camera；And
For when detecting that RTK host reaches preset value at a distance from layout point, closing the first camera, and start the second camera shooting
Head；
AR image construction module 720 for receiving the first image of the first thecamera head, and is obtained for positioning first
First vector data of camera；According to the first image and the first vector data, the first AR image is constructed and on data recorder
Display；And the second image for receiving second camera transmission, and obtain the second vector number for positioning second camera
According to；According to the second image and the second vector data, constructs the 2nd AR image and shown on data recorder；
Monitoring modular 730, the image for the location marker in monitoring the 2nd AR image, on RTK host
When being overlapped with the virtual image of layout point, then the prompt for terminating setting-out is issued.
Specific about RTK laying out apparatus limits the restriction that may refer to above for RTK setting out method, herein no longer
It repeats.Modules in above-mentioned RTK laying out apparatus can be realized fully or partially through software, hardware and combinations thereof.It is above-mentioned
Each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be stored in a software form
In memory in computer equipment, the corresponding operation of the above modules is executed in order to which processor calls.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
When receiving externally input layout point information, start the first camera；
The first image of the first thecamera head is received, and obtains the first vector data for positioning the first camera；
According to the first image and the first vector data, constructs the first AR image and shown on data recorder；
When detecting that RTK host reaches preset value at a distance from layout point, the first camera is closed, and starts second and takes the photograph
As head；
The second image of second camera transmission is received, and obtains the second vector data for positioning second camera；
According to the second image and the second vector data, constructs the 2nd AR image and shown on data recorder；
The image of location marker in monitoring the 2nd AR image, on RTK host and the virtual graph of layout point
When as being overlapped, then the prompt for terminating setting-out is issued.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of RTK setting-out system, which is characterized in that including RTK host, data recorder, processor, the first camera, and
Second camera set on RTK host bottom；The processor respectively with the data recorder, the RTK host, described
First camera and second camera electrical connection；
When the processor receives externally input layout point information, start first camera；The processor receives
First image of first thecamera head, and obtain the first vector data for positioning first camera；It is described
Processor constructs the first AR image and in institute according to the layout point information, the first image and first vector data
It states and is shown on data recorder；
When the processor detects that the RTK host reaches preset value at a distance from the layout point, the processor is closed
First camera is closed, and starts the second camera；The processor receives the second of the second camera transmission
Image, and obtain the second vector data for positioning the second camera；The processor according to the layout point information,
Second image and second vector data construct the 2nd AR image and show on the data recorder；
The image of location marker of the processor in monitoring the 2nd AR image, on the RTK host with
When the virtual image of the layout point is overlapped, the prompt for terminating setting-out is issued.
2. RTK setting-out system according to claim 1, which is characterized in that further include first direction detection device and second
Angle detecting equipment；The first direction detection device is used to detect the orientation information of first camera, the second party
It is set on the RTK host to detection device；The processor respectively with the first direction detection device and the second party
It is electrically connected to detection device；
First vector data includes the coordinate and orientation information of first camera；Second vector data includes institute
State the coordinate and orientation information of second camera；
The processor obtains the orientation information of first camera by the first direction detection device, and will be described
The coordinate of RTK host is confirmed as the coordinate of first camera；
The processor obtains the orientation information of the second camera by the second direction detection device；The processor
The relative position information of the RTK host and the second camera is obtained, and information and the RTK depending on that relative position
The coordinate of host generates the coordinate of the second camera.
3. RTK setting-out system according to claim 1, which is characterized in that
The processor obtains first camera and puts with described according to the layout point information, first vector data
First relative direction of sampling point；And according to first relative direction, the void of the layout point is drawn in the first image
Quasi- image, obtains the first AR image；
The processor obtains the second camera and puts with described according to the layout point information, second vector data
Second relative direction of sampling point；And according to second relative direction, the void of the layout point is drawn on second image
Quasi- image, obtains the 2nd AR image.
4. RTK setting-out system according to claim 1, which is characterized in that
The processor is shown on the data recorder after zooming in and out processing to the first AR image；
The processor is shown on the data recorder after zooming in and out processing to the 2nd AR image.
5. RTK setting-out system according to claim 4, which is characterized in that
The processor zooms in and out the first AR image according to the first scaling；According to first scaling
The optical parameter of first camera obtains；
The processor zooms in and out the 2nd AR image according to the second scaling；According to second scaling
The optical parameter of the second camera obtains.
6. RTK setting-out system according to any one of claims 1 to 5, which is characterized in that the location marker is centering
Bar；The centering rod is set to the bottom of the RTK host.
7. RTK setting-out system according to claim 6, which is characterized in that
The processor obtains the coordinate of the centering rod bottom and the coordinate of the layout point, and according to the centering rod bottom
Coordinate and the layout point coordinate, obtain the centering rod bottom at a distance from the layout point；When the distance is less than
When preset threshold, the processor issues the prompt of effective setting-out.
8. a kind of RTK setting out method based on the described in any item RTK setting-out systems of claim 1 to 7, which is characterized in that packet
It includes:
When receiving externally input layout point information, start first camera；
The first image of first thecamera head is received, and obtains the first vector number for positioning first camera
According to；According to the first image and first vector data, constructs the first AR image and shown on the data recorder；
When detecting that the RTK host reaches preset value at a distance from the layout point, first camera is closed, and open
Move the second camera；
The second image of the second camera transmission is received, and obtains the second vector number for positioning the second camera
According to；According to second image and second vector data, constructs the 2nd AR image and shown on the data recorder；
The image of location marker in monitoring the 2nd AR image, on the RTK host and the layout point
Virtual image be overlapped when, then issue terminate setting-out prompt.
9. a kind of RTK laying out apparatus characterized by comprising
Camera starting module when for receiving externally input layout point information, starts first camera；And it is used for
When detecting that the RTK host reaches preset value at a distance from the layout point, first camera is closed, and start institute
State second camera；
AR image construction module for receiving the first image of first thecamera head, and is obtained for positioning described the
First vector data of one camera；According to the first image and first vector data, construct the first AR image and
It is shown on the data recorder；And the second image for receiving the second camera transmission, and obtain described for positioning
Second vector data of second camera；According to second image and second vector data, the 2nd AR image is constructed simultaneously
It is shown on the data recorder；
Monitoring modular, the image for the location marker in monitoring the 2nd AR image, on the RTK host
When being overlapped with the virtual image of the layout point, then the prompt for terminating setting-out is issued.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method according to any one of claims 8 is realized when being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802424.2A CN110455265A (en) | 2019-08-28 | 2019-08-28 | RTK setting-out system, method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802424.2A CN110455265A (en) | 2019-08-28 | 2019-08-28 | RTK setting-out system, method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110455265A true CN110455265A (en) | 2019-11-15 |
Family
ID=68489669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910802424.2A Pending CN110455265A (en) | 2019-08-28 | 2019-08-28 | RTK setting-out system, method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110455265A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113137958A (en) * | 2021-04-23 | 2021-07-20 | 上海华测导航技术股份有限公司 | Lofting control method and system for RTK host and storage medium |
| CN114279419A (en) * | 2021-12-17 | 2022-04-05 | 上海华测导航技术股份有限公司 | Lofting method and device, electronic equipment and storage medium |
| CN114755699A (en) * | 2022-04-29 | 2022-07-15 | 上海井融网络科技有限公司 | RTK receiver and lofting method |
| CN114754643A (en) * | 2022-04-26 | 2022-07-15 | 宏大爆破工程集团有限责任公司 | RTK line lofting and hole distribution construction method in open bench blasting |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004028060A2 (en) * | 2002-09-23 | 2004-04-01 | Topcon Gps Llc | Position estimation using a network of global-positioning receivers |
| CN107402000A (en) * | 2016-05-19 | 2017-11-28 | 赫克斯冈技术中心 | For the system and method relative to measuring instrument with reference to display device |
| CN108227929A (en) * | 2018-01-15 | 2018-06-29 | 廖卫东 | Augmented reality setting-out system and implementation method based on BIM technology |
| CN109556580A (en) * | 2017-09-26 | 2019-04-02 | 赫克斯冈技术中心 | Instrument of surveying and mapping, AR system and the method relative to reference system positioning AR device |
-
2019
- 2019-08-28 CN CN201910802424.2A patent/CN110455265A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004028060A2 (en) * | 2002-09-23 | 2004-04-01 | Topcon Gps Llc | Position estimation using a network of global-positioning receivers |
| CN107402000A (en) * | 2016-05-19 | 2017-11-28 | 赫克斯冈技术中心 | For the system and method relative to measuring instrument with reference to display device |
| CN109556580A (en) * | 2017-09-26 | 2019-04-02 | 赫克斯冈技术中心 | Instrument of surveying and mapping, AR system and the method relative to reference system positioning AR device |
| CN108227929A (en) * | 2018-01-15 | 2018-06-29 | 廖卫东 | Augmented reality setting-out system and implementation method based on BIM technology |
Non-Patent Citations (2)
| Title |
|---|
| 两字〃: "中海达AR放样视频操作", 《腾讯视频 HTTPS://V.QQ.COM/X/PAGE/G08821K4LMW.HTML》 * |
| 广州市中海达测绘仪器有限公司: "北斗海达TS3网络RTK系统", 《中海达 HTTPS://WWW.ZHDGPS.COM/TEMPLATE/PRODUCTSHOW.ASPX?ID=100000040776245&M=137002&FL=100000002158476&CLASS=100000002115416》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113137958A (en) * | 2021-04-23 | 2021-07-20 | 上海华测导航技术股份有限公司 | Lofting control method and system for RTK host and storage medium |
| CN113137958B (en) * | 2021-04-23 | 2022-07-19 | 上海华测导航技术股份有限公司 | Lofting control method and system of RTK host and storage medium |
| CN114279419A (en) * | 2021-12-17 | 2022-04-05 | 上海华测导航技术股份有限公司 | Lofting method and device, electronic equipment and storage medium |
| CN114279419B (en) * | 2021-12-17 | 2024-05-24 | 上海华测导航技术股份有限公司 | Lofting method and device, electronic equipment and storage medium |
| CN114754643A (en) * | 2022-04-26 | 2022-07-15 | 宏大爆破工程集团有限责任公司 | RTK line lofting and hole distribution construction method in open bench blasting |
| CN114755699A (en) * | 2022-04-29 | 2022-07-15 | 上海井融网络科技有限公司 | RTK receiver and lofting method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110455265A (en) | RTK setting-out system, method and device | |
| JP5150310B2 (en) | Geographic data collection device | |
| JP4607095B2 (en) | Method and apparatus for image processing in surveying instrument | |
| CN102980556B (en) | A kind of distance-finding method and device | |
| CN1896684B (en) | Geographic data collecting system | |
| US8933986B2 (en) | North centered orientation tracking in uninformed environments | |
| CN1677060B (en) | Survey data processing system, storage medium for working data, and electronic map display device | |
| US10841570B2 (en) | Calibration device and method of operating the same | |
| CN102338639A (en) | Information processing device and information processing method | |
| CN111436208A (en) | Planning method and device for surveying and mapping sampling point, control terminal and storage medium | |
| CN103578141A (en) | Method and device for achieving augmented reality based on three-dimensional map system | |
| CN108051831A (en) | Method, apparatus, Seeds of First Post-flight equipment and the storage medium that target based on object coordinates information quickly positions | |
| CN109099889A (en) | Close range photogrammetric system and method | |
| JP5812509B2 (en) | Map display device, map display method and program | |
| JP7220784B2 (en) | Survey sampling point planning method, device, control terminal and storage medium | |
| US11048345B2 (en) | Image processing device and image processing method | |
| CN111161350B (en) | Position information and position relation determining method, position information acquiring device | |
| JP2003296708A (en) | Data processing method, data processing program and recording medium | |
| JP2022027111A (en) | Measurement processing device, method and program | |
| Bakuła et al. | Capabilities of a smartphone for georeferenced 3dmodel creation: An evaluation | |
| JP4359084B2 (en) | Surveying system | |
| JP5622180B2 (en) | Imaging apparatus, imaging control method, and program | |
| CN106713729A (en) | Shooting aiding method and electronic device | |
| KR102458559B1 (en) | Construction management system and method using mobile electric device | |
| JP4359083B2 (en) | Surveying system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191115 |
|
| RJ01 | Rejection of invention patent application after publication |