Positioning method, apparatus, device, and system

Abstract

A positioning method, apparatus, device, and system. The positioning device comprises an image acquisition apparatus (92) and a point cloud acquisition apparatus (93). The positioning method comprises: in response to a measurement starting instruction from a user, controlling the image acquisition apparatus to acquire an environment image, and displaying the environment image and an aiming icon on a display apparatus (S201); and, in response to a positioning instruction from the user, controlling the point cloud acquisition apparatus to acquire an environment point cloud, obtaining a target position in the environment image at which the aiming icon is aimed, and, on the basis of the environment point cloud and the target position, determining absolute position information of a test point corresponding to the target position (S202). The invention enables non-contact, high-precision positioning measurements of test points in occluded environments.

Description

Positioning method, device, equipment and system

[0001] Cross-references to related publications

[0002] This disclosure claims priority to Chinese Patent Publication No. 2024101681827, filed with the Patent Office of China on February 6, 2024, entitled “Positioning Method, Device, Equipment and System,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of high-precision measurement and positioning, and in particular to a positioning method, apparatus, device, and system. Background Art

[0004] Real-time Kinematic (RTK) technology requires that the Global Navigation Satellite System (GNSS) receiver can receive a sufficient number of high-intensity satellite signals in an open environment to achieve high-precision positioning.

[0005] Currently, in order to achieve high-precision positioning in an obstructed environment, it is necessary to select a transition point in an open environment, obtain the absolute position information of the transition point through RTK measurement, and then use other measurement equipment to determine the relative position information between the transition point and the measurement point, and finally determine the absolute position information of the measurement point. This positioning method has the disadvantages of high measurement cost, great measurement difficulty, and low positioning efficiency. When selecting the transition point, it is necessary to manually construct the measurement environment, resulting in a waste of manpower and material resources and relatively strict environmental requirements. In addition to open conditions, it is also necessary to ensure that the environment between the transition point and the measurement point is unobstructed. The process of measuring the relative position information between the transition point and the measurement point is complex and difficult to measure, with high technical requirements for personnel and high measurement costs. In addition, the process of manually converting the measurement data is relatively complicated, resulting in low positioning efficiency and the inability to output the absolute position information of the measurement point in real time.

[0006] Therefore, how to automatically achieve high-precision positioning in an obstructed environment and output the absolute position information of the measurement point in real time is an urgent problem that needs to be solved.

[0007] Public content

[0008] The purpose of the present disclosure is to provide a positioning method, device, equipment and system to address the shortcomings of the above-mentioned existing technologies, such as high measurement cost, great measurement difficulty and low positioning efficiency in the existing positioning methods under obstructed environments.

[0009] To achieve the above objectives, the technical solutions adopted in the embodiments of the present disclosure are as follows:

[0010] In a first aspect, an embodiment of the present disclosure provides a positioning method, which is applied to a positioning device, wherein the positioning device includes an image acquisition device and a point cloud acquisition device, and the method includes:

[0011] In response to a user's instruction to start measurement, controlling the image acquisition device to acquire an environment image, and displaying the environment image and an aiming icon on a display device;

[0012] In response to the user's positioning instruction, the point cloud acquisition device is controlled to acquire the environmental point cloud, and the target position in the environmental image targeted by the aiming icon is obtained, and the absolute position information of the test point corresponding to the target position is determined based on the environmental point cloud and the target position.

[0013] As an optional implementation manner, obtaining the target position in the environment image targeted by the aiming icon includes:

[0014] Acquire multiple optional positions aimed at by the aiming icon within a preset position error range within a preset duration, wherein the center of the preset position error range is the position aimed at by the aiming icon at the start time of the preset duration;

[0015] The target position is acquired according to the multiple optional positions.

[0016] As an optional implementation manner, obtaining the target position according to the multiple optional positions includes:

[0017] An average position of the plurality of optional positions is determined, and the average position is used as the target position.

[0018] As an optional implementation, the aiming icon is displayed at the center of the screen of the display device, and the position aimed at by the aiming icon is the center of the image captured by the image capture device.

[0019] As an optional implementation, determining the absolute position information of the test point corresponding to the target position according to the environmental point cloud and the target position includes:

[0020] Determining the relative coordinates of the test point in a relative coordinate system according to the environmental point cloud and the target position, wherein the origin of the relative coordinate system is a preset point on the positioning device;

[0021] The absolute position information of the test point is determined according to the relative coordinates of the test point in the relative coordinate system and the absolute coordinates of the preset point.

[0022] As an optional implementation manner, the display position of the aiming icon in the display device is indicated by the user.

[0023] As an optional implementation, determining the absolute position information of the test point corresponding to the target position according to the environmental point cloud and the target position includes:

[0024] Determine the relative coordinates of the image center position in a relative coordinate system based on the environmental point cloud and the image center position of the image acquisition device, wherein the origin of the relative coordinate system is a preset point on the positioning device;

[0025] Determining the relative coordinates of the test point in the relative coordinate system based on the positional relationship between the target position and the center of the screen of the display device and the relative coordinates of the center position of the image in the relative coordinate system;

[0026] The absolute position information of the test point is determined according to the relative coordinates of the test point in the relative coordinate system and the absolute coordinates of the preset point.

[0027] As an optional implementation, the positioning device is a real-time differential positioning device with a centering rod.

[0028] As an optional implementation manner, the measurement start instruction is input by a user through the display device.

[0029] As an optional implementation manner, the positioning instruction is input by the user through the display device.

[0030] As an optional implementation, after determining the absolute position information of the test point corresponding to the target position according to the environmental point cloud and the target position, the method further includes:

[0031] The absolute position information is output.

[0032] As an optional implementation manner, outputting the absolute position information includes:

[0033] The absolute position information of the test point is displayed on the display device.

[0034] In a second aspect, an embodiment of the present disclosure provides a positioning device, the device comprising:

[0035] A display module is configured to control the image acquisition device to acquire an environment image in response to a user's instruction to start measurement, and to display the environment image and the aiming icon on the display device;

[0036] The determination module is configured to respond to the user's positioning instructions, control the point cloud acquisition device to acquire the environmental point cloud, and obtain the target position in the environmental image targeted by the aiming icon, and determine the absolute position information of the test point corresponding to the target position based on the environmental point cloud and the target position.

[0037] As an optional implementation, the determining module is specifically configured to:

[0038] Acquire multiple optional positions aimed at by the aiming icon within a preset position error range within a preset duration, wherein the center of the preset position error range is the position aimed at by the aiming icon at the start time of the preset duration;

[0039] The target position is acquired according to the multiple optional positions.

[0040] As an optional implementation, the determining module is specifically configured to:

[0041] An average position of the plurality of optional positions is determined, and the average position is used as the target position.

[0042] As an optional implementation, the aiming icon is displayed at the center of the screen of the display device, and the position aimed at by the aiming icon is the center of the image captured by the image capture device.

[0043] As an optional implementation, the determining module is specifically configured to:

[0044] Determining the relative coordinates of the test point in a relative coordinate system according to the environmental point cloud and the target position, wherein the origin of the relative coordinate system is a preset point on the positioning device;

[0045] The absolute position information of the test point is determined according to the relative coordinates of the test point in the relative coordinate system and the preset absolute coordinates.

[0046] As an optional implementation manner, the display position of the aiming icon in the display device is indicated by the user.

[0047] As an optional implementation, the determining module is specifically configured to:

[0048] Determine the relative coordinates of the image center position in a relative coordinate system based on the environmental point cloud and the image center position of the image acquisition device, wherein the origin of the relative coordinate system is a preset point on the positioning device;

[0049] Determining the relative coordinates of the test point in the relative coordinate system based on the positional relationship between the target position and the center of the screen of the display device and the relative coordinates of the center position of the image in the relative coordinate system;

[0050] The absolute position information of the test point is determined according to the relative coordinates of the test point in the relative coordinate system and the absolute coordinates of the preset point.

[0051] As an optional implementation, the positioning device is a real-time differential positioning device with a centering rod.

[0052] As an optional implementation manner, the measurement start instruction is input by a user through the display device.

[0053] As an optional implementation manner, the positioning instruction is input by the user through the display device.

[0054] As an optional implementation, the device further includes: an output module configured to output the absolute position information.

[0055] As an optional implementation, the output module is specifically configured as follows:

[0056] The absolute position information of the test point is displayed on the display device.

[0057] In a third aspect, an embodiment of the present disclosure provides a positioning device, comprising: an image acquisition device, a point cloud acquisition device processor, a memory and a bus, wherein the image acquisition device and the point cloud acquisition device are respectively communicatively connected to the processor; the memory stores machine-readable instructions executable by the processor, and when the positioning device is running, the processor executes the machine-readable instructions to perform the steps of the positioning method described in the first aspect above.

[0058] In a fourth aspect, an embodiment of the present disclosure provides a positioning system, comprising the positioning device described in the first aspect and a display device communicatively connected to the positioning device.

[0059] The beneficial effects of the present disclosure are:

[0060] The present disclosure provides a positioning method, device, equipment and system. The positioning device responds to the user's instruction to start measurement, controls the image acquisition device to acquire an environmental image in real time according to the instruction to start measurement, sends the environmental image to the display device in real time, and displays the image of the environment around the positioning device acquired by the image acquisition device on the display device in real time, and the image displayed on the display device includes an aiming icon of the image acquisition device. The positioning device also responds to the user's positioning instruction, controls the point cloud acquisition device to acquire an environmental point cloud in real time according to the positioning instruction, and obtains the target position in the environmental image aimed at by the aiming icon according to the positioning instruction. The absolute position information of the test point corresponding to the target position is determined based on the environmental point cloud acquired by the point cloud acquisition device, the target position and the absolute coordinates of the RTK antenna center. Non-contact high-precision positioning measurement in an obstructed environment is achieved, thereby improving positioning efficiency and positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0062] FIG1 is a schematic diagram of the system structure of a positioning system provided by an embodiment of the present disclosure;

[0063] FIG2 is a schematic diagram of a flow chart of a positioning method provided by an embodiment of the present disclosure;

[0064] FIG3 is a schematic diagram of a flow chart of obtaining a target position in a positioning method according to an embodiment of the present disclosure;

[0065] FIG4 is a schematic diagram of a flow chart of determining the absolute position information of a test point in a positioning method according to an embodiment of the present disclosure;

[0066] FIG5 is a schematic diagram of a point cloud acquisition device and an image acquisition device in a positioning device for determining a test point;

[0067] FIG6 is a schematic diagram of another method for determining the absolute position information of a test point according to an embodiment of the present disclosure;

[0068] FIG7 is a module structure diagram of a positioning device provided by an embodiment of the present disclosure;

[0069] FIG8 is another module structure diagram of the positioning device provided by an embodiment of the present disclosure;

[0070] FIG9 is a schematic structural diagram of a positioning device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. It should be understood that the drawings in the present disclosure are only for the purpose of illustration and description and are not used to limit the scope of protection of the present disclosure. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the present disclosure illustrate operations implemented according to some embodiments of the present disclosure. It should be understood that the operations of the flowchart can be implemented out of sequence, and steps that do not have a logical context relationship can be reversed in order or implemented simultaneously. In addition, those skilled in the art, guided by the contents of the present disclosure, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0072] In addition, the described embodiments are only a portion of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown in the drawings herein can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the disclosure claimed for protection, but merely represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present disclosure.

[0073] It should be noted that the term “comprising” will be used in the embodiments of the present disclosure to indicate the existence of the features claimed thereafter, but does not exclude the addition of other features.

[0074] At present, the positioning method in an obstructed environment has the disadvantages of high measurement cost, great measurement difficulty, and low positioning efficiency, and is unable to output the absolute position information of the measurement point in real time.

[0075] Based on the above-mentioned problems, the embodiments of the present disclosure propose a positioning method, device, equipment and system, wherein an image acquisition device and a point cloud acquisition device are integrated in the positioning device. The user inputs a start measurement instruction and a positioning instruction to control the image acquisition device and the point cloud acquisition device in the positioning device to respectively acquire an environmental image and an environmental point cloud, and aims at a test point corresponding to a target position on a display device. The absolute position information of the test point corresponding to the target position is obtained through the acquired environmental image and environmental point cloud, thereby realizing non-contact precise positioning measurement of the test point in an obstructed environment.

[0076] Figure 1 is a schematic diagram of the system structure of the positioning system provided by an embodiment of the present disclosure. As shown in Figure 1, the positioning system includes a positioning device and a display device, wherein the display device can be a device integrated in the positioning device, or can be an independent display device communicatively connected to the positioning device, such as a handheld tablet or a handheld tablet, and the present disclosure does not limit this. The display device in Figure 1 takes an independent display device handheld as an example, and the handheld is communicatively connected to the positioning device. Referring to Figure 1, an image acquisition device and a point cloud acquisition device are integrated in the positioning device, and the image acquisition device is arranged below the point cloud acquisition device. The image acquisition device can capture real-time images or images of the surrounding environment of the positioning device by video shooting or picture shooting, and the point cloud acquisition device can capture point cloud data of the surrounding environment of the positioning device in real time by laser scanning. Exemplarily, the image acquisition device can be a high-definition camera, and the point cloud acquisition device can be a lidar sensor.

[0077] The positioning device also integrates a GNSS board, an inertial measurement unit (IMU), a processor, and memory. The RTK antenna is located at the top of the positioning device. The GNSS board uses the RTK antenna to acquire satellite data and differential data streams in open air environments, providing real-time absolute position information for the center of the RTK antenna. The GNSS board and IMU are integrated into a printed circuit board assembly (PCBA) within the positioning device (not shown). The IMU can obtain the positioning device's attitude information.

[0078] As an optional implementation, the positioning device is a real-time differential positioning device with a centering rod.

[0079] Optionally, referring again to Figure 1 , the positioning device further includes a centering pole. The centering pole is a vertically mounted straight pole. The RTK antenna, point cloud acquisition device, and image acquisition device are all positioned above one end of the centering pole. During positioning, the lower end of the centering pole contacts the ground. The positioning device is an RTK device with a centering pole, wherein the centering pole can be an RTK mobile station pole.

[0080] In this embodiment, the positioning device also includes a centering rod, one end of which is connected to the RTK antenna, the point cloud acquisition device, and the image acquisition device, making the positioning device an RTK device with a centering rod. Compared to handheld positioning and measurement equipment, RTK devices with a centering rod save manpower and improve measurement accuracy.

[0081] FIG2 is a flow chart of a positioning method provided by an embodiment of the present disclosure. The method is performed by a positioning device, which includes an image acquisition device and a point cloud acquisition device. The method includes:

[0082] S201 : In response to a user's instruction to start measurement, control an image acquisition device to acquire an environment image, and display the environment image and an aiming icon on a display device.

[0083] Optionally, the user can start the positioning device and the display device. Referring to Figure 1, after startup, the display device communicates with the positioning device. The display device can be connected to the positioning device via a wireless network such as WiFi or Bluetooth, or can be connected to the positioning device via a wired connection.

[0084] The user controls the positioning device to enter the non-contact measurement state by starting measurement instruction. For example, the positioning device is provided with a switch or button for starting measurement, and the user can trigger the switch or button on the positioning device to send the start measurement instruction to the positioning device.

[0085] The positioning device receives and responds to a user-triggered start-measurement instruction, controls the image acquisition device to acquire an environmental image in real time according to the start-measurement instruction, and sends the environmental image to a display device in real time. For example, the positioning device controls the image acquisition device to acquire a video image or a picture of the environment surrounding the positioning device in real time, and sends the video image or the picture to a display device that is communicatively connected to the positioning device in the form of a video stream or picture transmission. The display device receives and displays the video image or the picture, so that the user can view the image of the environment surrounding the positioning device acquired by the image acquisition device in real time on the display device, and the image displayed on the display device includes an aiming icon of the image acquisition device, the aiming position of which is the point directly in front of the center point of the image acquisition device, such as a camera. For example, the aiming icon can be a cross mark, and the cross indicates that the marked image point is the point directly in front of the center point of the camera.

[0086] S202, in response to the user's positioning instruction, control the point cloud acquisition device to acquire the environmental point cloud, and obtain the target position in the environmental image targeted by the aiming icon, and determine the absolute position information of the test point corresponding to the target position based on the environmental point cloud and the target position.

[0087] Optionally, the user controls the positioning device to enter the non-contact measurement positioning state through a positioning instruction. For example, the positioning device is also provided with a switch or button for starting positioning, and the user can trigger the switch or button on the positioning device to send a positioning instruction to the positioning device.

[0088] The positioning device receives and responds to positioning instructions triggered by the user, controlling the point cloud acquisition device to collect the environmental point cloud in real time based on the positioning instructions. Based on the positioning instructions, the positioning device obtains the target position in the environmental image targeted by the aiming icon. This target position can be the position to be measured by the user moving the positioning device so that the aiming icon in the environmental image on the display device is aligned, or the position to be measured can be manually selected by the user in the environmental image on the display device as the target position. The positioning device determines the absolute position information of the test point corresponding to the target position based on the environmental point cloud collected by the point cloud acquisition device, the target position selected by the user, and the absolute coordinates of the RTK antenna center.

[0089] In this embodiment, the positioning device responds to the user's instruction to start measurement, controls the image acquisition device to acquire an environmental image in real time according to the instruction to start measurement, sends the environmental image to the display device in real time, and displays the image of the environment around the positioning device acquired by the image acquisition device on the display device in real time, and the image displayed on the display device includes an aiming icon of the image acquisition device. The positioning device also responds to the user's positioning instruction, controls the point cloud acquisition device to acquire an environmental point cloud in real time according to the positioning instruction, and obtains the target position in the environmental image aimed at by the aiming icon according to the positioning instruction. Based on the environmental point cloud acquired by the point cloud acquisition device, the target position, and the absolute coordinates of the RTK antenna center, the absolute position information of the test point corresponding to the target position is determined. Non-contact high-precision positioning measurement is achieved in an obstructed environment, improving positioning efficiency and positioning accuracy.

[0090] As an optional implementation manner, the measurement start instruction is input by the user through the display device.

[0091] Optionally, and continuing with Figure 1 , the user can also input a measurement start instruction on the operating interface of the display device. The display device receives the measurement start instruction and transmits the measurement start instruction to a positioning device communicatively connected to the display device, thereby controlling the positioning device to enter a non-contact measurement state. For example, a display device, such as a wristband, includes a measurement start icon or a text interface with the text "Start Measurement." The user clicks on the icon or text interface as the measurement start instruction input to the wristband. The wristband recognizes the user's click, receives the measurement start instruction, and transmits it to the positioning device communicatively connected to the wristband.

[0092] In this embodiment, a user inputs a start measurement instruction on a display device, which then transmits the user-input start measurement instruction to a positioning device communicatively connected to the display device, causing the positioning device to enter a non-contact measurement state under the control of the start measurement instruction. This allows for flexible control of the positioning device's entry into the non-contact measurement state.

[0093] As an optional implementation, the positioning instruction is input by the user through the display device.

[0094] Optionally, and continuing with FIG1 , the user may also input a positioning instruction on the operating interface of the display device. The display device receives the positioning instruction and transmits the positioning instruction to a positioning device communicatively connected to the display device, thereby controlling the positioning device to enter a non-contact measurement positioning state. For example, a display device, such as a wristband, may also include an icon for starting positioning or a text interface for "Start Positioning." The user clicks on the icon or text interface as positioning input to the wristband. The wristband recognizes the user's click, receives the positioning instruction, and transmits it to the positioning device communicatively connected to the wristband.

[0095] In this embodiment, a user inputs a positioning instruction on a display device, which then transmits the user-input positioning instruction to a positioning device communicatively connected to the display device. This allows the positioning device to enter a non-contact positioning state under the control of the positioning instruction. This allows for flexible control of the positioning device's entry into a non-contact positioning state.

[0096] As an optional implementation, after determining the absolute position information of the test point corresponding to the target position according to the environment point cloud and the target position, the method further includes:

[0097] Outputs absolute position information.

[0098] Optionally, after obtaining the absolute position information of the test point, the positioning device may output the absolute position of the test point in real time and prompt the user, so that the user can obtain the absolute position information of the current test point in real time.

[0099] For example, the positioning device can be in communication with the voice broadcast device to transmit the absolute position information of the test point to the voice broadcast device, and the voice broadcast device can broadcast the absolute position information of the test point to the user in real time in the form of voice broadcast. The present disclosure does not limit the method of outputting the absolute position information of the test point.

[0100] In this embodiment, the positioning device outputs the absolute position information of the test point, so that the user can obtain the absolute position information of the current test point in real time.

[0101] As an optional implementation manner, the step of outputting the absolute position information includes:

[0102] The absolute position information of the test point is displayed on the display device.

[0103] Optionally, referring again to FIG. 1 , the positioning device is in communication with the display device, and the positioning device can also transmit the absolute position information of the test point to the display device, where the absolute position information of the test point is displayed in real time. The absolute position information of the test point can also be saved and recorded, depending on the user's selection. For example, by clicking a save icon or text on the display device's user interface, the absolute position information of the test point is saved to a point library, allowing the user to subsequently export a list in the point library and obtain the absolute position information of each test point.

[0104] In this embodiment, the display device displays the received absolute position information of the test point, thereby intuitively showing the absolute position information of the test point in the occlusion environment to the user in real time.

[0105] The following describes in detail the process of obtaining the target position in the environment image targeted by the aiming icon.

[0106] FIG3 is a flow chart of obtaining a target position in a positioning method according to an embodiment of the present disclosure. As shown in FIG3 , the step of obtaining the target position in the environment image targeted by the aiming icon in step S202 includes:

[0107] S301. Acquire multiple optional positions aimed at by an aiming icon within a preset position error range within a preset duration, wherein the center of the preset position error range is the position aimed at by the aiming icon at the start moment of the preset duration.

[0108] Optionally, the user can pre-configure the preset duration and preset position error range on the display device's user interface. The display device generates preset information containing the preset duration and preset position error range and transmits it to a positioning device communicatively connected to the display device. The positioning device then receives and stores the preset information. In this step, the positioning device can obtain the multiple selectable positions described above according to the preset duration and preset position error range in the preset information. At the start of the preset duration, the center of the preset position error range is the position targeted by the aiming icon.

[0109] For example, the user configures a display device to measure positions within 2 centimeters of an environment image targeted by the aiming icon within 3 seconds. The positioning device receives and responds to the preset information and measures multiple optional positions within 2 centimeters of the environment targeted by the aiming icon within 3 seconds.

[0110] S302: Acquire a target location based on multiple optional locations.

[0111] Optionally, the positioning device processes a plurality of optional positions within a preset position error range to obtain a target position, wherein the target position may indicate a center position of the position error range preset by the user.

[0112] In this embodiment, the positioning device receives a preset duration and a preset position error range from a user on a display device's operating interface. During the preset duration, the device measures multiple selectable locations within the preset position error range within the environment image targeted by the aiming icon. The device then processes the multiple selectable locations within the preset position error range to obtain the target location. By presetting the position error range on the display device, the user controls the positioning device to obtain the target location, enabling non-contact position selection.

[0113] As an optional implementation, the step of obtaining the target position according to multiple optional positions in step S302 includes:

[0114] Determine the average position of multiple optional positions and use the average position as the target position.

[0115] Optionally, the positioning device takes an average position value for multiple optional positions within a preset position error range, and uses the average position value of the multiple optional positions as the target position in the environment image aimed at by the aiming icon within the preset position error range within a preset time period.

[0116] In this embodiment, by taking the position average value of multiple optional positions within the preset position error range, the target position in the environmental image aimed at by the aiming icon within the preset position error range within the preset time period is obtained, thereby improving positioning accuracy.

[0117] As an optional implementation, the aiming icon is displayed at the center of the screen of the display device, and the position aimed at by the aiming icon is the center of the image captured by the image capture device.

[0118] Optionally, an image capture device in the positioning device captures a moving image of the environment and transmits it in real time to a display device for display. When the image capture device in the positioning device transmits the captured image to the display device, a targeting icon is displayed at the center of the display screen. The location targeted by the targeting icon is the center of the image captured by the image capture device, such as the center point of a camera. By moving the positioning device, the user can align the targeting icon in the image with the location to be measured.

[0119] In this embodiment, a display device displays the environmental image captured by the image acquisition device in the positioning device in real time and displays an aiming icon at the center of the screen. By moving the positioning device, the position targeted by the aiming icon, i.e., the center of the image captured by the image acquisition device, is aligned with the position to be measured. This facilitates contactless selection of the measurement position on the display device, improving positioning efficiency.

[0120] When the aiming icon is displayed at the center of the screen of the display device and the position aimed by the aiming icon is the center of the image captured by the image capture device, the process of determining the absolute position information of the test point corresponding to the target position based on the environmental point cloud and the target position is described in detail.

[0121] FIG4 is a flow chart of determining the absolute position information of a test point in a positioning method according to an embodiment of the present disclosure. As shown in FIG4 , the step of determining the absolute position information of the test point corresponding to the target position based on the environmental point cloud and the target position in step S202 includes:

[0122] S401 : Determine the relative coordinates of the test point in a relative coordinate system according to the environment point cloud and the target position, wherein the origin of the relative coordinate system is a preset point on the positioning device.

[0123] Optionally, FIG5 is a schematic diagram of the point cloud acquisition device and the image acquisition device in the positioning device determining the test point. As shown in FIG5, the RTK antenna, the point cloud acquisition device, and the image acquisition device are all rigidly connected to the positioning device, that is, the positional relationship between the center of the RTK antenna, the center of the point cloud acquisition device, and the center of the image acquisition device and the preset point on the positioning device is fixed. A relative coordinate system can be established with the preset point on the positioning device, such as the center point of the device, as the coordinate origin. When the aiming icon is displayed at the center of the screen of the display device and the position aimed by the aiming icon is the center of the image captured by the image acquisition device, the aiming icon overlaps with the center ray of the image of the image acquisition device. Therefore, the position aimed by the aiming icon is the center of the image of the image acquisition device. The positioning device obtains the relative coordinates of the test point in the relative coordinate system based on the target position aimed by the aiming icon, the angle and positional relationship of the center ray of the photo relative to the preset point, and the environmental point cloud.

[0124] Optionally, when the positioning device is located in an open location, the GNSS board in the positioning device obtains satellite data and differential data streams through the RTK antenna in the open location, and performs RTK differential calculation based on the satellite data and differential data streams to determine the absolute position information of the center of the RTK antenna when the positioning device is located in the reference open location.

[0125] The absolute position of the preset point on the positioning device is determined based on the positional relationship between the RTK antenna center and the preset point on the positioning device. The point cloud acquisition device and inertial measurement unit use Simultaneous Localization and Mapping (SLAM) technology to construct a point cloud map of the surrounding environment in real time and calculate the conversion relationship between the relative coordinate system and the absolute coordinate system. Based on the fixed positional relationship between the center of the point cloud acquisition device and the preset point on the positioning device, the relative coordinates of the center of the point cloud acquisition device in the relative coordinate system are determined.

[0126] Continuing with reference to FIG5 , the intersection of the laser ray when the point cloud acquisition device acquires the point cloud and the center ray of the photo when the image acquisition device acquires the environmental image is the test point corresponding to the target position selected by the user. The point cloud acquisition device obtains the relative coordinates of the test point in the relative coordinate system through point cloud registration.

[0127] S402 : Determine the absolute position information of the test point according to the relative coordinates of the test point in the relative coordinate system and the absolute coordinates of the preset point.

[0128] Optionally, the absolute coordinates of the test point are obtained by coordinate conversion according to the relative coordinates of the test point in the relative coordinate system, the absolute coordinates of the preset point, and the conversion relationship between the relative coordinate system and the absolute coordinate system as the absolute position information of the test point.

[0129] In this embodiment, when the aiming icon is aimed at the center of the image capture device's photo, the positioning device establishes a relative coordinate system with a preset point on the positioning device as the coordinate origin based on the environmental point cloud collected by the point cloud acquisition device and the target location selected by the user by moving the positioning device. The test point corresponding to the target location is determined by the intersection of the laser ray at the center of the point cloud acquisition device and the ray at the center of the image capture device's photo. The relative coordinates of the test point are then obtained by the point cloud acquisition device. The absolute coordinates of the preset point on the positioning device are obtained through RTK positioning, and the absolute position information of the test point is obtained through coordinate conversion. This enables the positioning device to accurately locate the test point.

[0130] As an optional implementation manner, the display position of the aiming icon on the display device is indicated by the user.

[0131] Optionally, when the image acquisition device captures an image of the environment by photographing it, the positioning device transmits the image of the environment to a display device. The display device displays the image of the environment and an aiming icon. The user can move the aiming icon on the display device to select a target location on the image of the environment. The location in the image of the environment targeted by the aiming icon is the target location.

[0132] In this embodiment, the user performs a point selection operation by moving the aiming icon and manually selects the target position to be measured on the environment picture, so as to achieve accurate real-time positioning of the positioning device without touching the target position.

[0133] In the case where the display position of the aiming icon on the display device is indicated by the user, a process of determining the absolute position information of the test point corresponding to the target position according to the environment point cloud and the target position is described in detail.

[0134] FIG6 is a schematic diagram of another process for determining the absolute position information of a test point in the positioning method provided by an embodiment of the present disclosure. As shown in FIG6 , the step of determining the absolute position information of the test point corresponding to the target position based on the environmental point cloud and the target position in step S202 includes:

[0135] S601 : Determine the relative coordinates of the image center position in a relative coordinate system based on the environmental point cloud and the image center position of the image acquisition device, wherein the origin of the relative coordinate system is a preset point on the positioning device.

[0136] Optionally, when the measurement environment network does not support real-time video streaming, the positioning device can also transmit the environmental image captured by the image acquisition device in the form of a picture and display it on a display device. In this case, the user can move the aiming icon on the display device to select a measurement point, so that the position aimed by the aiming icon is the target position. The positioning device performs RTK positioning and establishes a relative coordinate system. It also determines the relative coordinates of the image center position in the relative coordinate system through point cloud matching based on the pixel offset of the ray emitted from the image center position of the image acquisition device from the preset point on the positioning device and the environmental point cloud.

[0137] S602 : Determine the relative coordinates of the test point in the relative coordinate system according to the positional relationship between the target position and the screen center of the display device and the relative coordinates of the image center position in the relative coordinate system.

[0138] Optionally, the positioning device obtains the relative coordinates of the test point corresponding to the target position in the relative coordinate system based on the positional relationship between the target position selected by the user and the screen center of the display screen and the relative coordinates of the image center position in the relative coordinate system.

[0139] S603: Determine the absolute position information of the test point according to the relative coordinates of the test point in the relative coordinate system and the absolute coordinates of the preset point.

[0140] Optionally, the positioning device obtains the absolute coordinates of the test point as the absolute position information of the test point through coordinate conversion based on the relative coordinates of the test point in the relative coordinate system, the absolute coordinates of the preset point, and the conversion relationship between the relative coordinate system and the absolute coordinate system.

[0141] In this embodiment, when the user indicates the display position of the aiming icon on the display device, the positioning device establishes a relative coordinate system with the preset point on the positioning device as the coordinate origin based on the environmental point cloud collected by the point cloud acquisition device and the target position selected by the user by moving the aiming icon on the display device. The relative coordinates of the image center position in the relative coordinate system are obtained through point cloud matching based on the environmental point cloud and the image center position of the image acquisition device. Furthermore, based on the positional relationship between the target position selected by the user and the screen center of the display screen, the relative coordinates of the test point corresponding to the target position in the relative coordinate system are obtained in combination with the relative coordinates of the image center position in the relative coordinate system. The absolute coordinates of the preset point on the positioning device are obtained based on the RTK positioning solution, and the absolute position information of the test point is obtained through coordinate conversion. This enables the positioning device to accurately locate the test point through non-contact measurement.

[0142] Based on the same disclosed concept, a positioning device corresponding to the positioning method is also provided in the embodiment of the present disclosure. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the above-mentioned positioning method in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0143] FIG7 is a module structure diagram of a positioning device provided in an embodiment of the present disclosure. As shown in FIG7 , the device includes:

[0144] The display module 701 is configured to respond to a user's instruction to start measurement, control the image acquisition device to acquire an environment image, and display the environment image and the aiming icon on the display device.

[0145] The determination module 702 is configured to respond to the user's positioning instructions, control the point cloud acquisition device to collect the environmental point cloud, and obtain the target position in the environmental image targeted by the aiming icon, and determine the absolute position information of the test point corresponding to the target position based on the environmental point cloud and the target position.

[0146] As an optional implementation, the determining module 702 is specifically configured to:

[0147] A plurality of optional positions aimed at by the aiming icon within a preset position error range within a preset duration are obtained, wherein the center of the preset position error range is the position aimed at by the aiming icon at the start moment of the preset duration.

[0148] Get the target location based on multiple optional locations.

[0149] As an optional implementation, the determining module 702 is specifically configured to:

[0150] Determine the average position of multiple optional positions and use the average position as the target position.

[0151] As an optional implementation, the aiming icon is displayed at the center of the screen of the display device, and the position aimed at by the aiming icon is the center of the image captured by the image capture device.

[0152] As an optional implementation, the determining module 702 is specifically configured to:

[0153] According to the environmental point cloud and the target position, the relative coordinates of the test point in the relative coordinate system are determined, wherein the origin of the relative coordinate system is a preset point on the positioning device.

[0154] The absolute position information of the test point is determined based on the relative coordinates of the test point in the relative coordinate system and the preset absolute coordinates.

[0155] As an optional implementation manner, the display position of the aiming icon on the display device is indicated by the user.

[0156] As an optional implementation, the determining module 702 is specifically configured to:

[0157] According to the environmental point cloud and the image center position of the image acquisition device, the relative coordinates of the image center position in the relative coordinate system are determined, wherein the origin of the relative coordinate system is a preset point on the positioning device.

[0158] The relative coordinates of the test point in the relative coordinate system are determined according to the positional relationship between the target position and the center of the screen of the display device and the relative coordinates of the image center position in the relative coordinate system.

[0159] The absolute position information of the test point is determined based on the relative coordinates of the test point in the relative coordinate system and the absolute coordinates of the preset point.

[0160] As an optional implementation, the positioning device is a real-time differential positioning device with a centering rod.

[0161] As an optional implementation manner, the measurement start instruction is input by the user through the display device.

[0162] As an optional implementation, the positioning instruction is input by the user through the display device.

[0163] FIG8 is another module structure diagram of the positioning device provided by an embodiment of the present disclosure. As shown in FIG8 , the device further includes: an output module 703 configured to output absolute position information.

[0164] As an optional implementation, the output module 703 is specifically configured to:

[0165] The absolute position information of the test point is displayed on the display device.

[0166] The present disclosure also provides a positioning device. As shown in FIG9 , which is a schematic diagram of the structure of the positioning device provided by the present disclosure, the positioning device includes: an image acquisition device 92, a point cloud acquisition device 93, a processor 94, a memory 95, and a bus 96. The memory 95 stores machine-readable instructions executable by the processor 94 (e.g., the execution instructions corresponding to the display module 701, the determination module 702, and the output module 703 in the positioning device in FIG8 ). When the positioning device is in operation, the processor 94 communicates with the memory 95 via the bus 96. When the machine-readable instructions are executed by the processor 94, the steps of the positioning method described in the above embodiment are performed.

[0167] An embodiment of the present disclosure further provides a positioning system, comprising the positioning device in the above embodiment and a display device communicatively connected to the positioning device.

[0168] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems and devices described above can refer to the corresponding processes in the method embodiments, and will not be repeated in this disclosure. In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0169] In addition, the functional units in the various embodiments of the present disclosure can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0170] The above are only specific implementation methods of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this disclosure, which should be covered by the protection scope of the present disclosure. Industrial Applicability

[0171] The above solution can achieve non-contact high-precision positioning measurement in an obstructed environment, thereby improving positioning efficiency and positioning accuracy.

Claims

1. A positioning method, characterized in that: Applied to a positioning device, the positioning device includes an image acquisition device and a point cloud acquisition device, and the method includes: In response to a user's instruction to start measurement, controlling the image acquisition device to acquire an environment image, and displaying the environment image and an aiming icon on a display device; In response to the user's positioning instruction, the point cloud acquisition device is controlled to acquire the environmental point cloud, and the target position in the environmental image targeted by the aiming icon is obtained, and the absolute position information of the test point corresponding to the target position is determined based on the environmental point cloud and the target position.

2. The method according to claim 1, characterized in that The obtaining of the target position in the environment image targeted by the aiming icon includes: Acquire multiple optional positions aimed at by the aiming icon within a preset position error range within a preset duration, wherein the center of the preset position error range is the position aimed at by the aiming icon at the start time of the preset duration; The target position is acquired according to the multiple optional positions.

3. The method according to claim 2, characterized in that The acquiring the target position according to the multiple optional positions includes: An average position of the plurality of optional positions is determined, and the average position is used as the target position.

4. The method according to any one of claims 1 to 3, characterized in that The aiming icon is displayed at the center of the screen of the display device, and the position aimed at by the aiming icon is the center of the image captured by the image capture device.

5. The method according to any one of claims 1 to 4, characterized in that The determining, based on the environmental point cloud and the target position, the absolute position information of the test point corresponding to the target position includes: Determining the relative coordinates of the test point in a relative coordinate system according to the environmental point cloud and the target position, wherein the origin of the relative coordinate system is a preset point on the positioning device; The absolute position information of the test point is determined according to the relative coordinates of the test point in the relative coordinate system and the absolute coordinates of the preset point.

6. The method according to any one of claims 1 to 5, characterized in that The display position of the aiming icon in the display device is indicated by a user.

7. The method according to any one of claims 1 to 6, characterized in that The determining, based on the environmental point cloud and the target position, the absolute position information of the test point corresponding to the target position includes: Determine the relative coordinates of the image center position in a relative coordinate system based on the environmental point cloud and the image center position of the image acquisition device, wherein the origin of the relative coordinate system is a preset point on the positioning device; Determining the relative coordinates of the test point in the relative coordinate system based on the positional relationship between the target position and the center of the screen of the display device and the relative coordinates of the center position of the image in the relative coordinate system; The absolute position information of the test point is determined according to the relative coordinates of the test point in the relative coordinate system and the absolute coordinates of the preset point.

8. The method according to any one of claims 1 to 7, characterized in that The positioning device is a real-time differential positioning device with a centering rod.

9. The method according to any one of claims 1 to 8, characterized in that The measurement start instruction is input by a user through the display device.

10. The method according to any one of claims 1 to 9, characterized in that The positioning instruction is input by a user through the display device.

11. The method according to any one of claims 1 to 10, characterized in that After determining the absolute position information of the test point corresponding to the target position according to the environmental point cloud and the target position, the method further includes: The absolute position information is output.

12. The method according to claim 11, characterized in that The outputting the absolute position information includes: The absolute position information of the test point is displayed on the display device.

13. A positioning device, characterized in that: The device comprises: A display module is configured to control the image acquisition device to acquire an environment image in response to a user's instruction to start measurement, and to display the environment image and the aiming icon on the display device; The determination module is configured to respond to the user's positioning instructions, control the point cloud acquisition device to acquire the environmental point cloud, and obtain the target position in the environmental image targeted by the aiming icon, and determine the absolute position information of the test point corresponding to the target position based on the environmental point cloud and the target position.

14. A positioning device, characterized in that: include: Image acquisition device, point cloud acquisition device processor, memory and bus; The image acquisition device and the point cloud acquisition device are respectively connected to the processor for communication; The memory stores machine-readable instructions executable by the processor. When the positioning device is running, the processor executes the machine-readable instructions to perform the steps of the positioning method according to any one of claims 1 to 12.

15. A positioning system, characterized in that: The device comprises the positioning device according to claim 14 and a display device communicatively connected to the positioning device.

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