CN108036774B

CN108036774B - Surveying and mapping method, system and terminal equipment

Info

Publication number: CN108036774B
Application number: CN201711095819.0A
Authority: CN
Inventors: 赵自超; 闫小乐; 农晓明; 陈星宏
Original assignee: Shenzhen Changfeng Information Technology Co ltd
Current assignee: Shenzhen Lingyue Aviation Technology Co.,Ltd.
Priority date: 2017-11-09
Filing date: 2017-11-09
Publication date: 2020-09-15
Anticipated expiration: 2037-11-09
Also published as: CN108036774A

Abstract

The application is suitable for the technical field of surveying and mapping, and provides a surveying and mapping method, a surveying and mapping system and terminal equipment.

Description

Surveying and mapping method, system and terminal equipment

Technical Field

The present application belongs to the field of mapping technologies, and in particular, to a mapping method, system and terminal device.

Background

Along with the continuous development of science and technology, various types of unmanned aerial vehicles are continuously popularized, for example, plant protection unmanned aerial vehicles, aerial photography unmanned aerial vehicles, rescue unmanned aerial vehicles, carrying unmanned aerial vehicles and the like, and great convenience is brought to the production and the life of people. When utilizing unmanned aerial vehicle to carry out the operation of types such as plant protection, aerial photography, rescue or delivery to the parcel, need survey and drawing the operation parcel earlier, obtain the positional information of operation parcel, just can control unmanned aerial vehicle and carry out accurate operation to the operation parcel.

However, in the conventional surveying method, after a work land is surveyed in the field by a human, surveying data is manually input into a data processing device such as a computer and processed, and position information of the work land is obtained, so that the surveying accuracy and efficiency are very low.

Disclosure of Invention

In view of this, embodiments of the present application provide a mapping method, system and terminal device, which can record mapping data in real time during mapping to obtain location information of a target parcel, thereby improving mapping accuracy and efficiency.

A first aspect of embodiments of the present application provides a mapping method, which includes:

if the user enters a surveying rod mode, displaying a surveying rod mode interface;

if a work order list interface entering instruction input by a user on the surveying pole mode interface is received, displaying a work order list interface, wherein the work order list interface is used for displaying the added work orders;

if a work order selection instruction input by a user on the work order list interface is received, displaying a plot list interface of the work order corresponding to the work order selection instruction, wherein the plot list interface is used for displaying the added plots;

if a plot selection instruction input by a user on the plot list interface is received, displaying an RTK plot mapping interface of a target plot corresponding to the plot selection instruction, wherein the RTK plot mapping interface is used for displaying the position of a boundary point of the target plot;

and if a plot boundary point recording instruction input by a user on the RTK plot mapping interface is received, recording the boundary point position of the target plot obtained through mapping by the RTK locating rod, and completing mapping of the target plot.

A second aspect of embodiments of the present application provides a mapping system, comprising:

the surveying rod mode interface display module is used for displaying a surveying rod mode interface if the surveying rod mode is entered;

the work order list interface display module is used for displaying a work order list interface if a work order list interface entering instruction input by a user on the surveying pole mode interface is received, and the work order list interface is used for displaying the added work orders;

the plot list interface display module is used for displaying a plot list interface of the work order corresponding to the work order selection instruction if the work order selection instruction input by a user on the work order list interface is received, and the plot list interface is used for displaying the added plots;

the system comprises a plot mapping interface display module, a plot list interface display module and a real-time kinematic (RTK) plot mapping interface display module, wherein the plot mapping interface display module is used for displaying an RTK plot mapping interface of a target plot corresponding to a plot selection instruction if the plot selection instruction input by a user on the plot list interface is received, and the RTK plot mapping interface is used for displaying the position of a boundary point of the target plot;

and the plot boundary point recording module is used for recording the boundary point position of the target plot obtained through the plotting of the RTK positioning rod and completing the plotting of the target plot if a plot boundary point recording instruction input by a user on the RTK plot plotting interface is received.

A third aspect of the embodiments of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

A fourth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the above-described method.

A fifth aspect of the application provides a computer program product comprising a computer program which, when executed by one or more processors, performs the steps of the method provided by the first aspect of the application.

According to the embodiment of the application, the boundary point position of the target land block selected by the user is obtained by recording the mapping of the RTK locating rod, the mapping of the target land block is completed, mapping data can be input in real time in the mapping process, the position information of the target land block is obtained, and the mapping precision and efficiency are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flow chart of a mapping method according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a mapping method provided in the second embodiment of the present application;

fig. 3 is a schematic flow chart of a mapping method according to the fourth embodiment of the present application;

FIG. 4 is a schematic view of a rectangular parcel as provided in the fourth embodiment of the present application;

fig. 5 is a schematic structural diagram of a mapping system provided in the fifth embodiment of the present application;

fig. 6 is a schematic structural diagram of a terminal device according to a ninth embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.

The first embodiment is as follows:

as shown in fig. 1, the present embodiment provides a mapping method, where the method may be specifically applied to an intelligent terminal such as a mobile phone, a tablet computer, a personal digital assistant, and a PC client, and a software program for implementing the mapping method is stored in the intelligent terminal when the software program runs.

In a specific application, the surveying and mapping method can be used for surveying and mapping the plant protection operation land of the unmanned aerial vehicle, and can also be used for surveying and mapping any object needing surveying and mapping.

The mapping method provided by the embodiment comprises the following steps:

step S101: and if the user enters the surveying rod mode, displaying a surveying rod mode interface.

In a particular application, the survey pole mode is specifically used to set the state information of the RTK locating pole. The working mode entered after the software program is started depends on the working mode set before the software program is closed last time or the working mode corresponding to the default initialization state of the software program, and if the surveying rod mode is set before the software program is closed last time, the surveying rod mode is also set after the software program is started this time; if the reference station mode is set before the last closing, the reference station mode is also set after the current opening; if the working mode corresponding to the default initialization state is the surveying rod mode, entering the surveying rod mode by default after the initialization is finished; and if the working mode corresponding to the default initialization state is the reference station mode, entering the reference station mode by default after the initialization is finished. In one embodiment, step S101 is preceded by:

if the main interface is displayed, searching an RTK positioning rod located in the network signal range of the current terminal and establishing a communication connection relation with the RTK positioning rod;

acquiring preconfigured mode information, and entering a reference station mode or a surveying rod mode according to the mode information.

In a particular application, the preconfigured mode information is for controlling the mode of operation (i.e., reference station mode or survey pole mode) that the software program enters after being turned on. If the preset configuration is that the working mode set before the software program is closed last time is entered after the software program is started, the working mode set last time is entered; and if the working mode corresponding to the default initialization state is preset to be entered after the software program is started, entering the working mode corresponding to the default initialization state.

In a specific application, before the mapping method is implemented, a corresponding software program needs to be started to implement the mapping method, a user needs to register account information in advance, after the software program is started, account information is input in a login interface, if the account information passes verification, the user successfully logs in and enters a main interface, and the account information generally comprises an account and a password.

In a specific application, the surveying rod mode is specifically used for setting a data transmission channel of the RTK locating rod.

In a specific application, after entering the main interface, the current terminal is controlled by the software program to automatically search for a nearby RTK (Real-time kinematic, carrier-phase differential technology) positioning rod and establish a communication connection relationship with the searched RTK positioning rod.

In specific application, if the Bluetooth function of the current terminal is closed, a prompt box can be popped up before the RTK locating lever is searched to prompt a user that the Bluetooth function of the current terminal is in a closed state, and the user can open the Bluetooth function by clicking a button for opening the Bluetooth or acquiring the Bluetooth permission in the prompt box.

In specific application, the current terminal needs to enter a reference station mode or a surveying and mapping rod mode according to the state information of the RTK positioning rod, and in the reference station mode, a main interface is displayed as a reference station mode interface in the reference station mode; in the mapping-pole mode, the primary interface is displayed as a mapping-pole mode interface in the mapping-pole mode; in the reference station mode, operations related to the mapping of the plot cannot be performed, and in the survey pole mode, operations related to the mapping of the plot can be performed.

In one embodiment, the step of establishing a communication connection relationship with the RTK positioning rod is followed by the steps of:

and displaying an RTK positioning rod list on the main interface, wherein the RTK positioning rod list comprises the RTK positioning rods.

In a specific application, the RTK positioning rod list is used to display the device number of the RTK positioning rod. If the user needs to search the RTK positioning rod again, the user can click a corresponding button on the RTK positioning rod list and input a re-search instruction, so that the current terminal executes the operation of re-searching the RTK positioning rod in the network signal range of the current terminal.

Step S102: and if a work order list interface entering instruction input by a user on the surveying rod mode interface is received, displaying a work order list interface, wherein the work order list interface is used for displaying the added work orders.

In a specific application, a user can click a corresponding virtual button on a surveying rod mode interface to input a work order list interface entering instruction, so that the current terminal displays a work order list interface, the work order list can be empty (that is, no work order is added), and the work order indicates a surveying task which is completed or does not complete surveying. The work orders can be sorted in the order of adding the work orders on the work order list and the work order number can be displayed, for example, the work orders 001, 002, 003 and the like can be displayed in the order of adding the work orders, and the data format of the number can be customized to be one digit, two digits, three digits and the like. The user may also customize the name of each work order.

In one embodiment, step S102 is followed by:

and if a work order adding instruction input by a user on the work order list interface is received, adding and displaying a work order corresponding to the work order adding instruction on the work order list interface.

In specific application, if a user needs to add a new work order, the user can add the work order by inputting a work order adding instruction by clicking a corresponding virtual button on a work order list interface. In practical applications, the add work order instruction is not limited to one instruction but may include a series of instructions, for example, an instruction for displaying a work order add interface is included, the instruction is input on the work order list interface, and then the add work order interface is popped up; the system also comprises an instruction for adding the work order, wherein the instruction is used for inputting the work order on a work order adding interface in a virtual keyboard or voice input mode, and then the adding button is clicked to finish the operation of adding the new work order. The add work order interface may be displayed in a pop-up window over the work order list interface.

Step S103: and if a work order selection instruction input by a user on the work order list interface is received, displaying a plot list interface of the work order corresponding to the work order selection instruction, wherein the plot list interface is used for displaying the added plots.

In specific application, a user can select any work order displayed on the work order list and click the position of the work order on the work order list interface to input a work order selection instruction, and then the user enters the plot list interface corresponding to the work order. The plot list interface displays a list of plots including plots that have or have not completed mapping, which may be empty (i.e., no plots added). The plots on the plot list may be sorted in the plot adding order and displayed with the plot numbers, for example, the plots 001, the plots 002, the plots 003, etc. may be displayed in the plot adding order, and the data format of the numbers may be customized to one digit, two digits, three digits, etc. The user can also customize the name of each parcel.

In one embodiment, step S103 is followed by:

and if a plot adding instruction input by a user on a plot list interface is received, adding and displaying a plot corresponding to the plot adding instruction on the plot list interface.

In specific application, if a user needs to add a new parcel, the parcel can be added by inputting a parcel adding instruction by clicking a corresponding virtual button on a parcel list interface. In practical applications, the block adding instruction is not limited to one instruction but may include a series of instructions, for example, an instruction for displaying a block adding interface is included, the instruction is input on the block list interface, and then the block adding interface is popped up; the system also comprises an instruction for adding the plots, wherein the instruction is used for inputting the plots on an interface for adding the plots in a virtual keyboard or voice input mode, and then clicking an adding button to finish the operation of adding the new plots. The add parcel interface may be displayed in a pop-up window over the parcel list interface.

Step S104: and if a plot selection instruction input by a user on the plot list interface is received, displaying an RTK plot mapping interface of a target plot corresponding to the plot selection instruction, wherein the RTK plot mapping interface is used for displaying the position of the boundary point of the target plot.

In specific application, a user can select any parcel displayed on the parcel list and click the position of the parcel on the parcel list interface to input a parcel selection instruction, the user enters an RTK parcel mapping interface corresponding to the parcel, and the parcel selected by the user is a target parcel. The target plot can be a plot which is completed or not completed, if the target plot is completed, the boundary point position of the plot is displayed on the corresponding RTK plot mapping interface, because the plot is usually quadrangular, usually one plot at least comprises four boundary points, and the four boundary points can be connected in sequence to form a complete two-dimensional closed quadrangle.

In practical application, the boundary points of the target plot and the polygons formed by connecting the boundary points in sequence can be displayed on the RTK plot mapping interface in different colors in a distinguishing manner, so that a user can see the position and the shape of the target plot at a glance.

Step S105: and if a plot boundary point recording instruction input by a user on the RTK plot mapping interface is received, recording the boundary point position of the target plot obtained through mapping by the RTK locating rod, and completing mapping of the target plot.

In the specific application, the boundary point position of the target block is obtained by a user holding an RTK positioning rod to measure on the spot at the boundary point of the target block, communication connection is established between the RTK positioning rod and a reference station and a current terminal executing the mapping method, the RTK positioning rod positions the boundary point according to the relative position relation between the RTK positioning rod and the reference station to obtain the boundary point position, then the measured boundary point position is sent to the current terminal, and after the boundary point position is obtained through the current terminal, a block boundary point recording instruction input through a corresponding virtual button on an RTK block mapping interface can be used for completing recording of the boundary point position, and after recording of all boundary point positions of the target block selected in advance is completed, mapping of the target block is completed.

In practical application, the number of the boundary point positions of the target land block to be recorded can be customized by a user, four boundary points which can form a quadrangle are usually required to be recorded, and it is not excluded that only less than four points or more than four points are required to be recorded in some special cases.

In a specific application, after a boundary point position is recorded, a user can also input a command of canceling the recording of the boundary point of the block on an RTK block mapping interface through a corresponding button so as to cancel the recording of the boundary point position, and when the command of canceling the recording of the boundary point of the block is input once, the position of the boundary point which is recorded last is canceled.

According to the embodiment of the application, the communication connection relation is established with the RTK locating rod, the instruction input by a user is obtained and responded, the target plot needing to be surveyed is selected, then the boundary point position of the target plot obtained by the RTK locating rod is recorded, the surveying and mapping of the target plot are completed, surveying and mapping data can be recorded in real time in the surveying and mapping process, the position information of the target plot is obtained, and the surveying and mapping precision and efficiency are improved.

Example two:

as shown in fig. 2, in the present embodiment, after step S105 in the first embodiment, the method includes:

step S201: and if an obstacle adding instruction input by a user on the RTK plot mapping interface is received, adding and displaying at least one obstacle corresponding to the obstacle adding instruction on the RTK plot mapping interface.

In a specific application, the RTK plot mapping interface is provided with a corresponding virtual button for inputting an add obstacle command to add at least one obstacle to an obstacle list corresponding to a target plot, where the obstacle list includes obstacles that have been mapped or mapped incompletely, and the obstacle list may also be empty (i.e., without any obstacle). The obstacles may be sorted in the order of adding obstacles on the obstacle list and displayed with obstacle numbers, for example, the obstacles 001, the obstacles 002, the obstacles 003, and the like may be displayed in the order of adding obstacles, and the data format of the numbers may be customized to one digit, two digits, three digits, and the like. The user may also customize the name of each obstacle.

Step S201: and if an obstacle boundary point recording instruction input by a user on the RTK plot mapping interface is received, recording the boundary point position of the obstacle obtained by mapping the RTK positioning rod.

In a specific application, a user can hold an RTK positioning rod by hand to measure on the spot at the boundary point of an obstacle in the same way as the target plot is surveyed, the obstacle is surveyed, and the position of the boundary point of the obstacle is recorded through the current terminal. Generally, a regular quadrilateral is not a barrier, and a trilateral is very likely, so that at least three boundary point positions of the barrier need to be measured, without excluding that in special cases less than three points or more than three points need to be recorded.

In practical application, the boundary points of the obstacles and the polygons formed by connecting the boundary points in sequence are displayed on the RTK plot mapping interface in different colors, so that a user can see the positions and the shapes of the obstacles at a glance.

This embodiment can be at the in-process that carries out unmanned operation to the target plot through surveying and mapping the barrier in the target plot, and control unmanned aerial vehicle avoids the barrier, avoids unmanned aerial vehicle to bump the unmanned aerial vehicle damage that the barrier caused.

Example three:

in this embodiment, before the step S101 in the first embodiment, the method includes:

step S301: and if a communication connection relation is established with a reference station erected at a specified reference point position by a user, entering a setting interface when a setting instruction input by the user on the main interface is received.

In the specific application, after a user assumes a reference station at a pre-recorded designated position, the user controls the current terminal to search and connect to the reference station through a software program, the user checks whether the current terminal is in a reference station mode, if the current terminal is not in the reference station mode, the user manually inputs a setting instruction, enters a setting interface, sets the current working mode to be the reference station mode, and configures and stores reference station information according to actual needs; if the reference station at the same designated position is configured before and the relevant configuration information is not changed, the user can directly and manually input an RTK positioning rod switching instruction without reconfiguration, and the RTK positioning rod is configured in relevant operation. In a specific application, if the current terminal is not in the reference station mode, the user can enter a setting interface to manually set the current terminal in the reference station mode, and in the reference station mode, the user can configure the reference station information as required.

Step S302: and if a reference station mode setting instruction input by a user on the setting interface is received, setting the current terminal into a reference station mode and displaying a reference station mode configuration interface.

In a specific application, a user can input a reference station mode setting instruction through a corresponding button on a setting interface, the setting is set as a reference station mode, and the button for inputting the reference station mode setting instruction and the reference station mode configuration interface are located on the same interface.

Step S303: and if a reference station information configuration instruction input by a user in the reference station mode configuration interface is received, configuring reference station information according to the reference station information configuration instruction, wherein the reference station information comprises data transmission channel information of the reference station.

In specific application, the base station information mainly comprises basic information and general information, wherein the basic information comprises a current terminal ID, a base station ID, a firmware version number and a hardware version number of an RTK positioning rod, a software program version number operated by a current terminal and the like, and further comprises a firmware upgrading button for upgrading the function of the RTK positioning rod and a default setting restoring button for restoring default factory settings of the RTK positioning rod; the general information comprises a working mode switching button, three positioning reference mode information of a reference station, a reference point inputting button, a reference station searching button and other information configuration columns.

In specific application, the working mode switching button is used for switching the current terminal into a surveying pole mode or a reference station mode; the three positioning reference modes comprise a fixed point, a single-point positioning mode and an RTK positioning mode, wherein the fixed point mode needs to manually input or search a reference point as the reference point of a base station, the reference station in the single-point positioning mode uses a coordinate obtained by the current single-point positioning as a reference coordinate, the reference station in the RTK positioning mode receives differential signals of other reference stations firstly, the current coordinate acquired by the RTK positioning rod is used as the reference coordinate, and the RTK positioning mode needs other reference stations as a reference and is suitable for being used when other reference stations are erected at a new designated position when a land block is larger and exceeds a coverage range; the input datum point button is used for inputting a datum point name in a single-point positioning or RTK positioning mode and inputting the current position of the RTK positioning rod as a datum point; the reference station searching button is used for clicking to enter a reference station searching interface in a fixed point mode and selecting a reference station corresponding to a land parcel; the other information arrangement column includes an information input button or an information input position for arranging information such as the reference point, the reference station ID, and the number transmission channel.

In specific application, when a user firstly surveys a target plot or records a datum point again, the datum station can be erected at any suitable position and the datum point is recorded in a single-point positioning mode and an RTK positioning mode; if the user does not need to modify the mapping information of the land parcel which is mapped before for the first time for mapping the target land parcel, the reference station which is erected on the land parcel which is mapped before needs to be searched as the reference point through the reference station searching button displayed in the fixed point mode, and the reference station is erected on the current reference coordinate for mapping.

In a specific application, clicking a reference station searching button to enter a reference station searching page, displaying all reference stations in communication connection with a current terminal on the reference station searching page, and after a user searches the reference stations erected on a land parcel which is mapped and clicks and selects, displaying the selected reference stations in a color different from that of other reference stations.

Step S304: and if an RTK positioning rod switching instruction input by a user on the mode interface of the reference station is received, searching the RTK positioning rod in the network signal range of the current terminal again and establishing a communication connection relation with the searched RTK positioning rod.

In a specific application, after the configuration of the reference station information is completed, the user can input an RTK positioning rod switching instruction on the reference station mode interface, and establish communication connection with the searched RTK positioning rod again.

Step S305: and entering a setting interface when receiving a setting instruction input by a user on the main interface.

In specific application, after communication connection with the searched RTK positioning rod is established again, a user checks whether the current terminal is in a surveying rod mode, if the terminal is not in the surveying rod mode, the user manually inputs a setting instruction, enters a setting interface, sets the current working mode to be the surveying rod mode, and configures and stores surveying rod information according to actual needs; if the RTK positioning rod is configured before and the relevant configuration information is not changed, reconfiguration is not needed, and a user can directly control the current terminal to enter a mapping rod mode interface to execute a relevant mapping task.

Step S306: and if a surveying rod mode setting instruction input by the user on the setting interface is received, setting the current terminal to be a surveying rod mode and displaying a surveying rod mode configuration interface.

In a specific application, a user can input a surveying rod mode setting instruction through a corresponding button on a setting interface and set the surveying rod mode to be the surveying rod mode.

Step S307: and if a surveying rod information configuration instruction input by a user on the surveying rod mode configuration interface is received, configuring surveying rod information according to the surveying rod information configuration instruction, wherein the surveying rod information comprises data transmission channel information of the RTK locating rod, and the data transmission channel information of the RTK locating rod is consistent with the data transmission channel information of the reference station.

In specific application, the surveying and mapping rod information mainly comprises data transmission channel information of the RTK locating rod, and when the data transmission channel information of the RTK locating rod is consistent with the data transmission channel information of the reference station, the current terminal can enter a surveying and mapping rod mode so as to execute corresponding surveying and mapping operation. And if the data transmission channel information of the RTK positioning rod is inconsistent with the data transmission channel information of the reference station, resetting the data transmission channel information of the RTK positioning rod and the data transmission channel information of the reference station, and keeping the data transmission channel information of the RTK positioning rod and the data transmission channel information of the reference station consistent.

The embodiment configures the reference station information and the surveying rod information through the current terminal, can realize remote setting of the reference station information and the surveying rod information, and is simple in operation and easy to realize.

Example four:

as shown in fig. 3, in the present embodiment, the mapping method further includes:

step S401: when the recording of the positions of two boundary points positioned on the same side of the target land parcel is finished, generating a connecting line between the positions of the two boundary points;

step S402: if a direction selection instruction and a length setting instruction input by a user on the RTK plot mapping interface are received, generating a rectangular plot along the perpendicular bisector direction of the connecting line by taking the connecting line as a side, wherein the rectangular plot is the target plot; the side length of the rectangular land block along the direction of the perpendicular bisector is equal to the length corresponding to the length setting instruction;

step S403: and displaying the four boundary point positions and the four side lengths of the rectangular plot on the RTK plot mapping interface.

In specific application, the surveying and mapping operation of the target plot can also be completed through manual assistance, and the method is used for measuring the positions of two boundary points which are positioned on the same side of the target plot only through an RTK positioning rod, then generating a connecting line between the two boundary points, and manually inputting the direction of generating the target plot and the extension length of the target plot by a user, automatically generating a complete target plot, and completing the surveying and mapping of the whole target plot. Since the target parcel is generally a regular rectangle, a rectangular parcel can be generated in the direction of the perpendicular bisector of a connecting line of two boundary points as an edge. It is not excluded that the circular parcel can be automatically generated in a manner that a user manually inputs the radius by taking a central point position as a center of a circle. Similarly, plots of other shapes may be generated in a similar manner.

As shown in fig. 4, a schematic diagram of a rectangular parcel generated by a manual assistance mode is exemplarily shown, where the positions of boundary points a and B are positions of boundary points measured by an RTK locating lever, a line segment AB is the connecting line, and positions of boundary points C and D are two other boundary points of the rectangular parcel generated by the manual assistance mode. Fig. 4 shows an exemplary rectangular parcel ABCD with all four sides of length L.

In a specific application, the plots in the plot list that are mapped by the RTK mapping poles and the plots that are generated by means of means assistance can be distinguished by different markers so that the user can know the mapping manner of the plots at a glance.

In specific application, each place position in the place list can also be provided with a synchronization button, the mapping data of the corresponding place can be sent to the cloud end for storage by clicking the synchronization button, and editing operation on the place name, mapping operation on the place which is not mapped or re-mapping operation on the place which is mapped is realized by clicking the place position. It should be understood that the click patterns corresponding to different operations are different.

This embodiment generates the parcel through manual auxiliary mode, and realization that can be quick improves the survey and drawing efficiency to the survey and drawing work of the parcel of regular shape.

Example five:

as shown in fig. 5, the present embodiment provides a mapping system 100 for executing the method steps in the first embodiment, where the system may specifically be a software program system running on an intelligent terminal, and includes:

a surveying rod mode interface display module 101, configured to display a surveying rod mode interface if the surveying rod mode is entered;

the work order list interface display module 102 is configured to display a work order list interface if a work order list interface entry instruction input by a user on the surveyor's pole mode interface is received, where the work order list interface is used to display an added work order;

the plot list interface display module 103 is configured to display a plot list interface of the work order corresponding to the work order selection instruction if the work order selection instruction input by the user on the work order list interface is received, where the plot list interface is used to display the added plots;

a plot mapping interface display module 104, configured to display an RTK plot mapping interface of a target plot corresponding to a plot selection instruction if the plot selection instruction input by a user on the plot list interface is received, where the RTK plot mapping interface is used to display a boundary point position of the target plot;

and the plot boundary point recording module 105 is configured to record a boundary point position of the target plot obtained through the mapping by the RTK positioning rod if a plot boundary point recording instruction input by the user on the RTK plot mapping interface is received, so as to complete mapping of the target plot.

In one embodiment, the mapping system further comprises:

the communication module is used for searching an RTK positioning rod located in the network signal range of the current terminal and establishing a communication connection relation with the RTK positioning rod if the main interface is displayed;

the mode selection module is used for acquiring state information configured by a user for the RTK positioning rod and entering a reference station mode or a surveying rod mode according to the state information;

in one embodiment, the mapping system further comprises:

and the positioning rod list display module is used for displaying an RTK positioning rod list on the main interface, and the RTK positioning rod list comprises the RTK positioning rods.

In one embodiment, the mapping system further comprises:

and the work order adding module is used for adding and displaying the work order corresponding to the work order adding instruction on the work order list interface if the work order adding instruction input by the user on the work order list interface is received.

In one embodiment, the mapping system further comprises:

and the land parcel adding module is used for adding and displaying a land parcel corresponding to the land parcel adding instruction on the land parcel list interface if the land parcel adding instruction input by a user on the land parcel list interface is received.

Example six:

in this embodiment, the mapping system of the fifth embodiment further includes a structure for performing the method steps of the second embodiment, which further includes:

the obstacle adding module is used for adding and displaying at least one obstacle corresponding to the obstacle adding instruction on the RTK plot mapping interface if the obstacle adding instruction input by a user on the RTK plot mapping interface is received;

and the barrier boundary point recording module is used for recording the boundary point position of the barrier obtained by mapping the RTK locating rod and completing the mapping of the barrier if a barrier boundary point recording instruction input by a user on the RTK plot mapping interface is received.

Example seven:

in this embodiment, the mapping system of the fifth embodiment further includes a structure for performing the method steps of the third embodiment, which further includes:

the mode detection module is used for detecting whether the current terminal is in a reference station mode or not if a communication connection relation is established with a reference station erected by a user at a specified reference point position;

the setting interface display module is used for entering a setting interface when receiving a setting instruction input by a user on the main interface if the main interface is not in the reference station mode;

the first configuration interface display module is used for setting the current terminal into a reference station mode and displaying a reference station mode configuration interface if a reference station mode setting instruction input by a user on the setting interface is received;

the reference station information configuration module is used for configuring reference station information according to a reference station information configuration instruction input by a user on the reference station mode configuration interface if the reference station information configuration instruction is received, wherein the reference station information comprises data transmission channel information of a reference station;

the communication module is further used for re-searching the RTK positioning rod located in the network signal range of the current terminal and establishing a communication connection relation with the re-searched RTK positioning rod if an RTK positioning rod switching instruction input by a user on the mode interface of the reference station is received;

the mode detection module is further used for detecting whether the current terminal is in a surveying rod mode;

the setting interface display module is also used for entering a setting interface when receiving a setting instruction input by a user on the main interface if the display module is not in the surveying rod mode;

the second configuration interface display module is used for setting the current terminal into a surveying rod mode and displaying a surveying rod mode configuration interface if a surveying rod mode setting instruction input by a user on the setting interface is received;

and the mapping rod information configuration module is used for configuring mapping rod information according to a mapping rod information configuration instruction input by a user on the mapping rod mode configuration interface if the mapping rod information configuration instruction is received, wherein the mapping rod information comprises the data transmission channel information of the RTK positioning rod, and the data transmission channel information of the RTK positioning rod is consistent with the data transmission channel information of the reference station.

Example eight:

in this embodiment, the mapping system of the fifth embodiment further includes a structure for performing the method steps of the fourth embodiment, which further includes:

the connecting line generating module is used for generating a connecting line between two boundary point positions when the recording of the two boundary point positions positioned on the same side of the target plot is completed;

a target parcel generation module, configured to generate a rectangular parcel in a perpendicular bisector direction of the connecting line by using the connecting line as a side if a direction selection instruction and a length setting instruction input by a user on the RTK parcel mapping interface are received, where the rectangular parcel is the target parcel; the side length of the rectangular land block along the direction of the perpendicular bisector is equal to the length corresponding to the length setting instruction;

and the target plot display module is used for displaying the four boundary point positions and the four side lengths of the rectangular plot on the RTK plot mapping interface.

Example nine:

as shown in fig. 6, the present embodiment provides a terminal device 5, which includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in the various embodiments of the page sliding control method described above, such as the steps S101 to S105 shown in fig. 1. Alternatively, the processor 50, when executing the computer program 52, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 101 to 105 shown in fig. 5.

Illustratively, the computer program 52 may be partitioned into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 52 in the terminal device 5. For example, the computer program 52 may be divided into a map rod mode interface display module, a work order list interface display module, a parcel mapping interface display module, and a parcel boundary point recording module, each of which functions specifically as follows:

The terminal device 5 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of a terminal device 5 and does not constitute a limitation of terminal device 5 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.

The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 51 may be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may also be an external storage device of the terminal device 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing the computer program and other programs and data required by the terminal device. The memory 51 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A method of mapping, comprising:

if a plot boundary point recording instruction input by a user on the RTK plot mapping interface is received, recording the boundary point position of the target plot obtained through mapping by the RTK locating rod, and completing mapping of the target plot;

if the surveying rod mode is entered, before displaying the surveying rod mode interface, the method includes:

if a communication connection relation is established with a reference station erected by a user at a specified reference point position, entering a setting interface when a setting instruction input by the user at the main interface is received;

if a reference station mode setting instruction input by a user on the setting interface is received, setting the current terminal into a reference station mode and displaying a reference station mode configuration interface;

if a reference station information configuration instruction input by a user in the reference station mode configuration interface is received, configuring reference station information according to the reference station information configuration instruction, wherein the reference station information comprises data transmission channel information of the reference station;

if an RTK positioning rod switching instruction input by a user in the reference station mode configuration interface is received, searching an RTK positioning rod located in the network signal range of the current terminal again and establishing a communication connection relation with the searched RTK positioning rod;

entering a setting interface when receiving a setting instruction input by a user on the main interface;

if a surveying rod mode setting instruction input by a user on the setting interface is received, setting the current terminal to be a surveying rod mode and displaying a surveying rod mode configuration interface;

and if a surveying rod information configuration instruction input by a user on the surveying rod mode configuration interface is received, configuring surveying rod information according to the surveying rod information configuration instruction, wherein the surveying rod information comprises data transmission channel information of the RTK locating rod, and the data transmission channel information of the RTK locating rod is consistent with the data transmission channel information of the reference station.

2. The method of mapping as recited in claim 1, the method further comprising:

if an obstacle adding instruction input by a user on the RTK plot mapping interface is received, adding and displaying at least one obstacle corresponding to the obstacle adding instruction on the RTK plot mapping interface;

and if an obstacle boundary point recording instruction input by a user on the RTK plot mapping interface is received, recording the boundary point position of the obstacle obtained by mapping the RTK positioning rod, and completing mapping of the obstacle.

3. The method of mapping as defined in claim 1, the method further comprising:

when the recording of the positions of two boundary points positioned on the same side of the target land parcel is finished, generating a connecting line between the positions of the two boundary points;

if a direction selection instruction and a length setting instruction input by a user on the RTK plot mapping interface are received, generating a rectangular plot along the perpendicular bisector direction of the connecting line by taking the connecting line as a side, wherein the rectangular plot is the target plot; the side length of the rectangular land block along the direction of the perpendicular bisector is equal to the length corresponding to the length setting instruction;

and displaying the four boundary point positions and the four side lengths of the rectangular plot on the RTK plot mapping interface.

4. The mapping method of claim 1, wherein after establishing the communicative coupling relationship with the RTK positioning rod, the method includes:

5. A mapping system, comprising:

the plot boundary point recording module is used for recording the boundary point position of the target plot obtained through the plotting of the RTK positioning rod and completing the plotting of the target plot if a plot boundary point recording instruction input by a user on the RTK plot plotting interface is received;

the communication module is further used for re-searching the RTK positioning rod located in the network signal range of the current terminal and establishing a communication connection relation with the re-searched RTK positioning rod if an RTK positioning rod switching instruction input by a user in the reference station mode configuration interface is received;

6. The mapping system of claim 5, wherein the system further comprises:

7. The mapping system of claim 5, wherein the system further comprises:

8. The mapping system of claim 5, wherein the system further comprises:

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 4 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.