CN106650595A - Land block boundary identification method and boundary identification device - Google Patents
Land block boundary identification method and boundary identification device Download PDFInfo
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Abstract
The embodiment of the invention provides a land block boundary identification method and boundary identification device. The method comprises the steps that the plotting data of multiple plotting points of a target land block are acquired; the arranging order of the multiple plotting points is determined based on the plotting data of the multiple plotting points; and the multiple plotting points are connected according to the arranging order so that the obtained connecting line is the boundary line of the target land block. The boundary of the land block can be automatically identified so that the real-time performance is higher, the data processing capability is higher, boundary line identification can be more timely performed and the degree of automation is higher.
Description
Technical field
The present invention relates to technical field of mapping, more particularly to boundary of land block know method for distinguishing and Boundary Recognition device.
Background technology
UAV abbreviation unmanned plane (Unmanned Aerial Vehicle, abbreviation UAV), is that one kind utilizes nothing
The not manned aircraft that line electrical remote control equipment and the presetting apparatus provided for oneself are manipulated.Unmanned plane it is of many uses, Jing is often employed
In industries such as city management, agricultural, geology, meteorology, electric power, rescue and relief work, video captures.
Under normal circumstances, unmanned plane can accurately be surveyed and drawn before operation to the plot for wanting operation, and mapping worker
The point noted down all is scatterplot, and mapping worker needs to draw plot according to scatterplot by the memory of oneself during later stage flight course planning
Boundary line, this is accomplished by mapping worker and these scatterplots is carried out with the record of order, and under many circumstances to these scatterplot orders
Record can be cumbersome, especially when many people survey same plot, or there is error of omission, in the case of incorrect posting, it is desirable to
Safeguard that a correct scatterplot order needs to expend many energy.
The content of the invention
In view of the above problems, it is proposed that the embodiment of the present invention overcomes the problems referred to above or at least in part to provide one kind
A kind of boundary of land block for solving the above problems knows method for distinguishing and a kind of corresponding Boundary Recognition device.
In order to solve the above problems, the embodiment of the invention discloses a kind of boundary of land block knows method for distinguishing, methods described bag
Include：
Obtain the surveying and mapping data of multiple mapped points in target plot；
Putting in order for the plurality of mapped point is determined based on the surveying and mapping data of the plurality of mapped point；
The plurality of mapped point is coupled together according to described putting in order, the connecting line for obtaining is used as the target plot
Boundary line.
Preferably, methods described also includes：
Based on the boundary line in the target plot, route planning is carried out to the target plot.
Preferably, methods described also includes：
The boundary line in the target plot is shown in real time.
Preferably, the surveying and mapping data be using hand-held plotting board obtain data, the acquisition target plot it is many
The step of surveying and mapping data of individual mapped point is：
The surveying and mapping data that the hand-held plotting board sends mapped point is received successively.
Preferably, methods described also includes：
The surveying and mapping data of the plurality of mapped point is stored in the local database.
Preferably, connecting line conduct that is described to couple together the plurality of mapped point according to described putting in order, obtaining
The step of boundary line in the target plot, includes：
The surveying and mapping data of multiple mapped points is read from the local data base, and it is described according to the adjustment that puts in order
The order of the mapped point of reading；
Mapped point after adjustment is coupled together, boundary line of the connecting line for obtaining as the target plot.
Preferably, the surveying and mapping data based on the plurality of mapped point determines putting in order for the plurality of mapped point
Step includes：
The interface that third party application is provided is called, the surveying and mapping data of the plurality of mapped point is sent to described
Tripartite's application program so that the third party application calculates putting in order for the plurality of mapped point, and returns described many
Individual mapped point puts in order；
Receive putting in order for multiple mapped points that the third party application is returned.
Preferably, the third party application determines in the following way putting in order for the plurality of mapped point：
A mapped point is chosen from the plurality of mapped point as origin, is calculated non-through other from the origin
After the mapped point of origin, the shortest path of origin is returned；
Using the putting in order as the plurality of mapped point that put in order of the mapped point in the shortest path.
Preferably, it is described to be calculated from certain mapped point using TSP algorithms based on the two-dimensional coordinate information, pass through
Other mapped points once and only once, return to the shortest path of origin, including：
Based on the two-dimensional coordinate information, the distance between any two mapped point is calculated, obtain distance matrix；
It is determined that initial mapped point origin, next mapping that inquiry is obtained and mapped point initial point distance is minimum in distance matrix
Point；
The initial mapping origin is connected with next mapped point, next mapped point in the distance matrix is deleted
The row and column at place, generates new distance matrix；
Using next mapped point as mapped point origin, inquiry is obtained in new distance matrix, former with the current mapped point
The minimum next mapped point of point distance, is circulated, till inquiry obtains last mapped point with this；
Last mapped point is connected with initial mapped point origin, is obtained from initial mapping origin, pass through other
Mapped point once and only once, returns to the shortest path of initial mapping origin.
The embodiment of the invention also discloses a kind of Boundary Recognition device, described device includes：
Surveying and mapping data acquisition module, for obtaining the surveying and mapping data of multiple mapped points in target plot；
Put in order determining module, and for the surveying and mapping data based on the plurality of mapped point the plurality of mapped point is determined
Put in order；
Boundary line determining module, for the plurality of mapped point to be coupled together according to described putting in order, the company for obtaining
Boundary line of the wiring as the target plot.
Preferably, described device also includes：
Route planning module, for the boundary line based on the target plot, to the target plot route planning is carried out.
Preferably, described device also includes：
Border display module, for showing the boundary line in the target plot in real time.
Preferably, the surveying and mapping data be using hand-held plotting board obtain data, the surveying and mapping data acquisition module
Including：
Surveying and mapping data receiving submodule, for receiving the surveying and mapping data that the hand-held plotting board sends mapped point successively.
Preferably, described device also includes：
Surveying and mapping data memory module, for the surveying and mapping data of the plurality of mapped point to be stored in the local database.
Preferably, the boundary line determining module includes：
Order adjustment submodule, for reading the surveying and mapping data of multiple mapped points from the local data base, and according to
The order of the mapped point for adjusting the reading that puts in order；
Connection submodule, for the mapped point after adjustment to be coupled together, the connecting line for obtaining is used as the target plot
Boundary line.
Preferably, the determining module that puts in order includes：
Surveying and mapping data sending submodule, for the interface for calling third party application to be provided, by the plurality of mapping
The surveying and mapping data of point is sent to the third party application so that the third party application calculates the plurality of mapped point
Put in order, and return putting in order for the plurality of mapped point；
Put in order receiving submodule, and the arrangement for receiving multiple mapped points that the third party application is returned is suitable
Sequence.
Preferably, the determining module that puts in order also includes：
Shortest path acquisition submodule, for a mapped point to be chosen from the plurality of mapped point as origin, calculates
From the origin after the mapped point of other non-origins, the shortest path of origin is returned；
Put in order determination sub-module, for putting in order the mapped point in the shortest path as the plurality of
Mapped point puts in order.
Preferably, the surveying and mapping data at least includes longitude information and latitude information；
The shortest path acquisition submodule includes：
Information conversion unit, for respectively the longitude information and latitude information of the plurality of mapped point being converted into into two dimension
Coordinate information；
Shortest path computing unit, for based on the two-dimensional coordinate information, being calculated from certain mapped point using TSP algorithms
Set out, through other mapped points once and only once, return to the shortest path of origin.
Preferably, the shortest path computing unit includes：
Distance matrix generates subelement, for based on the two-dimensional coordinate information, calculating between any two mapped point
Distance, obtains distance matrix；
Inquiry subelement, for determining initial mapped point origin, in distance matrix inquiry obtain with mapped point origin away from
From minimum next mapped point, the initial mapping origin is connected with next mapped point, in deleting the distance matrix
The row and column that next mapped point is located, generates new distance matrix；
Cyclic query subelement, for, used as mapped point origin, inquiry to obtain new distance matrix using next mapped point
In, the next mapped point minimum with the current mapped point initial point distance is circulated with this, until inquiry obtains last mapped point
Till；
Shortest path determination subelement, for last mapped point to be connected with initial mapped point origin, obtains from first
The mapping origin that begins sets out, and through other mapped points once and only once, returns to the shortest path of initial mapping origin.
The embodiment of the present invention includes advantages below：
In embodiments of the present invention, when the mapping of mapped point is carried out, Boundary Recognition device can be obtained in real time mapping worker
The surveying and mapping data of each mapped point is obtained, and putting in order for each mapped point is obtained in real time according to surveying and mapping data, and, according to each
The Real time identification that puts in order of individual mapped point goes out the boundary line in target plot, after mapping worker collection surveying and mapping data, people
Work carries out the identification of the boundary line in target plot and the mode of drafting, and the real-time of the embodiment of the present invention is higher, data processing energy
Power is higher, can much sooner carry out the identification of boundary line, and automaticity is higher.
Description of the drawings
The step of Fig. 1 is a kind of embodiment of the method for boundary of land block identification of present invention flow chart；
Fig. 2 is the scatterplot schematic diagram data in a kind of embodiment of the method for boundary of land block identification of the present invention；
Fig. 3 is the enclosed region schematic diagram in a kind of embodiment of the method for boundary of land block identification of the present invention；
Fig. 4 is a kind of structured flowchart of Boundary Recognition device embodiment of the present invention.
Specific embodiment
It is understandable to enable the above objects, features and advantages of the present invention to become apparent from, it is below in conjunction with the accompanying drawings and concrete real
The present invention is further detailed explanation to apply mode.
One of the core concepts of the embodiments of the present invention is, the multiple mapped points for obtaining target plot surveying and mapping data with
Afterwards, putting in order for multiple mapped points is automatically determined by software, is obtained after according to putting in order multiple mapped points are connected
Connecting line is target and surveys and draws the boundary line in soil, and shows the boundary line in real time.
With reference to Fig. 1, show the present invention a kind of identification of boundary of land block line embodiment of the method the step of flow chart, this
Bright embodiment can apply in Boundary Recognition device, and the Boundary Recognition device is used to carry out automatically the boundary line in target plot to be known
Do not draw with boundary line, the Boundary Recognition device can not be limited this for mobile device or fixing device, the embodiment of the present invention
It is fixed.
The embodiment of the present invention specifically may include steps of：
Step 101, obtains the surveying and mapping data of multiple mapped points in target plot.
In a kind of application scenarios, the target plot can be the plot that unmanned plane will carry out operation.Unmanned plane is being made
Before industry, mapping worker can carry out accurately surveying and drawing on the spot according to mapping demand to the target plot for wanting operation, obtain multiple
The surveying and mapping data of mapped point.
Wherein, the surveying and mapping data of the plurality of mapped point is scatterplot data, and for example, the distribution of the scatterplot data can be such as Fig. 2
Scatterplot schematic diagram data shown in.
In implementing, mapping worker can gather the multiple mapped points in the target plot by hand-held plotting board
Surveying and mapping data.As a kind of example, the surveying and mapping data of the mapped point can include the longitude information of the mapped point, dimensional information with
And altitude info ination etc..
In one embodiment, the hand-held plotting board can be GPS (GlobalPositioning System, the whole world
Alignment system) measuring apparatus.
It is further preferred that in order to improve certainty of measurement, the hand-held plotting board can be RTK (Real-time
Kinematic, carrier phase difference) measuring apparatus.The real-time dynamic that RTK location technologies are namely based on carrier phase observation data is fixed
Position technology, it can in real time provide three-dimensional localization result of the survey station point in specified coordinate system, and reach a centimetre class precision.
RTK measurements possess following advantage：1st, high precision, operation is convenient.RTK operations are not limited by sighting condition, without the need for controlling, benchmark
Station sets, easier if with virtual base station after carrying out a little checking, you can open survey.2nd, speed is fast, efficiency high, saves manpower.
General 1～2 people of per group of RTK operations, mapping sampling site of often standing only needs 3s or so, can gather within 1 day 500 point datas, and operating efficiency is big
It is big to improve.3rd, under RTK work patterns, base station sends together its observation and survey station coordinate information to stream by Data-Link
Dynamic station.Rover station not only receives the data from base station by Data-Link, also to gather GPS observation data, and in system
Composition difference observation carries out real-time processing, while providing centimeter-level positioning result, lasts less than one second.
In actual applications, hand-held plotting board can carry out data biography with Boundary Recognition device by modes such as bluetooths
Defeated, hand-held plotting board is often collected after the surveying and mapping data of a mapped point in target plot, then in real time by the mapped point
Surveying and mapping data is transmitted into Boundary Recognition device, then Boundary Recognition device receives successively the survey that hand-held plotting board sends mapped point
Data are painted, and preserves the surveying and mapping data of multiple mapped points in the local database.
It should be noted that if Boundary Recognition device is mobile device, the hand-held plotting board is filled with Boundary Recognition
Put can with it is integrated in a terminal, i.e., the terminal have surveying and mapping data collection and boundary line identification function.
Step 102, based on the surveying and mapping data of the plurality of mapped point putting in order for the plurality of mapped point is determined.
In practice, because the mapped point that mapping worker is noted down all is scatterplot, need according to scattered during later stage flight course planning
Point draws the border in plot, and this is accomplished by mapping worker and these scatterplots are carried out with the record of order, and under many circumstances to this
The record of a little scatterplot orders can be cumbersome, especially when many people survey same plot, or error of omission, the feelings of incorrect posting occurs
Under condition, in the case where scatterplot order is not known, it is desirable to safeguard that a correct scatterplot order is pretty troublesome, and the present invention is real
After applying the surveying and mapping data that example obtains multiple mapped points, it may be determined that the plurality of mapped point puts in order, wherein, the arrangement is suitable
Sequence can be the order that multiple mapped points are sequentially arranged based on positional information.
In a kind of preferred embodiment of the embodiment of the present invention, step 102 can include following sub-step：
Sub-step S11, calls the interface that third party application is provided, and the surveying and mapping data of the plurality of mapped point is sent out
Deliver to the third party application so that the third party application calculates putting in order for the plurality of mapped point, and
Return putting in order for the plurality of mapped point；
Sub-step S12, receives putting in order for multiple mapped points that the third party application is returned.
The embodiment of the present invention is applied to, in order to reduce the resources occupation rate of Boundary Recognition device, Boundary Recognition device is improved
Data-handling efficiency, the process for putting in order of the multiple mapped points of above-mentioned determination can be processed by third party application,
The third party application may be mounted in the terminal at Boundary Recognition device place.
Specifically, the method for putting in order of the multiple mapped points of above-mentioned determination can be packaged into third party application
Service, third party application externally provides interface for calling.When Boundary Recognition device obtains the mapping number of multiple mapped points
After according to this, the interface that tripartite's application program can be called to be provided, the surveying and mapping data of multiple mapped points is sent should to third party
With in program, third party application is received after the surveying and mapping data of multiple mapped points, is calculated according to the plurality of surveying and mapping data
The plurality of mapped point puts in order, and the return Boundary Recognition device that will put in order.
In one embodiment, third party application can in the following way determine that the arrangement of multiple mapped points is suitable
Sequence：A mapped point is chosen from the plurality of mapped point as origin, is calculated from the origin through other non-origins
Mapped point after, return origin shortest path；Putting in order the mapped point in the shortest path as the plurality of
Mapped point puts in order.
Specifically, it is assumed that the multiple mapped points for collecting are the necessary conditions of the boundary line for identifying target plot, that is, survey and draw
Personnel are in actually mapping record, it is necessary to through each mapped point, and finally starting point is also returned to, so as to be formed
One closure target plot, then above-mentioned third party application determine that the problem for putting in order of multiple mapped points can be considered as
TSP (Traveling Salesman Problem, traveling salesman problem), the purpose of the TSP problems is to seek single traveller
By starting point, by all given demand points after, finally return the minimal path cost of starting point.
The above-mentioned TSP problems of TSP model solutions can be adopted, in implementing, TSP models can be asked by many algorithms
Solution the problems referred to above, those skilled in the art solve above-mentioned TSP problems using any existing TSP model solutions method is
Can with, the embodiment of the present invention is not restricted to this.
In one embodiment, the method that can adopt linear optimization solves above-mentioned TSP problems, then above-mentioned from institute
State and choose in multiple mapped points a mapped point as origin, calculate the mapped point through other non-origins from the origin
Afterwards, the step of returning the shortest path of origin, can include following sub-step：Respectively by the longitude information of the plurality of mapped point
And latitude information is converted into two-dimensional coordinate information；Based on the two-dimensional coordinate information, calculated from certain mapping using TSP algorithms
Point sets out, and through other mapped points once and only once, returns to the shortest path of origin.
In practice, same plot, the usual gap of longitude and latitude between two mapped points is smaller, and its gap typically exists
Latter two of longitude and latitude significant digits, in order to expand the data difference between two mapped points, so as to improve mapping precision, the 3rd
Square application program, can first to each mapped point before the putting in order of the plurality of mapped point is determined using TSP models
Surveying and mapping data pre-processed.In one embodiment, one of which pretreatment mode can be：By each mapped point
Longitude information and latitude information are converted into two-dimensional coordinate information.
Specifically, above-mentioned preprocessing process can be that the surveying and mapping data of each mapped point is mapped in plane coordinate system,
The process of the two-dimensional coordinate information of the mapped point is obtained, in implementing, a survey can be chosen from the plurality of mapped point
Paint a little, using the mapped point of the selection as two-dimensional plane coordinate datum mark (0,0), according to the Jing of earth radius R and datum mark
Latitude information, first calculates the radius r of latitude circle residing for the datum mark, then selects the mapped point of a non-referenced point, calculates this non-
The mapped point of datum mark is the x coordinate of the non-referenced point with the arc length that datum mark difference of latitude between the two is worth going out, according to
The mapped point of the non-referenced point and datum mark longitude difference between the two and earth radius calculate the y of the non-referenced point and sit
Mark.
It should be noted that the embodiment of the present invention is not limited to the above-mentioned side that longitude and latitude is converted into two-dimensional coordinate information
Method, those skilled in the art are possible using the conversion that additive method carries out longitude and latitude, and the embodiment of the present invention is not made to this
Limit.
After obtaining the two-dimensional coordinate information of each mapped point, can be calculated from certain mapped point using TSP models,
Through other mapped points once and only once, the shortest path of origin is returned to.Used as a kind of example, above-mentioned TSP models can be retouched
State as following Mathematical Modeling：
And,
0≤xij≤1；
ui∈Z；
It is expressed as requiring that each point can arrive another point；
It is expressed as requiring that each point can serve as starting point；
ui-uj+nxij≤ n-1, this is constraint, force cover path a little there was only one, rather than two or
What a plurality of scattered path covered together.
Wherein, i, j=0,1,2,3 ..., n；cijFor the distance of i points to j points, xijFor dummy variable, ui、ujFor xijOn
Point.
Further, in one embodiment, it is above-mentioned based on the two-dimensional coordinate information based on the TSP models, adopt
TSP algorithms are calculated from certain mapped point, through other mapped points once and only once, return to the shortest path of origin, can
Description includes procedure below.
Based on the two-dimensional coordinate information, the distance between any two mapped point is calculated, obtain distance matrix；
It is determined that initial mapped point origin, next mapping that inquiry is obtained and mapped point initial point distance is minimum in distance matrix
Point, the initial mapping origin is connected with next mapped point, is deleted next mapped point in the distance matrix and is located
Row and column, generate new distance matrix；
Using next mapped point as mapped point origin, inquiry is obtained in new distance matrix, former with the current mapped point
The minimum next mapped point of point distance, is circulated, till inquiry obtains last mapped point with this；
Last mapped point is connected with initial mapped point origin, is obtained from initial mapping origin, pass through other
Mapped point once and only once, returns to the shortest path of initial mapping origin.
By above-mentioned TSP models, can be calculated from origin according to distance matrix, origin is returned after demand point
Shortest path, and further determined that according to shortest path constitute the shortest path putting in order a little.
In embodiments of the present invention, by TSP model encapsulations into terminal background service, there is provided TSP interfaces for border knowledge
Other device is called, and eliminates the processing procedure of Boundary Recognition device, can improve the data-handling efficiency of Boundary Recognition device.
Step 103, the plurality of mapped point is coupled together according to described putting in order, and the connecting line for obtaining is used as described
The boundary line in target plot.
After determining the putting in order of multiple mapped points, can put in order according to this and mapped point is coupled together, obtain
Connecting line be the boundary line in target plot.
In a kind of preferred embodiment of the embodiment of the present invention, step 103 can include following sub-step：
Sub-step S21, reads the surveying and mapping data of multiple mapped points from the local data base, and suitable according to the arrangement
Sequence adjusts the order of the mapped point of the reading；
Sub-step S22, the mapped point after adjustment is coupled together, border of the connecting line for obtaining as the target plot
Line.
Specifically, Boundary Recognition device is obtained after the putting in order of multiple mapped points, and can be read in local data base
Surveying and mapping data, be adjusted according to the order of surveying and mapping data put in order to reading.Subsequently, according to the order after adjustment
The plurality of mapped point is coupled together, the boundary line in target plot is thought by the connecting line for obtaining.
In implementing, it is assumed that mapping worker is in actually mapping record, it is necessary to then return through each mapped point
Aligning control, then after all mapped points are coupled together according to putting in order, can obtain a closed area, then the closed area
Boundary line be the boundary line in target plot.
In a kind of preferred embodiment of the embodiment of the present invention, after the boundary line for identifying target plot, Ke Yishi
When show the boundary line in the target plot.
In implementing, the showing for boundary line in target plot can be entered in the terminal that Boundary Recognition device is located
Row display, or, it is also possible to the boundary line in target plot is derived, and the boundary line in the target plot is uploaded in display terminal
Shown.
In embodiments of the present invention, when the mapping of mapped point is carried out, Boundary Recognition device can be obtained in real time mapping worker
The surveying and mapping data of each mapped point is obtained, and putting in order for each mapped point is obtained in real time according to surveying and mapping data, and, according to each
The Real time identification that puts in order of individual mapped point goes out the boundary line in target plot, and shows the boundary line in the target plot in real time,
After compared to mapping worker collection surveying and mapping data, the identification of the boundary line in target plot and the mode of drafting are manually carried out, this
The real-time of bright embodiment is higher, and data-handling capacity is higher, can much sooner carry out the identification and display of boundary line, automatically
Change degree is higher.
In a kind of preferred embodiment of the embodiment of the present invention, after the boundary line for identifying target plot, can be with
Based on the boundary line in the target plot, route planning is carried out to the target plot.
In one embodiment, the route can be the course line of unmanned plane during flying.
In implementing, route planning operation can be completed in the terminal that Boundary Recognition device is located, it is also possible to by
Boundary Recognition device sends the boundary line in the target plot to other devices, and by other devices the planning of route is carried out, this
Bright embodiment is not restricted to this.
For the application that the boundary line in target plot identifies rear target plot, however it is not limited to flight course planning, can be with
It is the use of other scenes, the embodiment of the present invention is not restricted to this.
In order that those skilled in the art better understood when the embodiment of the present invention, below by way of an instantiation pair
The embodiment of the present invention is illustrative, when it should be appreciated that the embodiment of the present invention is not limited to this：
Mapping worker obtains the surveying and mapping data of 7 mapped points using hand-held plotting board, and sends to Boundary Recognition device,
It is as shown in table 1 below in being stored in Boundary Recognition device local data base：
| Sequence number | Latitude | Longitude | Height above sea level |
| 1 | 34.0257492724521 | 113.2401111804020 | 149.1825 |
| 2 | 34.0259165814116 | 113.2401323868530 | 148.0267 |
| 3 | 34.0258690654503 | 113.2407627237620 | 145.8926 |
| 4 | 34.0256324340822 | 113.2406762536850 | 147.2529 |
| 5 | 34.0262725086002 | 113.2401429891280 | 147.0833 |
| 6 | 34.0261912727309 | 113.2404830718930 | 146.3193 |
| 7 | 34.0262239836743 | 113.2403290510620 | 146.5774 |
Table 1
After obtaining the surveying and mapping data of table 1, surveying and mapping data is pre-processed, be converted into planar two dimensional coordinate, such as table 2 below institute
Show：
Table 2
After obtaining the two-dimensional coordinate information of each point, can according to the coordinate information of two points calculate between 2 points away from
From so as to obtain the distance matrix of table 3：
| Sequence number | 1 | 2 | 3 | 4 | 5 | 6 | 7 |
| 1 | 0 | 18.707 | 61.508 | 53.675 | 58.259 | 59.921 | 56.479 |
| 2 | 18.707 | 0 | 58.334 | 59.253 | 39.592 | 44.471 | 38.692 |
| 3 | 61.508 | 58.334 | 0 | 27.494 | 72.629 | 44.137 | 56.171 |
| 4 | 53.675 | 59.253 | 27.494 | 0 | 86.497 | 64.644 | 73.152 |
| 5 | 58.259 | 39.592 | 72.629 | 86.497 | 0 | 32.618 | 17.977 |
| 6 | 59.921 | 44.471 | 44.137 | 64.644 | 32.618 | 0 | 14.653 |
| 7 | 56.479 | 38.692 | 56.171 | 73.152 | 17.977 | 14.653 | 0 |
Table 3
As can be known from Table 3, because distance is symmetrical, from i points to the distance of j points the distance from j points to i points is equal to.
According to the distance matrix of table 3, then Mathematical Modeling can be expressed as：
0≤xij≤ 1, i, j=1,1,2,3 ..., 7；
ui∈Z；I=1,1,2,3 ..., 7；
J=1,1,2,3 ..., 7；
I=1,1,2,3 ..., 7；
ui-uj+7xij≤6；1≤i≠j≤7.
The minimum of a value for passing through have a path is obtained by third party application, and return path minimum of a value is passed by a little
Order：[1,2,5,7,6,3,4,1], then according to this is sequentially adjusted the surveying and mapping data in local data base, according to
[1,2,5,7,6,3,4,1] couples together seven mapped points to form an enclosed region, such as the enclosed region schematic diagram institute of Fig. 3
Show, in figure 3, the boundary line in plot is as surveyed and drawn in the boundary line of enclosed region.
In this example, after the surveying and mapping data for obtaining multiple mapped points, the plurality of mapped point can be automatically determined
Put in order, and multiple mapped points are connected into enclosed region according to being put in order, so as to the boundary line according to enclosed region is true
Location survey paints the boundary line in plot, without the need for thinking identification and drawing boundary line, improves boundary line accuracy of identification, and improves data
Treatment effeciency, automaticity is higher.
It should be noted that for embodiment of the method, in order to be briefly described, therefore it to be all expressed as a series of action group
Close, but those skilled in the art should know, and the embodiment of the present invention is not limited by described sequence of movement, because according to
According to the embodiment of the present invention, some steps can adopt other orders or while carry out.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, the involved action not necessarily present invention is implemented
Example is necessary.
With reference to Fig. 4, a kind of structured flowchart of Boundary Recognition device embodiment of the present invention is shown, following mould can be included
Block：
Surveying and mapping data acquisition module 401, for obtaining the surveying and mapping data of multiple mapped points in target plot；
The determining module that puts in order 402, for the surveying and mapping data based on the plurality of mapped point the plurality of mapping is determined
That what is put puts in order；
Boundary line determining module 403, for the plurality of mapped point to be coupled together according to described putting in order, obtains
Boundary line of the connecting line as the target plot.
In a kind of preferred embodiment of the embodiment of the present invention, described device also includes：
Route planning module, for the boundary line based on the target plot, to the target plot route planning is carried out.
In a kind of preferred embodiment of the embodiment of the present invention, described device also includes：
Border display module, for showing the boundary line in the target plot in real time.
In a kind of preferred embodiment of the embodiment of the present invention, the surveying and mapping data is to be obtained using hand-held plotting board
Data, the surveying and mapping data acquisition module 401 can include following submodule：
Surveying and mapping data receiving submodule, for receiving the surveying and mapping data that the hand-held plotting board sends mapped point successively.
In a kind of preferred embodiment of the embodiment of the present invention, described device also includes：
Surveying and mapping data memory module, for the surveying and mapping data of the plurality of mapped point to be stored in the local database.
In a kind of preferred embodiment of the embodiment of the present invention, the boundary line determining module 403 can include following son
Module：
Order adjustment submodule, for reading the surveying and mapping data of multiple mapped points from the local data base, and according to
The order of the mapped point for adjusting the reading that puts in order；
Connection submodule, for the mapped point after adjustment to be coupled together, the connecting line for obtaining is used as the target plot
Boundary line.
In a kind of preferred embodiment of the embodiment of the present invention, the determining module 402 that puts in order can include as follows
Submodule：
Surveying and mapping data sending submodule, for the interface for calling third party application to be provided, by the plurality of mapping
The surveying and mapping data of point is sent to the third party application so that the third party application calculates the plurality of mapped point
Put in order, and return putting in order for the plurality of mapped point；
Put in order receiving submodule, and the arrangement for receiving multiple mapped points that the third party application is returned is suitable
Sequence.
In a kind of preferred embodiment of the embodiment of the present invention, the determining module that puts in order also includes：
Shortest path acquisition submodule, for a mapped point to be chosen from the plurality of mapped point as origin, calculates
From the origin after the mapped point of other non-origins, the shortest path of origin is returned；
Put in order determination sub-module, for putting in order the mapped point in the shortest path as the plurality of
Mapped point puts in order.
In a kind of preferred embodiment of the embodiment of the present invention, the surveying and mapping data at least includes longitude information and latitude
Information；The shortest path acquisition submodule includes：
Information conversion unit, for respectively the longitude information and latitude information of the plurality of mapped point being converted into into two dimension
Coordinate information；
Shortest path computing unit, for based on the two-dimensional coordinate information, being calculated from certain mapped point using TSP algorithms
Set out, through other mapped points once and only once, return to the shortest path of origin.
In a kind of preferred embodiment of the embodiment of the present invention, the shortest path computing unit includes：
Distance matrix generates subelement, for based on the two-dimensional coordinate information, calculating between any two mapped point
Distance, obtains distance matrix；
Inquiry subelement, for determining initial mapped point origin, in distance matrix inquiry obtain with mapped point origin away from
From minimum next mapped point, the initial mapping origin is connected with next mapped point, in deleting the distance matrix
The row and column that next mapped point is located, generates new distance matrix；
Cyclic query subelement, for, used as mapped point origin, inquiry to obtain new distance matrix using next mapped point
In, the next mapped point minimum with the current mapped point initial point distance is circulated with this, until inquiry obtains last mapped point
Till；
Shortest path determination subelement, for last mapped point to be connected with initial mapped point origin, obtains from first
The mapping origin that begins sets out, and through other mapped points once and only once, returns to the shortest path of initial mapping origin.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with
The difference of other embodiment, between each embodiment identical similar part mutually referring to.
Those skilled in the art are it should be appreciated that the embodiment of the embodiment of the present invention can be provided as method, device or calculate
Machine program product.Therefore, the embodiment of the present invention can using complete hardware embodiment, complete software embodiment or with reference to software and
The form of the embodiment of hardware aspect.And, the embodiment of the present invention can using wherein include computer at one or more can
With in the computer-usable storage medium (including but not limited to magnetic disc store, CD-ROM, optical memory etc.) of program code
The form of the computer program of enforcement.
The embodiment of the present invention is with reference to method according to embodiments of the present invention, terminal device (system) and computer program
The flow chart and/or block diagram of product is describing.It should be understood that can be by computer program instructions flowchart and/or block diagram
In each flow process and/or square frame and flow chart and/or the flow process in block diagram and/or square frame combination.These can be provided
Computer program instructions to all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing terminals set
Standby processor is producing a machine so that held by the processor of computer or other programmable data processing terminal equipments
Capable instruction is produced for realizing in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames
The device of the function of specifying.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing terminal equipments
In the computer-readable memory for working in a specific way so that the instruction being stored in the computer-readable memory produces bag
The manufacture of command device is included, the command device is realized in one side of one flow process of flow chart or multiple flow processs and/or block diagram
The function of specifying in frame or multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing terminal equipments so that
On computer or other programmable terminal equipments perform series of operation steps to produce computer implemented process, so as to
The instruction performed on computer or other programmable terminal equipments is provided for realizing in one flow process of flow chart or multiple flow processs
And/or specify in one square frame of block diagram or multiple square frames function the step of.
Although having been described for the preferred embodiment of the embodiment of the present invention, those skilled in the art once know base
This creative concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to
Including preferred embodiment and fall into having altered and changing for range of embodiment of the invention.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.And, term " including ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that a series of process, method, article or terminal device including key elements is not only wrapped
Those key elements are included, but also including other key elements being not expressly set out, or also include for this process, method, article
Or the key element that terminal device is intrinsic.In the absence of more restrictions, by wanting that sentence "including a ..." is limited
Element, it is not excluded that also there is other identical element in the process including the key element, method, article or terminal device.
A kind of method and Boundary Recognition device above to a kind of Boundary Recognition provided by the present invention has carried out detailed Jie
Continue, specific case used herein is set forth to the principle and embodiment of the present invention, the explanation of above example is only
It is to be used to help understand the method for the present invention and its core concept；Simultaneously for one of ordinary skill in the art, according to this
Bright thought, will change in specific embodiments and applications, and in sum, this specification content should not be managed
Solve as limitation of the present invention.
Claims (20)
1. a kind of boundary of land block knows method for distinguishing, it is characterised in that methods described includes：
Obtain the surveying and mapping data of multiple mapped points in target plot；
Putting in order for the plurality of mapped point is determined based on the surveying and mapping data of the plurality of mapped point；
The plurality of mapped point is coupled together according to described putting in order, side of the connecting line for obtaining as the target plot
Boundary line.
2. method according to claim 1, it is characterised in that also include：
Based on the boundary line in the target plot, route planning is carried out to the target plot.
3. method according to claim 1 and 2, it is characterised in that also include：
The boundary line in the target plot is shown in real time.
4. method according to claim 1, it is characterised in that the surveying and mapping data is to be obtained using hand-held plotting board
The step of data, surveying and mapping data of multiple mapped points in the acquisition target plot is：
The surveying and mapping data that the hand-held plotting board sends mapped point is received successively.
5. the method according to claim 1 or 2 or 4, it is characterised in that also include：
The surveying and mapping data of the plurality of mapped point is stored in the local database.
6. method according to claim 5, it is characterised in that described that the plurality of mapped point puts in order according to described
Couple together, the connecting line for obtaining as the target plot boundary line the step of include：
The surveying and mapping data of multiple mapped points is read from the local data base, and according to the adjustment reading that puts in order
Mapped point order；
Mapped point after adjustment is coupled together, boundary line of the connecting line for obtaining as the target plot.
7. method according to claim 1, it is characterised in that the surveying and mapping data based on the plurality of mapped point determines
The plurality of mapped point includes the step of putting in order：
The interface that third party application is provided is called, the surveying and mapping data of the plurality of mapped point is sent to the third party
Application program so that the third party application calculates putting in order for the plurality of mapped point, and returns the plurality of survey
Paint putting in order a little；
Receive putting in order for multiple mapped points that the third party application is returned.
8. method according to claim 7, it is characterised in that the third party application determines in the following way institute
State putting in order for multiple mapped points：
A mapped point is chosen from the plurality of mapped point as origin, is calculated from the origin through other non-origins
Mapped point after, return origin shortest path；
Using the putting in order as the plurality of mapped point that put in order of the mapped point in the shortest path.
9. method according to claim 8, it is characterised in that the surveying and mapping data at least includes longitude information and latitude
Information；It is described that a mapped point is chosen from the plurality of mapped point as origin, calculate from the origin through other
After the mapped point of non-origin, return origin shortest path the step of include：
Respectively the longitude information and latitude information of the plurality of mapped point are converted into into two-dimensional coordinate information；
Based on the two-dimensional coordinate information, calculated from certain mapped point using TSP algorithms, through other mapped points once and
Only once, the shortest path of origin is returned to.
10. method according to claim 9, it is characterised in that described based on the two-dimensional coordinate information, is calculated using TSP
Method is calculated from certain mapped point, through other mapped points once and only once, returns to the shortest path of origin, including：
Based on the two-dimensional coordinate information, the distance between any two mapped point is calculated, obtain distance matrix；
It is determined that initial mapped point origin, next mapped point that inquiry is obtained and mapped point initial point distance is minimum in distance matrix；
The initial mapping origin is connected with next mapped point, next mapped point in the distance matrix is deleted and is located
Row and column, generate new distance matrix；
Using next mapped point as mapped point origin, inquiry is obtained in new distance matrix, with the current mapped point origin away from
From minimum next mapped point, circulated with this, till inquiry obtains last mapped point；
Last mapped point is connected with initial mapped point origin, is obtained from initial mapping origin, through other mappings
Point once and only once, returns to the shortest path of initial mapping origin.
11. a kind of Boundary Recognition devices, it is characterised in that described device includes：
Surveying and mapping data acquisition module, for obtaining the surveying and mapping data of multiple mapped points in target plot；
Put in order determining module, for determining the arrangement of the plurality of mapped point based on the surveying and mapping data of the plurality of mapped point
Sequentially；
Boundary line determining module, for the plurality of mapped point to be coupled together according to described putting in order, the connecting line for obtaining
As the boundary line in the target plot.
12. devices according to claim 11, it is characterised in that also include：
Route planning module, for the boundary line based on the target plot, to the target plot route planning is carried out.
13. devices according to claim 11 or 12, it is characterised in that also include：
Border display module, for showing the boundary line in the target plot in real time.
14. devices according to claim 11, it is characterised in that the surveying and mapping data is to be obtained using hand-held plotting board
Data, the surveying and mapping data acquisition module includes：
Surveying and mapping data receiving submodule, for receiving the surveying and mapping data that the hand-held plotting board sends mapped point successively.
15. devices according to claim 11 or 12 or 14, it is characterised in that also include：
Surveying and mapping data memory module, for the surveying and mapping data of the plurality of mapped point to be stored in the local database.
16. devices according to claim 15, it is characterised in that the boundary line determining module includes：
Order adjustment submodule, for reading the surveying and mapping data of multiple mapped points from the local data base, and according to described
The order of the mapped point for adjusting the reading that puts in order；
Connection submodule, for the mapped point after adjustment to be coupled together, side of the connecting line for obtaining as the target plot
Boundary line.
17. devices according to claim 11, it is characterised in that the determining module that puts in order includes：
Surveying and mapping data sending submodule, for the interface for calling third party application to be provided, by the plurality of mapped point
Surveying and mapping data is sent to the third party application so that the third party application calculates the row of the plurality of mapped point
Row order, and return putting in order for the plurality of mapped point；
Put in order receiving submodule, for receiving putting in order for multiple mapped points that the third party application is returned.
18. devices according to claim 17, it is characterised in that the determining module that puts in order also includes：
Shortest path acquisition submodule, for a mapped point to be chosen from the plurality of mapped point as origin, calculates from institute
State origin to set out after the mapped point of other non-origins, return the shortest path of origin；
Put in order determination sub-module, for putting in order the mapped point in the shortest path as the plurality of mapping
That what is put puts in order.
19. devices according to claim 18, it is characterised in that the surveying and mapping data at least includes longitude information and latitude
Degree information；
The shortest path acquisition submodule includes：
Information conversion unit, for respectively the longitude information and latitude information of the plurality of mapped point being converted into into two-dimensional coordinate
Information；
Shortest path computing unit, for based on the two-dimensional coordinate information, being calculated using TSP algorithms and being pointed out from certain mapping
Send out, through other mapped points once and only once, return to the shortest path of origin.
20. devices according to claim 19, it is characterised in that the shortest path computing unit includes：
Distance matrix generates subelement, for based on the two-dimensional coordinate information, calculating the distance between any two mapped point,
Obtain distance matrix；
Inquiry subelement, for determining initial mapped point origin, the inquiry in distance matrix is obtained with mapped point initial point distance most
Little next mapped point, the initial mapping origin is connected with next mapped point, under deleting in the distance matrix this
The row and column that one mapped point is located, generates new distance matrix；
Cyclic query subelement, for using next mapped point, used as mapped point origin, inquiry to be obtained in new distance matrix, with
The minimum next mapped point of the current mapped point initial point distance, is circulated with this, till inquiry obtains last mapped point；
Shortest path determination subelement, for last mapped point to be connected with initial mapped point origin, obtains from initial survey
Paint origin to set out, through other mapped points once and only once, return to the shortest path of initial mapping origin.
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