CN107577906A - A kind of track area real-time computing technique and device - Google Patents
A kind of track area real-time computing technique and device Download PDFInfo
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- CN107577906A CN107577906A CN201610528147.7A CN201610528147A CN107577906A CN 107577906 A CN107577906 A CN 107577906A CN 201610528147 A CN201610528147 A CN 201610528147A CN 107577906 A CN107577906 A CN 107577906A
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Abstract
A kind of track area real-time computing technique of disclosure and device.This method gathers multiple location points of farm implements central point according to preset sample frequency in real time.And then; determine initial position, flex point and terminal; and the operation track of farm machinery is divided into by multiple closed polygons according to the width of initial position, flex point, terminal and farm implements; and then calculate the area of multiple closed polygons successively according to gridding method, so as to obtain the working area of farm machinery.Compared with prior art, the present invention can calculate the working area of farm machinery in real time in the mechanism of farm machinery.
Description
Technical field
The application is related to manufacture of agricultural machinery field, more specifically to a kind of track area real-time computing technique and
Device.
Background technology
With the development of mechanization, farm machinery is widely used to the cultivation and harvesting of crops.Current agricultural machinery
In operation process, its operation track takes main certainly in the shape in arable land.
Due to the irregular of shape that plough, the actual job track of farm machinery is also usually irregular shape, thus nothing
Method obtains the working area of farm machinery.
The content of the invention
In view of this, the application provides a kind of track area real-time computing technique and device, to calculate farm machinery in real time
Operation track area.
To achieve these goals, it is proposed that scheme it is as follows：
A kind of track area real-time computing technique, including：
According to multiple location points of preset sample frequency collection farm implements central point；
Determine initial position, flex point and the terminal in the multiple location point；
According to the width of the initial position, the flex point, the terminal and farm implements by the operation rail of farm machinery
Mark is divided into multiple closed polygons；
The area of the multiple closed polygon is calculated successively according to gridding method, to obtain the working area of farm machinery.
Preferably, the width according to the initial position, the flex point, the terminal and farm implements is by agricultural machine
The operation track of tool is divided into multiple closed polygons, including：
The initial position, the flex point and the terminal are sequentially connected, determines the operation track line of farm machinery；
Using the initial position as intersection point, the first vertical line described in the operation track line, the flex point are determined
Angular bisector and using the terminal as intersection point, determines the second vertical line of the operation track line；
The first parallel lines and the second parallel lines of the operation track line are determined, wherein first parallel lines and described
Second parallel lines are located at the both sides of the operation track line, and first parallel lines and the second parallel lines distance respectively
The distance of the operation track line is the half of the farm implements width；
According to first vertical line, the angular bisector, second vertical line, first parallel lines and described second
The operation track of farm machinery will be divided into multiple closed polygons by parallel lines.
Preferably, the area for calculating the multiple closed polygon successively according to gridding method, including：
It is multiple adjacent by region division shared by the multiple closed polygon, and equal-sized grid, calculating are any
The total number for the grid that closed polygon takes；
The total number for the grid that area and closed polygon according to single grid take, calculates the closed polygon
Area.
A kind of track area real-time calculation device, including：
Sampling unit, for gathering multiple location points of farm implements central point according to preset sample frequency；
Positioning unit, for determining initial position, flex point and terminal in the multiple location point；
Closed polygon division unit, for according to the initial position, the flex point, the terminal and farm implements
The operation track of farm machinery is divided into multiple closed polygons by width；
Computing unit, for calculating the area of the multiple closed polygon successively according to gridding method, to obtain agricultural machine
The working area of tool.
Preferably, the closed polygon division unit includes：
Operation track determining module, for being sequentially connected the initial position, the flex point and the terminal, determine agriculture
With the operation track line of machinery；
First line segment division module, for using the initial position as intersection point, determining described in the operation track line
The first vertical line, the flex point angular bisector and using the terminal as intersection point, determine the second of the operation track line
Vertical line；
Second line segment division module, for determining the first parallel lines and the second parallel lines of the operation track line, its
Described in the first parallel lines and second parallel lines be located at the both sides of the operation track line respectively, it is and described first parallel
Line and second parallel lines are apart from the half that the distance of the operation track line is the farm implements width；
Closed polygon determining module, for according to first vertical line, the angular bisector, second vertical line, institute
State the first parallel lines and the operation track of farm machinery is divided into multiple closed polygons by second parallel lines.
Preferably, the computing unit includes：
First computing module, for by region division shared by the multiple closed polygon to be multiple adjacent, and size phase
Deng grid, calculate the total number of the grid that any closed polygon takes；
Second computing module, the total number of the grid taken for the area according to single grid and closed polygon,
Calculate the area of the closed polygon.
Through as shown from the above technical solution, a kind of track area real-time computing technique of disclosure and device.This method
Gather multiple location points of farm implements central point in real time according to preset sample frequency.And then determine initial position, flex point and end
Point, and the operation track of farm machinery is divided into by multiple closures according to the width of initial position, flex point, terminal and farm implements
Polygon, and then the area of multiple closed polygons is calculated according to gridding method successively, so as to obtain the working area of farm machinery.
Compared with prior art, the present invention can calculate the working area of farm machinery in real time in the mechanism of farm machinery.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 shows a kind of schematic flow sheet of track area real-time computing technique disclosed in one embodiment of the invention；
Fig. 2 shows the GPS location figure in a kind of track area real-time computing technique disclosed in one embodiment of the invention；
Fig. 3 shows the block division figure in a kind of track area real-time computing technique disclosed by the invention；
Fig. 4 shows a kind of flow signal of track area real-time computing technique disclosed in another embodiment of the present invention
Figure；
Fig. 5 shows a kind of structural representation of track area real-time calculation device disclosed in another embodiment of the present invention
Figure.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The flow for showing a kind of track area real-time computing technique disclosed in one embodiment of the invention referring to Fig. 1 is illustrated
Figure.
As shown in Figure 1, the present invention includes：
S101：According to multiple location points of preset sample frequency collection farm implements central point.
Based on the GPS positioning device being arranged on farm implements central point, obtain farm implements central point according to preset sample frequency and exist
Position coordinates of the farm machinery in operation process.
It should be noted that this is bigger using frequency in actual applications, the precision of its track areal calculation is higher.
S102：Determine initial position, flex point and the terminal in the multiple location point.
As Fig. 2, Fig. 2 show the GPS in a kind of track area real-time computing technique disclosed in one embodiment of the invention
Positioning figure.
In fig. 2, A, B, C, D are four GPS location points, and connection A points, B points, C points and D points, wherein A are initial position
Point, B and C are flex point, and D is terminal.
As shown in Figure 2, the operation track of farm machinery is A-B-C-D.
S103：According to the width of the initial position, the flex point, the terminal and farm implements by the work of farm machinery
Industry track is divided into multiple closed polygons.
Respectively using initial position, flex point and terminal as section, the operation track of farm machinery is divided into multiple closures
Polygon, such as the operation track of farm machinery is drawn as the 3rd section as the second section, CD using AB as the first section, BC
It is divided into six closed polygons.
S104：The area of the multiple closed polygon is calculated successively according to gridding method, to obtain the operation of farm machinery
Area.
Optionally, whole region can be divided into multiple continuous blocks, and then determined occupied by each closed polygon
Block, and calculate based on gridding method the effective area of block shared by the polygon.
The block division figure in a kind of track area real-time computing technique disclosed by the invention is shown referring to Fig. 3.Line segment
The block that the polygon that AB is formed occupies includes 1,2,3,4.And then calculate the effective area that polygon occupies block 1, occupied zone
The effective area of block 2, the effective area for occupying block 3 and the effective area for occupying block 4, so as to calculate the whole of the polygon
Bulk area.
As seen from the above embodiment, a kind of track area real-time computing technique of disclosure.This method is adopted according to default
Sample frequency gathers multiple location points of farm implements central point in real time.And then initial position, flex point and terminal are determined, and according to
The operation track of farm machinery is divided into multiple closed polygons by initial position, flex point, the width of terminal and farm implements, is entered
And calculate the area of multiple closed polygons successively according to gridding method, so as to obtain the working area of farm machinery.With existing skill
Art is compared, and the present invention can calculate the working area of farm machinery in real time in the mechanism of farm machinery.
Show that a kind of flow of track area real-time computing technique is shown disclosed in another embodiment of the present invention referring to Fig. 4
It is intended to.
As shown in Figure 4, this method includes in the present embodiment：
S401：According to multiple location points of preset sample frequency collection farm implements central point.
S402：The multiple location point is sequentially connected, determines initial position, the flex point and the terminal, to determine
The operation track line of farm machinery.
S403：Determine the of the first vertical line of the initial position, the angular bisector of the flex point and the terminal
Two vertical lines.
Such as Fig. 2, using A points as intersection point, make line segment AB vertical line, i.e. the first vertical line；Using D as intersection point, make CD vertical line, i.e.,
Two vertical lines；Respectively using B and C as intersection point, make angle ABC and angle BCD angular bisector.
S404：Determine the first parallel lines and the second parallel lines of the operation track line.
First parallel lines and second parallel lines are located at the both sides of the operation track line respectively, and described the
One parallel lines and second parallel lines are apart from the half that the distance of the operation track line is the farm implements width.
S405：According to first vertical line, the angular bisector, second vertical line, first parallel lines and institute
State the second parallel lines and the operation track of farm machinery is divided into multiple closed polygons.
S406：The area of the multiple closed polygon is calculated successively according to gridding method, to obtain the operation of farm machinery
Area.
Whole region can be divided into multiple continuous blocks, and then determine the block occupied by each closed polygon,
And then the effective area that the polygon calculates block shared by the polygon is calculated based on gridding method.
Specific calculation is as follows：
For block ABCD, if having, two polygons abcd and wxyz are intersecting therewith, and wherein ABCD and abcd has two friendships
1,2, ABCD of point and wxyz has two intersection points 3,4.
Block ABCD is divided into the minimum square net of the fixed length of side, travels through each net in rectangle ABCD in turn
Lattice, if the grid in the range of quadrangle abcd or in the range of quadrangle wxyz, as effective grid, effective grid face
Product sum is effective area.
Show that a kind of structure of track area real-time calculation device is shown disclosed in another embodiment of the present invention referring to Fig. 5
It is intended to.
As shown in Figure 5, the device includes：Sampling unit 1, positioning unit 2, closed polygon division unit 3 and calculating
Unit 4,
Wherein, sampling unit 1 is used for multiple location points that farm implements central point is gathered according to preset sample frequency, and will collection
To multiple location points send into positioning unit.
Positioning unit 2 connects multiple location points that sampling unit determines, to determine the initial bit in the multiple location point
Put point, flex point and terminal.
Closed polygon division unit 3 is used for according to the initial position, the flex point, the terminal and farm implements
The operation track of farm machinery is divided into multiple closed polygons by width.
Computing unit 4 is used for the area for calculating the multiple closed polygon successively according to gridding method, to obtain agricultural machine
The working area of tool.
Optionally, in other embodiment disclosed by the invention, the closed polygon division unit 3 includes following submodule
Block：Operation track determining module 31, the first line segment division module 32, second line segment division module 33 and closed polygon determine
Module 34.
Operation track determining module, for being sequentially connected the initial position, the flex point and the terminal, determine agriculture
With the operation track line of machinery；
First line segment division module, for determine the first vertical line of the initial position, the flex point angular bisector
And the second vertical line of the terminal；
Second line segment division module, for determining the first parallel lines and the second parallel lines of the operation track line, its
Described in the first parallel lines and second parallel lines be located at the both sides of the operation track line respectively, it is and described first parallel
Line and second parallel lines are apart from the half that the distance of the operation track line is the farm implements width；
Closed polygon determining module, for according to first vertical line, the angular bisector, second vertical line, institute
Multiple closed polygons will be divided into by the operation track of farm machinery by stating the first parallel lines and second parallel lines.
4 yuan of the list that calculates includes：
First computing module 41, the total number of the grid taken for calculating any closed polygon；
Second computing module 42, total of the grid taken for the area according to single grid and closed polygon
Number, calculate the area of the closed polygon.
It should be noted that the system embodiment is corresponding with embodiment of the method, its implementation procedure is identical with implementation principle,
Therefore not to repeat here.
Finally, it is to be noted that, 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 any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also the other element including being not expressly set out, or also include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except other identical element in the process including the key element, method, article or equipment being also present.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (6)
- A kind of 1. track area real-time computing technique, it is characterised in that including：According to multiple location points of preset sample frequency collection farm implements central point；Determine initial position, flex point and the terminal in the multiple location point；The operation track of farm machinery is drawn according to the width of the initial position, the flex point, the terminal and farm implements It is divided into multiple closed polygons；The area of the multiple closed polygon is calculated successively according to gridding method, to obtain the working area of farm machinery.
- 2. according to the method for claim 1, it is characterised in that it is described according to the initial position, it is the flex point, described The operation track of farm machinery is divided into multiple closed polygons by the width of terminal and farm implements, including：The initial position, the flex point and the terminal are sequentially connected, determines the operation track line of farm machinery；Using the initial position as intersection point, the first vertical line, the angular bisector of the flex point of the operation track line are determined And using the terminal as intersection point, determine the second vertical line of the operation track line；The first parallel lines and the second parallel lines of the operation track line are determined, wherein first parallel lines and described second Parallel lines are located at the both sides of the operation track line respectively, and described in first parallel lines and second parallel lines distance The distance of operation track line is the half of the farm implements width；According to first vertical line, the angular bisector, second vertical line, first parallel lines and described second parallel The operation track of farm machinery will be divided into multiple closed polygons by line.
- 3. according to the method for claim 1, it is characterised in that described to calculate the multiple closure successively according to gridding method more The area of side shape, including：By region division shared by the multiple closed polygon to be multiple adjacent, and equal-sized grid, calculate any closure The total number for the grid that polygon takes；The total number for the grid that area and closed polygon according to single grid take, calculate the face of the closed polygon Product.
- A kind of 4. track area real-time calculation device, it is characterised in that including：Sampling unit, for gathering multiple location points of farm implements central point according to preset sample frequency；Positioning unit, for determining initial position, flex point and terminal in the multiple location point；Closed polygon division unit, for the width according to the initial position, the flex point, the terminal and farm implements The operation track of farm machinery is divided into multiple closed polygons；Computing unit, for calculating the area of the multiple closed polygon successively according to gridding method, to obtain farm machinery Working area.
- 5. device according to claim 4, it is characterised in that the closed polygon division unit includes：Operation track determining module, for being sequentially connected the initial position, the flex point and the terminal, determine agricultural machine The operation track line of tool；First line segment division module, for using the initial position as intersection point, determining described in the operation track line One vertical line, the angular bisector of the flex point and using the terminal as intersection point, determine the second vertical line of the operation track line；Second line segment division module, for determining the first parallel lines and the second parallel lines of the operation track line, wherein institute State the first parallel lines and second parallel lines respectively be located at the operation track line both sides, and first parallel lines and Second parallel lines are apart from the half that the distance of the operation track line is the farm implements width；Closed polygon determining module, for according to first vertical line, the angular bisector, second vertical line, described The operation track of farm machinery is divided into multiple closed polygons by one parallel lines and second parallel lines.
- 6. device according to claim 4, it is characterised in that the computing unit includes：First computing module, with by region division shared by the multiple closed polygon to be multiple adjacent, and equal-sized net Lattice, calculate the total number for the grid that any closed polygon takes；Second computing module, the total number of the grid taken for the area according to single grid and closed polygon, is calculated The area of the closed polygon.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610528147.7A CN107577906A (en) | 2016-07-04 | 2016-07-04 | A kind of track area real-time computing technique and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610528147.7A CN107577906A (en) | 2016-07-04 | 2016-07-04 | A kind of track area real-time computing technique and device |
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| CN107577906A true CN107577906A (en) | 2018-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610528147.7A Withdrawn CN107577906A (en) | 2016-07-04 | 2016-07-04 | A kind of track area real-time computing technique and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109631750A (en) * | 2018-12-18 | 2019-04-16 | 深圳市沃特沃德股份有限公司 | Mapping method, device, computer equipment and storage medium |
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| KR20110067902A (en) * | 2009-12-15 | 2011-06-22 | 한국전자통신연구원 | Mobile terminal having function for measuring area |
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| CN109631750A (en) * | 2018-12-18 | 2019-04-16 | 深圳市沃特沃德股份有限公司 | Mapping method, device, computer equipment and storage medium |
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