CN113137958B - Lofting control method and system of RTK host and storage medium - Google Patents
Lofting control method and system of RTK host and storage medium Download PDFInfo
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- CN113137958B CN113137958B CN202110441807.9A CN202110441807A CN113137958B CN 113137958 B CN113137958 B CN 113137958B CN 202110441807 A CN202110441807 A CN 202110441807A CN 113137958 B CN113137958 B CN 113137958B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Abstract
The embodiment of the invention discloses a lofting control method and system of an RTK host and a storage medium. The method comprises the following steps: acquiring a target image acquired by a camera arranged at the bottom of an RTK host in real time; acquiring a target image position of a rod tip of the centering rod in a target image, wherein the camera is configured above the centering rod; determining the theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera; and determining a position adjusting strategy matched with the RTK host according to the target image position and the theoretical image position. The scheme of the embodiment of the invention solves the problems that one-time lofting operation can be completed only by repeatedly moving the RTK host, the operation difficulty is high and the operation efficiency is low, can realize accurate lofting control on the RTK host, and has simple operation and high efficiency.
Description
Technical Field
The embodiment of the invention relates to the field of surveying and mapping, in particular to a lofting control method and system for an RTK host and a storage medium.
Background
In the field of surveying and mapping construction, lofting refers to a process of comparing a high-precision geographical coordinate output in real time by means of a specific measuring device according to a geographical coordinate of a feature point on a drawing and the geographical coordinate of the feature point, giving a distance and a direction of the feature point relative to an operator, guiding the operator to gradually approach the feature point, and further confirming an accurate position of the feature point in the real world. The characteristic points mentioned here, also called lofting points in the surveying and mapping construction field, and the specific measurement device generally include a Real-time kinematic (RTK) host and a centering rod, and the RTK host and the centering rod are connected and fixed by a specific structure.
In the lofting method at the present stage, a space model of the real world needs to be constructed in the brain through an operator, and one-time lofting can be completed only by repeatedly moving the RTK host, so that the operation difficulty is high and the operation efficiency is low.
Disclosure of Invention
The embodiment of the invention provides a lofting control method and system for an RTK host and a storage medium, so as to realize lofting control on the RTK host.
In a first aspect, an embodiment of the present invention provides a lofting control method for an RTK host, including:
acquiring a target image acquired by a camera arranged at the bottom of the RTK host in real time;
acquiring a target image position of a rod tip of a centering rod in the target image, wherein the camera is configured above the centering rod;
determining a theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera;
and determining a position adjusting strategy matched with the RTK host according to the target image position and the theoretical image position.
In a second aspect, an embodiment of the present invention further provides a real-time differential positioning RTK lofting system, including: the electronic hand book alignment device comprises an RTK host, a centering rod and an electronic hand book, wherein the RTK host is fixed on the centering rod; a camera is installed at the bottom of the RTK host, and the RTK is in communication connection with the electronic handbook;
the camera is used for collecting a target image and sending the target image to the electronic handbook;
the electronic handbook is used for executing the lofting control method of the RTK host according to any embodiment of the invention.
In a third aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a lofting control method for an RTK host according to any one of the embodiments of the present invention.
The embodiment of the invention acquires a target image acquired by a camera arranged at the bottom of an RTK host in real time; acquiring a target image position of a rod tip of a centering rod in the target image, wherein the camera is configured above the centering rod; determining a theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera; according to the target image position and the theoretical image position, a position adjusting strategy matched with the RTK host is determined, the problems that one-time lofting operation can be completed only by repeatedly moving the RTK host, the operation difficulty is high and the operation efficiency is low are solved, accurate lofting control over the RTK host can be achieved, and the operation is simple and efficient.
Drawings
Fig. 1 is a flowchart of a lofting control method of an RTK host according to a first embodiment of the present invention;
fig. 2 is a flowchart of a lofting control method of an RTK host according to a second embodiment of the present invention;
fig. 3 is a flowchart of a lofting control method for an RTK host according to a third embodiment of the present invention;
fig. 4 is a flowchart of a lofting control method for an RTK host according to a fourth embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an RTK lofting system in the fifth embodiment;
fig. 6 is a schematic structural diagram of a lofting control apparatus of an RTK host according to a sixth embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic handbook in a seventh embodiment of the invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad invention. It should be further noted that, for convenience of description, only some structures, not all structures, relating to the embodiments of the present invention are shown in the drawings.
Example one
Fig. 1 is a flowchart of a lofting control method for an RTK host according to an embodiment of the present invention, where this embodiment is applicable to a lofting situation of the RTK host, and the method may be executed by a lofting control device of the RTK host, and the lofting control device may be implemented in software and/or hardware and integrated in an electronic handbook, which in this embodiment may be a tablet computer, a computer, or a smart phone, and the present embodiment is not limited thereto. Specifically, referring to fig. 1, the method specifically includes the following steps:
and 110, acquiring a target image acquired by a camera arranged at the bottom of the RTK host in real time.
The target image may be any image acquired by a camera disposed at the bottom of the RTK host, and the target image may or may not include a lofting point, which is not limited in this embodiment.
In the embodiment, the bottom of the RTK host is provided with a camera; in an optional implementation manner of this embodiment, the electronic handbook may send an image acquisition instruction to the RTK host, and after the RTK host receives the image acquisition instruction, the RTK host may acquire an image through a camera installed at the bottom of the RTK host and upload the acquired image to the electronic handbook.
In an optional implementation manner of this embodiment, the RTK host may further include a processor, a wireless communication module, an attitude detection module, a positioning module, and the like, which is not limited in this embodiment; the processor can be electrically connected with the camera, the wireless communication module, the attitude detection module and the positioning module; the RTK host computer and the electronic handbook can be in communication connection through the wireless communication module.
In an alternative implementation manner of the embodiment, before the lofting operation is started, the RTK host may be mounted on the centering rod, and the rod height of the centering rod is set to be appropriate. Optionally, in order to ensure that the viewing angle of the RTK host camera is consistent with the viewing angle of the operator during the operation, the electronic handbook may be mounted on the electronic handbook bracket in advance, and the direction of the electronic handbook is adjusted to be consistent with the direction of the RTK host camera. Furthermore, in order to ensure that the RTK host enters a high-precision position and posture output state, differential data from a reference station can be received through a radio station or a network, so that centimeter-level positioning precision is realized; the method comprises the steps that initialization of a combined navigation algorithm is completed in advance, so that continuous high-precision attitude information is obtained; the operation personnel can shake the RTK host for a plurality of times back and forth by taking the rod tip of the centering rod as a center, and the initialization is completed by combining a combined navigation algorithm in the RTK host according to the posture output by the inertial navigation device and the high-precision position output by the positioning module, so that the RTK host can continuously output high-precision posture data.
And 120, acquiring a target image position of the rod tip of the centering rod in the target image.
Wherein, the camera is arranged on the centering rod. It can be understood that the camera in this embodiment is disposed at the bottom of the RTK host, and the RTK host is disposed on the centering rod and fixedly connected to the centering rod, and indirectly, the camera is disposed on the centering rod, and the camera can also acquire an image of the centering rod when acquiring the image.
In an optional implementation manner of this embodiment, after the electronic handbook acquires the target image, a target image position of the rod tip of the centering rod in the target image may be further acquired, where the target image position is a coordinate point of the rod tip of the centering rod in the image coordinate system of the target image.
For example, in the present embodiment, the rod tip of the centering rod may be identified in the target image, and after the rod tip of the centering rod is identified, the coordinates of the rod tip of the centering rod in the image coordinate system in which the target image is located may be determined. It should be noted that, determining the coordinates of the rod tip of the centering rod in the image coordinate system by means of image recognition is only an optional embodiment, and is not a limitation to this embodiment; in this embodiment, the coordinates of the rod tip of the initial centering rod in the image coordinate system can also be derived from the deterministic relative position angular relationship under the rigid connection between the RTK host and the centering rod.
And step 130, determining the theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera.
The actual placement position of the target lofting point may be a coordinate point of the target lofting point in a world coordinate system, and it should be noted that the actual placement position of the target lofting point is a known quantity, for example, (x, y, z), where x, y, and z may be any numerical value, which is not limited in this embodiment.
Wherein, the attribute parameters of the camera can include: the position parameters, the attitude parameters and the calibration parameters of the camera; the calibration parameters of the camera may include distortion parameters, internal parameters and external parameter correction values of the camera.
In an optional implementation manner of this embodiment, the position parameter of the camera may be determined by a positioning module installed inside the RTK host; determining the posture of a camera through a posture detection module arranged in the RTK host; and calibrating the camera to determine calibration parameters of the camera.
In an optional implementation manner of this embodiment, the actual position of the target lofting point may be converted into a camera position according to the actual position of the target lofting point and the position parameter and the posture parameter of the camera; and converting the position of the camera into a theoretical image position according to the position of the camera and the calibration parameters of the camera.
In an optional implementation manner of this embodiment, after the electronic handbook acquires the target image, the theoretical image position of the target lofting point may be further determined according to the actual placement position of the target lofting point and the attribute parameters of the camera.
Optionally, the coordinates of the target lofting point in the camera coordinate system may be determined according to the actual placement position of the target lofting point, and the position parameter and the posture parameter of the camera; further, the theoretical image position of the target lofting point, namely the coordinate of the target lofting point in the image coordinate system, can be determined according to the coordinate of the target lofting point in the camera coordinate system; and then the pixel points corresponding to the target lofting point can be determined. The theoretical image position of the target lofting point may be a coordinate of the target lofting point in an image coordinate system, or may be a pixel corresponding to the target lofting point, which is not limited in this embodiment.
And step 140, determining a position adjustment strategy matched with the RTK host according to the target image position and the theoretical image position.
In an optional implementation manner of this embodiment, after acquiring the target image position of the rod tip of the centering rod in the target image and determining the theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera, a position adjustment strategy matched with the RTK host may be further determined according to the target image position and the theoretical image position.
Furthermore, according to the position adjusting strategy matched with the RTK host, lofting control of the RTK host can be achieved, and the RTK host can be rapidly fixed at a target lofting point.
It should be noted that the position adjustment strategy matched with the RTK host in the present embodiment may include a direction and a position of moving the RTK host, and the present embodiment is not limited thereto.
In an optional implementation manner of this embodiment, after determining the target image position and the theoretical image position, the direction of the theoretical image position at the target image position, or the distance between the theoretical image position and the target image position may be further calculated; further, a position adjusting strategy matched with the RTK host can be generated according to the direction of the theoretical image position in the target image position and the distance between the theoretical image position and the target image position.
According to the scheme of the embodiment, a target image acquired in real time by a camera arranged at the bottom of an RTK host is acquired; acquiring a target image position of a rod tip of the centering rod in a target image; determining the theoretical image position of the lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera; according to the target image position and the theoretical image position, the position adjusting strategy matched with the RTK host is determined, the problems that one-time lofting operation can be completed only by repeatedly moving the RTK host, the operation difficulty is high and the operation efficiency is low are solved, accurate lofting control over the RTK host can be achieved, and the operation is simple and efficient.
Example two
Fig. 2 is a flowchart of a lofting control method of an RTK host in a second embodiment of the present invention, where this embodiment is a further refinement of the above technical solutions, and the technical solutions in this embodiment may be combined with various alternatives in one or more of the above embodiments. As shown in fig. 2, the lofting control method of the RTK host may include the steps of:
and step 210, acquiring a target image acquired by a camera arranged at the bottom of the RTK host in real time.
And step 220, acquiring the target image position of the rod tip of the centering rod in the target image.
And step 230, determining the theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera.
And 240, determining a position adjusting strategy matched with the RTK host according to the target image position and the theoretical image position.
In an alternative implementation manner of this embodiment, after determining the position adjustment strategy matched with the RTK host according to the target image position and the theoretical image position, the target image position may be further used as the adjustment start position, that is, the position is used as the adjustment start position of the RTK host.
Further, an adjustment indication arrow with an adjustment starting point position as a starting point can be generated according to the movement direction and the movement distance, or the movement direction and the movement distance, included in the position adjustment strategy, and the adjustment indication arrow is visually displayed on the electronic handbook; the staff can realize accurate, quick laying-out to the RTK host computer according to the adjustment instruction arrow.
For example, if the position adjustment strategy includes 200 m to the east, an adjustment indication arrow starting from the tip (adjustment starting point) of the centering rod may be generated on the electronic handbook, the indication arrow points to the east and has a length corresponding to 200 m.
According to the scheme of the embodiment, after the position adjusting strategy matched with the RTK host is determined, the target image position can be used as the position of the adjusting starting point; according to the moving direction and/or the moving distance included in the position adjusting strategy, an adjusting indication arrow taking the position of the adjusting starting point as the starting point is generated, the adjusting indication arrow is visually displayed, a basis is provided for realizing accurate and rapid lofting control of the RTK host, and the lofting efficiency is improved.
EXAMPLE III
Fig. 3 is a flowchart of a lofting control method of an RTK host in a third embodiment of the present invention, where this embodiment is a further refinement of the above technical solutions, and the technical solutions in this embodiment may be combined with various alternatives in one or more of the above embodiments. As shown in fig. 3, the lofting control method of the RTK host may include the steps of:
and 310, acquiring a target image acquired by a camera arranged at the bottom of the RTK host in real time.
And step 320, acquiring the target image position of the rod tip of the centering rod in the target image.
And step 330, determining the theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera.
And 340, determining a position adjusting strategy matched with the RTK host according to the target image position and the theoretical image position.
Optionally, determining a position adjustment strategy matched with the RTK host according to the target image position and the theoretical image position may include the following operations, which may be implemented independently or in combination; the implementation can be performed in series or in parallel according to a set sequence. I.e., the order of implementation and combination is not limited.
The specific operation is as follows:
In an optional implementation manner of this embodiment, if the theoretical image position of the target lofting point is not located in the target image, that is, the target image does not include the target lofting point, the target image may be expanded, so that the target lofting point may be located in the target image, and further, the target image position may be determined in the expanded image; and generating a position adjusting strategy according to the position relation between the target image position and the theoretical image position.
In an optional implementation manner of this embodiment, performing image expansion on the target image in an image coordinate system, and acquiring a target image position of the target lofting point in the expanded image may include: expanding the target image according to the theoretical image position of the target sampling point so as to enable the target image to comprise the target sampling point; the target image position of the target lofting point is determined in the expanded image.
Optionally, the actual position of the target lofting point may be converted into a camera position according to the actual position of the target lofting point and the attitude parameter of the camera; converting the position of the camera into a theoretical image position according to the position of the camera and the calibration parameters of the camera; furthermore, the target image can be expanded according to the theoretical image position; illustratively, the distance between the theoretical image position of the target lofting point and the theoretical image position of the edge point of the target image can be compared, and the target image is expanded according to the distance; for example, if the distance between the theoretical image position of the target lofting point and the theoretical image position of the edge point of the target image is determined to be 10mm, the pixel corresponding to 10mm can be determined according to the pixel equivalent, and the corresponding pixel is expanded for the target image; for example, if the pixel corresponding to 10mm is 10 pixels, the length and width of the target image may be enlarged by 15 pixels; the advantage of this arrangement is that it can be ensured that the target image position of the target lofting point can be acquired in the expanded image.
In another optional implementation manner of this embodiment, if the theoretical image position of the target lofting point is not located in the target image, that is, the target image does not include the target lofting point, the field of view of the camera may also be adjusted to increase the field of view of the camera, so that the target image may include the target lofting point.
In an optional implementation manner of this embodiment, if the theoretical image position of the target lofting point is located in the target image, that is, the target image includes the target lofting point, the target image position of the target lofting point in the target image may be obtained; and generating a position adjusting strategy according to the position relation between the target image position and the theoretical image position.
According to the scheme of the embodiment, if the theoretical image position of the target lofting point is not located in the target image, the target image is subjected to image expansion in an image coordinate system, and the target image position of the target lofting point in the expanded image is obtained; generating a position adjusting strategy according to the position relation between the target image position and the theoretical image position; if the theoretical image position of the target lofting point is located in the target image, acquiring the target image position of the target lofting point in the target image; and generating a position adjusting strategy according to the position relation between the position of the target image and the position of the theoretical image, and accurately determining the position adjusting strategy no matter whether the target lofting point is positioned in the target image or not so as to provide a basis for lofting control of the RTK host.
Example four
Fig. 4 is a flowchart of a lofting control method of an RTK host in a fourth embodiment of the present invention, where this embodiment is a further refinement of the above technical solutions, and the technical solutions in this embodiment may be combined with various alternatives in one or more embodiments described above. As shown in fig. 4, the lofting control method of the RTK host may include the steps of:
Wherein, the direction of the electronic handbook is consistent with the visual angle of the operator. The set threshold may be an angle threshold, for example, 10 degrees, 15 degrees, or 30 degrees, which is not limited in this embodiment.
In an optional implementation manner of this embodiment, before acquiring a target image acquired by a camera disposed at the bottom of the RTK host in real time, it may be further determined whether a deviation between a direction of the camera and a direction of the electronic handbook is greater than a set threshold; if so, generating an instruction for adjusting the orientation of the camera to the RTK host, so that the RTK host adjusts the visual angle of the camera.
In an optional implementation manner of this embodiment, the direction comparison may be performed between the posture detection module on the electronic handbook and the posture detection module on the RTK host, and when the direction deviation exceeds the threshold, a prompt for adjusting the orientation of the RTK host camera may be sent by the electronic handbook; the corresponding direction deviation of the image acquired by the camera on the electronic handbook in real time can be rotated, and the corresponding direction deviation of the camera on the RTK host can be automatically rotated by adding a mechanical device on the RTK host; the method can also be used for correcting the direction by other direction correcting means without limitation, and finally the visual angles of the RTK host camera and an operator are always kept consistent.
In an optional implementation mode of this embodiment, can also be through placing the electron hand book on the bracket to adjust the hand book direction and RTK host computer camera visual angle to unanimity before the operation, and then rely on structural strong restraint, guarantee that operation in-process RTK host computer camera visual angle and operation personnel's visual angle remain unanimous all the time.
It should be noted that the step is mainly to adjust the orientation of the camera, and the specific adjustment mode may be that the electronic handbook software pops up a window to prompt the user to actively adjust the orientation of the camera of the RTK host, or send an adjustment instruction to the RTK host, and automatically adjust the angle of the camera by a mechanical device on the RTK host, which is not limited in this embodiment.
And step 420, acquiring a target image acquired by a camera arranged at the bottom of the RTK host in real time.
And step 430, acquiring a target image position of the rod tip of the centering rod in the target image.
And step 440, determining the theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera.
In an optional implementation manner of this embodiment, before determining the position adjustment policy matched with the RTK host according to the target image position and the theoretical image position, the target identifier on the centering rod may be further identified in the target image to determine the image position of the target identifier; the image position of the tip of the centering bar is adjusted based on the image position of the target marker.
In the concrete implementation, in order to ensure that the calculation result of the rod tip of the centering rod is accurate and reliable and prevent the parameter change caused by falling and the like, during the actual operation, a fixed position image recognition marker (e.g., a marker of a specific color or a button, etc., which is not limited in this embodiment) may be provided on the centering rod, in a target image acquired by a camera in real time, the pixel position of an image identification marker on a centering rod in the target image is automatically identified by an image identification technology, calculating the theoretical pixel position of the image identification marker on the centering rod according to the relative structure relationship, performing difference between the pixel position of the image identification and the theoretical pixel position, compensating the difference (namely the system deviation) to the image position of the rod tip of the centering rod, therefore, the accuracy of the image position of the rod point of the centering rod is improved, and the accuracy of the RTK lofting system used for a long time is further ensured.
In a specific example of this embodiment, the coordinates of the centering rod tip in the world coordinate system can be calculated through the relative position relationship between the centering rod tip and the RTK host (ensured by the rigid connection between the centering rod tip and the RTK host), and further, the image position of the centering rod tip can be calculated.
Further, the coordinates of the target marker on the centering rod under a world coordinate system are calculated through the relative position relationship (guaranteed by the rigid connection between the marker on the centering rod and the RTK host) of the marker on the centering rod, and the image position of the target marker on the centering rod is further calculated.
Furthermore, according to the calculated image position of the target marker on the centering rod and the position obtained by identifying the actual image of the target marker on the centering rod, a pixel difference is made to obtain a system deviation, and the deviation is compensated to the positions of the centering rod tip and the lofting point in the image, so that the marking precision of the lofting point in the image is improved.
And step 460, determining a position adjusting strategy matched with the RTK host according to the target image position and the theoretical image position.
According to the scheme of the embodiment, before the target image acquired by the camera arranged at the bottom of the RTK host in real time is acquired, whether the deviation between the direction of the camera and the direction of the electronic handbook is larger than a set threshold value or not can be determined; if so, generating an instruction for adjusting the orientation of the camera to the RTK host so that the RTK host can adjust the visual angle of the camera, and providing a basis for realizing accurate lofting control of the RTK host.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an RTK lofting system in the fifth embodiment, and referring to fig. 5, the system includes: an RTK host 510, a centering rod 520 and an electronic handbook 530, wherein the RTK host 510 is fixed on the centering rod 520; a camera 540 is installed at the bottom of the RTK host 510, and the RTK host 510 is in communication connection with the electronic handbook 530;
the camera 510 is configured to collect a target image and send the target image to the electronic handbook;
the electronic handbook 530 is used for executing the lofting control method of the RTK host according to any embodiment of the present invention.
In an optional implementation manner of this embodiment, the RTK host 510 may further include a processor, a wireless communication module, an attitude detection module, and a positioning module; the processor is electrically connected with the camera, the wireless communication module, the attitude detection module and the positioning module; the RTK host 510 and the electronic handbook 530 can be connected to each other wirelessly through a wireless communication module.
In an alternative implementation of the present embodiment, the centering rod 520 is pre-marked with an image recognition identifier at a known location for real-time calibration during lofting. In order to ensure the accurate and reliable posture during lofting, the posture detection module in the RTK host 510 may select a non-magnetic posture detection device, such as an inertial navigation device, so as to avoid the problem that the electronic compass is susceptible to electromagnetic interference, and obtain a real-time high-precision posture.
In an optional implementation manner of this embodiment, in order to ensure that the position during lofting is accurate and reliable, a positioning module in the RTK host 510 may select a Global Navigation Satellite System (GNSS) module, and support real-time differential solution or a high-precision positioning technology that is commonly used in the industry, so as to obtain a real-time high-precision position.
In an optional implementation manner of this embodiment, before the RTK host 510 leaves the factory, a specific calibration method may be implemented to obtain a distortion parameter, an internal reference, and an external reference correction value of the camera, so as to provide a cushion for subsequently generating an adjustment indication arrow.
Specifically, distortion (radial distortion and tangential distortion) and internal reference (X, Y deviation between an actual imaging center and a theoretical imaging center and a focal length f) of the camera can be obtained through Zhang Zhengyou calibration or other calibration methods commonly used in other industries; the external reference correction value of the camera can be obtained by an industry general method or the method; specifically, the RTK host 510 and the calibration board are first fixed, then the camera 540 configured on the RTK host 510 is started to shoot a calibration board image, and the actual calibration board image are compared by an image recognition technology, so as to obtain the external reference correction values (the three-axis position correction value and the three-axis posture correction value) of the camera. After calibration is completed, the obtained distortion parameters, internal parameters and external parameter correction values are written into the RTK host 510 for permanent storage.
In an alternative implementation of the present embodiment, the RTK host 510 is first mounted to the centering rod 520 and the appropriate centering rod height is set before the lofting operation begins. In order to ensure that the visual angle of the camera 540 of the RTK host 510 is consistent with the visual angle of the operator during the operation, the electronic handbook 530 is mounted on the handbook bracket in advance, and the direction of the electronic handbook 530 is adjusted to be consistent with the direction of the camera 540 of the RTK host.
Further, the RTK host 510 is guaranteed to enter a high-precision position and posture output state; illustratively, one specific embodiment of high-precision position acquisition is to receive differential data from a reference station via a radio station or a network, thereby achieving centimeter-level positioning precision; one specific implementation of the high-precision attitude acquisition is to complete initialization of the combined navigation algorithm first, so as to obtain continuous high-precision attitude information, and a specific implementation mode is that an operator shakes the RTK host 510 back and forth several times with the centering rod tip as the center, according to the attitude output by the inertial navigation device and the high-precision position output by the positioning module, the combined navigation algorithm inside the RTK host 510 is combined, so as to complete initialization, so that the RTK host 510 continuously outputs high-precision attitude data.
Further, the operator inputs the geographic coordinates (actual placement position) of the to-be-sampled point through the electronic handbook 530, and the electronic handbook 530 sends a command for starting the camera 540 at the bottom of the RTK host 510 through the wireless communication module; after receiving the start command sent by the electronic handbook 530, the RTK host 510 opens the camera 540 located at the bottom of the RTK host 510, and simultaneously transmits the acquired target image, the high-precision position data, the posture data and the calibration parameters of the camera to the electronic handbook 530 in real time through the wireless communication module. After receiving the above data, the electronic handbook 530 calculates the target image position of the lofting point in the target image according to the principle of photogrammetry.
In an optional implementation manner of the embodiment, when the loft point is not in the visual field of the bottom camera 540 of the RTK host 510, the direction of the loft point is marked with an indication arrow in the target image captured by the camera. Specifically, the position and attitude parameters of the camera in the real world can be calculated according to the relative spatial relationship between the positioning module and the attitude detection module and the RTK host camera 540; and according to the geographic coordinates of the lofting points, based on the principle of photogrammetry, calculating the relative direction angle of the lofting points in the target image relative to the camera, and marking the direction of the lofting points by an indication arrow in the target image acquired by the camera, so as to guide an operator to move to the lofting points along the indication arrow.
In an optional implementation manner of this embodiment, when a lofting point enters a field of view of the bottom camera 540 of the RTK host 510, a spatial position of the actual lofting point is identified in a target image acquired by the camera; in order to overcome the problem that the bottom of the centering rod is shielded by parts such as arms of an operator in the close-range lofting process, and further the presence of the operator when the operator places the centering rod tip on the lofting point is influenced, in this embodiment, the position of the real centering rod tip is calculated in a target image according to the relative spatial relationship between the centering rod 520 and the RTK host 510 and by combining the photogrammetry principle, and the mark is superimposed on the target image by using an indication icon. Further, the operating personnel can directly place the centering rod tip on the lofting point according to the peripheral reference object, after simple fine setting, when the centering rod tip coincides with the lofting point, send the suggestion that the lofting was ended, accomplish a lofting.
In an optional implementation manner of this embodiment, in order to ensure that a calculation result of the rod tip of the centering rod is accurate and reliable and prevent parameter changes caused by falling and the like, a target marker at a fixed position may be set on the centering rod during actual operation; and when lofting is started each time, automatically identifying the pixel position of the image identification marker on the centering rod in the target image through an image identification technology, calculating the theoretical pixel position of the image identification marker on the centering rod according to the relative structure relation, and subtracting the pixel position of the image identification from the theoretical pixel position to obtain a system error.
In an optional implementation manner of this embodiment, in order to ensure that the view angle of the camera 540 of the RTK host 510 is consistent with the view angle of the operator, the method may be implemented by placing the handbook on the bracket, and adjusting the direction of the handbook to be consistent with the view angle of the camera 540 of the RTK host 510 before the operation, so as to ensure that the view angle of the camera 540 of the RTK host 510 is consistent with the view angle of the operator all the time during the operation process by means of strong structural constraint. Considering that some operators do not like to use the handbook brackets during actual lofting operation and are used to hold the electronic handbook 530, the direction of the electronic handbook 530 can be compared with that of the RTK host 510 through the posture detection module on the electronic handbook 530, and when the direction deviation exceeds the threshold value, the electronic handbook can send a prompt for adjusting the orientation of the camera 540 of the RTK host 510; the corresponding direction deviation of the images collected on the electronic handbook can also be rotated; a mechanical device may also be added to the RTK host 510 to automatically rotate the direction deviation corresponding to the camera 540 on the RTK host 510, which is not limited in this embodiment; finally, the effect that the visual angles of the camera 540 of the RTK host 510 and the operator are always kept consistent is achieved.
It should be noted that, in the conventional lofting method, an operator needs to determine the direction and distance of the subsequent movement by using a compass or an electronic compass in combination with the real azimuth and distance of a lofting point calculated on an electronic handbook, and in the entire lofting process, the operator needs to continuously construct a space model of the real world in the brain and further make a determination on the direction and distance.
In order to overcome the disadvantages of the conventional lofting method, in recent years, some manufacturers propose a lofting method based on a target image, which has a core idea that the position of a lofting point in the target image is converted according to the principle of photogrammetry by combining the distortion, the position, the posture of a camera, the geographic coordinates of the lofting point and the like, and the lofting point is marked in the target image in a manner of an indication arrow, so that an operator is guided to approach the lofting point in the target image directly and continuously without paying attention to a specific direction, and a lofting operation is completed. In the lofting method based on the target image, the accuracy of lofting points mainly depends on the accuracy of distortion, position and posture of a camera. At present, according to different target image sources, such lofting methods are mainly divided into two types:
(1) the target image is shot by a camera of the electronic handbook. Due to the limitation of the size of the antenna of the electronic handbook, in addition, during actual operation, half of the space is in the shielding of operators, and the star searching quantity is limited, so that the calculated positioning precision of the camera can hardly stably reach the centimeter-level lofting requirement. In addition, because the electronic compass is generally used as the direction detection device in the electronic handbook, the electronic compass has poor orientation accuracy and is easily subjected to electromagnetic interference, and thus the actual comprehensive orientation capability hardly meets the operation requirement during lofting. Due to the existence of the inherent defects and the limitation of the prior art, the lofting point in the target image often has a large deviation from the real lofting point during actual operation, and when the position is close to the lofting point, the RTK host still needs to be repeatedly moved by the traditional lofting method until the lofting point is superposed.
(2) And respectively shooting a far target image and a near target image through the double cameras. One specific embodiment is: the remote and near target images are shot respectively through the electronic handbook camera and the RTK host camera. Specifically, when the lofting point is far away from the operator, the electronic handbook camera is turned on to shoot the target image far away, and the method still cannot overcome the problem mentioned in the method (1) due to the defects of the electronic handbook. When the lofting point enters the visual field range of the RTK host camera, the RTK host camera is started to shoot a target image close to the target image, if the camera is installed in the RTK host, the limitation of the size of the RTK host is considered, when the target image close to the target image is shot, the bottom of the centering rod can be shielded by arms and other parts of operators, the presence sense of the operators when the centering rod tip is placed on the lofting point is further influenced, and during actual experience, the bottom of the centering rod cannot be seen, so that the effect of moving the centering rod for multiple times is equivalent to that of the traditional lofting. If the size limit of the RTK host is not considered, the RTK host is roughly calculated, the radius of the RTK host far exceeds the size of the conventional RTK host to ensure that the camera bypasses the arm shelter of the operator, and the RTK host becomes very heavy. If camera and RTK host computer are the disconnect-type, then the performance of camera in the aspect of anti falling can be very poor, and equipment is fragile to because be the disconnect-type, the plug camera all can cause the deviation of camera and RTK host computer relative position, gesture precision, and live time is long, and irreversible deviation can take place for the precision, and is not durable.
Another specific embodiment is: through the mechanical rotating structure on the RTK host computer, reduce two cameras into a camera, according to the distance of RTK host computer and lofting point, adjust rotating structure's angle, and then realize the effect of shooing far away target image and near target image, nevertheless the sheltering from problem when the image shooting that still exists in this embodiment mentions in the first scheme to rotating structure precision requirement to introducing is very high, and the degree of difficulty, cost on concrete realization and daily maintenance can be very high. In fact, the main function of taking images of distant targets is to determine the approximate direction of a lofting point, but the assistance for an operator to determine the accurate spatial position of the lofting point in the real world is limited, and particularly when there are many obstacles, due to the principle of linear propagation of an optical path, points on the same line are compressed to one point in a two-dimensional plane, so that the lofting point may be mistakenly marked on the obstacle instead, thereby causing interference to the operator. In addition, when a near target image is shot, the visual angle of the camera of the RTK host computer is consistent with the visual angle of an operator, the operator can move the RTK host computer while looking at the displayed image on the electronic handbook, otherwise, the situation occurs, the electronic handbook indicates to move left, and the real world may move forward. This problem is missing from the existing far and near live-action lofting solutions, but the solution to this problem is actually a key element in the success of live-action lofting.
According to the scheme of the embodiment of the invention, a target image acquired in real time by a camera arranged at the bottom of an RTK host is acquired; acquiring a target image position of a rod tip of a centering rod in the target image, wherein the camera is configured above the centering rod; determining a theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera; according to the target image position and the theoretical image position, a position adjusting strategy matched with the RTK host is determined, the problems that one-time lofting operation can be completed only by repeatedly moving the RTK host, the operation difficulty is high and the operation efficiency is low are solved, accurate lofting control over the RTK host can be achieved, and the operation is simple and efficient.
Example six
Fig. 6 is a schematic structural diagram of a lofting control apparatus of an RTK host according to a sixth embodiment of the present invention, which can execute the lofting control method of the RTK host according to the above embodiments. Referring to fig. 6, the apparatus includes: a target image acquisition module 610, an acquisition module 620, a theoretical image position determination module 630, and a position adjustment strategy determination module 640.
The target image acquisition module 610 is used for acquiring a target image acquired by a camera arranged at the bottom of the RTK host in real time;
an obtaining module 620, configured to obtain a target image position of a rod tip of a centering rod in the target image, where the camera is disposed above the centering rod;
a theoretical image position determining module 630, configured to determine a theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameter of the camera;
and a position adjustment strategy determining module 640, configured to determine a position adjustment strategy matching the RTK host according to the target image position and the theoretical image position.
According to the scheme of the embodiment, a target image acquisition module acquires a target image acquired by a camera arranged at the bottom of an RTK host in real time; acquiring a target image position of a rod tip of the centering rod in the target image through an acquisition module; determining the theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera by a theoretical image position determination module; the position adjusting strategy determining module determines the position adjusting strategy matched with the RTK host according to the target image position and the theoretical image position, so that the problems that one-time lofting operation can be completed only by repeatedly moving the RTK host, the operation difficulty is high and the operation efficiency is low are solved, the accurate lofting control of the RTK host can be realized, and the operation is simple and efficient.
In an optional implementation manner of this embodiment, the lofting control apparatus of the RTK host further includes: a visual display module for:
taking the target image position as an adjustment starting position;
and generating an adjustment indication arrow taking the adjustment starting point position as a starting point according to the moving direction and/or the moving distance included in the position adjustment strategy, and performing visual display on the adjustment indication arrow.
In an optional implementation manner of this embodiment, the position adjustment policy determining module 640 is specifically configured to:
if the theoretical image position of the target lofting point is not located in the target image, performing image expansion on the target image in an image coordinate system, and acquiring the target image position of the target lofting point in the expanded image;
and generating the position adjusting strategy according to the position relation between the target image position and the theoretical image position.
In an optional implementation manner of this embodiment, the position adjustment policy determining module 640 is further specifically configured to:
expanding the target image according to the theoretical image position of the target sampling point so as to enable the target image to comprise the target sampling point;
and determining the target image position of the target lofting point in the expanded image.
In an optional implementation manner of this embodiment, the position adjustment policy determining module 640 is specifically configured to:
if the theoretical image position of the target lofting point is located in the target image, acquiring the target image position of the target lofting point in the target image;
and generating the position adjusting strategy according to the position relation between the target image position and the theoretical image position.
In an optional implementation manner of this embodiment, the theoretical image position determining module 630 is specifically configured to:
converting the actual position of the target lofting point into a camera position according to the actual position of the target lofting point and the attitude parameter of the camera;
and converting the camera position into the theoretical image position according to the camera position and the calibration parameters of the camera.
In an optional implementation manner of this embodiment, the lofting control apparatus of an RTK host further includes a parameter obtaining module, configured to:
determining a position parameter of the camera through a positioning module installed inside the RTK host;
determining the posture of the camera through a posture detection module installed inside the RTK host;
calibrating the camera and determining calibration parameters of the camera; the calibration parameters comprise: distortion parameter, internal parameter or external parameter correction value.
In an optional implementation manner of this embodiment, the lofting control apparatus of the RTK host further includes: an image location determination module of the pole tip to:
identifying a target marker on the centering rod in the target image, and determining the image position of the target marker;
the image position of the tip of the centering rod is adjusted based on the image position of the target marker.
In an optional implementation manner of this embodiment, the lofting control apparatus of the RTK host further includes: a directional deviation determination module to:
determining whether the direction deviation of the camera and the direction deviation of the electronic handbook is larger than a set threshold value;
and if so, generating a command for adjusting the orientation of the camera to the RTK host.
The lofting control device of the RTK host provided by the embodiment of the invention can execute the lofting control method of the RTK host provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE seven
Fig. 7 is a schematic diagram of a structure of an electronic handbook in a seventh embodiment of the present invention, as shown in fig. 7, the electronic handbook comprises a processor 70, a memory 71, an input device 72 and an output device 73; the number of the processors 70 in the electronic handbook can be one or more, and one processor 70 is taken as an example in fig. 7; the processor 70, the memory 71, the input device 72 and the output device 73 in the electronic phonebook may be connected by a bus or other means, and the connection by a bus is exemplified in fig. 7.
The memory 71 serves as a computer-readable storage medium, and may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the lofting control method of the RTK host in the embodiment of the present invention (for example, the target image acquisition module 610, the acquisition module 620, the theoretical image position determination module 630, and the position adjustment strategy determination module 640 in the lofting control apparatus of the RTK host). The processor 70 executes various functional applications of the electronic handbook and data processing by running software programs, instructions and modules stored in the memory 71, namely, realizes the lofting control method of the RTK host as described above.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory located remotely from the processor 70, which may be connected to the electronic phonebook through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 72 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the electronic phonebook. The output device 73 may include a display device such as a display screen.
Example eight
An eighth embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a lofting control method for an RTK host, where the method includes:
acquiring a target image acquired by a camera arranged at the bottom of the RTK host in real time;
acquiring a target image position of a rod tip of a centering rod in the target image, wherein the camera is configured above the centering rod;
determining a theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera;
and determining a position adjusting strategy matched with the RTK host according to the target image position and the theoretical image position.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also execute the operations related to the lofting control method of the RTK host provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the lofting control apparatus of the RTK host, each unit and each module included in the lofting control apparatus are only divided according to functional logic, but are not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A lofting control method for a real-time differential positioning RTK host is characterized by comprising the following steps:
acquiring a target image acquired by a camera arranged at the bottom of the RTK host in real time;
acquiring a target image position of a rod tip of a centering rod in the target image, wherein the camera is configured above the centering rod;
determining a theoretical image position of a target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera;
determining a position adjusting strategy matched with the RTK host according to the target image position and the theoretical image position;
wherein, the determining a position adjustment strategy matched with the RTK host according to the target image position and the theoretical image position comprises:
if the theoretical image position of the target lofting point is not located in the target image, carrying out image expansion on the target image in an image coordinate system, and acquiring the target image position of the target lofting point in the expanded image;
generating the position adjusting strategy according to the position relation between the target image position and the theoretical image position;
determining the theoretical image position of the target lofting point according to the actual placement position of the target lofting point and the attribute parameters of the camera, wherein the method comprises the following steps:
converting the actual position of the target lofting point into a camera position according to the actual position of the target lofting point and the attitude parameter of the camera;
and converting the camera position into the theoretical image position according to the camera position and the calibration parameters of the camera.
2. The method of claim 1, after determining the position adjustment strategy that matches the RTK host, further comprising:
taking the target image position as an adjustment starting position;
and generating an adjustment indication arrow taking the adjustment starting point position as a starting point according to the moving direction and/or the moving distance included in the position adjustment strategy, and performing visual display on the adjustment indication arrow.
3. The method of claim 1, wherein the image expanding the target image in an image coordinate system and obtaining the target image position of the target lofting point in the expanded image comprises:
expanding the target image according to the theoretical image position of the target sampling point so as to enable the target image to comprise the target sampling point;
and determining the target image position of the target lofting point in the expanded image.
4. The method of claim 1, wherein determining a position adjustment strategy matching the RTK host based on the target image position and the theoretical image position comprises:
if the theoretical image position of the target lofting point is located in the target image, acquiring the target image position of the target lofting point in the target image;
and generating the position adjusting strategy according to the position relation between the target image position and the theoretical image position.
5. The method of any of claims 1-4, further comprising, prior to determining a position adjustment strategy that matches the RTK host based on the target image position and the theoretical image position, at least one of:
determining a position parameter of the camera through a positioning module arranged in the RTK host;
determining the posture of the camera through a posture detection module installed inside the RTK host;
calibrating the camera and determining calibration parameters of the camera; the calibration parameters comprise: distortion parameters, internal parameters, and external parameter correction values.
6. The method of any of claims 1-4, further comprising, prior to determining a position adjustment strategy matching the RTK host based on the target image position and the theoretical image position:
identifying a target marker on the centering rod in the target image, and determining the image position of the target marker;
the image position of the tip of the centering rod is adjusted based on the image position of the target marker.
7. The method of any of claims 1-4, wherein the method is performed by an electronic handbook;
the method further comprises the following steps:
determining whether the direction deviation of the camera and the direction deviation of the electronic handbook is larger than a set threshold value;
and if so, generating a command for adjusting the orientation of the camera to the RTK host.
8. An RTK lofting system, comprising: the electronic hand book alignment device comprises an RTK host, a centering rod and an electronic hand book, wherein the RTK host is fixed on the centering rod; a camera is installed at the bottom of the RTK host, and the RTK host is in communication connection with the electronic handbook;
the camera is used for collecting a target image and sending the target image to the electronic handbook;
the electronic handbook for executing the lofting control method of the RTK host as claimed in any one of claims 1 to 7.
9. A storage medium containing computer-executable instructions for performing the lofting control method of an RTK host according to any one of claims 1 to 7 when executed by a computer processor.
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