CN108459333A - Automatic positioning method, device and computer readable storage medium - Google Patents
Automatic positioning method, device and computer readable storage medium Download PDFInfo
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- CN108459333A CN108459333A CN201810042097.0A CN201810042097A CN108459333A CN 108459333 A CN108459333 A CN 108459333A CN 201810042097 A CN201810042097 A CN 201810042097A CN 108459333 A CN108459333 A CN 108459333A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of automatic positioning methods, include the following steps：Obtain the current first position information of device to be positioned and target position information, the corresponding building body information of device to be positioned, first three-dimensional coordinate of the device to be positioned in coordinate control axis net is determined based on first position information, buildings model information, coordinate control axis net and benchmark information；Second three-dimensional coordinate of the device to be positioned in coordinate control axis net is determined based on target position information, buildings model information, coordinate control axis net and the benchmark information；Device movement to be positioned is controlled based on the first three-dimensional coordinate and the second three-dimensional coordinate.The invention also discloses a kind of automatic positioning equipment and computer readable storage mediums.The present invention realizes the automatic positioning of construction, greatly reduces the manual operation in position fixing process, avoids measurement error when being positioned to the device to be positioned by way of manual measurement unwrapping wire and error accumulation, improves the accuracy of positioning.
Description
Technical field
The present invention relates to a kind of technical field of buildings more particularly to automatic positioning method, device and computer-readable storages
Medium.
Background technology
Real estate construction industry always is mainstay of the national economy industry, in the new skill such as internet, artificial intelligence, Internet of Things
Under the development situation of art, construction industry is also faced with a new change.All the time, country is advocating building industrialization, and applies
Work mechanization is the core of building industrialization.
Currently, in the installation process of building element, typically by manually measuring unwrapping wire, building element is carried out
Installation.Detailed process is as follows：The datum mark provided from Party A (all sides of building body), pilot measurement SURVEYING CONTROL NETWORK；From pilot measurement
SURVEYING CONTROL NETWORK, in pilot measurement datum mark to each floor；From the datum mark in floor, then the datum mark of pilot measurement component installation location
And line, it is installed with guidance is drawn.But due to being required to manual measurement unwrapping wire in the above process, lead to the installation of building element
Heavy workload is larger in journey and measures not accurate enough.
The above is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that the above is existing skill
Art.
Invention content
The main purpose of the present invention is to provide a kind of automatic positioning method, device and computer readable storage medium, purports
Heavy workload is larger in the installation process for solving building element and measures not accurate enough technical problem.
To achieve the above object, the present invention provides a kind of automatic positioning method, and the automatic positioning method includes following step
Suddenly：
Obtain the current first position information of device to be positioned and target position information and the device pair to be positioned
The building body information answered, wherein the building body information includes the buildings model information of major structure of construction, coordinate control
Axis net and benchmark information；
It is true based on the first position information, the buildings model information, coordinate control axis net and the benchmark information
Fixed first three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
It is true based on the target position information, the buildings model information, coordinate control axis net and the benchmark information
Fixed second three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
Based on the device movement to be positioned of first three-dimensional coordinate and second three-dimensional coordinate control.
Further, in one embodiment, described based on the first position information, the buildings model information, coordinate
Control shaft net and the benchmark information determine first three-dimensional coordinate of the device to be positioned in the coordinate control axis net
The step of include：
The major structure of construction is determined based on the buildings model information, coordinate control axis net and the benchmark information
Benchmark point coordinates of the datum mark in the coordinate control axis net；
Based on the first position information, the buildings model information and the benchmark information determine the datum mark with
First position relationship between the device to be positioned；
First three-dimensional coordinate is determined based on the first position relationship and the benchmark point coordinates.
Further, in one embodiment, described based on the target position information, the buildings model information, coordinate
Control shaft net and the benchmark information determine second three-dimensional coordinate of the device to be positioned in the coordinate control axis net
The step of include：
Based on the target position information, the buildings model information and the benchmark information determine the datum mark with
Second position relationship between the target location of the device to be positioned；
Second three-dimensional coordinate is determined based on the second position relationship and the benchmark point coordinates.
Further, in one embodiment, described to be controlled based on first three-dimensional coordinate and second three-dimensional coordinate
The step of the device to be positioned movement includes：
The plane coordinates of plane coordinates and second three-dimensional coordinate based on first three-dimensional coordinate waits for described in determining
The movement locus of positioning device；
Based on the movement locus control device movement to be positioned.
Further, in one embodiment, the step that the device movement to be positioned is controlled based on the movement locus
Suddenly include：
In the moving process of the device to be positioned, the current second confidence of device to be positioned described in timing acquisition
Breath；
Based on the second position information, the buildings model information and the benchmark information determine the datum mark with
The third place relationship between the device to be positioned, and institute is determined based on the third place relationship and the benchmark point coordinates
State third three-dimensional coordinate；
The plane coordinates of plane coordinates and second three-dimensional coordinate based on the third three-dimensional coordinate adjusts the fortune
Dynamic rail mark, and based on the device movement to be positioned of the movement locus control after adjustment.
Further, in one embodiment, the step that the device movement to be positioned is controlled based on the movement locus
Suddenly include：
In the moving process of the device to be positioned, the camera for controlling the device to be positioned carries out the behaviour that takes pictures in real time
Make, to obtain the image of the device local environment to be positioned；
Image recognition operations are carried out to described image, to obtain image recognition result；
In determining described image based on described image recognition result there are the major structure of construction face side or hole,
And it is described face while or non-second three-dimensional coordinate in hole is corresponding when facing or when hole, described in recognition result adjustment
Movement locus, and based on the device movement to be positioned of the movement locus control after adjustment.
Further, in one embodiment, it after described the step of carrying out image recognition operations to described image, also wraps
It includes：
Whether there are obstacles in the corresponding predeterminable area of the device to be positioned are determined based on the recognition result；
There are when barrier in the corresponding predeterminable area of the device to be positioned, based on the current of the device to be positioned
Location information determines the safe distance between the barrier and the device to be positioned；
The movement locus is adjusted based on the safe distance, and based on being waited for described in the movement locus control after adjustment
Positioning device moves.
Further, in one embodiment, described to be controlled based on first three-dimensional coordinate and second three-dimensional coordinate
After the step of the device movement to be positioned, the automatic positioning method further includes：
When being moved to the corresponding position of plane coordinates of second three-dimensional coordinate in the device to be positioned, described in acquisition
The 4th current three-dimensional coordinate of device to be positioned；
Based on second three-dimensional coordinate and the 4th three-dimensional coordinate, the support arm exhibition of the device to be positioned is controlled
It opens.
In addition, to achieve the above object, the present invention also provides a kind of automatic positioning equipment, the automatic positioning equipment packet
It includes：Memory, processor and it is stored in the automatic positioning program that can be run on the memory and on the processor, it is described
The step of automatic positioning program realizes automatic positioning method described in any one of the above embodiments when being executed by the processor.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
It is stored with automatic positioning program on storage medium, is realized described in any of the above-described when the automatic positioning program is executed by processor
Automatic positioning method the step of.
The present invention is by obtaining device to be positioned current first position information and target position information and described waiting for
The corresponding building body information of positioning device is then based on the first position information, the buildings model information, coordinate control
Axis net and the benchmark information determine first three-dimensional coordinate of the device to be positioned in the coordinate control axis net, then
It is waited for based on described in the determination of the target position information, the buildings model information, coordinate control axis net and the benchmark information
Second three-dimensional coordinate of the positioning device in the coordinate control axis net, is then based on first three-dimensional coordinate and described second
The three-dimensional coordinate control device movement to be positioned, so that the device to be positioned is moved to the corresponding position of the second three-dimensional coordinate
It sets, to realize the automatic positioning of device to be positioned, greatly reduces the manual operation in position fixing process, avoid by manually surveying
The measurement error when mode of amount unwrapping wire positions the device to be positioned and error accumulation, improve the accuracy of positioning.
Description of the drawings
Fig. 1 is the structural schematic diagram of automatic positioning equipment in the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of automatic positioning method first embodiment of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, in the hardware running environment that Fig. 1, which is the embodiment of the present invention, to be related to automatic positioning equipment structure
Schematic diagram.
Terminal of the embodiment of the present invention can be PC, can also be smart mobile phone, tablet computer, E-book reader, MP3
(Moving Picture Experts Group Audio Layer III, dynamic image expert's compression standard audio level 3)
Player, MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert's compression standard sound
Frequency level 4) the packaged type terminal device with display function such as player, pocket computer.
As shown in Figure 1, the terminal may include：Processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 may include optionally that the wired of standard connects
Mouth, wireless interface (such as WI-FI interfaces).Memory 1005 can be high-speed RAM memory, can also be stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio
Circuit, WiFi module etc..Wherein, sensor such as optical sensor, motion sensor and other sensors.Specifically, light
Sensor may include ambient light sensor and proximity sensor, wherein ambient light sensor can according to the light and shade of ambient light come
The brightness of display screen is adjusted, proximity sensor can close display screen and/or backlight when mobile terminal is moved in one's ear.As
One kind of motion sensor, gravity accelerometer can detect in all directions the size of (generally three axis) acceleration, quiet
Size and the direction that can detect that gravity when only, the application that can be used to identify mobile terminal posture are (such as horizontal/vertical screen switching, related
Game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Certainly, mobile terminal can also match
The other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor are set, details are not described herein.
It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, either combines certain components or different components arrangement.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage media
Believe module, Subscriber Interface Module SIM and automatic positioning program.
In terminal shown in Fig. 1, network interface 1004 is mainly used for connecting background server, is carried out with background server
Data communicate；User interface 1003 is mainly used for connecting client (user terminal), with client into row data communication；And processor
1001 can be used for calling the automatic positioning program stored in memory 1005.
In the present embodiment, automatic positioning equipment includes：Memory 1005, processor 1001 and it is stored in the memory
On 1005 and the automatic positioning program that can be run on the processor 1001, wherein processor 1001 calls memory 1005
When the automatic positioning program of middle storage, and execute following operation：
Obtain the current first position information of device to be positioned and target position information and the device pair to be positioned
The building body information answered, wherein the building body information includes the buildings model information of major structure of construction, coordinate control
Axis net and benchmark information；
It is true based on the first position information, the buildings model information, coordinate control axis net and the benchmark information
Fixed first three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
It is true based on the target position information, the buildings model information, coordinate control axis net and the benchmark information
Fixed second three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
Based on the device movement to be positioned of first three-dimensional coordinate and second three-dimensional coordinate control.
Further, processor 1001 can call the automatic positioning program stored in memory 1005, also execute following
Operation：
The major structure of construction is determined based on the buildings model information, coordinate control axis net and the benchmark information
Benchmark point coordinates of the datum mark in the coordinate control axis net；
Based on the first position information, the buildings model information and the benchmark information determine the datum mark with
First position relationship between the device to be positioned；
First three-dimensional coordinate is determined based on the first position relationship and the benchmark point coordinates.
Further, processor 1001 can call the automatic positioning program stored in memory 1005, also execute following
Operation：
Based on the target position information, the buildings model information and the benchmark information determine the datum mark with
Second position relationship between the target location of the device to be positioned；
Second three-dimensional coordinate is determined based on the second position relationship and the benchmark point coordinates.
Further, processor 1001 can call the automatic positioning program stored in memory 1005, also execute following
Operation：
The plane coordinates of plane coordinates and second three-dimensional coordinate based on first three-dimensional coordinate waits for described in determining
The movement locus of positioning device；
Based on the movement locus control device movement to be positioned.
Further, processor 1001 can call the automatic positioning program stored in memory 1005, also execute following
Operation：
In the moving process of the device to be positioned, the current second confidence of device to be positioned described in timing acquisition
Breath；
Based on the second position information, the buildings model information and the benchmark information determine the datum mark with
The third place relationship between the device to be positioned, and institute is determined based on the third place relationship and the benchmark point coordinates
State third three-dimensional coordinate；
The plane coordinates of plane coordinates and second three-dimensional coordinate based on the third three-dimensional coordinate adjusts the fortune
Dynamic rail mark, and based on the device movement to be positioned of the movement locus control after adjustment.
Further, processor 1001 can call the automatic positioning program stored in memory 1005, also execute following
Operation：
In the moving process of the device to be positioned, the camera for controlling the device to be positioned carries out the behaviour that takes pictures in real time
Make, to obtain the image of the device local environment to be positioned；
Image recognition operations are carried out to described image, to obtain image recognition result；
In determining described image based on described image recognition result there are the major structure of construction face side or hole,
And it is described face while or non-second three-dimensional coordinate in hole is corresponding when facing or when hole, described in recognition result adjustment
Movement locus, and based on the device movement to be positioned of the movement locus control after adjustment.
Further, processor 1001 can call the automatic positioning program stored in memory 1005, also execute following
Operation：
Whether there are obstacles in the corresponding predeterminable area of the device to be positioned are determined based on the recognition result；
There are when barrier in the corresponding predeterminable area of the device to be positioned, based on the current of the device to be positioned
Location information determines the safe distance between the barrier and the device to be positioned；
The movement locus is adjusted based on the safe distance, and based on being waited for described in the movement locus control after adjustment
Positioning device moves.
Further, processor 1001 can call the automatic positioning program stored in memory 1005, also execute following
Operation：
When being moved to the corresponding position of plane coordinates of second three-dimensional coordinate in the device to be positioned, described in acquisition
The 4th current three-dimensional coordinate of device to be positioned；
Based on second three-dimensional coordinate and the 4th three-dimensional coordinate, the support arm exhibition of the device to be positioned is controlled
It opens.
The present invention also provides a kind of automatic positioning methods, implement for automatic positioning method first of the present invention with reference to Fig. 2, Fig. 2
The flow diagram of example.
In the present embodiment, which includes the following steps：
Step S100 obtains the current first position information of device to be positioned and target position information and described waits for
The corresponding building body information of positioning device, wherein the building body information includes the buildings model letter of major structure of construction
Breath, coordinate control axis net and benchmark information；
In the present embodiment, which can be the mounting device of building element, which is equipped with fixed
Position module, which can be with GPS system satellite, big-dipper satellite, GALILEO positioning system and GLONASS positioning system
One or more of carry out real-time Communication for Power, with determine the device to be positioned current location information, to realize the dress to be positioned
The real-time positioning set.
In the present embodiment, which is that the device to be positioned is believed by the position that the locating module is got
Breath, i.e., the device to be positioned is in GPS system satellite, big-dipper satellite, GALILEO positioning system or GLONASS positioning system
Location information, target position information are the location information of device to be positioned target location in the major structure of construction.Benchmark
Point information refers to the major structure of construction datum mark in GPS system satellite, big-dipper satellite, GALILEO positioning system or GLONASS
Location information in positioning system can be provided by all sides of Party A, that is, major structure of construction.
It should be noted that user can trigger positioning instruction by the start button that device to be positioned is arranged, alternatively, can set
It is placed in control centre's server of the device communication connection to be positioned, sending positioning instruction by control centre's server extremely should
Device to be positioned, or, installation personnel can install corresponding APP application programs in the mobile terminals such as the mobile phone that it is held,
Positioning instruction is sent to the device to be positioned by mobile terminal based on the APP, which is specifically as follows building element
Installation instruction, when receiving positioning instruction, obtain the current first position information of device to be positioned and target location letter
Breath and the corresponding building body information of the device to be positioned.
Step S200 is based on the first position information, the buildings model information, coordinate control axis net and the benchmark
Point information determines first three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
In the present embodiment, when getting first position information and building body information, believed based on the first position
Breath, the buildings model information, coordinate control axis net and the benchmark information determine the device to be positioned in the coordinate
The first three-dimensional coordinate in control shaft net, specifically, it is first determined the datum mark of major structure of construction is in the coordinate control axis
Benchmark point coordinates in net then determines the first position between datum mark and the device to be positioned based on the benchmark information
Relationship；First three-dimensional coordinate is then determined based on the first position relationship and the benchmark point coordinates, wherein this first
Three-dimensional coordinate can be coordinate of the locating module of the device to be positioned in the coordinate control axis net.
Step S300 is based on the target position information, the buildings model information, coordinate control axis net and the benchmark
Point information determines second three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
In the present embodiment, in the present embodiment, when getting target position information and building body information, it is based on institute
It states target position information, the buildings model information, coordinate control axis net and the benchmark information and determines the dress to be positioned
The second three-dimensional coordinate in the coordinate control axis net is set, specifically, it is first determined the datum mark of major structure of construction is in institute
The benchmark point coordinates in coordinate control axis net is stated, the datum mark and the device to be positioned are then determined based on benchmark information
Target location between second position relationship, then determined based on the second position relationship and the benchmark point coordinates described in
Second three-dimensional coordinate.
Step S400 is moved based on first three-dimensional coordinate and second three-dimensional coordinate control device to be positioned
It is dynamic.
In the present embodiment, when getting the first three-dimensional coordinate and second three-dimensional coordinate, it is based on the described 1st
Dimension coordinate and second three-dimensional coordinate control device movement to be positioned, specifically, can be according to the first three-dimensional coordinate and institute
The movement locus that the second three-dimensional coordinate generates the device to be positioned is stated, controlling the device to be positioned according to the movement locus is moved
It is dynamic, so that the device to be positioned is moved to the corresponding position of the second three-dimensional coordinate, to realize the automatic fixed of the device to be positioned
Position.
The automatic positioning method that the present embodiment proposes, the first position information and mesh current by obtaining device to be positioned
Cursor position information and the corresponding building body information of the device to be positioned are then based on the first position information, described
Buildings model information, coordinate control axis net and the benchmark information determine the device to be positioned in the coordinate control axis net
In the first three-dimensional coordinate, be then based on the target position information, the buildings model information, coordinate control axis net and described
Benchmark information determines second three-dimensional coordinate of the device to be positioned in the coordinate control axis net, is then based on described
One three-dimensional coordinate and the second three-dimensional coordinate control device to be positioned movement so that the device to be positioned be moved to this
The corresponding position of two three-dimensional coordinates greatly reduces the artificial behaviour in position fixing process to realize the automatic positioning of device to be positioned
Make, avoid measurement error when being positioned to the device to be positioned by way of manual measurement unwrapping wire and error accumulation,
Improve the accuracy of positioning.
Based on first embodiment, the second embodiment of automatic positioning method of the present invention, in the present embodiment, step are proposed
S200 includes：
Step S210 is built based on described in the determination of the buildings model information, coordinate control axis net and the benchmark information
Build benchmark point coordinates of the datum mark of agent structure in the coordinate control axis net；
In the present embodiment, when getting first position information and building body information, first according to buildings model
Information, coordinate control axis net and the benchmark information determine the datum mark of the major structure of construction in the coordinate control axis
The datum mark is specifically introduced coordinate control by the benchmark point coordinates in net based on the benchmark information and buildings model information
Axis net to determine position of the datum mark in coordinate control axis net, and then determines the benchmark point coordinates.
Step S220 determines institute based on the first position information, the buildings model information and the benchmark information
State the first position relationship between datum mark and the device to be positioned；
In the present embodiment, it is true that the first position information, the buildings model information and the benchmark information are based on
Fixed first position relationship between the datum mark and the device to be positioned determines device to be positioned current position and base
On schedule current position relationship, specifically can be corresponding in buildings model information with datum mark by the current position of device to be positioned
Position relationship in buildings model determines that the current position of device to be positioned is closed with position of the datum mark in coordinate control axis net
System is first position relationship.
Step S230 determines first three-dimensional coordinate based on the first position relationship and the benchmark point coordinates.
In the present embodiment, when getting first position relationship and the benchmark point coordinates, according to the first position
Relationship and the benchmark point coordinates determine first three-dimensional coordinate, and then can accurately determine first three-dimensional coordinate.
It should be noted that sequencing is not present in the implementation procedure of step S210 and step S220.
The automatic positioning method that the present embodiment proposes, by being based on the buildings model information, coordinate control axis net and institute
It states benchmark information and determines benchmark point coordinates of the datum mark of the major structure of construction in the coordinate control axis net, then
Based on the first position information, the buildings model information and the benchmark information determine the datum mark with it is described undetermined
First position relationship between the device of position, then determines described first based on the first position relationship and the benchmark point coordinates
Three-dimensional coordinate can accurately determine the first three-dimensional coordinate of device to be positioned, improve the accuracy of the first three-dimensional coordinate, into
And improve the accuracy of automatic positioning.
Based on second embodiment, the 3rd embodiment of automatic positioning method of the present invention, in the present embodiment, step are proposed
S300 includes：
Step S310 determines institute based on the target position information, the buildings model information and the benchmark information
State the second position relationship between datum mark and the target location of the device to be positioned；
Wherein, second position relationship refers to device target location to be positioned and the current position relationship of datum mark, specifically may be used
By the position relationship of the target location of device to be positioned and datum mark in the corresponding buildings model of buildings model information, determine
The target location of device to be positioned and position relationship, that is, second position relationship of the datum mark in coordinate control axis net.
Step S320 determines second three-dimensional coordinate based on the second position relationship and the benchmark point coordinates.
In the present embodiment, when getting second position relationship, according to second position relationship and the benchmark point coordinates
It determines second three-dimensional coordinate, and then can accurately determine second three-dimensional coordinate.
The automatic positioning method that the present embodiment proposes, by being based on the target position information, the buildings model information
And the benchmark information determines the second position relationship between the datum mark and the target location of the device to be positioned, connects
It and second three-dimensional coordinate is determined based on the second position relationship and the benchmark point coordinates, can accurately determine undetermined
Second three-dimensional coordinate of position device improves the accuracy of the second three-dimensional coordinate, and then improves the accuracy of automatic positioning.
Based on 3rd embodiment, the fourth embodiment of automatic positioning method of the present invention, in the present embodiment, step are proposed
S400 includes：
The plane coordinates of step S410, plane coordinates and second three-dimensional coordinate based on first three-dimensional coordinate are true
The movement locus of the fixed device to be positioned；
In the present embodiment, when getting the first three-dimensional coordinate and the second three-dimensional coordinate, according to first three-dimensional coordinate
Plane coordinates and the plane coordinates of second three-dimensional coordinate determine the movement locus of the device to be positioned, for example, first
Three-dimensional coordinate is (X0、Y0、Z0), the second three-dimensional coordinate is (X1、Y1、Z1), X0、Y0、X1、Y1For plane residing for the device to be positioned
Plane coordinates, then according to X0、Y0、X1、Y1Determine the movement locus of device to be positioned, i.e. the movement locus is device to be positioned
In its residing planar obit simulation, specifically, X can be passed through0、Y0、X1、Y1Between comparing result determine the movement locus.
Step S420, based on the movement locus control device movement to be positioned.
In the present embodiment, when determining the movement locus of the device to be positioned, described in movement locus control
Device movement to be positioned, that is, control the device to be positioned and moved according to the movement locus, to realize the positioning of the device to be positioned.
The automatic positioning method that the present embodiment proposes passes through plane coordinates based on first three-dimensional coordinate and described the
The plane coordinates of two three-dimensional coordinates determines the movement locus of the device to be positioned, is then based on described in movement locus control
Device movement to be positioned, and then the automatic positioning of device to be positioned can be realized by movement locus, it greatly reduces and positioned
Manual operation in journey further improves the accuracy of positioning.
Based on fourth embodiment, the 5th embodiment of automatic positioning method of the present invention, in the present embodiment, step are proposed
S420 includes：
Step S421, in the moving process of the device to be positioned, device to be positioned described in timing acquisition it is current the
Two location informations；
In the present embodiment, fixed in the moving process for controlling the device movement to be positioned based on the movement locus
When obtain the current second position information of the device to be positioned, i.e., it is undetermined to obtain this by the locating module of the device to be positioned
Location information of the position device in GPS system satellite, big-dipper satellite, GALILEO positioning system or GLONASS positioning system.
Step S422 determines institute based on the second position information, the buildings model information and the benchmark information
The third place relationship between datum mark and the device to be positioned is stated, and is based on the third place relationship and the datum mark
Coordinate determines the third three-dimensional coordinate；
In the present embodiment, when getting second position information, based on the second position information, the buildings model
Information and the benchmark information determine the third place relationship between the datum mark and the device to be positioned, and are based on institute
It states the third place relationship and the benchmark point coordinates determines the third three-dimensional coordinate, specifically, by being based on benchmark information
It determines the third place relationship between the datum mark and the target location of the device to be positioned, is then based on the third position
It sets relationship and the benchmark point coordinates determines the third three-dimensional coordinate.
Step S423, the plane coordinates tune of plane coordinates and second three-dimensional coordinate based on the third three-dimensional coordinate
The whole movement locus, and based on the device movement to be positioned of the movement locus control after adjustment.
In the present embodiment, when getting third three-dimensional coordinate, plane coordinates based on the third three-dimensional coordinate and
The plane coordinates of second three-dimensional coordinate adjusts the movement locus, and based on described in the movement locus control after adjustment
Device to be positioned movement, so can timing adjustment movement locus so that device to be positioned can be according to reasonable and safe
It moves track.
The automatic positioning method that the present embodiment proposes, by the moving process of the device to be positioned, timing acquisition
The current second position information of the device to be positioned, then be based on the second position information, the buildings model information and
The benchmark information determines the third place relationship between the datum mark and the device to be positioned, and is based on the third
Position relationship and the benchmark point coordinates determine the third three-dimensional coordinate, and then the plane based on the third three-dimensional coordinate is sat
The plane coordinates of mark and second three-dimensional coordinate adjusts the movement locus, and based on the movement locus control after adjustment
The device movement to be positioned so that device to be positioned can be moved according to the movement locus of timing adjustment, be improved to be positioned
The safety of device movement and accuracy.
Based on fourth embodiment, the sixth embodiment of automatic positioning method of the present invention, in the present embodiment, step are proposed
S420 includes：
Step S424, in the moving process of the device to be positioned, the camera for controlling the device to be positioned carries out
Real-time photographing operation, to obtain the image of the device local environment to be positioned；
Step S425 carries out image recognition operations, to obtain image recognition result to described image；
Step S426, the facing there are the major structure of construction in determining described image based on described image recognition result
While or hole and it is described face while or non-second three-dimensional coordinate in hole is corresponding face side or hole when, based on described image know
Other result adjusts the movement locus, and based on the device movement to be positioned of the movement locus control after adjustment.
It should be noted that device to be positioned is equipped with multiple cameras, which may be provided at the device to be positioned
Support arm or other positions, to obtain the image information of the device local environment to be positioned, it is preferable that the camera can be
360 degree of full-view cameras.
In the present embodiment, during the device to be positioned moves, the camera for controlling device to be positioned carries out in fact
When photographing operation, to obtain the image of device local environment to be positioned, i.e. the camera when device to be positioned constantly moves
It is constantly taking pictures, and then is obtaining the image that the device to be positioned is presently in environment in real time；When getting image every time, to institute
It states image and carries out image recognition operations, and facing with the presence or absence of the building body in the image is determined according to image recognition result
Side or hole, if facing side or hole in described first image, i.e., in the image that photographing operation obtains in an at least image
In the presence of side or hole is faced, then face whether side or hole are the target based on described in the determination of the current location information of device to be positioned
Location information is corresponding to face side or hole, specifically, it is i.e. current to obtain coordinate of the device to be positioned in coordinate control axis net
Location information, according to the model information of major structure of construction determine described in face side or hole whether be the second position information or
Second three-dimensional coordinate is corresponding to face side or hole, and the second position information or corresponding side or the hole faced of the second three-dimensional coordinate can be with
To face side or hole residing for installation station, the non-second position information in side or hole or the second three-dimensional seat are faced described in determination
It marks corresponding when facing side or hole, the movement locus is adjusted based on described image recognition result, and based on described in after adjustment
The movement locus control device movement to be positioned, i.e., according to the second three-dimensional coordinate, the device current location information pair to be positioned
The three-dimensional coordinate and image recognition result answered adjust the movement locus.
The automatic positioning method that the present embodiment proposes, by the moving process of the device to be positioned, described in control
The camera of device to be positioned carries out real-time photographing operation, then right to obtain the image of the device local environment to be positioned
Described image carries out image recognition operations and is then determining institute based on described image recognition result to obtain image recognition result
State in image there are the major structure of construction face while or hole and it is described face while or non-second three-dimensional coordinate pair in hole
Answer when facing side or hole, the movement locus is adjusted based on the recognition result, and based on the movement locus after adjustment
Control the device to be positioned movement, realize can avoid major structure of construction in device moving process to be positioned face side
Or hole, so that device to be positioned operation within the scope of safe distance, further improves device automatic positioning to be positioned
Accuracy and safety.
Based on sixth embodiment, the 7th embodiment of automatic positioning method of the present invention, in the present embodiment, step are proposed
After S425, step S420 further includes：
Step S427 is determined in the corresponding predeterminable area of the device to be positioned based on the recognition result with the presence or absence of barrier
Hinder object；
Step S428, there are when barrier in the corresponding predeterminable area of the device to be positioned, based on described to be positioned
The current location information of device determines the safe distance between the barrier and the device to be positioned；
Step S429 adjusts the movement locus based on the safe distance, and based on the movement locus after adjustment
Control the device movement to be positioned.
In the present embodiment, when getting image recognition result, device pair to be positioned is determined according to the image recognition result
Whether there are obstacles in the predeterminable area answered, and be based on there are when barrier in the corresponding predeterminable area of device to be positioned
The current location information of the device to be positioned determines the safe distance between the barrier and the device to be positioned, specifically
Ground according to the current location information of the device to be positioned, image, buildings model information and coordinate control axis net determine barrier with
Safe distance between the device to be positioned is then based on the safe distance and adjusts the movement locus, and based on adjustment
The movement locus control device movement to be positioned afterwards, so that the movement locus after adjustment bypasses the barrier.It needs
Illustrate, in other embodiments, the detector that can also break the barriers carries out barrier such as ultrasonic sensor
Detection.
The automatic positioning method that the present embodiment proposes, by determining that the device to be positioned corresponds to based on the recognition result
Predeterminable area in whether there are obstacles, then in the corresponding predeterminable area of the device to be positioned there are when barrier,
The safe distance between the barrier and the device to be positioned is determined based on the current location information of the device to be positioned,
It is then based on the safe distance and adjusts the movement locus, and is described to be positioned based on the movement locus control after adjustment
Device moves so that the device to be positioned can bypass the barrier in time, further improve device to be positioned and carry out automatically
The safety of positioning.
Based on above-described embodiment, the 8th embodiment of automatic positioning method of the present invention is proposed, in the present embodiment, in step
After S400, the automatic positioning method this include：
Step S500 is moved to the corresponding position of plane coordinates of second three-dimensional coordinate in the device to be positioned
When, obtain the 4th current three-dimensional coordinate of the device to be positioned；
Step S600 is based on second three-dimensional coordinate and the 4th three-dimensional coordinate, controls the device to be positioned
Support arm is unfolded.
In the present embodiment, the corresponding position of plane coordinates of second three-dimensional coordinate is moved in device to be positioned
When, i.e. when the corresponding plane coordinates in current location of the device to be positioned is identical as the plane coordinates of the second three-dimensional coordinate, obtain
The 4th current three-dimensional coordinate of the device to be positioned, the current location corresponding three of the 4th three-dimensional coordinate device to be positioned
Dimension coordinate, wherein the plane coordinates of the 4th three-dimensional coordinate is identical as the plane coordinates of the second three-dimensional coordinate.
When getting four three-dimensional coordinates, it is based on second three-dimensional coordinate and the 4th three-dimensional coordinate, control
The support arm of the device to be positioned is unfolded, and is (X in the second three-dimensional coordinate specifically1、Y1、Z1), the 4th three-dimensional coordinate is
(X2、Y2、Z2) when, according to Z1、Z2The support arm expansion for controlling the device to be positioned, if the first position information is that this is to be positioned
The location information that device is got by the locating module, then, the 4th three-dimensional coordinate are the current three-dimensional coordinate of the locating module,
Second three-dimensional coordinate is the target three-dimensional coordinate of the locating module, and the currently X in three-dimensional coordinate1、Y1It is sat respectively with target three-dimensional
Target X2、Y2Identical, i.e., current three-dimensional coordinate is only different from target three-dimensional coordinate Z axis coordinate, by the branch that device to be positioned is unfolded
Brace makes the Z axis coordinate and Z of the current three-dimensional coordinate of device to be positioned1It is identical, and then realize determining for device Z-direction to be positioned
Position.
Need to illustrate when, which is provided with the support arm (safety supporting device) of multiple automatically retractables,
Support arm is at least arranged 3, and support arm is connect with the ontology of device to be positioned, and the second three-dimensional coordinate is reached in device to be positioned
When corresponding position, device to be positioned controls support arm expansion, and is in close contact with ground, to share the weight of device to be positioned
Power, wherein can the structures such as electric driven glass sucker be set in support arm, to provide the electric driven glass sucker suction device institute to be positioned
Locate the ground of environment.
The automatic positioning method that the present embodiment proposes, by being moved to second three-dimensional coordinate in the device to be positioned
Plane coordinates corresponding position when, obtain the 4th current three-dimensional coordinate of the device to be positioned, be then based on described second
Three-dimensional coordinate and the 4th three-dimensional coordinate, control the support arm expansion of the device to be positioned, and then realize device to be positioned
Height adjust, to realize automatic positioning of the device to be positioned in vertical direction, it is automatically fixed to further improve device to be positioned
The accuracy of position.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium
On be stored with automatic positioning program, following operation is realized when the automatic positioning program is executed by processor：
Obtain the current first position information of device to be positioned and target position information and the device pair to be positioned
The building body information answered, wherein the building body information includes the buildings model information of major structure of construction, coordinate control
Axis net and benchmark information；
It is true based on the first position information, the buildings model information, coordinate control axis net and the benchmark information
Fixed first three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
It is true based on the target position information, the buildings model information, coordinate control axis net and the benchmark information
Fixed second three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
Based on the device movement to be positioned of first three-dimensional coordinate and second three-dimensional coordinate control.
Further, following operation is also realized when the automatic positioning program is executed by processor：
The major structure of construction is determined based on the buildings model information, coordinate control axis net and the benchmark information
Benchmark point coordinates of the datum mark in the coordinate control axis net；
Based on the first position information, the buildings model information and the benchmark information determine the datum mark with
First position relationship between the device to be positioned；
First three-dimensional coordinate is determined based on the first position relationship and the benchmark point coordinates.
Further, following operation is also realized when the automatic positioning program is executed by processor：
Based on the target position information, the buildings model information and the benchmark information determine the datum mark with
Second position relationship between the target location of the device to be positioned；
Second three-dimensional coordinate is determined based on the second position relationship and the benchmark point coordinates.
Further, following operation is also realized when the automatic positioning program is executed by processor：
The plane coordinates of plane coordinates and second three-dimensional coordinate based on first three-dimensional coordinate waits for described in determining
The movement locus of positioning device；
Based on the movement locus control device movement to be positioned.
Further, following operation is also realized when the automatic positioning program is executed by processor：
In the moving process of the device to be positioned, the current second confidence of device to be positioned described in timing acquisition
Breath；
Based on the second position information, the buildings model information and the benchmark information determine the datum mark with
The third place relationship between the device to be positioned, and institute is determined based on the third place relationship and the benchmark point coordinates
State third three-dimensional coordinate；
The plane coordinates of plane coordinates and second three-dimensional coordinate based on the third three-dimensional coordinate adjusts the fortune
Dynamic rail mark, and based on the device movement to be positioned of the movement locus control after adjustment.
Further, following operation is also realized when the automatic positioning program is executed by processor：
In the moving process of the device to be positioned, the camera for controlling the device to be positioned carries out the behaviour that takes pictures in real time
Make, to obtain the image of the device local environment to be positioned；
Image recognition operations are carried out to described image, to obtain image recognition result；
In determining described image based on described image recognition result there are the major structure of construction face side or hole,
And it is described face while or non-second three-dimensional coordinate in hole is corresponding when facing or when hole, described in recognition result adjustment
Movement locus, and based on the device movement to be positioned of the movement locus control after adjustment.
Further, following operation is also realized when the automatic positioning program is executed by processor：
Whether there are obstacles in the corresponding predeterminable area of the device to be positioned are determined based on the recognition result；
There are when barrier in the corresponding predeterminable area of the device to be positioned, based on the current of the device to be positioned
Location information determines the safe distance between the barrier and the device to be positioned；
The movement locus is adjusted based on the safe distance, and based on being waited for described in the movement locus control after adjustment
Positioning device moves.
Further, following operation is also realized when the automatic positioning program is executed by processor：
When being moved to the corresponding position of plane coordinates of second three-dimensional coordinate in the device to be positioned, described in acquisition
The 4th current three-dimensional coordinate of device to be positioned；
Based on second three-dimensional coordinate and the 4th three-dimensional coordinate, the support arm exhibition of the device to be positioned is controlled
It opens.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of automatic positioning method, which is characterized in that the automatic positioning method includes the following steps：
It obtains the current first position information of device to be positioned and target position information and the device to be positioned is corresponding
Building body information, wherein the building body information includes the buildings model information of major structure of construction, coordinate control axis net
And benchmark information；
Institute is determined based on the first position information, the buildings model information, coordinate control axis net and the benchmark information
State first three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
Institute is determined based on the target position information, the buildings model information, coordinate control axis net and the benchmark information
State second three-dimensional coordinate of the device to be positioned in the coordinate control axis net；
Based on the device movement to be positioned of first three-dimensional coordinate and second three-dimensional coordinate control.
2. automatic positioning method as described in claim 1, which is characterized in that described based on the first position information, described
Buildings model information, coordinate control axis net and the benchmark information determine the device to be positioned in the coordinate control axis net
In the first three-dimensional coordinate the step of include：
The base of the major structure of construction is determined based on the buildings model information, coordinate control axis net and the benchmark information
Benchmark point coordinates in the coordinate control axis net on schedule；
Based on the first position information, the buildings model information and the benchmark information determine the datum mark with it is described
First position relationship between device to be positioned；
First three-dimensional coordinate is determined based on the first position relationship and the benchmark point coordinates.
3. automatic positioning method as claimed in claim 2, which is characterized in that described based on the target position information, described
Buildings model information, coordinate control axis net and the benchmark information determine the device to be positioned in the coordinate control axis net
In the second three-dimensional coordinate the step of include：
Based on the target position information, the buildings model information and the benchmark information determine the datum mark with it is described
Second position relationship between the target location of device to be positioned；
Second three-dimensional coordinate is determined based on the second position relationship and the benchmark point coordinates.
4. automatic positioning method as claimed in claim 3, which is characterized in that described based on first three-dimensional coordinate and described
Second three-dimensional coordinate controls the step that the device to be positioned moves：
The plane coordinates of plane coordinates and second three-dimensional coordinate based on first three-dimensional coordinate determines described to be positioned
The movement locus of device；
Based on the movement locus control device movement to be positioned.
5. automatic positioning method as claimed in claim 4, which is characterized in that described to be based on waiting for described in movement locus control
Positioning device movement step include：
In the moving process of the device to be positioned, the current second position information of device to be positioned described in timing acquisition；
Based on the second position information, the buildings model information and the benchmark information determine the datum mark with it is described
The third place relationship between device to be positioned, and determine described based on the third place relationship and the benchmark point coordinates
Three three-dimensional coordinates；
The plane coordinates of plane coordinates and second three-dimensional coordinate based on the third three-dimensional coordinate adjusts the movement rail
Mark, and based on the device movement to be positioned of the movement locus control after adjustment.
6. automatic positioning method as claimed in claim 4, which is characterized in that described to be based on waiting for described in movement locus control
Positioning device movement step include：
In the moving process of the device to be positioned, the camera for controlling the device to be positioned carries out real-time photographing operation,
To obtain the image of the device local environment to be positioned；
Image recognition operations are carried out to described image, to obtain image recognition result；
Face side or hole and institute there are the major structure of construction in determining described image based on described image recognition result
It states and faces while or non-second three-dimensional coordinate in hole is corresponding when facing or when hole, the movement is adjusted based on the recognition result
Track, and based on the device movement to be positioned of the movement locus control after adjustment.
7. automatic positioning method as claimed in claim 6, which is characterized in that described to carry out image recognition operations to described image
The step of after, further include：
Whether there are obstacles in the corresponding predeterminable area of the device to be positioned are determined based on the recognition result；
There are when barrier in the corresponding predeterminable area of the device to be positioned, the current location based on the device to be positioned
Information determines the safe distance between the barrier and the device to be positioned；
The movement locus is adjusted based on the safe distance, and described to be positioned based on the movement locus control after adjustment
Device moves.
8. automatic positioning method as described in any one of claim 1 to 7, which is characterized in that described three-dimensional based on described first
After coordinate and second three-dimensional coordinate control the step of the device movement to be positioned, the automatic positioning method also wraps
It includes：
When being moved to the corresponding position of plane coordinates of second three-dimensional coordinate in the device to be positioned, obtain described undetermined
The 4th current three-dimensional coordinate of position device；
Based on second three-dimensional coordinate and the 4th three-dimensional coordinate, the support arm expansion of the device to be positioned is controlled.
9. a kind of automatic positioning equipment, which is characterized in that the automatic positioning equipment includes：It memory, processor and is stored in
On the memory and the automatic positioning program that can run on the processor, the automatic positioning program is by the processor
It is realized such as the step of automatic positioning method described in any item of the claim 1 to 8 when execution.
10. a kind of computer readable storage medium, which is characterized in that it is automatic fixed to be stored on the computer readable storage medium
Position program, realizes such as automatic positioning described in any item of the claim 1 to 8 when the automatic positioning program is executed by processor
The step of method.
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