Lofting method, device, equipment and storage medium

Abstract

The application discloses a lofting method, device, equipment and storage medium. The lofting method comprises the following steps: acquiring an image shot by a lofting device and current position information of the lofting device, wherein the image comprises depth information of the lofting device and the ground; determining geographical projection information of the ground according to the image and the current position information, wherein the geographical projection information is used for indicating three-dimensional position information of the ground, and the three-dimensional position information comprises height information; determining whether a ground transformation point needs to be used according to the geographical projection information and position information of a target lofting point; and when it is determined that the ground transformation point needs to be used, determining path information between the current position information of the lofting device and position information of the ground transformation point. The application realizes lofting by using a ground transformation point in a specific scene, overcomes the problem that the prior art needs to loft a target lofting point multiple times in a specific scene, effectively improves lofting efficiency and accuracy, and reduces the working difficulty of lofting.

Description

Technical Field

[0001] This invention relates to the field of surveying and construction technology, and in particular to a setting-out method, apparatus, equipment, and storage medium. Background Technology

[0002] In the field of surveying and mapping construction, the surveying work that transfers the planar position and elevation of a target on a drawing to the actual ground using certain measuring instruments and methods is called setting out.

[0003] Real-time kinematic (RTK) carrier phase differential technology is widely used in engineering construction. During the point layout process, operators compare the geographic coordinates of feature points on the drawings with the high-precision coordinates output in real time by the measuring equipment with the target layout point (i.e., feature point). This provides the real-world direction and distance of the target layout point relative to the measuring equipment, guiding the operators to gradually approach the target layout point.

[0004] Currently, due to the complexity of actual engineering surveying and the diversity of stakeout point locations, professional operators need to be thoroughly familiar with the area where the target stakeout point is located, and the surveying equipment needs to be moved repeatedly to complete a single stakeout of the stakeout points in a complex area. Especially for engineering tasks with a large workload, complex work scenarios, and tight delivery deadlines, the work difficulty and engineering complexity are high, the work efficiency is relatively low, and the overall project progress is affected. Summary of the Invention

[0005] This invention provides a layout method, apparatus, equipment, and storage medium to solve the technical problem of low layout efficiency in related technologies.

[0006] According to one aspect of the present invention, a stakeout method is provided, applied in a stakeout apparatus, comprising:

[0007] Acquire images captured by the stakeout equipment and the current position information of the stakeout equipment; wherein, the images include depth information of the stakeout equipment relative to the ground;

[0008] Based on the image and the current location information, the geographic projection information of the ground is determined; wherein, the geographic projection information is used to indicate the three-dimensional location information of the ground, and the three-dimensional location information includes height information;

[0009] Based on the geographic projection information and the location information of the target stakeout point, determine whether it is necessary to use ground transformation points;

[0010] When it is determined that the ground transformation point needs to be used, the path information between the current location information of the surveying equipment and the location information of the ground transformation point is determined.

[0011] The method described above further includes:

[0012] The path information is displayed; wherein, the path information includes the distance and direction between the current position of the surveying equipment and the position of the ground transformation point.

[0013] In the method described above, the image includes: a two-dimensional image and a depth image captured by the stakeout device.

[0014] The method described above further includes:

[0015] Obtain the inertial information of the stakeout equipment output by the inertial measurement unit in the stakeout equipment;

[0016] Determining the geographic projection information of the ground based on the image and the current location information includes:

[0017] The geographic projection information of the ground is determined based on the two-dimensional image, the depth image, and the inertial information of the stakeout equipment.

[0018] In the method described above, determining the geographic projection information of the ground based on the two-dimensional image, the depth image, and the inertial information of the stakeout device includes:

[0019] The two-dimensional image, the depth image, and the inertial information of the lofting device are synchronized in time.

[0020] The geographic projection information of the ground is determined based on the time-synchronized two-dimensional image, the depth image, and the inertial information of the stakeout equipment.

[0021] In the method described above, determining whether to use ground transformation points based on the geographic projection information and the location information of the target stakeout point includes:

[0022] The position information of the target lofting point is converted into the coordinates of the target lofting point in the pixel coordinate system; wherein, the pixel coordinate system is a coordinate system constructed in the two-dimensional image;

[0023] Based on the coordinates of the target stakeout point in the pixel coordinate system, determine the position of the target stakeout point in the geographic projection information;

[0024] If the distance between the location of the target stakeout point in the geographic projection information and the target stakeout point is not zero, then it is determined that a ground transformation point needs to be used.

[0025] The method described above further includes:

[0026] The intersection of the normal vector of the target stakeout point along the height direction and the ground is determined as the ground transformation point.

[0027] According to another aspect of the present invention, a stakeout apparatus is provided, disposed in a stakeout device, comprising:

[0028] The acquisition module is used to acquire images captured by the stakeout equipment and the current position information of the stakeout equipment; wherein, the images include depth information of the stakeout equipment relative to the ground;

[0029] The first determining module is used to determine the geographic projection information of the ground based on the image and the current location information; wherein the geographic projection information is used to indicate the three-dimensional location information of the ground, and the three-dimensional location information includes height information;

[0030] The second determining module is used to determine whether ground transformation points need to be used based on the geographic projection information and the location information of the target stakeout point;

[0031] The third determining module is used to determine the path information between the current location information of the surveying equipment and the location information of the ground transformation point when it is determined that the ground transformation point needs to be used.

[0032] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0033] Image sensor, the image sensor being used to capture images;

[0034] A position sensor, used to acquire the current position information of the electronic device;

[0035] At least one processor; and

[0036] A memory communicatively connected to the at least one processor; wherein,

[0037] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the lofting method according to any embodiment of the present invention.

[0038] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the lofting method described in any embodiment of the present invention.

[0039] The technical solution of this invention utilizes the depth information of the stakeout equipment and the ground during the stakeout process. After fusing the image and current location information, the geographic projection information of the ground is determined. Then, using this geographic projection information and the location information of the target stakeout point, it is determined whether a ground transformation point is needed. If a ground transformation point is required, the path information between the current location information and the location information of the ground transformation point is determined. In specific scenarios, stakeout is achieved using ground transformation points, overcoming the difficulty of multiple stakeouts of target stakeout points in specific scenarios found in existing technologies. This achieves a one-shot-to-target process, providing convenient operation, precise control, and fast and accurate stakeout, effectively improving stakeout efficiency and accuracy, reducing the difficulty of stakeout work, and minimizing the waste of labor costs.

[0040] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A flowchart of a layout method provided according to an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of a layout method according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of a stakeout device provided according to an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram illustrating an application scenario of a layout method provided according to an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of a lofting device provided according to an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the lofting method of the present invention. Detailed Implementation

[0048] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0049] It should be noted that the terms "target," "current," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0050] Figure 1 This is a flowchart illustrating a stakeout method according to an embodiment of the present invention. This embodiment is applicable to stakeout of feature points on a map in the field of surveying and construction, and is particularly suitable for stakeout scenarios in complex areas. The method can be executed by a stakeout device, which can be implemented in hardware and / or software and can be configured in electronic equipment, such as a stakeout machine. Figure 1 As shown, the method includes:

[0051] Step 101: Obtain the images captured by the staking equipment and the current location information of the staking equipment.

[0052] The images include depth information of the surveying equipment and the ground.

[0053] Optionally, the current position information of the stakeout equipment can be obtained through a navigation system, such as a Global Navigation Satellite System (GNSS). The obtained current position information can be the current three-dimensional position information in a projected coordinate system. In this embodiment, there is no limitation on the specific projected coordinate system used; it can be any existing projected coordinate system, such as the Universal Transverse Mercator Grid System (UTM) coordinate system.

[0054] The staking equipment is equipped with an image sensor to capture images within its field of view. In this embodiment, the images captured by the staking equipment include depth information of the staking equipment and the ground.

[0055] In one implementation, an image sensor on the staking equipment captures an image that includes depth information of the staking equipment relative to the ground.

[0056] In another implementation, the image sensor on the stakeout equipment captures two images: a two-dimensional image and a depth image. The depth image includes depth information between the stakeout equipment and the ground. Correspondingly, the stakeout equipment includes two types of image sensors: a passive optical camera and an active depth camera. The passive optical camera captures the two-dimensional image. The active depth camera captures the depth image. For example, the active depth camera can be a Time-of-Flight (ToF) camera. Of course, other types of depth cameras can also be used, and this embodiment is not limited to this. The two-dimensional image in this embodiment can also be called an RGB image. The depth image can also be called an RGBD image. Optionally, the depth information in this embodiment can be controlled at the centimeter level.

[0057] Step 102: Determine the geographic projection information of the ground based on the image and the current location information.

[0058] Among them, geographic projection information is used to indicate the three-dimensional location information of the ground, which includes height information.

[0059] In this embodiment, after obtaining the image and the current location information, data fusion can be performed on the image and the current location information to obtain the geographic projection information of the ground.

[0060] One possible fusion method is to determine the ground height information based on the depth information of the staking equipment and the ground in the image, as well as the current position information of the staking equipment; and to determine the position information of the ground in the other two dimensions based on the distance between the staking equipment and the ground on the horizontal plane in the image, as well as the current position information of the staking equipment.

[0061] In this embodiment, the three-dimensional location information of the ground can refer to the three-dimensional location information of multiple points on the ground.

[0062] In a scene where the image includes both a 2D image and a depth image, the 2D image is used to obtain the ground region of the currently captured scene based on a ground segmentation algorithm. The depth image includes the observed depth information of the scene.

[0063] Optionally, the stakeout device in this embodiment may further include an inertial measurement unit (IMU) to provide the stakeout device with 6 or 9 degrees of freedom of change. For example, it may provide acceleration changes in three directions and angular velocity changes in three directions. The three directions here may be the x-axis, y-axis, and z-axis directions in the projected coordinate system.

[0064] During the operation of the stakeout equipment, the inertial measurement unit outputs the inertial information of the equipment. As shown earlier, this inertial information can be the changes in acceleration and angular velocity of the stakeout equipment in three directions.

[0065] In one possible implementation, the stakeout method provided in this embodiment may further include: acquiring the inertial information of the stakeout equipment output by the inertial measurement unit in the stakeout equipment. Correspondingly, step 102 specifically involves: determining the geographic projection information of the ground based on the acquired two-dimensional image, the acquired depth image, and the inertial information of the stakeout equipment.

[0066] In the above implementation, using the inertial information of the stakeout equipment during data fusion can improve the accuracy of the depth of ground points, that is, improve the accuracy of the ground height information. This is because the IMU can generate motion offsets during the movement of the stakeout equipment, such as acceleration offsets and angular velocity offsets. By combining multiple frames of the image and calculating the reprojection error based on key points, the reprojection error between multiple frames is minimized, thereby improving the accuracy of the depth of ground points. In this embodiment, ground points refer to points on the ground.

[0067] Furthermore, in step 102, the 2D image, depth image, and inertial information of the stakeout equipment can be synchronized in time; based on the time-synchronized 2D image, depth image, and inertial information of the stakeout equipment, the geographic projection information of the ground is determined. Since the 2D image, depth image, and inertial information are input from different sensors, in this implementation, the data input from multiple sensors can be synchronized in time to ensure that the multi-source data are aligned at the same timestamp, further ensuring the accuracy of the geographic projection information.

[0068] Optionally, in step 102, the two-dimensional image, depth image, and inertial information of the stakeout equipment can be preprocessed by denoising, filtering, and smoothing to improve the efficiency and accuracy of determining the geographic projection information of the ground.

[0069] In this embodiment, the current position information of the stakeout equipment can be obtained by receiving satellite signals through the navigation system and fusing the original satellite positioning data with the IMU to obtain a fixed solution, that is, the solution with stable coordinates and the highest accuracy.

[0070] Step 103: Based on the geographic projection information and the location information of the target stakeout point, determine whether it is necessary to use ground transformation points.

[0071] After determining the geographic projection information, this embodiment needs to determine whether a ground transformation point is needed based on the geographic projection information and the location information of the target stakeout point. It is understood that the ground transformation point in this embodiment refers to the replacement point of the target stakeout point on the ground.

[0072] In this embodiment, the location information of the target lofting point can be obtained from the survey drawing. Optionally, the location information of the target lofting point can be three-dimensional location information. Here, the location information of the target lofting point can be the location information in the projected coordinate system.

[0073] In one possible implementation, the following method is used to determine whether a ground transformation point needs to be used: the location information of the target lofting point is converted into the coordinates of the target lofting point in a pixel coordinate system, where the pixel coordinate system is a coordinate system constructed in the two-dimensional image; based on the coordinates of the target lofting point in the pixel coordinate system, the position of the target lofting point in the geographic projection information is determined; if the distance between the position of the target lofting point in the geographic projection information and the target lofting point is not zero, then it is determined that a ground transformation point needs to be used.

[0074] The process of converting the position information of the target lofting point into its coordinates in the pixel coordinate system can be achieved as follows: Given the position information of the target lofting point in the projected coordinate system, a transformation is performed from the projected coordinate system to the camera coordinate system, and then from the camera coordinate system to the pixel coordinate system. This yields the pixel coordinates of the target lofting point on the 2D image, i.e., the coordinates of the target lofting point in the pixel coordinate system. It should be noted that the camera coordinate system can be a coordinate system constructed in the depth image. During the coordinate transformation, the coordinate transformation can be performed based on the calibration parameter matrices between the various sensors.

[0075] Alternatively, the geographic projection information can also be location information in the projected coordinate system. In determining the location of the target lofting point in the geographic projection information based on its coordinates in the pixel coordinate system, the transformation matrix between the pixel coordinate system and the projected coordinate system can be used to determine the location of the target lofting point in the geographic projection information.

[0076] Since geographic projection information indicates the three-dimensional location information of the ground, if the distance between the target stakeout point and its corresponding location in the geographic projection information is not zero, it indicates that the target stakeout point is a non-ground point, meaning it is underground or above ground. Non-ground points cannot be used for true stakeout; therefore, in this implementation, ground transformation points are used to replace the target stakeout point.

[0077] In another possible implementation, the following method is used to determine whether ground transformation points need to be used: the location information of the target lofting point is converted into the coordinates of the target lofting point in the pixel coordinate system, where the pixel coordinate system is a coordinate system constructed in the two-dimensional image; based on the coordinates of the target lofting point in the pixel coordinate system, the position of the target lofting point in the geographic projection information is determined; if the distance between the position of the target lofting point in the geographic projection information and the target lofting point is greater than a preset threshold, then it is determined that ground transformation points need to be used.

[0078] The above method of determining whether ground change points are needed is efficient and convenient, further improving the efficiency of layout.

[0079] Optionally, when it is determined that a ground transformation point needs to be used, the location of the ground transformation point can also be determined. One possible way to determine the ground transformation point is to identify the intersection of the normal vector of the target lofting point along the height direction and the ground. This implementation can be performed in the projected coordinate system. Since the location information of the target lofting point is known, and the location information of each point on the ground can also be determined based on the geographic projection information of the ground, the intersection of the normal vector of the target lofting point along the height direction and the ground can be determined and used as the ground transformation point. This method of determining the ground transformation point has high efficiency and accuracy, further improving the lofting efficiency. In this embodiment, the height direction refers to the direction of the z-axis in the projected coordinate system, which can also be called the vertical direction.

[0080] Once the ground transformation point is determined, it's equivalent to simultaneously knowing the change in the normal vector along the height direction between the ground transformation point and the target stakeout point. In a scenario where the target stakeout point is underground, this is equivalent to excavating at the ground transformation point, and the excavation distance is the change in the normal vector along the height direction between the ground transformation point and the target stakeout point.

[0081] Step 104: When it is determined that a ground transformation point needs to be used, determine the path information between the current location information of the stakeout equipment and the location information of the ground transformation point.

[0082] Optionally, the path information may include the distance and direction between the current location of the stakeout equipment and the location of the ground transformation point.

[0083] In this embodiment, the format in which the route information is presented is not limited. For example, the route information can be represented as navigation on a map. Route information can also be represented as text, images, audio, video, or other multimedia information. This embodiment is not limited to these formats.

[0084] After determining the path information between the current location of the stakeout equipment and the location information of the ground transformation point, the operator can place the stakeout equipment at the ground transformation point according to the path information to achieve stakeout in one operation. It can be seen that the stakeout method provided in this embodiment can achieve one-shot placement in scenarios where the target stakeout point is not a ground point, achieving fast and accurate stakeout, effectively improving stakeout efficiency and accuracy, and reducing the difficulty of stakeout work.

[0085] Optionally, when it is determined that ground transformation points are not required, the path information between the current location information of the staking equipment and the location information of the target staking point is determined based on the current location information of the staking equipment and the location information of the target staking point.

[0086] Optionally, the stakeout device in this embodiment may further include a display module. After determining the path information between the current position information of the stakeout device and the position information of the ground transformation point, the path information can be displayed in the display module of the stakeout device. Displaying the path information in the display module can guide the operator, enabling the operator to quickly find the position of the ground transformation point and further improve the efficiency of stakeout. Displaying the path information in the display module allows the path information to be presented visually, facilitating the operator's clear understanding and decision-making ability regarding the current position information, the change in position and direction from the ground transformation point.

[0087] Figure 3 This is a schematic diagram of a stakeout device provided according to an embodiment of the present invention. Figure 3 As shown, the stakeout device 30 includes: a measuring rod 301, a display module 302, a navigation system 002, an IMU 001, a passive optical camera 303, an active depth camera 304, a device body 305, and a controller (not shown in the figure). One end of the measuring rod 301 is connected to the device body 305. The measuring rod 301 is used to support the device body 305. The display module 302 can be mounted on the device body 305 or on the measuring rod 301. Figure 3Taking the example where the display module 302 is mounted on the measuring rod 301, the navigation system 002, IMU 001, passive optical camera 303, and active depth camera 304 are all mounted on the main body 305 of the equipment. The display module 302, navigation system 002, IMU 001, passive optical camera 303, and active depth camera 304 are all electrically connected to the controller. The controller executes steps 101 to 104 based on the data input from the navigation system 002, IMU 001, passive optical camera 303, and active depth camera 304. Afterwards, the path information between the current position information of the stakeout equipment and the position information of the ground transformation point can be displayed in the display module 302. The operator can move towards the ground transformation point according to the path information displayed in the display module 302, achieving a stakeout effect with a single, precise aiming. Figure 3 Region 306 in the diagram illustrates the shooting range of the active depth camera 304. In practice, the shooting range of the active depth camera 304 can be other shapes.

[0088] Figure 4 This is a schematic diagram illustrating an application scenario of a layout method provided by an embodiment of the present invention. Figure 4 As shown, target stakeout point P2 is located below ground level 401, and target stakeout point P1 is located above ground level 401.

[0089] In the layout process of related technologies, multiple layouts and multiple movements of the measuring rod are often encountered. That is, for a target layout point, there are repeated stops and operations from position Pv1 to position Pvn until the vertical ground point corresponding to P1 or P2 is reached.

[0090] In the stakeout method provided in this embodiment, the image captured by the stakeout device 402 and the current position information Pc are acquired. Based on the image and the current position information Pc, the geographic projection information of the ground 401 is determined. It can be seen that the ground 401 in this example is not a plane, but a curved surface. Based on the geographic projection information of the ground 401 and the position information of P2 or P1, it is determined whether a ground transformation point needs to be used. P1 or P2 can first be converted to coordinates in a pixel coordinate system. Then, based on the coordinates of P1 or P2 in the pixel coordinate system, the position corresponding to P1 or P2 in the geographic projection information is determined. In the figure, the determined position corresponding to P1 or P2 in the geographic projection information may be any one of Pv1, Pv2, P3, or Pvn. Of course, it can be understood that there can be several points between P3 and Pvn; the figure is only an example. It can be seen that in this example, the distance between the position corresponding to P1 or P2 in the geographic projection information and P1 or P2 is not zero, indicating that P1 or P2 is a non-ground point and a ground transformation point needs to be used.

[0091] When determining the ground transformation point, the intersection of the normal vector F along the height direction of P1 or P2 and the ground 401 is defined as the ground transformation point Pr. Then, the layout can be performed at the ground transformation point Pr.

[0092] As can be seen, compared with existing technologies, the stakeout method provided in this embodiment does not require repeated pauses and operations at Pv1, Pv2, Pv3, or Pvn. Instead, it first determines whether ground transformation points are needed. When it is determined that ground transformation points are needed, stakeout is performed directly at the ground transformation points. This overcomes the problem of multiple stakeouts of target stakeout points in specific scenarios in existing stakeout methods. It is convenient to operate, precise to control, and achieves fast and accurate stakeout, effectively improving stakeout efficiency and accuracy, reducing the difficulty of stakeout work, and bridging the last mile of stakeout that can be done with just one pole.

[0093] Figure 2 This is a schematic diagram of a layout method according to an embodiment of the present invention. Figure 2 As shown, it includes the following modules: GNSS 201, IMU 202, image sensor 203, data acquisition module 204, sensor calibration module 205, preprocessing and time synchronization module 206, depth measurement module 207, fusion and geographic coordinate transformation module 208, and stakeout point decision module 209. GNSS 201, IMU 202, and image sensor 203 are connected to the input terminals of data acquisition module 204. The output terminal of data acquisition module 204 is connected to the input terminal of sensor calibration module 205. The output terminal of sensor calibration module 205 is connected to the input terminal of preprocessing and time synchronization module 206. The output terminal of preprocessing and time synchronization module 206 is connected to the input terminal of depth measurement module 207. The output terminal of depth measurement module 207 is connected to the input terminal of fusion and geographic coordinate transformation module 208. The output terminal of fusion and geographic coordinate transformation module 208 is connected to the input terminal of stakeout point decision module 209.

[0094] The data acquisition module 204 includes RGB image data acquisition, RGBD image data acquisition, inertial data acquisition, and real-time satellite position data acquisition.

[0095] The sensor calibration module 205 is mainly used to precisely calibrate the intrinsic parameters of the sensors and the extrinsic parameters between sensors using a calibration algorithm to obtain the transformation matrix between different sensor coordinate systems. In this embodiment, the sensors refer to GNSS 201, IMU 202, and image sensor 203.

[0096] The preprocessing and time synchronization module 206 mainly performs noise reduction, filtering, smoothing and time synchronization on the input data to ensure that the multi-source data are aligned at the same timestamp.

[0097] The function of the depth measurement module 207 is to perform depth perception on the scene in front of and below the layout equipment.

[0098] The fusion and geographic coordinate transformation module 208 is used to fuse two-dimensional image data, three-dimensional depth image data, geographic coordinate data, and inertial data. The two-dimensional image data is used to obtain the ground region in the current scene based on the ground segmentation algorithm. The three-dimensional depth image data is used to obtain the depth information of the observed scene. Multi-source sensor fusion fuses and transforms the two-dimensional image data, three-dimensional depth image data, position information output by the global navigation satellite system, and inertial information output by the IMU based on the camera's attribute parameters and the transformation parameters between sensors to obtain the geographic projection information of the ground. In this embodiment, the ground can also be referred to as the target surface area.

[0099] The stakeout point decision module 209 determines whether a ground transformation point needs to be established based on the relative positional relationship between the target stakeout point and the ground point. If so, the ground transformation point is converted; otherwise, the stakeout measurement is performed using the conventional ground point measurement mode.

[0100] It should be noted that, Figure 2 The module shown is a module in the controller of the stakeout equipment. It can be understood that the controller of the stakeout equipment can also perform task scheduling, rational control of the power consumption of the stakeout equipment, control of the frequency of sensor data acquisition, and remote information sharing. For example, it can share at least one of the following with a remote server: current location information, geographic projection information, and determined path information.

[0101] The stakeout method provided in this embodiment utilizes the depth information of the stakeout equipment and the ground during the stakeout process. It fuses the image and current location information to determine the geographic projection information of the ground. Then, using this geographic projection information and the location information of the target stakeout point, it determines whether a ground transformation point is needed. If a ground transformation point is required, it determines the path information between the current location information and the location information of the ground transformation point. In specific scenarios, stakeout is achieved using ground transformation points, overcoming the difficulty of multiple stakeouts of target stakeout points in specific scenarios found in existing technologies. It achieves a one-shot-to-target process, providing convenient operation, precise control, and fast and accurate stakeout, effectively improving stakeout efficiency and accuracy, reducing the difficulty of stakeout work, and minimizing the waste of labor costs.

[0102] Figure 5 This is a schematic diagram of a lofting device according to an embodiment of the present invention. Figure 5 As shown, the device includes the following modules: an acquisition module 51, a first determination module 52, a second determination module 53, and a third determination module 54.

[0103] The acquisition module 51 is used to acquire the image captured by the staking device and the current position information of the staking device.

[0104] The image includes depth information of the surveying equipment and the ground.

[0105] The first determining module 52 is used to determine the geographic projection information of the ground based on the image and the current location information.

[0106] The geographic projection information is used to indicate the three-dimensional location information of the ground, and the three-dimensional location information includes height information.

[0107] The second determining module 53 is used to determine whether ground transformation points need to be used based on the geographic projection information and the location information of the target stakeout point.

[0108] The third determining module 54 is used to determine the path information between the current location information of the surveying equipment and the location information of the ground transformation point when it is determined that the ground transformation point needs to be used.

[0109] Optionally, the device further includes a display module for displaying the path information. The path information includes the distance and direction between the current position of the surveying equipment and the position of the ground transformation point.

[0110] Optionally, the images include: two-dimensional images and depth images captured by the stakeout device.

[0111] Optionally, the acquisition module 51 is further configured to acquire the inertial information of the stakeout equipment output by the inertial measurement unit in the stakeout equipment. The first determination module 52 is specifically configured to: determine the geographic projection information of the ground based on the two-dimensional image, the depth image, and the inertial information of the stakeout equipment.

[0112] In one implementation, the first determining module 52 is specifically used to: synchronize the two-dimensional image, the depth image, and the inertial information of the stakeout device in time; and determine the geographic projection information of the ground based on the time-synchronized two-dimensional image, the depth image, and the inertial information of the stakeout device.

[0113] Optionally, the second determining module 53 is specifically used to: convert the location information of the target stakeout point into the coordinates of the target stakeout point in a pixel coordinate system, wherein the pixel coordinate system is a coordinate system constructed in the two-dimensional image; determine the position of the target stakeout point in the geographic projection information based on the coordinates of the target stakeout point in the pixel coordinate system; if the distance between the position of the target stakeout point in the geographic projection information and the target stakeout point is not zero, then it is determined that a ground transformation point needs to be used.

[0114] Optionally, the device further includes a fourth determining module, used to determine the intersection of the normal vector of the target stakeout point along the height direction and the ground as the ground transformation point.

[0115] The layout device provided in the embodiments of the present invention can execute the layout method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0116] Figure 6 This is a schematic diagram of the structure of an electronic device implementing the lofting method of this embodiment of the invention. The electronic device 10 provided in this embodiment can be a lofting device with efficient and stable hardware and algorithm flow. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0117] like Figure 6As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14. The electronic device 10 also includes an image sensor 20 and a position sensor 21. The image sensor 20 is used to capture images. The position sensor 21 is used to acquire the current position information of the electronic device. The image sensor 20 and the position sensor 21 can also be interconnected via the bus 14. Optionally, the electronic device 10 may also include an IMU 22. IMU 22 is used to acquire inertial information of electronic device 10.

[0118] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0119] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as lofting methods.

[0120] In some embodiments, the lofting method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the lofting method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the lofting method by any other suitable means (e.g., by means of firmware).

[0121] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0122] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0123] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0124] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0125] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0126] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0127] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0128] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method of lofting, characterized by, The method is applied to a lofting device, and comprises the following steps: obtaining an image captured by the lofting device and current position information of the lofting device; wherein the image comprises depth information of the lofting device and the ground, and the image comprises a two-dimensional image and a depth image captured by the lofting device; obtaining inertial information of the lofting device output by an inertial measurement unit in the lofting device; determining geographic projection information of the ground according to the two-dimensional image, the depth image and the inertial information of the lofting device; wherein the geographic projection information is used to indicate three-dimensional position information of the ground, and the three-dimensional position information comprises height information; determining whether a ground transformation point needs to be used according to the geographic projection information and position information of a target lofting point; when it is determined that the ground transformation point needs to be used, determining path information between the current position information of the lofting device and position information of the ground transformation point.

2. The method of claim 1, wherein, The method further comprises: displaying the path information; wherein the path information comprises distance and direction between the current position of the lofting device and the position of the ground transformation point.

3. The method of claim 1, wherein, The determination of the geographic projection information of the ground according to the two-dimensional image, the depth image and the inertial information of the lofting device comprises: time synchronizing the two-dimensional image, the depth image and the inertial information of the lofting device; determining the geographic projection information of the ground according to the time-synchronized two-dimensional image, the depth image and the inertial information of the lofting device.

4. The method of claim 1, wherein, The determination of whether the ground transformation point needs to be used according to the geographic projection information and the position information of the target lofting point comprises: converting the position information of the target lofting point into coordinates of the target lofting point in a pixel coordinate system; wherein the pixel coordinate system is a coordinate system constructed in the two-dimensional image; determining a corresponding position of the target lofting point in the geographic projection information according to the coordinates of the target lofting point in the pixel coordinate system; if a distance between the corresponding position of the target lofting point in the geographic projection information and the target lofting point is not zero, it is determined that the ground transformation point needs to be used.

5. The method of claim 1, wherein, The method further comprises: determining an intersection of a normal vector of the target lofting point along a height direction and the ground as the ground transformation point.

6. A setting-out device characterised in that, The method is applied to a lofting device, and comprises the following steps: an obtaining module, configured to obtain an image captured by the lofting device and current position information of the lofting device; wherein the image comprises depth information of the lofting device and the ground, and the image comprises a two-dimensional image and a depth image captured by the lofting device; the obtaining module is further configured to obtain inertial information of the lofting device output by an inertial measurement unit in the lofting device; a first determining module, configured to determine geographic projection information of the ground according to the two-dimensional image, the depth image and the inertial information of the lofting device; wherein the geographic projection information is used to indicate three-dimensional position information of the ground, and the three-dimensional position information comprises height information; A second determining module is configured to determine whether a ground transformation point needs to be used according to the geographic projection information and position information of a target lofting point. A third determining module is configured to determine path information between current position information of the lofting device and position information of the ground transformation point when it is determined that the ground transformation point needs to be used.

7. An electronic device, comprising: The electronic device comprises: an image sensor configured to capture an image; a position sensor configured to obtain current position information of the electronic device; at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the lofting method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to perform the lofting method of any one of claims 1 to 5 when executed.

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