Electronic fence information acquisition method, system and device and medium

Abstract

The embodiment of the invention provides an electronic fence information collection method, system and device and a medium. The method comprises the steps that a positioning base point is determined based on environment information; acquiring positioning information of the positioning base point; acquiring a relative position relationship between a target positioning point on the target fence and the positioning base point; determining the positioning information of the target positioning point based on the positioning information of the positioning base point and the relative position relation; and determining the positioning information of the target fence based on the positioning information of the target positioning point.

Description

Technical Field

[0001] This specification relates to the field of information collection technology, and in particular to a method, system, device and medium for collecting electronic fence information. Background Art

[0002] When parking shared vehicles (such as shared bicycles), users are often required to place them in white parking boxes on the roadside. This is a basic requirement for parking regulations. Accurately obtaining the positioning information of the electronic fence corresponding to the parking box is crucial for verifying parking regulations for shared vehicles.

[0003] At present, vehicle operators usually use operators to hold high-precision data acquisition equipment and stand at each vertex of the parking frame. After the high-precision data acquisition equipment is stably positioned, they manually click to upload data to the server to obtain the positioning information of the electronic fence.

[0004] However, when the positioning environment of the collection point of the parking frame is not good (such as being surrounded by single-sided buildings, tree-lined buildings, or even double-sided buildings), the high-precision collection equipment takes a long time to meet the accuracy requirements, or even fails to meet the accuracy requirements. This not only wastes the operator's time, but also fails to guarantee the collection accuracy.

[0005] Based on this, it is hoped to provide an electronic fence information collection method, system, device and medium to improve the accuracy and efficiency of information collection and save manpower. Summary of the Invention

[0006] One or more embodiments of the present specification provide a method for collecting electronic fence information, the method comprising: determining a positioning base point based on environmental information; obtaining positioning information of the positioning base point; obtaining a relative positional relationship between a target positioning point on a target fence and the positioning base point; determining the positioning information of the target positioning point based on the positioning information and the relative positional relationship of the positioning base point; and determining the positioning information of the target fence based on the positioning information of the target positioning point.

[0007] One or more embodiments of the present specification provide an electronic fence information collection system, the system comprising: a positioning base point determination module, configured to determine a positioning base point based on environmental information; a positioning information acquisition module, configured to acquire positioning information of the positioning base point; a position relationship acquisition module, configured to acquire a relative position relationship between a target positioning point on a target fence and the positioning base point; a first information determination module, configured to determine the positioning information of the target positioning point based on the positioning information and the relative position relationship of the positioning base point; and a second information determination module, configured to determine the positioning information of the target fence based on the positioning information of the target positioning point.

[0008] One or more embodiments of this specification provide an electronic fence information collection device, which includes at least one processor and at least one memory; the at least one memory is used to store computer instructions; the at least one processor is used to execute at least part of the computer instructions to implement the aforementioned electronic fence information collection method.

[0009] One or more embodiments of this specification provide a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the aforementioned electronic fence information collection method. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] This specification will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, like numbers represent like structures, wherein:

[0011] Figure 1 is a schematic diagram of an application scenario of an electronic fence information collection system according to some embodiments of this specification;

[0012] Figure 2 is an exemplary module diagram of an electronic fence information collection system according to some embodiments of this specification;

[0013] Figure 3 is an exemplary flow chart of a method for collecting electronic fence information according to some embodiments of this specification;

[0014] Figure 4 is an exemplary flow chart for determining a positioning base point according to some embodiments of this specification;

[0015] Figure 5 is an exemplary schematic diagram of determining base point features of a reference base point according to some embodiments of this specification;

[0016] Figure 6 is an exemplary schematic diagram of determining surveying parameters of a target fence according to some embodiments of this specification;

[0017] Figure 7 This is an exemplary schematic diagram of determining the degree of interference between a target fence and a positioning base point according to some embodiments of this specification. DETAILED DESCRIPTION

[0018] To more clearly illustrate the technical solutions of the embodiments of this specification, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this specification. Those skilled in the art can apply this specification to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0019] It should be understood that the terms "system," "device," "unit," and / or "module" used herein are a method for distinguishing different components, elements, parts, portions, or assemblies at different levels. However, if other terms can achieve the same purpose, the terms may be replaced by other expressions.

[0020] As used in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not refer to the singular but also include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0021] Flowcharts are used throughout this specification to illustrate the operations performed by systems according to embodiments of this specification. It should be understood that preceding or following operations do not necessarily need to be performed in exact order. Instead, the steps may be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0022] Figure 1 1 is a schematic diagram of an application scenario of an electronic fence information collection system according to some embodiments of this specification. In some embodiments, the application scenario 100 of the electronic fence information collection system 200 may include a target fence 110, a distance measuring device 120, a network 130, and a processor 140. Part or all of the electronic fence information collection system 200 may be integrated into the processor 140. For more information about the electronic fence information collection system 200, please refer to Figure 2 and its related descriptions.

[0023] In some embodiments, the electronic fence information collection system 200 can collect information about the electronic fence by implementing the electronic fence information collection method disclosed in this specification. For example, in a typical application scenario, the electronic fence information collection system 200 can determine the positioning base point S based on environmental information, and obtain the positioning information of the positioning base point S, and obtain the relative position relationship between the target positioning point (such as point A, point B) on the target fence 110 and the positioning base point S from the ranging device 120 through the network 130; the processor 140 can determine the positioning information of the target positioning point based on the positioning information of the positioning base point S and the above relative position relationship, and determine the positioning information of the target fence 110 based on the positioning information of the target positioning point. For more information about the positioning base point S, please refer to Figure 3 and its related descriptions.

[0024] An electronic fence is a virtual fence used to demarcate the parking area for shared vehicles. Shared vehicles can include shared bicycles, shared electric bicycles, and shared electric vehicles. When a user (such as a renter) wants to return a shared vehicle, they must park it within the electronic fence to complete the return; otherwise, the return will not be successful.

[0025] Target fence 110 refers to an electronic fence whose location information is to be collected. In some embodiments, target fence 110 may include one or more target positioning points (e.g., point A, point B). The processor may determine the location information of target fence 110 based on the positioning information of the target positioning points, thereby completing the electronic fence information collection.

[0026] The distance measuring device 120 is a device used to measure the distance and / or angle between two designated points. For example, the distance measuring device can measure the distance and / or angle between a positioning base point S and a target positioning point. The distance measuring device 120 can include a laser distance measuring device, an infrared distance measuring device, or the like. In some embodiments, the distance measuring device 120 can obtain the relative positional relationship between the target positioning point and the positioning base point on the target fence 110 and transmit the information to the processor 140 via the network 130.

[0027] Network 130 can facilitate the exchange of information and / or data. In some embodiments, one or more components in application scenario 100 (e.g., ranging device 120, processor 140, etc.) can exchange information and / or data via network 130 and can also each obtain required information from external resources (e.g., third-party platforms, etc.) via network 130. For example, processor 140 can obtain the relative positional relationship between a target positioning point and a positioning base point on target fence 110 from ranging device 120 via network 130.

[0028] In some embodiments, network 130 may be a wired network, a wireless network, or any combination thereof. For example, network 130 may include a local area network (LAN), a wireless local area network (WLAN), a Bluetooth network, near field communication (NFC), or any combination thereof. In some embodiments, application scenario 100 may include one or more network access points, such as base stations and / or wireless access points. One or more components of application scenario 100 may connect to a network access point in network 130 to exchange information and / or data.

[0029] The processor 140 can process information and / or data obtained from one or more components of other devices or systems. The processor can execute program instructions based on these data, information and / or processing results to perform one or more functions described in this application. In some embodiments, the processor 140 may include one or more sub-processing devices (e.g., a single-core processing device or a multi-core multi-core processing device). As an example only, the processor 140 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), etc. or any combination thereof. In some embodiments, the processor 140 may be deployed in a remote server.

[0030] For more information about the target fence 110, the ranging device 120, and the processor 140, please refer to Figure 2-Figure 7 and its related descriptions.

[0031] It should be noted that the application scenario 100 of the electronic fence information collection system is provided for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can make various modifications or variations based on the description of this specification. For example, the application scenario 100 of the electronic fence information collection system may also include a storage device, a terminal device, etc. For another example, the application scenario 100 of the electronic fence information collection system may implement similar or different functions on other devices. However, such variations and modifications do not deviate from the scope of this application.

[0032] Figure 2 This is an exemplary module diagram of an electronic fence information collection system according to some embodiments of this specification.

[0033] In some embodiments, the electronic fence information collection system 200 may include a positioning base point determination module 210, a positioning information acquisition module 220, a position relationship acquisition module 230, a first information determination module 240, and a second information determination module 250. In some embodiments, all or part of the modules of the electronic fence information collection system 200 may be integrated into the processor 140.

[0034] In some embodiments, the positioning base point determination module 210 may be configured to determine a positioning base point based on environmental information.

[0035] In some embodiments, the positioning base point determination module 210 can be further used to determine one or more reference base points based on environmental information; determine the position requirements of the positioning base points based on the laser ranging equipment and the target positioning point; and determine the positioning base point based on the reference base points and the position requirements.

[0036] In some embodiments, the positioning base point determination module 210 can be further used to obtain a global environmental image of the target area, where the target area includes at least one target fence; obtain one or more reference base points; based on the global environmental image, determine the base point features of the reference base point relative to at least one target fence, the base point features including comprehensive distance features and / or comprehensive interference features; and determine the positioning base point based on the base point features of the reference base point.

[0037] In some embodiments, the positioning information acquisition module 220 may be used to acquire positioning information of a positioning base point.

[0038] In some embodiments, the position relationship acquisition module 230 may be used to acquire the relative position relationship between the target positioning point and the positioning base point on the target fence.

[0039] In some embodiments, the position relationship acquisition module 230 can be further used to acquire the relative position relationship between the target positioning point and the positioning base point on the target fence based on a laser ranging device.

[0040] In some embodiments, the laser ranging device includes a receiver and a transmitter. The receiver is deployed at a positioning base point, and the transmitter is deployed at a target positioning point. In some embodiments, the position relationship acquisition module 230 may further be configured to determine the relative positional relationship between the target positioning point on the target fence and the positioning base point based on the laser ranging signal emitted by the transmitter and the laser ranging signal received by the receiver.

[0041] In some embodiments, the position relationship acquisition module 230 can be further used to obtain a first position relationship between the auxiliary positioning point and the target positioning point; obtain a second position relationship between the auxiliary positioning point and the positioning base point; and determine the relative position relationship between the target positioning point and the positioning base point based on the first position relationship and the second position relationship.

[0042] In some embodiments, the first information determination module 240 may be configured to determine the positioning information of the target positioning point based on the positioning information and the relative position relationship of the positioning base point.

[0043] In some embodiments, the second information determination module 250 may be configured to determine the location information of the target fence based on the location information of the target location point.

[0044] In some embodiments, the electronic fence information collection system 200 may further include a surveying and mapping parameter determination module 260 .

[0045] In some embodiments, the mapping parameter determination module 260 can be configured to determine the degree of interference between the target fence and the positioning base point based on the global environment image and the fence environment image of the target fence; and determine the mapping parameters of the target fence based on the interference degree. The mapping parameters of the target fence include the number of times the target positioning point of the target fence is mapped.

[0046] For more information about the positioning base point determination module 210, the positioning information acquisition module 220, the position relationship acquisition module 230, the first information determination module 240, the second information determination module 250 and the surveying and mapping parameter determination module 260, please refer to Figure 3-Figure 7 and its related descriptions.

[0047] It should be noted that the above description of the electronic fence information collection system 200 and its modules is for convenience only and does not limit this specification to the scope of the embodiments. It is understandable that those skilled in the art, after understanding the principles of the system, may arbitrarily combine the modules or form subsystems connected with other modules without deviating from the principles. In some embodiments, Figure 2 The positioning base point determination module 210, positioning information acquisition module 220, positional relationship acquisition module 230, first information determination module 240, second information determination module 250, and surveying and mapping parameter determination module 260 disclosed herein may be different modules within a single system, or a single module may implement the functions of two or more of the aforementioned modules. For example, each module may share a storage module, or each module may have its own storage module. Such variations are within the scope of protection of this specification.

[0048] Figure 3 This is an exemplary flow chart of the electronic fence information collection method according to some embodiments of this specification. Figure 3 As shown, the process 300 includes the following steps: In some embodiments, the process 300 can be executed by the electronic fence information collection system 200 (such as a processor).

[0049] Step 310: Determine a positioning base point based on the environmental information.

[0050] Environmental information refers to information related to the surrounding environment of the target fence. For example, environmental information may include the type of obstruction, the number of obstructions, the volume of obstructions, etc. For more information about the target fence, please refer to the relevant description elsewhere in this manual (such as Figure 1 and its related descriptions).

[0051] In some embodiments, the environmental information can be obtained based on operator input. In some embodiments, the processor can determine the environmental information by performing image recognition on the global environmental image of the target area based on the global environmental image of the target area obtained by the drone or the like. For a detailed description of the global environmental image of the target area, please refer to Figure 4 and its related descriptions.

[0052] A positioning base point is a reference point used to determine the positioning information of one or more target positioning points of a target fence. In some embodiments, a positioning base point can be used to determine the positioning information of one or more target positioning points of a target fence. For more information about positioning information, please refer to Figure 3 Related description in the following text.

[0053] The processor can determine the positioning base point in various ways based on the environmental information. In some embodiments, the positioning base point can be obtained based on operator input. For example, based on the environmental information, the operator can determine any point in a relatively open area surrounding the target fence as the positioning base point. Relatively open can mean that there are few or no obstructions in the surrounding area.

[0054] In some embodiments, the processor may determine one or more reference base points based on environmental information; determine the position requirements of the positioning base points based on the laser ranging device and the target positioning point; and determine the positioning base point based on the reference base points and the above position requirements. For detailed descriptions of the laser ranging device and the target positioning point, please refer to Figure 3 Related description in the following text.

[0055] Reference base points refer to one or more pre-defined locations. In some embodiments, the reference base points can be obtained based on operator input. For example, based on environmental information, the operator can determine as reference base points any one or more locations in an area of the target fence's surroundings where there are few or no obstructions.

[0056] The location requirements for a positioning base point refer to the basic requirements for the location of the positioning base point. In some embodiments, the location requirements for the positioning base point may include that the distance between the positioning base point and the target positioning point does not exceed the ranging range of the laser ranging device. The ranging range of the laser ranging device may include 50m, 100m, 200m, etc. In some embodiments, the ranging range of the laser ranging device may be obtained based on operator input.

[0057] In some embodiments, the processor can automatically determine the position requirements of the positioning base point through a preset program based on the ranging range of the laser ranging device. For example, when the ranging range of the laser ranging device is 50 meters, the position requirement of the positioning base point is that the distance between the positioning base point and the target positioning point does not exceed 50 meters.

[0058] The processor can determine the positioning base point in a variety of ways based on the position requirements of the reference base point and the positioning base point. In some embodiments, the laser ranging device can measure the distance between one or more reference base points and the target positioning point and transmit it to the processor. The processor can determine the positioning base point by determining whether the distance between each reference base point and the target positioning point meets the position requirements of the positioning base point. For example, in response to the presence of only one reference base point meeting the position requirements of the positioning base point, the processor can directly determine the reference base point as the positioning base point. For another example, in response to multiple reference base points meeting the position requirements of the positioning base point, the processor can select the reference base point with the smallest distance to the target positioning point or the widest area as the positioning base point.

[0059] For more information on how to determine the positioning base point based on environmental information, see Figure 4 and its related descriptions.

[0060] In some embodiments of this specification, the position requirements of the positioning base point are determined based on the laser ranging device and the target positioning point, and the positioning base point is screened out from one or more reference base points by combining the position requirements. This can ensure that the positioning base point is in an area with fewer or no obstructions, and further ensure that the positioning base point is within the ranging range of the laser ranging device, thereby avoiding repeated adjustments to the position of the positioning base point and saving manpower. At the same time, it can also lay the foundation for ensuring the accuracy of electronic fence information collection.

[0061] Step 320: Acquire positioning information of the positioning base point.

[0062] The positioning information of a positioning base point refers to relevant information that can reflect the location of the positioning base point. For example, the positioning information of a positioning base point may include the latitude and longitude of the positioning base point. In some embodiments, the positioning information of the positioning base point can be obtained using a high-precision positioning device such as a theodolite.

[0063] Step 330: Obtain the relative position relationship between the target positioning point and the positioning base point on the target fence.

[0064] The target positioning point refers to one or more location points used to determine the positioning information of the target fence. In some embodiments, the target fence may include one or more target positioning points. The location of the target positioning point may be related to the shape of the target fence. In some embodiments, the target positioning point may be a vertex of the target fence, such as Figure 1In some embodiments, the target positioning point may be any other feasible location point. For example, the target positioning point may be the geometric center point of the target fence.

[0065] In some embodiments, the target positioning point can be set in advance by an operator.

[0066] The relative position relationship between the target positioning point and the positioning base point can reflect the relative position of the target positioning point to the positioning base point. In some embodiments, the relative position relationship between the target positioning point and the positioning base point can include an angle relationship, a distance relationship, etc. between the target positioning point and the positioning base point.

[0067] In some embodiments, the processor can use one or more devices to obtain the relative positional relationship between the target positioning point and the positioning base point on the target fence. As an example, the processor can use an infrared ranging device to obtain the distance and azimuth between the target positioning point and the positioning base point. The azimuth can be the angle between the line connecting the target positioning point and the positioning base point and the direction of true north.

[0068] In some embodiments, the processor may obtain the relative position relationship between the target positioning point and the positioning base point on the target fence based on a laser ranging device.

[0069] A laser rangefinder is a high-precision instrument or device used to measure distance and / or angle. In some embodiments, the laser rangefinder can calculate the distance between a target location and a positioning base point using the propagation speed and propagation time of a laser beam. An exemplary calculation formula is: D = c × t, where D is the distance between the target location and the positioning base point; c is the propagation speed of the laser beam; and t is the propagation time of the laser beam.

[0070] In some embodiments, the propagation speed of the laser beam can be set in advance by the operator. In some embodiments, the laser ranging device can include a high-precision clock for recording the propagation time of the laser beam. Exemplary clocks can include crystal oscillators, electromagnetic oscillators, etc.

[0071] In some embodiments, the laser ranging device may further include an azimuth measurement unit. The azimuth measurement unit may be used to measure the azimuth angle between the target positioning point and the positioning base point. In some embodiments, the laser ranging device may further include other angle measurement units to measure other angles between the target positioning point and the positioning base point, such as the horizontal angle.

[0072] In some embodiments, the laser ranging device includes a receiving end and a transmitting end, wherein the receiving end is deployed at a positioning base point and the transmitting end is deployed at a target positioning point. In some embodiments, the laser ranging device can determine the relative positional relationship between the target positioning point on the target fence and the positioning base point based on the laser ranging signal emitted by the transmitting end and received by the receiving end.

[0073] The transmitter refers to the component of the laser ranging device used to emit laser ranging signals. For example, the transmitter may include a laser. The receiver refers to the component of the laser ranging device used to receive laser ranging signals. For example, the receiver may include a photodiode. In some embodiments, the transmitter and receiver may be deployed in other ways. For example, the receiver may be deployed at the target location and the transmitter at the base location.

[0074] A laser ranging signal refers to a laser beam emitted by the transmitter of a laser ranging device. In some embodiments, an operator can manually control the transmitter deployed at the target location to emit a laser ranging signal. When the transmitter emits the laser ranging signal, the laser ranging device's clock begins counting.

[0075] In some embodiments, when the receiving end receives the laser ranging signal, the clock of the laser ranging device stops timing and obtains the propagation time of the laser ranging signal. The laser ranging device can determine the distance between the target positioning point and the positioning base point based on the propagation time and the propagation speed of the laser ranging signal. For a detailed description of how to determine the distance between the target positioning point and the positioning base point based on the propagation speed and propagation time of the laser ranging signal, please refer to Figure 3 Related description in the previous article.

[0076] In some embodiments, after the receiving end receives the laser ranging signal, the azimuth measurement unit can directly generate the azimuth angle between the target positioning point and the positioning base point.

[0077] In some embodiments of this specification, laser ranging equipment is employed to quickly and accurately determine the relative positional relationship between a target positioning point on a target fence and a positioning base point, thereby laying the foundation for quickly and accurately determining the target fence's location information. Furthermore, compared to high-precision positioning equipment such as theodolites, laser ranging equipment operates with lower requirements for obstructions in the surrounding space. Therefore, even if the target positioning point on the target fence is difficult to obtain high-precision positioning information, the laser ranging equipment can still obtain a relatively accurate relative positional relationship between the target positioning point and the positioning base point.

[0078] In some embodiments, the processor can obtain a first positional relationship between the auxiliary positioning point and the target positioning point; obtain a second positional relationship between the auxiliary positioning point and the positioning base point; and determine the relative positional relationship between the target positioning point and the positioning base point based on the above first positional relationship and second positional relationship.

[0079] An auxiliary positioning point is any point other than the target positioning point and the positioning base point. In some embodiments, the auxiliary positioning point needs to facilitate the acquisition of its relative positional relationship with the positioning base point and the target positioning point. The auxiliary positioning point can be determined based on various methods, such as by operator setting.

[0080] In some embodiments, the positioning base point must meet the requirement of obtaining high-precision positioning information. If the distance between the positioning base point that meets this requirement and the target positioning point is large or there is occlusion, which affects the acquisition of the relative position relationship between the two, the processor can further determine an auxiliary positioning point based on the environmental information of the target positioning point and the positioning base point. For example, the processor can determine a point between the positioning base point and the target positioning point as an auxiliary positioning point.

[0081] The first positional relationship between the auxiliary positioning point and the target positioning point refers to the relative positional relationship between the auxiliary positioning point and the target positioning point. In some embodiments, the first positional relationship between the auxiliary positioning point and the target positioning point may include an angular relationship or a distance relationship between the auxiliary positioning point and the target positioning point.

[0082] The second positional relationship between the auxiliary positioning point and the positioning base point refers to the relative positional relationship between the auxiliary positioning point and the positioning base point. In some embodiments, the second positional relationship between the auxiliary positioning point and the positioning base point may include an angular relationship or a distance relationship between the auxiliary positioning point and the positioning base point.

[0083] In some embodiments, the first positional relationship between the auxiliary positioning point and the target positioning point, and the second positional relationship between the auxiliary positioning point and the positioning base point, can be obtained based on a laser ranging device. It should be noted that the method for obtaining the first positional relationship between the auxiliary positioning point and the target positioning point, and the second positional relationship between the auxiliary positioning point and the positioning base point based on the laser ranging device is similar to the method for obtaining the relative positional relationship between the target positioning point and the positioning base point, and will not be further described here.

[0084] In some embodiments, the processor can determine the relative position relationship between the target positioning point and the positioning base point through calculation based on the first position relationship and the second position relationship. The specific calculation formulas involved include the cosine theorem formula, the sine theorem formula, and the angle conversion formula.

[0085] As an example only, the processor can obtain the distance d1 between the auxiliary positioning point and the target positioning point, the azimuth angle θ1 between the auxiliary positioning point and the target positioning point, the distance d2 between the auxiliary positioning point and the positioning base point, and the azimuth angle θ2 between the auxiliary positioning point and the positioning base point (i.e., the first position relationship and the second position relationship mentioned above) based on the laser ranging device. The angle between the direction of the line connecting the auxiliary positioning point and the target positioning point and the direction of the line connecting the auxiliary positioning point and the positioning base point can be obtained by the angle conversion formula (such as |θ1-θ2|), and then the angle between the direction of the line connecting the auxiliary positioning point and the positioning base point can be obtained by the cosine theorem formula (such as ) can obtain the distance d3 between the target positioning point and the positioning base point; then the azimuth of the target positioning point and the positioning base point can be determined through the sine theorem formula and the angle conversion formula, thereby obtaining the relative position relationship between the target positioning point and the positioning base point.

[0086] In some embodiments of the present specification, by selecting auxiliary positioning points, it is possible to avoid the situation where there are still a small amount of obstructions between some target positioning points and the positioning base points. By obtaining the first position relationship between the auxiliary positioning points and the target positioning points and the second position relationship between the auxiliary positioning points and the positioning base points, the relative position relationship between the target positioning points and the positioning base points can be determined, which is conducive to improving the accuracy of the data.

[0087] Step 340: Determine the positioning information of the target positioning point based on the positioning information and the relative position relationship of the positioning base point.

[0088] The positioning information of the target positioning point refers to relevant information that can reflect the location of the target positioning point. For example, the positioning information of the target positioning point may include the latitude and longitude of the target positioning point.

[0089] In some embodiments, the processor may determine the positioning information of the target positioning point through calculation based on the positioning information of the positioning base point and the relative position relationship between the target positioning point and the positioning base point.

[0090] In some embodiments, the positioning information of the target positioning point can be expressed as A(λ a ,φ a ). Exemplary calculation formulas include Among them, λ s ,λ a are the longitudes of the positioning base point S and the target positioning point A respectively; φ s 、φ a are the latitudes of the positioning base point S and the target positioning point A respectively; d3 is the distance between the target positioning point and the positioning base point; θ3 is the azimuth between the target positioning point and the positioning base point; R is the radius of the earth, which is a constant value.

[0091] Step 350: Determine the positioning information of the target fence based on the positioning information of the target positioning point.

[0092] The positioning information of the target fence refers to the relevant positioning information that can reflect the area formed by the target fence.

[0093] In some embodiments, the processor may determine the location information of the target fence based on the location information of the target location points through calculation, analysis, etc. In some embodiments, the location information of the target fence is related to the shape of the target fence, the number of target location points, and the location of the target location points.

[0094] As an example only, the target fence is rectangular and has four target positioning points, and the four target positioning points are all located at the four vertices of the target fence. For example, the four target positioning points are A(λ a ,φ a ), B(λ b ,φ b ), C(λ c ,φ c ), D(λ d ,φ d ), then the above four target positioning points can determine the positioning information of the target fence.

[0095] In some embodiments of the present specification, based on environmental information, a position point in an open area is selected as a positioning base point, and the relative position relationship between the target positioning point and the positioning base point is obtained based on a laser ranging device, and the positioning information of the target positioning point is determined based on the positioning information of the positioning base point and the above-mentioned relative position relationship. This can effectively avoid the influence of obstructions on the data collection accuracy, making the positioning information of the target positioning point more accurate, thereby solving the problem that the target positioning point cannot obtain accurate positioning information; moreover, when collecting information, this method only needs to obtain the positioning information of a high-precision positioning base point, and then determine the relative position relationship between the target positioning point and the positioning base point through a laser ranging device, so that relatively accurate positioning information of the target fence can be obtained. While ensuring the accuracy of information collection, the number of high-precision information required to be obtained and the difficulty of obtaining it are reduced.

[0096] The positioning information of the target fence can be determined quickly and accurately, which improves the accuracy of electronic fence information collection and the efficiency of information collection.

[0097] Figure 4 This is an exemplary flow chart for determining a positioning base point according to some embodiments of this specification. Figure 4 As shown, the process 400 includes the following steps: In some embodiments, the process 400 may be executed by the positioning base point determination module 210 .

[0098] Step 410: Acquire a global environment image of the target area.

[0099] The target area refers to a pre-divided area. In some embodiments, the target area includes at least one target fence. For more information about the target fence, please refer to the relevant descriptions in other parts of this specification (such as Figure 1 、 Figure 3 and its related descriptions).

[0100] The global environment image of the target area can reflect the overall environment or environmental information of the target area, such as the obstructions in the target area, the road distribution, etc. In some embodiments, the global environment image of the target area includes the target fence and reference base points.

[0101] The processor can obtain the global environment image of the target area in a variety of ways. In some embodiments, the processor can obtain the global environment image of the target area using a device such as a drone. In some embodiments, the processor can obtain the global environment image of the target area from a third-party platform. Exemplary third-party platforms may include electronic map platforms, etc.

[0102] Step 420: Obtain one or more reference base points.

[0103] In some embodiments, the operator can set one or more reference base points in advance. For example, the operator can randomly determine some locations with relatively open surroundings as one or more reference base points. For more information about reference base points, please refer to Figure 3 and its related descriptions.

[0104] Step 430 : Determine base point features of a reference base point relative to at least one target fence based on the global environment image.

[0105] The base point feature may represent the spatial feature between the location of the reference base point and the location of the target fence. In some embodiments, the base point feature includes a comprehensive distance feature and / or a comprehensive interference feature.

[0106] The comprehensive distance feature may reflect the distance between the reference base point and at least one target fence. In some embodiments, the comprehensive distance feature may be determined based on a reference line between the reference base point and representative points corresponding to the target fence. For example, the reference line may refer to a line between the reference base point and representative points corresponding to the target fence in the global environment image. The comprehensive distance feature of the reference base point may include the distance between the reference base point and each target fence, and the length of the line between the reference base point and the representative points corresponding to the target fence may be used as an indication of the distance between the reference base point and the target fence.

[0107] The comprehensive interference feature may reflect the interference situation or interference degree between the reference base point and at least one target fence. In some embodiments, the comprehensive interference feature may include the interference degree between the reference base point and the representative points corresponding to each target fence.

[0108] For more information about the representative points corresponding to the target fence, the reference line, and the degree of interference between the reference base point and the representative points corresponding to the target fence, please refer to Figure 5 and its related descriptions.

[0109] In some embodiments, the processor may determine the base point features of the reference base point relative to at least one target fence based on the global environment image through a feature determination model. The feature determination model may be a machine learning model. As an example only, the feature determination model may process the global environment image, the reference base point in the global environment image, and at least one target fence to determine the base point features of the reference base point. The feature determination model may be obtained by training an initial model based on multiple sets of labeled training samples using a gradient descent method or other methods. The training samples may include a sample global environment image, a sample reference base point in the sample global environment image, and at least one sample target fence, and the labels may include the actual base point features of the sample reference base point corresponding to the training samples. In some embodiments, the training samples may be obtained based on historical data, and the labels may be determined based on manual annotation or other methods.

[0110] For more information on how to determine the base point features of a reference base point relative to at least one target fence based on a global environment image, see Figure 5 and its related descriptions.

[0111] Step 440: Determine the positioning base point based on the base point characteristics of the reference base point.

[0112] In some embodiments, the processor may determine the positioning base point based on the base point features of the reference base point in a variety of ways.

[0113] In some embodiments, the processor may determine the candidate base points based on the comprehensive distance characteristics of the reference base points; and determine the positioning base points based on the comprehensive interference characteristics of the candidate base points.

[0114] Candidate base points are reference base points that have undergone preliminary screening. In some embodiments, the processor may determine the sum of the distances between each reference base point and each target fence based on the comprehensive distance characteristics of each reference base point. One or more reference base points whose sum of distances meets a preset distance condition are identified as candidate base points. The preset distance condition may include the sum of distances being less than a distance threshold. The distance threshold is a pre-set distance value that can be set in advance by the operator.

[0115] The comprehensive interference characteristics of the candidate base points are the comprehensive interference characteristics of the selected reference base points. In some embodiments, the processor can determine the sum of the interference levels between each candidate base point and the representative points corresponding to each target fence based on the comprehensive interference characteristics of each candidate base point. Candidate base points whose sum of interference levels meets a preset interference condition are then determined as positioning base points. The preset interference condition can include a minimum sum of interference levels.

[0116] In some embodiments of this specification, candidate base points are first determined based on the comprehensive distance characteristics of the reference base points, and then based on the comprehensive interference characteristics of the candidate base points, a positioning base point that meets the preset conditions can be quickly selected, that is, a positioning base point with a smaller sum of distances to the location of the target fence and a minimum degree of interference is obtained. This ensures that the distance between the positioning base point and the location of the target fence is always within the ranging range of the laser ranging device, and the comprehensive interference level is minimized, thereby ensuring the comprehensive collection accuracy of the positioning information of each target fence.

[0117] In some embodiments, the processor can also determine the positioning base point based on the base point characteristics of the reference base point in the following manner: determine a first evaluation value of the reference base point based on the comprehensive distance characteristics of the reference base point; determine a second evaluation value of the reference base point based on the comprehensive interference characteristics of the reference base point; and determine the positioning base point based on the weighted value of the first evaluation value and the second evaluation value.

[0118] The first evaluation value of the reference base point may reflect the comprehensive distance between the reference base point and at least one target fence. In some embodiments, the first evaluation value of the reference base point may be obtained by calculating the sum of the lengths of reference lines between the reference base point and representative points corresponding to each target fence in the comprehensive distance feature of the reference base point.

[0119] The second evaluation value of the reference base point may reflect the comprehensive interference level between the reference base point and at least one target fence. In some embodiments, the second evaluation value of the reference base point may be obtained by calculating the sum of the interference levels between the reference base point and representative points corresponding to each target fence in the comprehensive interference feature of the reference base point.

[0120] The weighted values of the first evaluation value and the second evaluation value refer to the weighted values that the first evaluation value and the second evaluation value should correspond to when the first evaluation value and the second evaluation value are weighted and summed. In some embodiments, the weighted values of the first evaluation value and the second evaluation value can be determined based on actual conditions. For example, when the ranging range of the ranging device is small, the weighted value of the first evaluation value can be increased accordingly; for another example, when the number of obstructions between the reference base point and at least one target fence is large, the weighted value of the second evaluation value can be increased accordingly.

[0121] In some embodiments, the processor may obtain a sum value by performing weighted summation on the first evaluation value and the second evaluation value based on the weighted value of the first evaluation value and the second evaluation value, and determine the reference base point corresponding to the minimum sum value as the positioning base point.

[0122] Some embodiments of this specification simultaneously consider the comprehensive distance and interference characteristics of a reference base point. This is equivalent to simultaneously considering the impact of both the distance and interference between the reference base point and at least one target fence on information collection accuracy during data collection, thereby optimizing the positioning base point. Furthermore, by weighting the first and second evaluation values, with the weights determined based on actual conditions, the optimal positioning base point can be further guaranteed.

[0123] In some embodiments of this specification, by considering the comprehensive distance characteristics and comprehensive interference characteristics of the reference base point to select the positioning base point, the positioning base point can ensure better information collection effect for at least one target fence, thereby improving the efficiency and accuracy of electronic fence information collection.

[0124] It should be noted that the above description of processes 300 and 400 is for illustration and purpose only and does not limit the scope of application of this specification. Those skilled in the art may, under the guidance of this specification, make various modifications and alterations to processes 300 and 400. However, such modifications and alterations remain within the scope of this specification.

[0125] Figure 5 This is an exemplary schematic diagram of determining base point features of a reference base point according to some embodiments of this specification.

[0126] In some embodiments, the processor may determine the base point features of the reference base point relative to at least one target fence based on the global environment image in the following manner. Figure 5 As shown, the processor can determine a reference line 520 between the reference base point and the representative points corresponding to the target fence based on the global environment image 510 of the target area; determine a comprehensive distance feature 530 of the reference base point based on the above reference line 520; and determine a comprehensive interference feature 540 of the reference base point based on the global environment image 510 of the target area and the above reference line 520.

[0127] For more information about the global environment image of the target fence, the comprehensive distance characteristics of the reference base points, and the comprehensive interference characteristics, please refer to Figure 4 and its related descriptions.

[0128] The representative point corresponding to the target fence is any location point on the target fence. For example, the representative point corresponding to the target fence can be any target positioning point or the geometric center point of the target fence. In some embodiments, since the shape of the target fence is generally designed to be a regular shape (such as a rectangle), the representative point corresponding to the target fence can be the geometric center point of the target fence.

[0129] The reference line between the reference base point and the representative points corresponding to the target fence refers to the line segment between the reference base point and at least one representative point corresponding to the target fence in the global environment image. It will be appreciated that the length of the reference line between the reference base point and the representative points corresponding to the target fence can reflect the distance between the reference base point and the representative points corresponding to the target fence. For example, a longer reference line between the reference base point and the representative points corresponding to the target fence indicates a greater distance between the reference base point and the representative points corresponding to the target fence.

[0130] In some embodiments, the processor can obtain the length value of the reference line between each reference base point and the representative point corresponding to at least one target fence, and use the length sequence composed of the length values of the reference line corresponding to each reference base point as the comprehensive distance feature of the reference base point.

[0131] Taking reference point 1 as an example, if there are m target fences in the target area, and the representative points corresponding to the m target fences are O1, O2, O3, ..., O m The lengths of the reference lines between the reference base point and the representative points corresponding to the target fence are respectively recorded as L 11 、L 12 、L 13 、……、L 1m , then the comprehensive distance feature of the reference base point can be expressed as {L 11 , L 12 , L 13 ,……,L 1m}.

[0132] In some embodiments, the processor can determine the reference line between the reference base point and the representative point corresponding to the target fence by performing image recognition on the global environment image based on the global environment image and the above-mentioned reference line, and the length of the reference line covered by the obstruction in the global environment image (i.e., the covering length). By calculating the ratio of the covering length in the reference line to the length of the corresponding reference line, the interference degree between the reference base point and the representative point corresponding to the corresponding target fence is obtained. The interference degree sequence composed of the interference degree between each reference base point and the representative point corresponding to each target fence can be used as the comprehensive interference feature of the reference base point. As an example only, the comprehensive interference feature of the reference base point 1 can be expressed as (P 11 , P 12 , P 13,……,P 1m ), where P 11 Indicates the degree of interference between the reference base point 1 and the representative point O1 corresponding to the target fence 1.

[0133] In some embodiments of the present specification, based on the global environmental image of the target area, a reference line between a reference base point and a representative point corresponding to the target fence is determined. Without a large amount of field observation or measurement, the base point characteristics of the reference base point can be quickly and accurately determined, which is beneficial to ensuring the efficiency and accuracy of electronic fence information collection.

[0134] Figure 6 This is an exemplary schematic diagram of determining surveying parameters of a target fence according to some embodiments of this specification.

[0135] In some embodiments, as Figure 6 As shown, the processor can also determine the interference degree 620 between the target fence and the positioning base point based on the global environment image 510 of the target area and the fence environment image 610 of the target fence; and determine the mapping parameters 630 of the target fence based on the above interference degree 620. For more information about the global environment image of the target area and the positioning base point, please refer to the relevant descriptions in other parts of this manual (such as Figure 4 and its related descriptions).

[0136] The target fence environment image refers to an image that can reflect the surrounding environment or environmental information of the target fence, such as the presence of obstructions around the target fence. In some embodiments, the target fence environment image can be acquired using a drone, a camera, or the like.

[0137] The degree of interference between the target fence and the positioning base point can reflect whether the target fence and the positioning base point are blocked or obstructed by an obstruction.

[0138] Figure 7 This is an exemplary schematic diagram of determining the degree of interference between a target fence and a positioning base point according to some embodiments of this specification.

[0139] In some embodiments, the processor can determine the degree of interference between the target fence and the positioning base point based on the global environment image and the fence environment image of the target fence in the following manner. Figure 7As shown, the processor can determine a reference line 710 between the positioning base point and the representative point corresponding to the target fence based on the fence environment image 610 of the target fence; determine a first interference degree 720 between the target fence and the positioning base point based on the fence environment image 610 of the target fence and the above-mentioned reference line 710; determine a second interference degree 730 between the target fence and the positioning base point based on the comprehensive interference feature 540 of the positioning base point; and determine the interference degree 620 between the target fence and the positioning base point based on the first interference degree 720 and the second interference degree 730.

[0140] For more information about the target fence environment image and the representative points corresponding to the target fence, please refer to the relevant instructions in other parts of this manual (such as Figure 5 etc.).

[0141] In a fence environment image, the length of the reference line between the positioning base point and the target fence's corresponding representative point reflects the distance between them. For example, a longer reference line between the positioning base point and the target fence's corresponding representative point indicates a greater distance between them.

[0142] It should be noted that the way the processor determines the reference line between the positioning base point and the representative points corresponding to the target fence based on the fence environment image of the target fence is similar to the way the processor determines the reference line between the reference base point and the representative points corresponding to the target fence based on the global environment image of the target area, and will not be repeated here.

[0143] The first interference degree can reflect the interference situation or degree of interference between the positioning base point and at least one target fence, which exists around the target fence. In some embodiments, the processor determines the first interference degree between the target fence and the positioning base point based on the fence environment image of the target fence and the reference line between the representative points corresponding to the positioning base point and the target fence, similar to the method of determining the comprehensive interference characteristics of the reference base point based on the global environment image of the target area and the reference line between the representative points corresponding to the reference base point and the target fence. For details, please refer to Figure 5 and its related descriptions.

[0144] The comprehensive interference characteristic of a positioning base point can reflect the interference situation or degree of interference between the positioning base point and at least one target fence. In some embodiments, since the positioning base point is determined from one or more reference base points, the comprehensive interference characteristic of the positioning base point can be directly determined from the comprehensive interference characteristics of the reference base points.

[0145] It can be understood that the second interference degree between the target fence and the positioning base point is the comprehensive interference characteristic of the positioning base point, that is, the comprehensive interference characteristic of a reference base point. As an example only, reference base point 1 is used as the positioning base point, and the comprehensive interference characteristic of reference base point 1 is expressed as (P 11 , P 12 , P 13 ,……,P 1m ), where P 11 represents the interference degree between the reference base point 1 and the representative point O1 corresponding to the target fence 1, then the second interference degree between the target fence and the positioning base point can also be expressed as (P 11 , P 12 , P 13 ,……,P 1m ).

[0146] In some embodiments, the processor may determine the degree of interference between the target fence and the positioning base point by weighted summation based on the first and second interference levels. In some embodiments, the processor may determine the weights corresponding to the first and second interference levels based on actual conditions. For example, if there are fewer obstructions around the target fence, the weight of the first interference level may be appropriately increased.

[0147] In some embodiments of this specification, the degree of interference between the target fence and the positioning base point is determined by further considering the interference of environmental information around the target fence on information collection, so that the surveying and mapping parameters of the target fence can be adjusted in a targeted manner based on the interference degree, thereby improving the accuracy of electronic fence information collection.

[0148] The mapping parameter of the target fence refers to the number of times information is collected for the target fence. In some embodiments, the mapping parameter of the target fence includes the number of times the target positioning point of the target fence is mapped.

[0149] The number of times a target positioning point is surveyed and mapped refers to the number of times information is collected for the target positioning point. In other words, the number of times a target positioning point is surveyed and mapped is the number of times the positioning information of the target positioning point is collected.

[0150] In some embodiments, the processor may determine the mapping parameters of the target fence based on the degree of interference between the target fence and the positioning base point using a preset relationship table. The preset relationship table may represent the correspondence between the degree of interference between the target fence and the positioning base point and the mapping parameters of the target fence. For example, the greater the degree of interference between the target fence and the positioning base point, the greater the mapping parameters of the target fence, i.e., the more times the target positioning point of the target fence has been mapped. In some embodiments, the preset relationship table may be constructed based on historical data.

[0151] Because the degree of interference between the positioning base point and different target fences varies, multiple acquisitions of positioning information for target fences with significant interference are required to ensure accurate information collection. Therefore, some embodiments of this specification employ different mapping parameters tailored to the specific conditions between the positioning base point and the target fences. This allows for more appropriate mapping parameters and more accurate mapping results.

[0152] In some embodiments, the number of times the target location point is mapped is also related to weather information.

[0153] The weather information may reflect the weather conditions during the surveying and mapping. In some embodiments, the weather information may include a weather condition rating. The weather condition rating may reflect the quality of the weather conditions, with a higher weather condition rating indicating better weather conditions. Weather conditions may include sunny, rainy, or cloudy days. In some embodiments, the processor may obtain the weather information based on a weather forecast.

[0154] In some embodiments, the processor can determine a survey count correction value for the target location point based on weather information using a preset comparison table. The survey count correction value can be used to correct the survey count of the target location point determined based on the interference level. The preset comparison table can represent the correlation between weather information and the survey count correction value for the target location point. For example, the lower the weather level, the worse the weather conditions, the greater the survey count correction value for the target location point, i.e., the more surveys the target location point has been conducted.

[0155] In some embodiments of this specification, by further considering the impact of weather information on information collection accuracy and appropriately adjusting the number of surveying and mapping times of the target positioning point, the number of surveying and mapping times of the target positioning point can be made more reasonable, which is conducive to further improving the accuracy of electronic fence information collection.

[0156] In some embodiments, the processor may also update the mapping parameters of the target fence based on the adjustment parameters.

[0157] The adjustment parameter refers to a parameter value used to adjust the mapping parameter of the target fence. In some embodiments, the adjustment parameter may include an adjustment number of the mapping times of the target positioning point.

[0158] In some embodiments, the processor may obtain a slope characteristic of the target positioning point, and determine an adjustment number of the surveying times of the target positioning point based on the slope characteristic of the target positioning point.

[0159] The slope characteristic of the target location point refers to a characteristic that can reflect the slope of the location where the target location point is located. In some embodiments, the laser ranging device also includes a tilt sensor, which can be used to detect the slope of the target location point. The processor can obtain the slope characteristic of the target location point based on the laser ranging device (such as the tilt sensor).

[0160] In some embodiments, the processor may determine the number of adjustments to the mapping times for the target location point based on the slope of the target location point using a preset correspondence table. The preset correspondence table may represent a correlation between the slope of the target location point and the number of adjustments to the mapping times for the target location point. For example, the greater the slope of the target location point, the fewer adjustments to the mapping times for the target location point.

[0161] In some embodiments, the processor may determine the sum of the number of surveys of each target positioning point determined based on the degree of interference and the number of adjustments to its surveying number as an adjustment parameter, and replace the adjustment parameter with the initial number of surveys of each target positioning point of the target fence (i.e., the number of surveys before adjustment) to update the surveying parameter of the target fence.

[0162] In some embodiments of this specification, the number of surveying and mapping of each target positioning point is appropriately adjusted according to the actual situation of different target positioning points of the same target fence, so that the number of surveying and mapping can be made more targeted, thereby further improving the accuracy of electronic fence information collection.

[0163] The beneficial effects of the electronic fence information collection method, system, device and medium provided in this specification may include but are not limited to: 1) By using a laser ranging device, the relative position relationship between the target positioning point and the positioning base point on the target fence can be quickly and accurately obtained, thereby laying the foundation for quickly and accurately determining the positioning information of the target fence. At the same time, when the laser ranging device is working, compared with high-precision positioning equipment such as theodolite, it has lower requirements for obstructions in the surrounding space. Therefore, even if the target positioning point on the target fence is not convenient for obtaining high-precision positioning information, a relatively accurate relative position relationship between the target positioning point and the positioning base point can be obtained through the laser ranging device; 2) Based on the laser ranging device and the target positioning point, the position requirements of the positioning base point are determined, and by combining the position requirements, the positioning base point is screened out from one or more reference base points. On the basis of ensuring that the positioning base point is in an area with fewer or no obstructions, further Ensure that the positioning base point is within the ranging range of the laser ranging equipment to avoid repeated adjustment of the position of the positioning base point, save manpower, and lay the foundation for ensuring the accuracy of electronic fence information collection; 3) By selecting auxiliary positioning points, it is possible to avoid the situation where there are still a small amount of obstructions between some target positioning points and the positioning base points, and by obtaining the first position relationship between the auxiliary positioning point and the target positioning point and the second position relationship between the auxiliary positioning point and the positioning base point, the relative position relationship between the target positioning point and the positioning base point is determined, which is conducive to improving the accuracy of the data; 4) By considering the comprehensive distance characteristics of the reference base point and Comprehensively selecting a positioning base point based on interference characteristics can ensure that the positioning base point can obtain good information collection results for at least one target fence, thereby improving the efficiency and accuracy of electronic fence information collection; 5) According to the actual situation of the positioning base point and different target fences, different surveying and mapping parameters are set for different target fences, which can make the surveying and mapping parameters of the target fence more reasonable and the surveying and mapping results more accurate; 6) Based on environmental information, a location point in an open area is selected as a positioning base point, and the relative position relationship between the target positioning point and the positioning base point is obtained using a laser ranging device, and the positioning information of the target positioning point is determined based on the positioning information of the positioning base point and the above relative position relationship. This can effectively avoid the influence of obstructions on data collection accuracy, making the positioning information of the target positioning point more accurate, thereby solving the problem of the target positioning point being unable to obtain accurate positioning information. Moreover, during information collection, this method only needs to obtain the positioning information of a high-precision positioning base point, and then use the laser ranging device to determine the relative position relationship between the target positioning point and the positioning base point, so that relatively accurate positioning information of the target fence can be obtained. While ensuring the accuracy of information collection, the number of high-precision information required to be obtained and the difficulty of obtaining it are reduced.

[0164] While the basic concepts have been described above, it will be apparent to those skilled in the art that the detailed disclosure is merely illustrative and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

Claims

1. A method for collecting electronic fence information, executed based on a processor, characterized in that: include: Determine positioning base points based on environmental information; Obtaining positioning information of the positioning base point; Obtaining the relative position relationship between the target positioning point on the target fence and the positioning base point; Determining the positioning information of the target positioning point based on the positioning information of the positioning base point and the relative position relationship; Based on the positioning information of the target positioning point, the positioning information of the target fence is determined.

2. The method according to claim 1, characterized in that The step of obtaining the relative position relationship between the target positioning point on the target fence and the positioning base point includes: Based on the laser ranging equipment, the relative position relationship between the target positioning point and the positioning base point on the target fence is obtained.

3. The method according to claim 2, characterized in that The laser ranging device includes a receiving end and a transmitting end; the receiving end is deployed at the positioning base point, and the transmitting end is deployed at the target positioning point; The step of obtaining the relative position relationship between the target positioning point and the positioning base point on the target fence based on the laser ranging device includes: Sending a laser ranging signal based on the transmitting end; Based on the laser ranging signal received by the receiving end, the relative position relationship between the target positioning point and the positioning base point on the target fence is determined.

4. The method according to claim 2, characterized in that Determining the positioning base point based on environmental information includes: Based on the environmental information, determine one or more reference points; Determining a position requirement of the positioning base point based on the laser ranging device and the target positioning point; the position requirement includes that the distance between the positioning base point and the laser ranging device does not exceed a ranging range of the laser ranging device; The positioning base point is determined based on the reference base point and the position requirement.

5. The method according to claim 1, characterized in that Determining the positioning base point based on environmental information includes: Acquire a global environment image of a target area, wherein the target area includes at least one target fence; Obtain one or more reference base points; determining, based on the global environment image, base point features of the reference base point relative to at least one of the target fences, the base point features comprising a comprehensive distance feature and / or a comprehensive interference feature; A positioning base point is determined based on the base point feature of the reference base point.

6. The method according to claim 5, characterized in that The method further comprises: determining, based on the global environment image and the fence environment image of the target fence, a degree of interference between the target fence and the positioning base point; Based on the interference level, a surveying parameter of the target fence is determined, where the surveying parameter of the target fence includes a number of surveying times of the target positioning point of the target fence.

7. The method according to claim 1, characterized in that The step of obtaining the relative position relationship between the target positioning point on the target fence and the positioning base point includes: Acquire a first positional relationship between the auxiliary positioning point and the target positioning point; Acquire a second positional relationship between the auxiliary positioning point and the positioning base point; Based on the first position relationship and the second position relationship, a relative position relationship between the target positioning point and the positioning base point is determined.

8. An electronic fence information collection system, characterized in that: include: A positioning base point determination module is configured to determine a positioning base point based on environmental information; A positioning information acquisition module is configured to acquire the positioning information of the positioning base point; a position relationship acquisition module, configured to acquire a relative position relationship between a target positioning point on a target fence and the positioning base point; A first information determination module is configured to determine the positioning information of the target positioning point based on the positioning information of the positioning base point and the relative position relationship; The second information determination module is configured to determine the positioning information of the target fence based on the positioning information of the target positioning point.

9. An electronic fence information collection device, characterized in that: The apparatus comprises at least one processor and at least one memory; The at least one memory is for storing computer instructions; The at least one processor is configured to execute at least part of the computer instructions to implement the electronic fence information collection method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The storage medium stores computer instructions. When the computer reads the computer instructions in the storage medium, the computer executes the electronic fence information collection method according to any one of claims 1 to 7.

Images