Land surveying and mapping data acquisition system based on edge node cooperation

Abstract

This invention relates to the field of land surveying data acquisition technology, specifically a land surveying data acquisition system based on edge node collaboration. It includes forming basic task coordinates by segmenting the area boundary and image contour, presenting equipment coverage by combining node trajectory aggregation, identifying densely surveyed locations by filtering continuously accessed areas, analyzing communication occupancy direction to form load allocation direction, and generating a spatially consistent data acquisition task instruction sequence based on this. This invention constructs a balanced task coordinate system by segmenting the surveying area boundary and image contour, reflects the operation coverage pattern by combining trajectory and task point mapping, identifies high-frequency operation areas based on access continuity, judges load distribution trends by analyzing communication occupancy direction, and generates instruction sequences by combining equipment operating conditions and geographical order. This optimizes the spatial coherence and resource allocation of data acquisition, reducing communication conflicts and repetitive operations.

Description

Technical Field

[0001] This invention relates to the field of land surveying data acquisition technology, and in particular to a land surveying data acquisition system based on edge node collaboration. Background Technology

[0002] The field of land surveying data acquisition technology encompasses the acquisition, processing, and management of spatial information such as natural geographical environment, topography, and land features. Its core lies in the spatial positioning and attribute recording of surface information through various sensing devices and measurement methods, and it is widely used in industries such as land resource management, urban planning, and agricultural monitoring. This technology covers multiple data acquisition methods, including GNSS positioning, remote sensing image processing, total station surveying, UAV aerial surveying, and lidar scanning, and is combined with graphic image analysis, geographic information system modeling, and database integration to achieve accurate measurement of geographic entities and data database construction. With the development of information technology, land surveying data acquisition is gradually evolving towards automation and intelligence, forming a comprehensive technical system centered on multi-source sensor collaborative acquisition, edge processing, and real-time transmission.

[0003] The land surveying data acquisition system based on edge node collaboration refers to introducing edge computing nodes into traditional surveying equipment and completing data acquisition, preprocessing, and forwarding functions in surveying tasks through a collaborative mechanism between nodes. Primarily targeting the high-frequency acquisition needs of multi-source surveying data in field environments, it employs ground-based sensing equipment to collect geographic information, and edge nodes to perform operations such as raw data compression, redundancy removal, data annotation, and format conversion. The processed data is then transmitted to the central processing platform in groups based on region and timestamps. The collaborative mechanism sets task allocation rules and communication paths based on the physical distance between nodes, task load, and channel status. Task synchronization and data synchronization are achieved through fixed priority rules and time slot allocation mechanisms, forming a mutually backup acquisition and processing network in a distributed structure.

[0004] Existing technologies lack a structured breakdown of the workspace under multi-source device collaboration conditions. Task coordinates fail to present a clear spatial hierarchy, and the blurred boundaries of the surveying activity area easily lead to repetitive work at nodes. Trajectory information does not establish a dynamic correspondence with task points, making it difficult to identify the true coverage of the surveying operation. Communication behavior does not form a directional analysis mechanism, and communication resource scheduling is prone to random allocation. Task instructions are not associated with node capabilities and spatial rhythm, resulting in chaotic data acquisition paths and large fluctuations in work efficiency. Especially in scenarios with complex survey areas or uneven node density, conflicts and redundancies often occur between task execution order and communication links. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a land surveying data acquisition system based on edge node collaboration.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a land surveying data acquisition system based on edge node collaboration, the system comprising: The regional coordinate composition module uses the path recorder of the ground unmanned surveying vehicle to extract the land boundary coordinates, combines them with the outline of the aerial surveying image sensor layer, performs equidistant division according to the latitude and longitude direction, extracts the center position point as the operation positioning object, and forms a set of basic task coordinates for the region. The node trajectory collection module collects the continuous positioning trajectory of the edge mapping equipment during operation based on the basic task coordinate set of the region, and maps the distribution position of each trajectory in the geographic space to the task coordinates to obtain the edge node covered task coordinate set. The trajectory filtering and recognition module analyzes the continuity of the mapping trajectory coverage based on the set of task coordinates covered by the edge nodes, extracts the task coordinates of the access trajectories that are concentrated and have frequent regional overlaps, and uses them as the concentrated mapping area to form a set of task coordinates of the concentrated coverage area. The communication load direction identification module calls the task coordinate set of the centralized coverage area, detects the channel occupancy behavior of the corresponding device, identifies the communication cluster area and the communication sparse area according to spatial orientation, extracts the task coordinates in the two types of areas, and forms a communication load allocation direction task coordinate set.

[0007] As a further embodiment of the present invention, the regional basic task coordinate set includes the latitude and longitude information of the center location point, the number of the segmented region to which it belongs, and the image contour matching label; the edge node coverage task coordinate set includes node identification label, time series location point, and coverage region number; the concentrated coverage area task coordinate set includes high-frequency access coordinate points, continuous trajectory segment number, and mapping density level; and the communication load allocation pointing task coordinate set includes high-occupancy channel area number, communication flow characteristics, and load aggregation direction mark.

[0008] As a further aspect of the present invention, the region coordinate constructing module includes: The boundary coordinate extraction submodule, based on the trajectory information in the path recorder of the ground unmanned surveying vehicle, connects the continuous positioning points according to the time sequence, restores the closed path through the spatial orientation relationship between the positioning points, judges the position connection between the relative distance between the first and last position points, performs spatial closure verification operation according to the closed loop requirements, and obtains the boundary coordinate set of the surveying area. The layer outline segmentation module calls the boundary coordinate set of the surveying area and the image data in the layer of the airborne surveying image sensor. It performs grid segmentation along the latitude and longitude direction within the boundary area, extends point by point according to the set latitude and longitude interval, and sequentially numbers the intersecting areas. It outputs the corresponding latitude and longitude data and the area identifier to which it belongs, and obtains the grid coordinate matrix of the segmented area. The center point positioning and extraction submodule extracts the extreme value intervals of longitude and latitude at both ends based on the latitude and longitude boundary values ​​of each region in the segmented region grid coordinate matrix. For each region, the intermediate value point is selected as the center positioning point coordinate according to the longitude and latitude directions, and the latitude and longitude positions of the center point are mapped to the region number sequence to obtain the basic task coordinate set of the region.

[0009] As a further aspect of the present invention, during the process of restoring the closed path, the spatial orientation relationship between the positioning points is determined based on the geometric correlation between adjacent positioning points. Path continuity is analyzed by the orientation change trend between three consecutive positioning points. If the directional continuity condition is met, path connection processing is performed. In the position connection judgment, when the relative distance between the first and last position points meets the closure judgment standard, a spatial closure verification operation is triggered. During the grid segmentation operation along the latitude and longitude direction, the latitude and longitude interval is adaptively set according to the geographical span of the surveying area and the preset accuracy level to ensure that the divided areas have uniform distribution characteristics, and the numbers of the intersecting areas are arranged in a fixed order. The determination of the latitude and longitude position of the center point is based on the intermediate calculation results between the longitude and latitude direction boundary values. The intermediate calculation results are mapped to the corresponding area number sequence to form a set of basic task coordinates of the area with a single correspondence.

[0010] As a further aspect of the present invention, the node trajectory collection module includes: The node positioning and acquisition submodule, based on the set of basic task coordinates of the region, collects the positioning information continuously reported by the edge mapping equipment during the land mapping process, adds a timestamp index to each reported information, performs sequential verification according to the order of receipt, performs a consistency judgment operation on the integrity of the positioning field, and obtains a continuous positioning sequence of nodes. The trajectory temporal association submodule performs a trajectory temporal unfolding operation based on the timestamp sequence of each positioning information in the continuous positioning sequence of the nodes. It connects the positioning points of the same edge mapping device in a continuous time period through the time axis and performs trajectory continuity judgment based on the temporal adjacency relationship to obtain the node temporal trajectory sequence. The coverage coordinate mapping submodule calls the node time-series trajectory sequence and the regional basic task coordinate set to determine the spatial position correspondence between each positioning point in the trajectory and the task coordinates, identifies the task coordinate range in which the trajectory point falls, and collects the coverage relationship according to the device dimension to generate the edge node coverage task coordinate set.

[0011] As a further aspect of the present invention, the trajectory filtering and recognition module includes: The access frequency detection submodule, based on the set of task coordinates covered by the edge nodes, performs statistical processing on the number of times each task coordinate appears in the surveying operation, sorts the multiple accesses of the same task coordinate according to the time sequence, and performs difference judgment on the access frequency based on the interval value between the sequences to obtain the task coordinate access frequency index set. The path continuous extraction submodule calls the task coordinate access frequency index set, screens the access paths of continuous coordinate points according to the access timestamp order, identifies task coordinate segments with continuous time difference and adjacent spatial distance, and groups the coordinate points in the continuous segment according to the sequence position to obtain continuous access path coordinate sequence groups. The region attribution determination submodule compares the mapping regions to which each member point in the coordinate group belongs based on the spatial block number information of each coordinate point in the continuous access path coordinate sequence group. It eliminates cross-region path groups and retains path groups with consistent attribution, extracts the task coordinate location points in the path group in sequence, and obtains a set of task coordinates for the concentrated coverage area.

[0012] As a further aspect of the present invention, the communication load direction identification module includes: The channel occupancy monitoring submodule, based on the task coordinate set of the centralized coverage area, collects the channel status data reported by the edge mapping equipment in the corresponding area during the communication process, arranges the continuous use of the channel occupied by each device according to the timestamp order, and collects the channel occupancy intervals according to the task coordinate dimension to obtain the channel occupancy duration sequence set. The communication trend judgment submodule calls the channel occupancy duration sequence set, performs difference filtering on the variation amplitude of channel usage duration between adjacent task coordinates according to the spatial location arrangement relationship, extracts the region direction that shows linear enhancement in spatial distribution, and simultaneously marks the direction of increasing dispersion of duration distribution to obtain the communication clustering and dispersion direction control group; The task coordinate pointing extraction submodule, based on the directional trends identified in the communication aggregation and dispersion direction control group, confirms the directional consistency of the task coordinate blocks associated with each direction, removes directional jump blocks, extracts the corresponding coordinate point sequence, and arranges the coordinates of the end of the direction in spatial sequence order to obtain the set of communication load allocation pointing task coordinates.

[0013] As a further aspect of the present invention, during the process of collecting channel status data reported by edge mapping devices within the corresponding area during communication, the channel status data is synchronously merged based on a single time dimension, and communication interruption records and duplicate reporting records are removed to generate a stable channel dataset; during the process of arranging the continuous usage of the channels occupied by each device according to the timestamp order, the connection segment boundary point is set according to the time interval threshold to form a continuous communication segment set; during the difference filtering process, based on the changing trend of channel usage time between adjacent task coordinates, task coordinate pairs showing continuous growth or continuous decline are extracted to form a duration variation sequence with spatial direction indication; during the process of confirming the direction consistency of task coordinate blocks associated with each direction, direction fitting is performed based on the calculation results of the arrangement angle between continuous task coordinates, and task coordinate blocks that do not meet the linear fitting conditions are removed to improve the spatial continuity of communication load allocation pointing to the task coordinate set.

[0014] As a further aspect of the present invention, the system further includes: The data acquisition instruction generation module allocates the target task coordinate set according to the communication load, combines the identification information of available edge mapping equipment, pairs the corresponding equipment with the task coordinates, organizes the task sequence according to geographical order, and outputs the land mapping data acquisition task instruction sequence. The land surveying data acquisition task instruction sequence includes the task number sequence, equipment correspondence, and spatial scheduling path.

[0015] As a further aspect of the present invention, the acquisition instruction generation module includes: The equipment capability detection submodule, based on the communication load allocation pointing to the task coordinate set, collects the operating status data of the edge mapping equipment currently in operation, detects the number of task response records, continuous operation duration and fault flag bits of each device within the operation cycle, and obtains a list of available mapping equipment identifiers after filtering out devices with abnormal status. The coordinate device association submodule calls the available surveying equipment identifier list and the communication load allocation pointing to the task coordinate set, and pairs them sequentially according to the shortest distance between the idle state of the equipment and the coordinate space position. The pairing items are recorded in the candidate allocation table according to the one-to-one correspondence principle. After removing the duplicate coordinate allocation records, the task coordinate device correspondence table is obtained. The task sequence connection submodule arranges the coordinate sequence according to latitude and longitude based on the spatial location data of each coordinate in the task coordinate device correspondence table, inserts direction fields between adjacent coordinates and marks the relative order, reorganizes the order list according to the coordinate sequence within the same device, and obtains the land surveying data acquisition task instruction sequence.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, by spatially segmenting the boundary of the surveying area and the image outline, a task coordinate system with balanced positional distribution is formed. Through the continuous correspondence between trajectory information and task coordinates, the coverage pattern of surveying activities within the area is presented. By access continuity, high-frequency operation areas and low-frequency areas are distinguished, giving the center of gravity of the operation spatial orientation. By comparing and analyzing the communication occupancy status in the spatial direction, a basis for judging the load distribution trend is formed. In addition, by combining the equipment with operation conditions and geographical sequence, a task instruction sequence is generated, so that the data acquisition arrangement has spatial coherence and resource orientation, reducing the occurrence of disordered communication and repetitive operations. Attached Figure Description

[0017] Figure 1 This is a system flowchart of the present invention; Figure 2 This is a flowchart illustrating the acquisition process of the region coordinate composition module of the present invention. Figure 3 This is a flowchart illustrating the acquisition process of the node trajectory aggregation module of the present invention. Figure 4 This is a flowchart illustrating the acquisition process of the trajectory filtering and recognition module of the present invention. Figure 5 This is a flowchart illustrating the acquisition process of the communication load direction identification module of the present invention. Figure 6 This is a flowchart of the acquisition instruction generation module of the present invention. Detailed Implementation

[0018] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0019] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0020] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0021] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0022] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0023] Please see Figure 1 This invention provides a technical solution: a land surveying data acquisition system based on edge node collaboration, the system comprising: The regional coordinate composition module obtains the boundary coordinate information of the land surveying area through the path recorder of the ground unmanned surveying vehicle, combines the regional outline shape presented by the distribution layer of the aerial surveying image sensor, performs continuous segmentation along the latitude and longitude direction, extracts the center position point corresponding to each segmented area, and uses the center position point as the basic positioning object for the surveying operation to obtain the set of basic task coordinates of the region. The node trajectory collection module, based on the regional basic task coordinate set, collects the positioning information continuously reported by edge surveying equipment during the land surveying process, unfolds the trajectory in chronological order, so that each positioning information corresponds to the regional basic task coordinate, presents the activity coverage of each edge surveying equipment within the survey area, and obtains the edge node coverage task coordinate set. The trajectory filtering and recognition module analyzes the continuity of each task coordinate during the surveying and mapping process based on the task coordinate set covered by edge nodes, distinguishes between concentrated and dispersed access areas, extracts the task coordinates corresponding to the continuous access path areas, and uses them to represent the dense area of ​​the current surveying and mapping activity to obtain the task coordinate set of the concentrated coverage area. The communication load direction identification module, based on the task coordinate set of the centralized coverage area, obtains the continuous channel occupation performance of the edge mapping equipment associated with each task coordinate during the communication process, expands the communication behavior comparison along the spatial direction, identifies the directional areas where communication activities show a clustering trend, and at the same time identifies the directional areas where communication activities show a dispersing trend, and obtains the communication load allocation direction task coordinate set. The data acquisition instruction generation module allocates the target task coordinate set according to the communication load, associates the edge mapping equipment with the current operation capability, maps the equipment identification information with the corresponding task coordinates one by one, and connects the tasks in sequence according to the geographic spatial relationship to obtain the land mapping data acquisition task instruction sequence.

[0024] The regional basic task coordinate set includes the latitude and longitude information of the central location point, the number of the segmented area to which it belongs, and the image contour matching label. The edge node coverage task coordinate set includes the node identification label, time series location points, and coverage area number. The concentrated coverage area task coordinate set includes high-frequency access coordinate points, continuous trajectory segment numbers, and mapping density levels. The communication load allocation and pointing task coordinate set includes the high-occupancy channel area number, communication flow characteristics, and load aggregation direction markers. The land surveying data acquisition task instruction sequence includes the task number sequence, equipment correspondence, and spatial scheduling path.

[0025] Please see Figure 2 The regional coordinate system module includes: The boundary coordinate extraction submodule, based on the trajectory information in the path recorder of the ground unmanned surveying vehicle, connects the continuous positioning points according to the time sequence, restores the closed path through the spatial orientation relationship between the positioning points, judges the position connection between the relative distance between the first and last position points, performs spatial closure verification operation according to the closed loop requirements, and obtains the boundary coordinate set of the surveying area. First, the data reading program of the ground-based unmanned mapping vehicle's path recorder is started to extract the raw trajectory data stream generated by the unmanned vehicle as it travels along the edge of the target plot. The time-series positioning point set read is marked as... Each of the positioning points Including longitude ,latitude and elevation Data, sampling frequency set to The execution sequence is sequentially joined, reading three consecutive location points in the sequence in turn. And construct the preceding vector With subsequent vectors The inverse cosine function is used to calculate the angle between two vectors. Set a directional continuity threshold. The threshold is set based on the mechanical steering limits of the unmanned surveying vehicle, through actual measurements of the vehicle's... The maximum turning radius at a given speed is calculated. If the calculated value is... Determine if the vehicle's driving state is continuous and retain intermediate points. ;like The point was determined to be a noise point caused by positioning drift, and a removal operation was performed, followed by reconnection. and After traversing the entire sequence, extract the first point of the corrected sequence. and tail point Calculate the Euclidean distance between two points. Establish criteria for determining closure. This value is based on the dynamic error range of the RTK-GNSS positioning module. Operational error relative to the vehicle's return start point Comprehensive settings. If actual calculations... The path is determined to be closed in physical space, and then... Coordinates forced correction Coordinates, eliminate closure error; if The system prompts that manual data entry or refitting is required. After completing the above closed-loop verification, the determined coordinate set of the survey area boundary is output.

[0026] The layer outline segmentation module calls the boundary coordinate set of the surveying area and the image data in the layer of the airborne surveying image sensor. It performs grid segmentation along the latitude and longitude direction within the boundary area, extends point by point according to the set latitude and longitude interval, and sequentially numbers the intersecting areas. It outputs the corresponding latitude and longitude data and the area identifier to which it belongs, and obtains the grid coordinate matrix of the segmented area. Load the boundary coordinate set of the above-mentioned survey area and overlay it with an orthophoto layer acquired by an airborne survey image sensor (such as a hyperspectral camera mounted on a UAV). First, calculate the geographic bounding rectangle of the boundary coordinate set to obtain the longitude intervals. and latitude range Based on the required surveying precision, the latitude and longitude grid segmentation interval is set. The preset accuracy level requires a ground sampling resolution of [value missing]. Calculate the step size of the longitude direction segmentation. Latitude segmentation step size ,in Earth's radius Substituting the actual values ​​into the calculation, we obtain... Spend, Degree. With and Using the origin as the starting point, along the longitude and latitude directions respectively... and The process involves point-by-point extension to generate a 2D mesh matrix. A state scan is then performed on regions within the matrix that intersect with or are contained within the boundary polygons: if the mesh center point is located inside the boundary polygon, or if the overlap ratio between the mesh and the polygon exceeds [a certain threshold]... The grid is then marked as a valid area. Following a scanning order of "from west to east, from south to north," a unique identifier is assigned to each valid grid in sequence. (like (etc.), and the coordinates of the four vertices of each grid. Write the data into the corresponding data structure to obtain the grid coordinate matrix of the segmented region.

[0027] The center point positioning and extraction submodule extracts the extreme value intervals of longitude and latitude based on the latitude and longitude boundary values ​​of each region in the grid coordinate matrix of the segmented region. For each region, the intermediate value point is selected as the center positioning point coordinate according to the longitude and latitude directions, and the latitude and longitude positions of the center point are mapped to the region number sequence to obtain the set of basic task coordinates of the region. Iterate through each grid cell in the grid coordinate matrix of the segmented region. For the cell numbered... Extract the longitude boundary values ​​of the region. Latitude boundary value Perform the geometric center calculation operation, taking the longitude value. Values ​​in the latitude direction This calculation process ensures that the center point is located precisely at the intersection of the diagonals of the mesh geometry. The calculated... Define the task anchor point for this region and associate it with the region number. Establish a single mapping relationship. For example, for a grid. Its longitude range is The latitude range is The center point is calculated to be The coordinates of the center points of all grids in the entire region are aggregated to form a structured coordinate sequence. Each point in this sequence represents an independent surveying sub-task location, ultimately resulting in the set of basic task coordinates for the region.

[0028] Please see Figure 3 The node trajectory collection module includes: The node positioning and acquisition submodule, based on the regional basic task coordinate set, collects the positioning information continuously reported by the edge mapping equipment during the land mapping process, adds a timestamp index to each reported information, performs sequential verification according to the order of receipt, performs a consistency judgment operation on the integrity of the positioning field, and obtains a continuous positioning sequence of nodes. Based on the spatial range defined by the regional baseline task coordinate set, a data receiving port is opened to collect real-time positioning data packets sent by edge mapping devices (such as soil moisture sensors and portable weather stations) deployed within this range. The received raw data stream includes device identifiers. latitude and longitude coordinates and reporting time Attach a timestamp to each received data message. As an index. Then, a consistency check is performed: first, it checks... Check if the coordinates fall within the bounds of the region's basic task coordinate set, and remove out-of-bounds data; secondly, check... and The difference, if Data deemed invalid and delayed is discarded; finally, the integrity of the location field is checked to ensure there are no empty values ​​or garbled characters. After successful verification, the data is stored in the cache queue and processed according to... Sort data from the same device in ascending order. For example, device exist to Ten points were reported during the period, and they were organized into an ordered list to ensure the unidirectional increasing nature of the time axis, thus obtaining a continuous node positioning sequence.

[0029] The trajectory temporal correlation submodule performs trajectory temporal unfolding operation based on the timestamp sequence of each positioning information in the continuous positioning sequence of nodes. It connects the positioning points of the same edge mapping device in a continuous time period through the time axis, and performs trajectory continuity judgment based on the temporal adjacency relationship to obtain the node temporal trajectory sequence. Call the node's continuous location sequence for a specific device Given a set of location points, perform temporal correlation analysis. Set a temporal adjacency threshold. This threshold is based on the standard reporting interval set by the device. and the maximum permissible network jitter Confirmed. Calculate the positions of two adjacent points in the sequence. and Time difference between .like Determine that these two points belong to the same consecutive job segment in terms of time sequence, and establish a chained index relationship between them; if If an interruption is detected in the operation process (such as equipment restart or communication dead zone), then... The starting point of the new trajectory segment is marked. This logic divides the discrete set of points into several consecutive trajectory segments. For example, points in a sequence... With point A 3-second interval is considered continuous; point With point A break is identified at 52-second intervals. All segmented trajectories are numbered and archived to obtain the node time-series trajectory sequence.

[0030] The coverage coordinate mapping submodule calls the node time-series trajectory sequence and the regional basic task coordinate set to determine the spatial position correspondence between each positioning point in the trajectory and the task coordinate, identify the task coordinate range that the trajectory point falls into, and collect the coverage relationship according to the device dimension to generate the edge node coverage task coordinate set. The system retrieves the node's temporal trajectory sequence and the region's basic task coordinate set to perform spatial location correspondence determination. A "nearest neighbor search" strategy is employed for each location point in the trajectory sequence. Iterate through the center points of the task coordinate set. Calculate the Euclidean distance between the two. Filter out the minimum distance Corresponding task coordinates At the same time, set the effective coverage radius. (i.e., grid half-width). If The trajectory point is determined to fall on Within the represented grid area, and assign the grid ID. Record it in the device overlay list; if This indicates that the trajectory point is located in a grid gap or invalid area, and no attribution label is applied. At the device level, all grid IDs determined to be validly covered are deduplicated and aggregated. For example, devices... The trajectory points were mapped to in sequence. These three area identifiers are then incorporated into the operating range of the device, ultimately generating a set of edge node coverage task coordinates.

[0031] Please see Figure 4 The trajectory filtering and recognition module includes: The access frequency detection submodule, based on the edge node covering the task coordinate set, performs statistical processing on the number of times each task coordinate appears in the surveying operation, sorts the multiple accesses of the same task coordinate according to the time sequence, and performs difference judgment on the access frequency based on the interval value between the sequences to obtain the task coordinate access frequency index set. Based on the task coordinate set covered by edge nodes, each task coordinate within the surveying area... The survey results were quantified and statistically analyzed. A counter was initialized. and access time list Traverse the coverage records of all devices, whenever... If it occurs once, execute And append the corresponding timestamp to After the statistics are completed, for Perform time sorting and calculate the time interval sequence of adjacent visits. Set frequency difference judgment parameters: average access interval threshold. Calculate the actual average interval of this coordinate. .like Mark this coordinate as a "high-frequency active point"; if These are marked as "low-frequency sparse points." This process can distinguish key areas where devices linger for extended periods or pass through frequently. For example, if an intersection's coordinates are accessed 200 times by different devices within one hour, with an average interval of 18 seconds, the total number of visits is large, but the long intervals indicate low frequency. Conversely, if a monitoring point is accessed 50 times within 10 minutes, with an average interval of 12 seconds, it is considered high frequency. The output includes a set of task coordinate access frequency indicators containing statistical values ​​and frequency labels.

[0032] The continuous path extraction submodule calls the task coordinate access frequency index set, screens the access paths of continuous coordinate points according to the access timestamp order, identifies task coordinate segments with continuous time difference and adjacent spatial distance, and groups the coordinate points in the continuous segment according to the sequence position to obtain continuous access path coordinate sequence groups. The system invokes a task coordinate access frequency index set to extract continuous paths with practical operational significance from discrete access records. A time difference continuity threshold is set. adjacency order (That is, only adjacent grid jumps are allowed). Scan the high-frequency active point sequence along the time axis; if coordinates are detected... (time ) and coordinates (time )satisfy ,and and In the grid matrix, the elements are 8-neighbors to each other. They are grouped into the same path group. A sliding window mechanism is used to continuously search for points that meet the criteria until the criteria are broken. For example, a sequence is detected. All satisfy the spatiotemporal constraints, and are packaged into a single path unit; while The following Although the time sequence is continuous, the spatial span is large (non-adjacent), so the path is truncated at this point. All extracted continuous coordinate strings are grouped and numbered according to their order of appearance to obtain a continuous access path coordinate sequence group.

[0033] The region attribution judgment submodule compares the mapping regions to which each member point in the coordinate group belongs based on the spatial block number information of each coordinate point in the continuous access path coordinate sequence group. It eliminates cross-region path groups and retains path groups with consistent attribution. It extracts the task coordinate location points in the path group in sequence to obtain the set of task coordinates in the concentrated coverage area. Introduce predefined mapping area block division data (e.g., dividing a large land parcel into four administrative or operational blocks: East, West, South, and North, each block containing a specific grid ID range). Traverse each path in the continuous access path coordinate sequence group. .for Each coordinate point in Query its block number Perform a consistency comparison: If All of the points If all paths are identical (e.g., both are "East Zone"), the path is considered a valid path within the zone and is retained; otherwise... Heterogeneous (For example, if the starting point is in the "East Zone" and the ending point is in the "North Zone"), it is determined to be a cross-zone path. For cross-zone paths, a segmentation operation is performed, breaking the path at the block boundary, retaining the sub-paths within each block, and removing single points that are exactly on the boundary line and whose affiliation is ambiguous. After cleaning and reorganization, the unique task coordinates involved in all path groups are extracted, duplicates are removed, and a set of task coordinates for the concentrated coverage area is obtained.

[0034] Please see Figure 5 The communication load direction identification module includes: The channel occupancy monitoring submodule, based on the task coordinate set of the centralized coverage area, collects the channel status data reported by the edge mapping equipment in the corresponding area during the communication process, arranges the continuous use of the channel occupied by each device according to the timestamp order, and collects the channel occupancy intervals according to the task coordinate dimension to obtain the channel occupancy duration sequence set. Based on the task coordinate set of the centralized coverage area, in-depth monitoring of the communication behavior of edge mapping equipment within this area is performed. Channel state information (CSI) at the physical layer of the equipment is collected, with a focus on extracting the duration of the "busy" state. A sampling time window is set. Within each window, the channel occupancy time of all devices in the same area is recorded. Synchronization merging: If multiple devices occupy the channel simultaneously, the maximum value is taken instead of the sum, to reflect the actual duration of channel congestion. Elimination. The system records idle data and redundant frames that are repeatedly reported. Then, it sorts the non-zero occupied records by timestamp. A threshold for the connection segment boundary is set. If the time interval between two adjacent records Treat them as two independent communication events; if Each segment is considered a single continuous communication segment. The duration of each communication segment is accumulated, and the total duration is mapped back to the corresponding task coordinate grid.

[0035] Table 2: Monitoring Table of Regional Channel Occupancy Duration and Trends Table 2 shows the occupancy status of each coordinate and the numerical changes of its adjacent coordinates. This results in a final set of channel occupancy duration sequences.

[0036] The communication trend judgment submodule calls the channel occupancy duration sequence set, performs difference filtering on the variation amplitude of channel usage duration between adjacent task coordinates according to the spatial location arrangement relationship, extracts the region direction that shows linear enhancement in spatial distribution, and simultaneously marks the direction of increasing dispersion of duration distribution to obtain the communication clustering and dispersion direction control group; The channel occupancy duration sequence set is invoked, and spatial differential analysis is performed. Using the row and column directions of the grid matrix as axes, the variation in channel usage duration between adjacent task coordinates is calculated. Let the coordinates be... The duration of use is His neighbors The duration of use is ,calculate Set a linear enhancement threshold. If, in a specific direction (e.g., due east), three consecutive coordinate pairs... (as shown in Table 2) This indicates a trend of "linearly increasing communication load" in this direction, suggesting that data is converging in that direction. Simultaneously, the dispersion (variance) of the duration distribution along this path is calculated. .like The increased dispersion in this direction indicates unstable communication quality. All coordinate sequence pairs showing continuous growth (clustering) or continuous decrease (dispersion) are selected and stored in the control group list to obtain the communication clustering and dispersion direction control groups.

[0037] The task coordinate pointing extraction submodule, based on the directional trends identified in the communication aggregation and dispersion direction control group, confirms the directional consistency of the task coordinate blocks associated with each direction, removes directional jump blocks, extracts the corresponding coordinate point sequence, and arranges the coordinates of the end of the direction in spatial sequence order to obtain the set of communication load allocation pointing task coordinates; Based on the communication aggregation and dispersion direction control group, the target pointing point of load allocation is extracted. For each identified enhancement trend sequence (such as...) To confirm directional consistency, the geometric center coordinates of each point in the sequence are substituted into the linear regression model. Calculate the goodness of fit Set linear fitting conditions. .like This indicates that changes in communication load are transmitted strictly along a straight spatial line, and the sequence is preserved; if The sequences were determined to be random fluctuations and were discarded. For the retained sequences, the coordinates of their directional endpoints (i.e., the points of highest load, such as...) were extracted. This is because this point is often a bottleneck or critical relay location for data aggregation. These endpoints are arranged in spatial order to form an ordered list of targets to be processed, thus obtaining the set of coordinates for communication load balancing tasks.

[0038] Please see Figure 6 The data acquisition instruction generation module includes: The equipment capability detection submodule collects the operating status data of edge mapping equipment currently in operation based on the communication load allocation to the task coordinate set, detects the number of task response records, continuous operation duration and fault flag bits of each device within the operation cycle, and obtains a list of available mapping equipment identifiers after filtering out devices with abnormal status. Based on the communication load allocation to the task coordinate set, a status query command is broadcast to all active edge mapping devices in the network. The operational status data fed back by the collected devices mainly includes: the current task response count. Duration of this continuous operation and hardware fault flag bits (0 indicates normal operation, non-zero indicates a fault). Set the equipment availability determination rule: All conditions must be met simultaneously. (No fault) (Not overloaded, set to 4 hours) and (Task queue not full, set to 10). Iterate through all feedback devices and block devices that do not meet any of the conditions. For example, if a device is not faulty but has been operating continuously for 5 hours, set its status to "awaiting rest" and exclude it from this allocation. Store all filtered device IDs and their current location coordinates in a list to obtain a list of available surveying equipment identifiers.

[0039] The coordinate device association submodule calls the list of available surveying equipment identifiers and the communication load allocation to the task coordinate set, and pairs them sequentially according to the shortest distance between the idle status of the equipment and the coordinate space position. The pairing items are recorded in the candidate allocation table according to the one-to-one correspondence principle. After removing the duplicate coordinate allocation records, the task coordinate device correspondence table is obtained. The system retrieves the list of available surveying equipment identifiers (source devices) and coordinates the communication load to the task coordinate set (target points). A distance cost matrix is ​​then constructed. , of which elements Indicates the first Taiwan equipment and the first The straight-line distance between the target points. Execute the "greedy shortest path" matching strategy: first in... Find the global minimum value Lock the corresponding device With the goal The matching items are then written to the candidate assignment table. Subsequently, The row and The column containing the target point is removed from the matrix (i.e., marked as assigned). The process of searching for the minimum and locking is repeated until all target points are assigned or equipment is exhausted. This process ensures the minimization of the overall movement cost. Finally, the assignment table is checked for conflicts where the same coordinate is locked by multiple devices (logically avoided through matrix elimination, serving as a secondary check). After confirming that there are no errors, the task coordinate device mapping table is obtained.

[0040] The task sequence connection submodule arranges the coordinate sequence according to latitude and longitude based on the spatial location data of each coordinate in the task coordinate device correspondence table, inserts direction fields between adjacent coordinates and marks the relative order, reorganizes the order list according to the coordinate sequence within the same device, and obtains the land surveying data acquisition task instruction sequence. Based on the task coordinate device mapping table, a specific sequence of execution instructions is generated for each device. For instructions assigned to a device... A set of target coordinates Read the latitude and longitude data of each point. Sort the coordinates according to the principle of "longitude first, latitude second," and if the longitudes are the same, arrange them in ascending order of latitude to form an ordered operation chain. At adjacent coordinates... and Between them, insert a direction field (such as "azimuth") based on their positional relationship. The system identifies the coordinate points as "waypoints" and the intermediate movement processes as "legs," attaching "acquisition" or "relay" action commands to each waypoint. The reassembled sequence list is then encapsulated into a standardized control message containing a header, command body, and checksum to obtain the land surveying data acquisition task command sequence.

[0041] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A land surveying data acquisition system based on edge node collaboration, characterized in that, The system includes: The regional coordinate composition module uses the path recorder of the ground unmanned surveying vehicle to extract the land boundary coordinates, combines them with the outline of the aerial surveying image sensor layer, performs equidistant division according to the latitude and longitude direction, extracts the center position point as the operation positioning object, and forms a set of basic task coordinates for the region. The node trajectory collection module collects the continuous positioning trajectory of the edge mapping equipment during operation based on the basic task coordinate set of the region, and maps the distribution position of each trajectory in the geographic space to the task coordinates to obtain the edge node covered task coordinate set. The trajectory filtering and recognition module analyzes the continuity of the mapping trajectory coverage based on the set of task coordinates covered by the edge nodes, extracts the task coordinates of the access trajectories that are concentrated and have frequent regional overlaps, and uses them as the concentrated mapping area to form a set of task coordinates of the concentrated coverage area. The communication load direction identification module calls the task coordinate set of the centralized coverage area, detects the channel occupancy behavior of the corresponding device, identifies the communication cluster area and the communication sparse area according to spatial orientation, extracts the task coordinates in the two types of areas, and forms a communication load allocation direction task coordinate set.

2. The land surveying data acquisition system based on edge node collaboration according to claim 1, characterized in that: The regional basic task coordinate set includes the latitude and longitude information of the center location point, the number of the segmented region to which it belongs, and the image contour matching label. The edge node coverage task coordinate set includes node identification labels, time series location points, and coverage area numbers. The concentrated coverage area task coordinate set includes high-frequency access coordinate points, continuous trajectory segment numbers, and mapping density levels. The communication load allocation pointing task coordinate set includes high-occupancy channel area numbers, communication flow characteristics, and load aggregation direction markers.

3. The land surveying data acquisition system based on edge node collaboration according to claim 1, characterized in that, The region coordinate composition module includes: The boundary coordinate extraction submodule, based on the trajectory information in the path recorder of the ground unmanned surveying vehicle, connects the continuous positioning points according to the time sequence, restores the closed path through the spatial orientation relationship between the positioning points, judges the position connection between the relative distance between the first and last position points, performs spatial closure verification operation according to the closed loop requirements, and obtains the boundary coordinate set of the surveying area. The layer outline segmentation module calls the boundary coordinate set of the surveying area and the image data in the layer of the airborne surveying image sensor. It performs grid segmentation along the latitude and longitude direction within the boundary area, extends point by point according to the set latitude and longitude interval, and sequentially numbers the intersecting areas. It outputs the corresponding latitude and longitude data and the area identifier to which it belongs, and obtains the grid coordinate matrix of the segmented area. The center point positioning and extraction submodule extracts the extreme value intervals of longitude and latitude at both ends based on the latitude and longitude boundary values ​​of each region in the segmented region grid coordinate matrix. For each region, the intermediate value point is selected as the center positioning point coordinate according to the longitude and latitude directions, and the latitude and longitude positions of the center point are mapped to the region number sequence to obtain the basic task coordinate set of the region.

4. The land surveying data acquisition system based on edge node collaboration according to claim 3, characterized in that: During the process of restoring the closed path, the spatial orientation relationship between the positioning points is determined based on the geometric correlation between adjacent positioning points. The path continuity is analyzed by the orientation change trend between three consecutive positioning points. If the directional continuity condition is met, the path connection process is performed. In the position connection determination, when the relative distance between the first and last position points meets the closure determination criterion, the spatial closure verification operation is triggered. During the grid segmentation process along the latitude and longitude direction, the latitude and longitude interval is adaptively set according to the geographical span of the surveying area and the preset accuracy level to ensure that the divided areas have uniform distribution characteristics, and the numbers of the intersecting areas are arranged in a fixed order. The determination of the latitude and longitude position of the center point is based on the intermediate calculation results between the boundary values ​​of the longitude and latitude directions. The intermediate calculation results are mapped to the corresponding region number sequence to form a set of regional basic task coordinates with a single correspondence.

5. The land surveying data acquisition system based on edge node collaboration according to claim 1, characterized in that, The node trajectory collection module includes: The node positioning and acquisition submodule, based on the set of basic task coordinates of the region, collects the positioning information continuously reported by the edge mapping equipment during the land mapping process, adds a timestamp index to each reported information, performs sequential verification according to the order of receipt, performs a consistency judgment operation on the integrity of the positioning field, and obtains a continuous positioning sequence of nodes. The trajectory temporal association submodule performs a trajectory temporal unfolding operation based on the timestamp sequence of each positioning information in the continuous positioning sequence of the nodes. It connects the positioning points of the same edge mapping device in a continuous time period through the time axis and performs trajectory continuity judgment based on the temporal adjacency relationship to obtain the node temporal trajectory sequence. The coverage coordinate mapping submodule calls the node time-series trajectory sequence and the regional basic task coordinate set to determine the spatial position correspondence between each positioning point in the trajectory and the task coordinates, identifies the task coordinate range in which the trajectory point falls, and collects the coverage relationship according to the device dimension to generate the edge node coverage task coordinate set.

6. The land surveying data acquisition system based on edge node collaboration according to claim 1, characterized in that, The trajectory filtering and recognition module includes: The access frequency detection submodule, based on the set of task coordinates covered by the edge nodes, performs statistical processing on the number of times each task coordinate appears in the surveying operation, sorts the multiple accesses of the same task coordinate according to the time sequence, and performs difference judgment on the access frequency based on the interval value between the sequences to obtain the task coordinate access frequency index set. The path continuous extraction submodule calls the task coordinate access frequency index set, screens the access paths of continuous coordinate points according to the access timestamp order, identifies task coordinate segments with continuous time difference and adjacent spatial distance, and groups the coordinate points in the continuous segment according to the sequence position to obtain continuous access path coordinate sequence groups. The region attribution determination submodule compares the mapping regions to which each member point in the coordinate group belongs based on the spatial block number information of each coordinate point in the continuous access path coordinate sequence group. It eliminates cross-region path groups and retains path groups with consistent attribution, extracts the task coordinate location points in the path group in sequence, and obtains a set of task coordinates for the concentrated coverage area.

7. The land surveying data acquisition system based on edge node collaboration according to claim 1, characterized in that, The communication load direction identification module includes: The channel occupancy monitoring submodule, based on the task coordinate set of the centralized coverage area, collects the channel status data reported by the edge mapping equipment in the corresponding area during the communication process, arranges the continuous use of the channel occupied by each device according to the timestamp order, and collects the channel occupancy intervals according to the task coordinate dimension to obtain the channel occupancy duration sequence set. The communication trend judgment submodule calls the channel occupancy duration sequence set, performs difference filtering on the variation amplitude of channel usage duration between adjacent task coordinates according to the spatial location arrangement relationship, extracts the region direction that shows linear enhancement in spatial distribution, and simultaneously marks the direction of increasing dispersion of duration distribution to obtain the communication clustering and dispersion direction control group; The task coordinate pointing extraction submodule, based on the directional trends identified in the communication aggregation and dispersion direction control group, confirms the directional consistency of the task coordinate blocks associated with each direction, removes directional jump blocks, extracts the corresponding coordinate point sequence, and arranges the coordinates of the end of the direction in spatial sequence order to obtain the set of communication load allocation pointing task coordinates.

8. The land surveying data acquisition system based on edge node collaboration according to claim 7, characterized in that: During the process of collecting channel status data reported by edge mapping devices in the corresponding area during communication, the channel status data is synchronously merged based on a single time dimension, and a stable channel dataset is generated after removing communication interruption records and duplicate reporting records. In the process of arranging the continuous usage of the channel occupied by each device according to the timestamp order, the connection segment boundary point is set according to the time interval threshold to form a set of continuous communication segments. During the difference filtering process, based on the changing trend of channel usage time between adjacent task coordinates, task coordinate pairs that show continuous growth or continuous decline are extracted to form a duration variation sequence with spatial direction indication. In the process of confirming the directional consistency of the task coordinate blocks associated with each direction, directional fitting is performed based on the calculation results of the arrangement angle between continuous task coordinates. Task coordinate blocks that do not meet the linear fitting conditions are eliminated to improve the spatial continuity of the communication load allocation pointing to the task coordinate set.

9. The land surveying data acquisition system based on edge node collaboration according to claim 1, characterized in that, The system also includes: The data acquisition instruction generation module allocates the target task coordinate set according to the communication load, combines the identification information of available edge mapping equipment, pairs the corresponding equipment with the task coordinates, organizes the task sequence according to geographical order, and outputs the land mapping data acquisition task instruction sequence. The land surveying data acquisition task instruction sequence includes the task number sequence, equipment correspondence, and spatial scheduling path.

10. The land surveying data acquisition system based on edge node collaboration according to claim 9, characterized in that, The acquisition instruction generation module includes: The equipment capability detection submodule, based on the communication load allocation pointing to the task coordinate set, collects the operating status data of the edge mapping equipment currently in operation, detects the number of task response records, continuous operation duration and fault flag bits of each device within the operation cycle, and obtains a list of available mapping equipment identifiers after filtering out devices with abnormal status. The coordinate device association submodule calls the available surveying equipment identifier list and the communication load allocation pointing to the task coordinate set, and pairs them sequentially according to the shortest distance between the idle state of the equipment and the coordinate space position. The pairing items are recorded in the candidate allocation table according to the one-to-one correspondence principle. After removing the duplicate coordinate allocation records, the task coordinate device correspondence table is obtained. The task sequence connection submodule arranges the coordinate sequence according to latitude and longitude based on the spatial location data of each coordinate in the task coordinate device correspondence table, inserts direction fields between adjacent coordinates and marks the relative order, reorganizes the order list according to the coordinate sequence within the same device, and obtains the land surveying data acquisition task instruction sequence.

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