Surveying and mapping device and surveying and mapping method for civil engineering surveying and mapping

Abstract

The invention discloses a surveying and mapping device and method for civil engineering surveying and mapping, and relates to the technical field of civil engineering surveying and mapping, and the method comprises the steps: combining a flexible electromagnetic induction grid, synchronously collecting the real-time environment data of the track, pressure change and color of a drawing mark on a drawing in real time, and converting the real-time environment data into a structured surveying and mapping semantic data packet; performing jet drawing on the surveying and mapping semantic data packet based on a ground jet drawing execution instruction, and generating an on-site marking sequence corresponding to the drawing through color, shape and coordinate three-dimensional cooperative control; and integrating the track, the semantics and the inkjet record to generate a DXF file, and through cross validation of the DXF file and the field marking sequence, storing the verified surveying and mapping result data and generating a surveying and mapping report. According to the method, the trajectory, pressure change and color data of the drawing drawing mark are synchronously collected in real time in combination with the flexible electromagnetic induction grid and are converted into the structured surveying and mapping semantic data packet, digital understanding and semantic expression of the drawing content are achieved, and the accuracy of the surveying and mapping process is ensured.

Description

Technical Field

[0001] This invention relates to the field of civil engineering surveying technology, and in particular to a surveying device and surveying method for civil engineering surveying. Background Technology

[0002] In surveying services other than satellite applications, on-site surveying in civil engineering has long relied on a combination of manual hand-drawing and ground marking. Traditional equipment has focused on optimizing mechanical functions such as support structures, ink supply, and angle adjustment to improve convenience and portability. In recent years, some equipment has attempted to incorporate simple electronic assistance, but the overall operation still maintains a separation between drawing and on-site marking, and semantic integration and data linkage between drawing content and marking execution have not yet been achieved.

[0003] Despite continuous advancements in measurement accuracy for non-satellite mapping services, the real-time performance and accuracy of mapping markers in dynamic environments remain challenging. Traditional mapping equipment, when acquiring real-time environmental data, typically lacks precise adjustment to environmental factors and intelligent processing of marker position information. This makes it difficult for the equipment to cope with real-time changes in complex environments, affecting the accuracy and reliability of mapping results. Therefore, improving the adaptability, accuracy, and reliability of mapping devices in different environments through intelligent inkjet control has become a major challenge. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a surveying method for civil engineering surveying to solve the problems of real-time environmental data acquisition and intelligent inkjet printing control in surveying services.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides a surveying method for civil engineering surveying, comprising: activating an environmental sensing sensor to acquire real-time environmental data; combining a flexible electromagnetic induction grid to synchronously collect real-time environmental data of the trajectory, pressure changes, and colors of marks drawn on a drawing, and converting them into structured surveying semantic data packets; activating corresponding piezoelectric nozzles by parsing the colors and graphic types in the surveying semantic data packets, and positioning the nozzles in conjunction with a laser pointer to generate ground spraying execution instructions; spraying the surveying semantic data packets based on the ground spraying execution instructions, and generating a field mark sequence corresponding to the drawing through three-dimensional collaborative control of color, shape, and coordinates; integrating the trajectory, semantics, and spraying records to generate a DXF file, and storing the verified surveying results data and generating a surveying report through cross-validation between the DXF file and the field mark sequence.

[0008] In a preferred embodiment of the surveying method for civil engineering surveying described in this invention, the specific steps for activating the environmental perception sensor and acquiring real-time environmental data are as follows.

[0009] Environmental sensing sensors are devices that collect real-time environmental data from the surveying site to obtain surveyed environmental information;

[0010] By activating environmental sensing sensors and sampling the temperature, humidity, light intensity, and wind speed at the survey site in real time, raw environmental sensing data is obtained.

[0011] An environmental interference suppression method is used to filter the raw environmental sensor data to obtain real-time environmental data.

[0012] As a preferred embodiment of the surveying method for civil engineering surveying described in this invention, the flexible electromagnetic induction grid refers to the real-time sensing and acquisition of the trajectory, pressure change, and color information of the drawn marks by continuously scanning the surface of the surveying paper.

[0013] As a preferred embodiment of the surveying method for civil engineering surveying described in this invention, the specific steps for converting the data into structured surveying semantic data packets are as follows.

[0014] By combining a flexible electromagnetic induction grid to continuously scan the surface of the mapping paper, and by synchronously sampling the position signal and pressure signal obtained by drawing with an electromagnetic pen, the original drawing data of trajectory coordinate sequence and pen pressure change are obtained.

[0015] Based on the original drawing data and combined with the handwriting color information captured synchronously by the miniature camera, the real-time environmental data of trajectory, pressure change and color are spatiotemporally aligned and semantically fused to obtain a fused drawing data stream.

[0016] The fused drawing data stream is processed in a structured manner and transformed into a structured mapping semantic data package containing color, graphic type, and drawing coordinates.

[0017] As a preferred embodiment of the surveying method for civil engineering surveying described in this invention, the specific steps for generating the ground spraying execution command are as follows:

[0018] The color identifiers and graphic type information in the structured mapping semantic data package are parsed to obtain the spraying control parameters corresponding to the mapping elements;

[0019] Based on the inkjet printing control parameters, the multi-channel piezoelectric printhead is selected and driven, and the laser pointer is simultaneously activated to position the printhead by laser indication of the target ground position, thereby obtaining the printhead execution status.

[0020] The nozzle execution status is coordinated with the laser indicator to generate ground painting execution instructions.

[0021] As a preferred embodiment of the surveying method for civil engineering surveying described in this invention, the three-dimensional collaborative control of color, shape, and coordinates includes:

[0022] Based on the color identifiers in the structured mapping semantic data package, the corresponding color channel of the multi-channel piezoelectric printhead is selected, and the driving parameters are adjusted according to the pen pressure to control the ink volume.

[0023] Call the printing template according to the graphic type to generate the printing path and outline parameters corresponding to points, lines, circles, polygons and filled areas;

[0024] Convert the drawing coordinates into actual execution coordinates, and combine laser pointer positioning with wheel-type posture to dynamically correct the spatial position of the nozzle;

[0025] Using the trajectory point sequence in the structured mapping semantic data package as a synchronization reference, color release, shape path and coordinate positioning are performed synchronously under a unified ground coordinate system to generate a field marker sequence consistent with the map.

[0026] As a preferred embodiment of the surveying method for civil engineering surveying described in this invention, the specific steps for generating the field marker sequence corresponding to the drawings are as follows:

[0027] By using three-dimensional collaborative control of color, shape, and coordinates, the position, color, and shape of the on-site inkjet matrix are corrected, generated, and the on-site mark sequence corresponding to the drawing is produced.

[0028] As a preferred embodiment of the surveying method for civil engineering surveying described in this invention, the DXF file refers to a graphic file containing coordinates, colors, and graphic types generated by combining the drawing trajectory collected by the flexible electromagnetic induction grid, the identified surveying semantics, and the inkjet records executed by the piezoelectric nozzle.

[0029] As a preferred embodiment of the surveying method for civil engineering surveying described in this invention, the specific steps for storing and verifying the surveying results data and generating a surveying report are as follows:

[0030] Cross-validation refers to comparing the coordinates, colors, and graphic types in a DXF file with field-marked data collected through field perception.

[0031] By combining the drawing trajectory, the identified mapping semantics, and the inkjet records executed by the piezoelectric nozzle, a structured reorganization is performed to obtain a dataset of coordinates, colors, and graphic types.

[0032] The datasets of coordinates, colors, and graphic types are integrated through encoding and encapsulation to generate DXF files;

[0033] Cross-validation is performed based on the location, color, and graphic type of the DXF file and the field marker sequence. Validated surveying data is stored, and a surveying report is generated.

[0034] Secondly, the present invention provides a surveying device for civil engineering surveying, comprising: a data acquisition module that activates an environmental perception sensor to acquire real-time environmental data; a data acquisition and conversion module that, in conjunction with a flexible electromagnetic induction grid, synchronously acquires real-time environmental data of the trajectory, pressure changes, and colors of marks drawn on a drawing, and converts them into structured surveying semantic data packets; a parsing and activation module that, by parsing the colors and graphic types in the surveying semantic data packets, activates the corresponding piezoelectric nozzles and, in conjunction with a laser pointer, positions the nozzles to generate ground spraying execution instructions; a control and execution module that, based on the ground spraying execution instructions, sprays the surveying semantic data packets, and generates a field mark sequence corresponding to the drawing through three-dimensional collaborative control of color, shape, and coordinates; and an integration and verification module that integrates the trajectory, semantics, and spraying records to generate a DXF file, and, through cross-verification of the DXF file and the field mark sequence, stores the verified surveying results data and generates a surveying report.

[0035] The beneficial effects of this invention are as follows: By combining the real-time synchronous acquisition of trajectory, pressure change, and color data of drawing marks on the map using a flexible electromagnetic induction grid and converting them into structured mapping semantic data packages, the digital understanding and semantic expression of the drawing content can be realized, ensuring the accuracy of the mapping process; by parsing the semantic data packages to activate the corresponding piezoelectric nozzles and cooperating with the laser pointer to generate ground spraying execution instructions, three-dimensional collaborative control of color, shape, and coordinates can be realized, ensuring that the on-site marks and the map correspond strictly, and significantly improving the consistency of the mapping process results in mapping services other than satellite application services. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the 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.

[0037] Figure 1 This is a schematic diagram of a surveying device used for civil engineering surveying.

[0038] Figure 2 A flowchart for civil engineering surveying work.

[0039] Figure 3 A flowchart for generating structured mapping semantic data packets.

[0040] Figure 4 This is a flowchart for the execution and collaborative control of ground spraying. Detailed Implementation

[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0042] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0043] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0044] Reference Figures 1-4 As one embodiment of the present invention, this embodiment provides a surveying method for civil engineering surveying, comprising the following steps:

[0045] S1: Activate the environmental perception sensor to acquire real-time environmental data.

[0046] S1.1: Environmental sensing sensors refer to devices that collect environmental data from the surveying site in real time to obtain environmental information for the surveying.

[0047] By activating environmental sensing sensors and sampling the temperature, humidity, light intensity, and wind speed at the survey site in real time, raw environmental sensing data is obtained.

[0048] Furthermore, after activation, the environmental sensing sensor continuously samples the temperature, humidity, light intensity, and wind speed at the survey site, outputting electrical signals corresponding to the current environmental state. After amplification and conversion, these signals form digital quantities corresponding to the temperature, humidity, light intensity, and wind speed, which are the original environmental sensing data.

[0049] It should be noted that electrical signals refer to voltage and current signals collected by environmental sensing sensors that reflect changes in the environment at the surveying site, such as temperature, humidity, light intensity, and wind speed.

[0050] Amplification conversion refers to converting the weak analog electrical signals collected by environmental sensing sensors into digital signals for processing and analysis. The electrical signals output by the sensors are weak and unstable, and amplification can improve the signal strength.

[0051] S1.2: The original environmental sensing data is filtered using an environmental interference suppression method to obtain real-time environmental data.

[0052] Furthermore, an environmental interference suppression method is adopted. The sampling signals of temperature, humidity, light intensity and wind speed obtained by activating the environmental sensing sensor are sequentially subjected to median filtering and low-pass filtering. Median filtering removes abnormal sampling values ​​caused by sudden airflow, strong light interference and mechanical vibration. Low-pass filtering suppresses rapid fluctuation interference caused by wind vibration and light vibration. The temperature, humidity, light intensity and wind speed data after double filtering are output as real-time environmental data.

[0053] Real-time environmental data undergoes dual filtering processing; the expression is as follows:

[0054] ;

[0055] in, It is the filtered environmental data. It is the first Environmental data from each sampling point It corresponds to the first Number of sampling points It is the index of the sampling point. The sample size represents the number of times the sensor collected data and the number of sampling points. This is the time when the environmental sensor samples. It contains environmental data for each sampling point.

[0056] It should be noted that, , which are dimensionless coefficients, represent the verification after standardization, and are dimensionless quantities. The expressions for real-time environmental data after double filtering are all dimensionless evaluation indicators with consistent dimensions.

[0057] The environmental data is not the raw environmental sensor data, but rather the dimensionless environmental interference intensity value after normalization. Specifically, the raw sampling data of different physical quantities such as temperature, humidity, and wind speed are linearly or nonlinearly mapped according to their interference-sensitive intervals in the surveying and mapping operation, and converted into a unified interference metric within the range of [0,1]. For example, the greater the wind speed, the closer the normalized value is to 1, indicating a stronger impact on the stability of the inkjet printing.

[0058] Specifically, environmental interference suppression methods refer to processing the acquired raw environmental sensor data using filtering methods (such as median filtering and low-pass filtering) to remove noise and high-frequency interference.

[0059] The median filter uses a 5-point sliding window (corresponding to a 0.5-second time window, matched with a 10Hz sampling rate) to remove outliers caused by sudden airflow and strong light interference. It uses a low-pass filter with a cutoff frequency of 1Hz to attenuate high-frequency environmental noise above 1Hz (such as wind vibration and light jitter) and retain effective signals with slow temperature and humidity changes. The dual filtering is performed in the order of median first and then low-pass to reduce the impact interference from being smoothed into continuous deviation by the low-pass filter, and output real-time environmental data.

[0060] Median filtering refers to sorting the temperature, humidity, light intensity, and wind speed data in the sampled signal and taking the median value to remove high-frequency environmental noise.

[0061] Low-pass filtering refers to filtering out high-frequency components from the sampled signal, retaining low-frequency components, and suppressing high-frequency environmental noise.

[0062] S2: Combining a flexible electromagnetic induction grid, it synchronously collects real-time environmental data such as the trajectory, pressure changes, and colors of the markings drawn on the drawing, and converts them into structured mapping semantic data packages.

[0063] S2.1: Flexible electromagnetic induction grid refers to a grid that continuously scans the surface of a surveying drawing paper to sense and collect in real time the trajectory, pressure changes, and color information of the drawn marks.

[0064] By combining a flexible electromagnetic induction grid to continuously scan the surface of the mapping paper, and synchronously sampling the position signal and pressure signal obtained by drawing with an electromagnetic pen, the original drawing data of trajectory coordinate sequence and pen pressure change are obtained.

[0065] Furthermore, a flexible electromagnetic induction grid is applied to the surface of the drawing paper. When the electromagnetic pen draws on the drawing paper, the flexible electromagnetic induction grid senses the changes in the electromagnetic field generated by the electromagnetic pen in real time. Through electromagnetic induction, it synchronously captures the horizontal and vertical coordinate position signals of the electromagnetic pen on the drawing plane and the pressure signal applied in the vertical direction. The position signals are recorded in the form of a time series to form a trajectory coordinate sequence, and the pressure signals are recorded synchronously to form a pen pressure change sequence. The trajectory coordinate sequence and the pen pressure change sequence are synchronously integrated according to the time series to obtain the original drawing data of the trajectory coordinate sequence and pen pressure change.

[0066] It should be noted that the pressure signal is not directly measured by the flexible electromagnetic induction grid, but rather originates from the pressure sensor inside the electromagnetic pen. The flexible electromagnetic induction grid acts as the signal receiver, simultaneously acquiring position and pressure information.

[0067] Magnetic field change refers to the change in the intensity and distribution of the electromagnetic field generated by the electromagnetic pen when it moves on the surface of the mapping paper. The change is sensed in real time by the flexible electromagnetic induction grid and converted into position and pressure signals.

[0068] S2.2: Based on the original drawing data and combined with the handwriting color information captured synchronously by the miniature camera, the real-time environmental data of trajectory, pressure change and color are spatiotemporally aligned and semantically fused to obtain a fused drawing data stream.

[0069] Furthermore, based on the trajectory coordinate sequence collected by the flexible electromagnetic induction grid and the original drawing data of pen pressure changes, the trajectory is divided into segments. Based on the geometric features of each segment and the pen pressure change, the corresponding graphic type is identified. Simultaneously, a miniature camera is triggered to capture the color of the pen marks formed on the drawing paper by the electromagnetic pen. The identified graphic type, trajectory coordinate sequence, pen pressure change and pen color information are spatiotemporally aligned using timestamps. Each coordinate point in the trajectory coordinate sequence is aligned with the pen pressure change, color information and graphic type at the corresponding time to obtain a fused drawing data stream.

[0070] It should be noted that image capture refers to the real-time acquisition of the color information of the strokes drawn on the survey paper by an electromagnetic pen using a miniature camera, and the conversion of the stroke color information into image data.

[0071] A timestamp is the time information that marks each data point (trajectory coordinates, pen pressure changes, and pen color).

[0072] Spatiotemporal alignment refers to synchronizing each coordinate point in the trajectory coordinate sequence with pen pressure changes and handwriting color information according to timestamps.

[0073] Semantic fusion refers to processing trajectory coordinate sequences, pen pressure changes, and handwriting color information according to graphic type and color information, integrating different types of data into structured information.

[0074] S2.3: Perform structured processing on the fused drawing data stream and transform it into a structured mapping semantic data package containing color, graphic type, and drawing coordinates.

[0075] Furthermore, based on the spatiotemporally aligned trajectory coordinate sequence, pen pressure changes, and handwriting color information in the fused drawing data stream, the trajectory coordinate sequence is structured according to the drawing coordinates to form drawing coordinates. Based on the graphic type (such as points, lines, polygons, and filled areas), color identifiers are extracted by combining the handwriting color information synchronously captured by the miniature camera. The drawing coordinates, graphic type, and color information are transformed through spatiotemporal alignment and semantic fusion to generate a structured mapping semantic data package.

[0076] Specifically, color information is captured by a miniature camera that is triggered synchronously, and the two work together to collect drawing data.

[0077] Drawing coordinates refer to the process of connecting the spatial position of a hand-drawn trajectory with the coordinates on a drawing by combining data collected from a flexible electromagnetic induction grid and a miniature camera. The actual position of each field marker during the surveying process corresponds to the coordinate position on the drawing.

[0078] Structured processing refers to organizing and classifying the spatiotemporally aligned trajectory coordinate sequence, pen pressure changes, and handwriting color information according to the drawing coordinates, and transforming them into data forms with structure and semantics.

[0079] S3: By parsing the color and graphic type in the mapping semantic data packet, the corresponding piezoelectric nozzle is activated, and the nozzle is positioned in conjunction with the laser pointer to generate ground painting execution instructions.

[0080] S3.1: Parse the color identifiers and graphic type information in the structured mapping semantic data package to obtain the spraying control parameters corresponding to the mapping elements.

[0081] Furthermore, color identifiers and graphic type information are extracted from the structured mapping semantic data package. Based on the color identifiers, the channel number and release amount of the corresponding ink color in the multi-channel piezoelectric printhead are obtained. Based on the points, lines, circles, arcs, polygons and filling areas of the graphic type information, the inkjet shape outline, filling method and edge precision control are obtained. The channel number, release amount, shape outline, filling method and edge precision control in the graphic inkjet template are combined into inkjet control parameters.

[0082] The inkjet printing control parameters are generated using the following expression:

[0083] ;

[0084] in, It is a comprehensive inkjet printing control parameter that integrates color, graphic type, and pen pressure information. The value and encoded content determine the color selection, ink release volume, and graphic generation method of the piezoelectric printhead, controlling the visual representation of solid markings. It is the first The color of each survey element indicates its color category; for example, red = 1, yellow = 2, blue = 3, green = 4. It is used for channel selection and does not participate in physical quantity calculations. It is the first The graphic type of each surveying element also uses discrete integer encoding, for example, point = 1, line = 2, circle = 3, polygon = 4, which is used to index the graphic inkjet template library and does not directly participate in multiplication operations. It is the first The pen pressure of each mapping element is a normalized real number, ranging from [0,1]. It is obtained by linear mapping from the original pressure sensor data, where 0 represents no pressure and 1 represents maximum pen pressure. It corresponds to the first The index of each element is a real number in the range [0,1], used to adjust the inkjet intensity based on temperature, humidity, and wind speed. It is the index of each surveying element. It is a graphic type. It is the change in pen pressure.

[0085] It should be noted that, It's an index, color-coded. Graphic type encoding , is a dimensionless discrete identifier, pen pressure It is a dimensionless value (0~1 interval), all multiplication terms are dimensionless quantities, the expression of the inkjet printing control parameters, the summation result is dimensionless, and the parameter dimensions are unified.

[0086] It should be noted that obtaining the outline of the inkjet printing shape, the filling method, and the edge precision control refers to extracting the corresponding shape (such as lines, circles, and polygons), the filling area (such as the filling required, the filling color, and the filling method), and the precision requirements of the inkjet printing edge (such as the edge clarity and transition smoothness) from the inkjet printing template based on the graphic type information, and controlling the graphic presentation during the inkjet printing process.

[0087] Graphic category and graphic type are different expressions of the same semantic concept. The geometric shape category is identified based on the handwriting trajectory and pressure characteristics. Graphic type is the semantic analysis stage, while graphic category is the inkjet printing execution stage.

[0088] Graphic type information refers to the geometric category labels of engineering semantics extracted after identifying the trajectory coordinates, pen pressure changes, and drawing sequence of hand-drawn marks on the surveying drawing paper. This includes type information for points (control piles and monitoring points), lines (boundary lines and road centerlines), circles (inspection wells and positioning rings), arcs (turning pipelines), polygons (building outlines and construction areas), and filled areas (warning zones and hardened surfaces).

[0089] A multi-channel piezoelectric printhead is a printhead with multiple independently controlled channels. Each channel can release ink of different colors, and the driving voltage controls the ink to print different colors and graphics.

[0090] S3.2: Select and drive the multi-channel piezoelectric printhead according to the inkjet control parameters, and simultaneously activate the laser pointer to position the printhead by laser indication of the target ground position, thereby obtaining the printhead execution status.

[0091] Furthermore, based on the inkjet control parameters derived from the color identifiers and graphic type information parsed from the structured mapping semantic data package, the switching state and driving voltage of the corresponding color channels in the multi-channel piezoelectric printhead are controlled, enabling the piezoelectric printhead to selectively release ink according to the color identifiers, activate the laser pointer, and emit a laser beam to project onto the target ground position. The positioning coordinates of the piezoelectric printhead on the ground are determined by the landing point of the laser beam. The channel selection state and driving voltage output state of the multi-channel piezoelectric printhead are time-aligned with the positioning coordinates projected by the laser pointer to obtain the printhead execution state.

[0092] It should be noted that real-time environmental data dynamically compensates for color release and graphic outline when generating inkjet printing control parameters.

[0093] For example, adjusting the ink droplet offset based on wind speed, correcting color perception deviation based on light intensity, and adjusting the ink drying rate to correspond to the printing speed based on temperature and humidity can improve the accuracy and consistency of solid marking in complex environments.

[0094] Specifically, the switch state and drive voltage refer to the on and off states of different color channels of the multi-channel piezoelectric printhead and the voltage input of each channel. By adjusting the switch state, the color channel is activated, and by adjusting the drive voltage, the ink ejection volume of the printhead is controlled. Different colors of ink can be precisely released as needed, achieving precise printing control.

[0095] Channel gating state refers to the enabling and disabling state of each independent color channel in a multi-channel piezoelectric printhead. The gating state determines the activation of the ink channel of a color, enabling the corresponding piezoelectric printhead to release the color ink. By switching different channel gating states, the corresponding ink channel can be activated to release the required color during the printing process.

[0096] Driving voltage refers to the voltage level that controls the ink output and spraying precision of a multi-channel piezoelectric printhead. By changing the driving voltage, the ink output intensity of each channel in the piezoelectric printhead is controlled, achieving precise ink release and printing effect.

[0097] S3.3: Coordinate the calibration of the nozzle execution status with the laser indicator to generate ground painting execution instructions.

[0098] Furthermore, based on the spatial coordinates of the laser point projected by the laser pointer on the actual ground according to the nozzle execution state, spatial mapping and alignment are performed with the current physical pose of the multi-channel piezoelectric nozzle. The spatial coordinates of the nozzle are then coordinated and calibrated through wheel-type movement to obtain a three-dimensional coordinate system that is consistent with the laser pointer position and the piezoelectric nozzle's printing position. The color channels and channel selection status of the multi-channel piezoelectric nozzle are synchronously coupled with the positioning information of the laser pointer to generate ground printing execution instructions.

[0099] It should be noted that spatial mapping alignment refers to matching the spatial coordinates of the laser point projected by the laser pointer on the actual ground with the pose of the multi-channel piezoelectric nozzle. By calibrating the spatial position relationship, the position of the laser pointer and the printing position of the nozzle are consistent in the three-dimensional coordinate system.

[0100] To ensure spatial alignment of the laser pointer, piezoelectric printhead position, and wheeled movement, a unified ground coordinate system is established. This is achieved through the position and attitude relationships (external parameters) between the laser pointer, multi-channel piezoelectric printhead, and wheeled movement. During printing, the coordinates of the laser pointer's projection onto the ground are dynamically transformed to the execution coordinate system of the piezoelectric printhead, based on the real-time pose information of the wheeled movement. This ensures that the laser pointer position and the actual printing position of the printhead remain consistent in the ground coordinate system. When mechanical offsets caused by equipment vibration, disassembly / reassembly, or prolonged operation are detected, collaborative calibration is performed to update the mapping relationship between the coordinate systems, obtaining the coordinate relationship between the laser, printhead, and wheeled movement, maintaining alignment throughout the printing process.

[0101] Collaborative calibration refers to the real-time adjustment of the spatial coordinates of a multi-channel piezoelectric nozzle by moving a wheel, keeping the positioning information of the laser pointer consistent with the printing position of the nozzle in the three-dimensional coordinate system, and aligning the actual printing position of the nozzle with the target position indicated by the laser.

[0102] Wheel-based movement refers to adjusting the position of the nozzle by moving it along a trajectory within the surveyed area, thereby correcting and adjusting the spatial coordinates and position of the nozzle.

[0103] S4: Based on the ground spraying execution command, the surveying semantic data packet is sprayed, and through three-dimensional collaborative control of color, shape and coordinates, a field mark sequence corresponding to the drawing is generated.

[0104] S4.1: Based on the color identifier in the structured mapping semantic data package, select the corresponding color channel of the multi-channel piezoelectric printhead and adjust the driving parameters according to the pen pressure to control the ink volume.

[0105] Furthermore, based on the color identifiers in the structured mapping semantic data package, the switching state of the corresponding ink color channel in the multi-channel piezoelectric printhead is controlled. Based on the pen pressure in the structured mapping semantic data package, the driving voltage amplitude of the enabled channel is adjusted. The magnitude of the driving voltage amplitude is proportional to the pen pressure, thereby controlling the amount of ink released by the multi-channel piezoelectric printhead during the printing process and realizing the adjustment of the color output intensity.

[0106] S4.2: Call the printing template according to the graphic type to generate the printing path and outline parameters corresponding to points, lines, circles, polygons and filled areas.

[0107] Furthermore, when the graphic type is a point, a single fixed-point inkjet is performed with the drawing coordinates as the printing center. When the graphic type is a line, a continuous path is generated based on the trajectory coordinate sequence and the inkjet is performed at a constant speed along the path. When the graphic type is a circle, a closed-loop inkjet is performed based on the closed contour point sequence of the center and radius. When the graphic type is a polygon, a closed path is generated by connecting the vertices in order to perform contour printing. When the graphic type is a filled area, a scanning path is generated within the polygon contour for internal filling. The printing path and contour parameters are obtained by structuring the trajectory coordinate sequence and pen pressure changes in the structured mapping semantic data package.

[0108] S4.3: Convert drawing coordinates into actual execution coordinates, and combine laser pointer positioning with wheel posture to dynamically correct the spatial position of the nozzle.

[0109] Furthermore, based on the drawing coordinates in the structured mapping semantic data package and combined with the real-time pose information of the wheeled movement, the indicator point projected onto the ground by the laser pointer is used as a positioning reference. The drawing coordinates are spatially mapped and aligned to the actual execution coordinates in the ground coordinate system. During the wheeled movement, the nozzle spatial coordinates are corrected in real time by using the nozzle positioning information of the laser pointer and the pose of the wheeled movement, so that the printing action of the piezoelectric nozzle is consistent with the converted actual execution coordinates, ensuring that the printing position is aligned with the drawing design.

[0110] Using the trajectory point sequence in the structured mapping semantic data package as the synchronization benchmark, color release, shape path and coordinate positioning are performed synchronously under a unified ground coordinate system to generate a field marking sequence consistent with the drawing.

[0111] Specifically, graphic category refers to classifying and controlling the printing process according to the graphic type (point, line, circle, and polygon) designed in the survey drawing. For example, point marks use single high-precision point spraying, controlling the ink droplet diameter to ≤5mm; line marks are printed according to a continuous trajectory, enabling edge smoothing and maintaining consistent line width; circle marks generate closed contours based on center coordinates and radius parameters, using closed-loop path printing to avoid seams; and polygon marks construct filling areas based on vertex sequences, enabling internal filling and controlling edge sharpness to ensure that the shape, filling method, and accuracy of different graphic types reflect the drawing design during printing.

[0112] Real-time calibration refers to dynamically adjusting the spatial coordinates of the piezoelectric printhead based on the positioning information provided by the laser pointer and the posture feedback from the wheel movement, to ensure that the position of the printhead during the printing process is consistent with the coordinates, color, and graphics of the drawing.

[0113] Color coding refers to the information used to distinguish different colored inks.

[0114] S4.4: Through three-dimensional collaborative control of color, shape and coordinates, position correction, color allocation and shape modification of the actual inkjet matrix are performed to generate an actual mark sequence corresponding to the drawing.

[0115] Furthermore, based on the color, graphic type, and drawing coordinates contained in the structured mapping semantic data package, each point in the field inkjet matrix is ​​assigned a color to ensure that the inkjet color matches the drawing mark. The spatial distribution of the field inkjet matrix is ​​then corrected to align with the drawing coordinates. Finally, the overall shape of the field inkjet matrix is ​​corrected according to the graphic category to ensure that the color, shape, and coordinates correspond to the drawing marks on the drawing, thus generating a field mark sequence corresponding to the drawing.

[0116] It should be noted that position correction refers to spatially adjusting each point in the actual inkjet print dot matrix, aligning it with the coordinates on the drawing in the three-dimensional coordinate system, so that the spatial position of the inkjet print mark is consistent with the design drawing.

[0117] Shape correction refers to adjusting the overall outline of the solid inkjet matrix according to the graphic category, so that the shape and edge accuracy are consistent with the design marks on the drawing, and reduce shape deviations during the inkjet printing process.

[0118] S5: Integrate trajectory, semantics, and inkjet records to generate DXF files. Through cross-validation between the DXF files and the field marker sequences, store the validated surveying and mapping results data and generate a surveying and mapping report.

[0119] S5.1: A DXF file is a graphic file containing coordinates, colors, and graphic types, generated by combining the drawing trajectory acquired by the flexible electromagnetic induction grid, the identified mapping semantics, and the inkjet records executed by the piezoelectric nozzle.

[0120] Cross-validation refers to comparing the coordinates, colors, and graphic types in a DXF file with field-marked data collected through field perception.

[0121] By combining the drawing trajectory, the identified mapping semantics, and the inkjet records executed by the piezoelectric nozzle, a structured reorganization is performed to obtain a dataset of coordinates, colors, and graphic types.

[0122] Furthermore, a flexible electromagnetic induction grid is used to continuously scan the surface of the surveying paper to obtain the original drawing data of the trajectory coordinate sequence and pen pressure change generated by the electromagnetic pen. The pen color information is captured by a miniature camera, and the trajectory coordinate sequence, pen pressure change and color information are spatiotemporally aligned and semantically fused to form a fused drawing data stream. The fused drawing data stream is then structured to extract color, graphic type and paper coordinates, forming a structured surveying semantic data package.

[0123] During the inkjet printing stage, inkjet printing control parameters are parsed from the color identifiers and graphic type information in the structured mapping semantic data package. This drives the multi-channel piezoelectric printhead to perform inkjet printing actions and records the color, graphic type, and corresponding drawing coordinates of the ink released by the piezoelectric printhead. The drawing trajectory data collected by the flexible electromagnetic induction grid, the mapping semantic data identified by the fused drawing data stream, and the inkjet printing record data executed by the piezoelectric printhead are structurally recombined according to coordinates, color, and graphic type to obtain a dataset of coordinates, color, and graphic type.

[0124] Specifically, structured reorganization refers to organizing and combining the collected drawing trajectory data, surveying semantic data, and inkjet recording data according to coordinates, colors, and graphic types.

[0125] S5.2: Integrate datasets of coordinates, colors, and graphic types through encoding and encapsulation to generate DXF files.

[0126] Furthermore, the dataset consisting of coordinates, colors, and graphic types, composed of the drawing trajectory data collected by the flexible electromagnetic induction grid, the identified mapping semantic data, and the inkjet recording data executed by the piezoelectric nozzle, is organized according to the entity segment structure of the DXF file format. The coordinate information of the defined point entity, line entity, and multi-segment line entity is written in sequence, and the color identifier and graphic type information are embedded in the extended data segment of the entity. The entity segment structure and extended data are encapsulated line by line through encoding and encapsulation to generate a DXF file (coordinates, colors, and graphic types).

[0127] It should be noted that the DXF file format refers to a file format for storing and exchanging drawing data. It organizes data using an entity segment structure, defining coordinate information for point entities, line entities, and polyline entities, as well as extended data for color coding and graphic types.

[0128] Extended data refers to the information embedded in the entity segment of a DXF file, in addition to coordinate information, including semantic labels for each entity, semantic labels for surveying feature categories (e.g., red = restricted area), and functional meanings in surveying (e.g., polygon = construction boundary).

[0129] Encoding and encapsulation refers to the method of encoding and packaging structured data (such as coordinates, color codes, and graphic type information) line by line according to the DXF file format (which stores the coordinates, colors, and graphic type of the graphic), to generate a DXF file.

[0130] S5.3: Based on the position, color, and graphic type of the DXF file and the field marker sequence, perform cross-validation, store the valid surveying and mapping data, and generate a surveying and mapping report.

[0131] Furthermore, the coordinates, colors, and graphic types contained in the DXF file are compared item by item with the positions, colors, and graphic types of the field markers generated by the three-dimensional collaborative control of color, shape, and coordinates in the field marker sequence. Based on the structured data format of the DXF file generated by the trajectory, semantics, and inkjet records, the consistency of each marker point in the field marker sequence is checked. When the coordinates in the DXF file match the spatial position, color identification, and graphic type of the field marker sequence, the marker point is deemed to have passed the verification. The verified surveying and mapping results data are stored in a structured format as stored data, and a surveying and mapping report is generated based on the stored data.

[0132] Specifically, consistency verification refers to comparing the coordinates, colors, and graphic types in the DXF file with the corresponding data in the field marking sequence item by item to obtain consistency in spatial location, color identification, and graphic type, thereby verifying the accuracy of the surveying results.

[0133] The coordinate deviation shall not exceed ±2 cm. When the color markings are consistent, the color difference ΔE value shall not exceed 3 (a difference that is indistinguishable to the human eye). When the graphic types correspond, the shape and size of the graphic shall be consistent with the design drawings. The ±2 cm position tolerance shall be set according to the civil engineering layout requirements and the inkjet printing positioning capability. ΔE≤3 shall be determined based on the indistinguishability of color differences to the human eye and the industrial color consistency standard.

[0134] Field marker data is obtained by capturing images and coordinates through a camera, and then extracting data such as contours, colors, and positions through image processing.

[0135] Structured formats refer to the organization and encoding of surveying data to obtain a clear hierarchical structure and data fields for storage, processing, and analysis, such as the representation of coordinates, colors, and graphic type information in DXF file format.

[0136] A surveying report is a document generated by cross-validating the location, color, and graphic type of the DXF file with the field marker sequence, and writing the verified surveying results data into a storage medium in a structured format. The document fully records the coordinate, color, and graphic type information formed by the drawing trajectory data collected by the flexible electromagnetic induction grid, the identified surveying semantic data, and the inkjet recording data executed by the piezoelectric nozzle. It also reflects the consistency between the drawing design and the field markers in terms of location, color, and graphic type, and reflects the execution process, data consistency results, and marker results of this civil engineering surveying operation.

[0137] This embodiment also provides a surveying device for civil engineering surveying, including: a data acquisition module that activates an environmental perception sensor to acquire real-time environmental data; a data acquisition and conversion module that, in conjunction with a flexible electromagnetic induction grid, synchronously acquires real-time environmental data of the trajectory, pressure changes, and colors of marks drawn on the drawing, and converts them into structured surveying semantic data packets; a parsing and activation module that, by parsing the colors and graphic types in the surveying semantic data packets, activates the corresponding piezoelectric nozzles and, in conjunction with a laser pointer, positions the nozzles to generate ground spraying execution instructions; a control and execution module that, based on the ground spraying execution instructions, sprays the surveying semantic data packets, and generates a field mark sequence corresponding to the drawing through three-dimensional collaborative control of color, shape, and coordinates; and an integration and verification module that integrates the trajectory, semantics, and spraying records to generate a DXF file, and, through cross-verification of the DXF file and the field mark sequence, stores the verified surveying results data and generates a surveying report.

[0138] In summary, this invention achieves digital understanding and semantic expression of the drawing content by combining flexible electromagnetic induction grids to collect the trajectory, pressure changes, and color data of the drawing marks in real time and converting them into structured mapping semantic data packages, thus ensuring the accuracy of the mapping process. By parsing the semantic data packages to activate the corresponding piezoelectric nozzles and cooperating with laser pointers to generate ground spraying execution instructions, it realizes three-dimensional collaborative control of color, shape, and coordinates, ensuring strict correspondence between the on-site marks and the drawings, and significantly improving the consistency of mapping results in mapping services other than satellite application services.

[0139] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A surveying method for civil engineering surveying, characterized in that: include, Activate the environmental perception sensors to acquire real-time environmental data; By combining a flexible electromagnetic induction grid, real-time environmental data such as the trajectory, pressure changes, and color of the markings drawn on the drawing are collected synchronously and converted into structured mapping semantic data packages. By parsing the color and graphic type in the mapping semantic data packet, the corresponding piezoelectric nozzle is activated, and the nozzle is positioned in conjunction with a laser pointer to generate ground painting execution instructions; Based on the ground spraying execution command, the surveying semantic data packet is sprayed, and through three-dimensional collaborative control of color, shape and coordinates, a field mark sequence corresponding to the drawing is generated; The system integrates trajectory, semantics, and inkjet records to generate DXF files. Through cross-validation between the DXF files and the field marker sequences, the validated surveying and mapping results are stored and a surveying and mapping report is generated.

2. The surveying method for civil engineering surveying as described in claim 1, characterized in that: The specific steps for activating the environmental perception sensor and acquiring real-time environmental data are as follows. Environmental sensing sensors are devices that collect real-time environmental data from the surveying site to obtain surveyed environmental information; By activating environmental sensing sensors and sampling the temperature, humidity, light intensity, and wind speed at the survey site in real time, raw environmental sensing data is obtained. An environmental interference suppression method is used to filter the raw environmental sensor data to obtain real-time environmental data.

3. The surveying method for civil engineering surveying as described in claim 2, characterized in that: The flexible electromagnetic induction grid refers to the system that continuously scans the surface of the surveying paper to sense and collect in real time the trajectory, pressure changes, and color information of the drawn marks.

4. The surveying method for civil engineering surveying as described in claim 3, characterized in that: The data is then transformed into structured mapping semantic data packets. The specific steps are as follows: By combining a flexible electromagnetic induction grid to continuously scan the surface of the mapping paper, and by synchronously sampling the position signal and pressure signal obtained by drawing with an electromagnetic pen, the original drawing data of trajectory coordinate sequence and pen pressure change are obtained. Based on the original drawing data and combined with the handwriting color information captured synchronously by the miniature camera, the real-time environmental data of trajectory, pressure change and color are spatiotemporally aligned and semantically fused to obtain a fused drawing data stream. The fused drawing data stream is processed in a structured manner and transformed into a structured mapping semantic data package containing color, graphic type, and drawing coordinates.

5. The surveying method for civil engineering surveying as described in claim 4, characterized in that: The specific steps for generating the ground spraying execution command are as follows: The color identifiers and graphic type information in the structured mapping semantic data package are parsed to obtain the spraying control parameters corresponding to the mapping elements; Based on the inkjet printing control parameters, the multi-channel piezoelectric printhead is selected and driven, and the laser pointer is simultaneously activated to position the printhead by laser indication of the target ground position, thereby obtaining the printhead execution status. The nozzle execution status is coordinated with the laser indicator to generate ground painting execution instructions.

6. The surveying method for civil engineering surveying as described in claim 5, characterized in that: The three-dimensional collaborative control of color, shape, and coordinates includes, Based on the color identifiers in the structured mapping semantic data package, the corresponding color channel of the multi-channel piezoelectric printhead is selected, and the driving parameters are adjusted according to the pen pressure to control the ink volume. Call the printing template according to the graphic type to generate the printing path and outline parameters corresponding to points, lines, circles, polygons and filled areas; Convert the drawing coordinates into actual execution coordinates, and combine laser pointer positioning with wheel-type posture to dynamically correct the spatial position of the nozzle; Using the trajectory point sequence in the structured mapping semantic data package as the synchronization benchmark, color release, shape path and coordinate positioning are performed synchronously under a unified ground coordinate system to generate a field marking sequence consistent with the drawing.

7. The surveying method for civil engineering surveying as described in claim 6, characterized in that: The specific steps for generating the field marker sequence corresponding to the drawing are as follows. By using three-dimensional collaborative control of color, shape, and coordinates, the position, color, and shape of the on-site inkjet matrix are corrected, generated, and the on-site mark sequence corresponding to the drawing is produced.

8. The surveying method for civil engineering surveying as described in claim 7, characterized in that: The DXF file refers to a graphic file containing coordinates, colors, and graphic types, generated by combining the drawing trajectory collected by the flexible electromagnetic induction grid, the identified mapping semantics, and the inkjet records executed by the piezoelectric nozzle.

9. The surveying method for civil engineering surveying as described in claim 8, characterized in that: The specific steps for storing and verifying the surveying and mapping results data and generating a surveying and mapping report are as follows. Cross-validation refers to comparing the coordinates, colors, and graphic types in a DXF file with field-marked data collected through field perception. By combining the drawing trajectory, the identified mapping semantics, and the inkjet records executed by the piezoelectric nozzle, a structured reorganization is performed to obtain a dataset of coordinates, colors, and graphic types. The datasets of coordinates, colors, and graphic types are integrated through encoding and encapsulation to generate DXF files; Cross-validation is performed based on the location, color, and graphic type of the DXF file and the field marker sequence. The valid surveying and mapping data is stored and a surveying and mapping report is generated.

10. A surveying apparatus for civil engineering surveying, based on the surveying method for civil engineering surveying according to any one of claims 1 to 9, characterized in that: include, The data acquisition module activates the environmental perception sensor to acquire real-time environmental data; The data acquisition and conversion module, combined with a flexible electromagnetic induction grid, synchronously acquires real-time environmental data such as the trajectory, pressure changes, and colors of the markings drawn on the drawing, and converts them into structured mapping semantic data packages. The parsing activation module activates the corresponding piezoelectric nozzles by parsing the color and graphic type in the mapping semantic data packet, and uses a laser pointer to position the nozzles and generate ground painting execution instructions. The control execution module prints the surveying semantic data packet based on the ground printing execution command, and generates a field mark sequence corresponding to the drawing through three-dimensional collaborative control of color, shape and coordinates. The integrated verification module integrates trajectory, semantics, and inkjet records to generate DXF files. Through cross-verification of the DXF files and the field marker sequences, the verified surveying and mapping results data are stored and a surveying and mapping report is generated.

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