CN109635429A - Pavement construction machinery equipment and its construction area extracting method, system and storage medium - Google Patents
Pavement construction machinery equipment and its construction area extracting method, system and storage medium Download PDFInfo
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Abstract
The invention proposes a kind of construction area extracting method, extraction system, pavement construction machinery equipment and computer readable storage mediums, wherein construction area extracting method includes: that the first closed curve is surrounded in presumptive area；Obtain the minimum circumscribed rectangle of the first closed curve；Minimum circumscribed rectangle is zoomed in and out towards its geometric center, obtains target rectangle, target rectangle is construction area.Construction area extracting method provided by the invention can extract the construction rectangle for being most suitable for construction in enclosed region, realize automatic operation.
Description
Technical field
The present invention relates to technical field of engineering machinery, in particular to a kind of construction area extracting method, a kind of construction
Extracted region system, a kind of pavement construction machinery equipment and a kind of computer readable storage medium.
Background technique
With the continuous development of unmanned technology, in addition some construction environments of engineering machinery are more special single, it is more next
Nobody more automatic Project case Ying Yu specifically construct in scene in engineering machinery.Some of them earth work, construction period
Long, place is fixed, and constructing for driver, operating condition is severe, and the unmanned construction of pavement construction machinery equipment should be needed and be given birth to.
The unmanned construction of current pavement construction machinery equipment mainly consists of three parts, accurately positioning system, platform planning system
System and single machine automatic construction system.Wherein platform planning system major function is according to the construction area at scene, the quantity of equipment
And construction technology, complete the generation in construction path and the distribution of construction task.The acquisition of construction area still needs to very important person at present
Work is completed, cumbersome based on pavement construction machinery equipment, is turned to slowly, final construction area is also mostly based on rectangle.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.
For this purpose, first aspect present invention provides a kind of construction area extracting method.
Second aspect of the present invention provides a kind of construction area extraction system.
Third aspect present invention provides a kind of pavement construction machinery equipment.
Fourth aspect present invention provides a kind of computer readable storage medium.
First aspect present invention proposes a kind of construction area extracting method, comprising: the first envelope is surrounded in presumptive area
Closed curve；Obtain the minimum circumscribed rectangle of the first closed curve；Minimum circumscribed rectangle is zoomed in and out towards its geometric center, is obtained
To target rectangle, target rectangle is construction area.
Construction area extracting method provided by the invention is being applied first by separate unit pavement construction machinery or moveable terminal
Workshop surrounds the first closed curve on the ground, and the first closed curve is stored in platform, then obtains the first closed curve most
Small boundary rectangle, after the minimum circumscribed rectangle to be obtained to first closed curve, on the basis of minimum circumscribed rectangle, towards it
Geometric center zooms in and out, and obtains target rectangle, and target rectangle is construction area.Significantly, since construction needs,
Therefore need in the first closed curve obtain area construction rectangle maximum as far as possible, the present invention be by separate unit pavement construction machinery,
Or moveable terminal, on construction ground on, enclose an enclosed region, then obtain the minimum circumscribed rectangle of the enclosed region
And it scales it, and then the construction rectangle for being most suitable for construction, the i.e. biggish construction rectangle of area are extracted in enclosed region.
Above-mentioned construction area extracting method according to the present invention, can also have following additional technical feature:
In the above-mentioned technical solutions, it is preferable that the step of obtaining the minimum circumscribed rectangle of the first closed curve, it is specific to wrap
It includes: in a coordinate system, obtaining the abscissa x and ordinate y of each point on the first closed curve, find out the smallest abscissa xmin,
The smallest ordinate ymin, maximum abscissa xmax, maximum ordinate ymax；With (xmin, ymin)、(xmin, ymax)、(xmax,
ymin)、(xmax, ymax) it is vertex, the first boundary rectangle of the first closed curve is obtained, and calculate the area of the first boundary rectangle；
First closed curve is carried out by predetermined angle towards first direction to i rotation respectively, obtains i closed curve；In coordinate system
In, the abscissa and ordinate of each point on i closed curve are obtained respectively, find out the smallest cross on i closed curve respectively
Coordinate x1min……ximin, the smallest ordinate y1min……yimin, maximum abscissa x1max……ximax, maximum vertical seat
Mark y1max……yimax；Respectively with (x1min, y1min)、(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is top
Point ... ..., with (ximin, yimin)、(ximin, yimax)、(ximax, yimin)、(ximax, yimax) it is vertex, it is bent to obtain i closing
The boundary rectangle of line, and calculate the area of i boundary rectangle；The area for comparing i boundary rectangle and the first boundary rectangle, obtains
Minimum circumscribed rectangle and corresponding target closed curve.
In the technical scheme, the step of obtaining the minimum circumscribed rectangle of the first closed curve, specifically includes: initially setting up
Rectangular coordinate system, and the abscissa x and ordinate y that each is put on the first closed curve are obtained in rectangular coordinate system, then
Find out the smallest abscissa xmin, the smallest ordinate ymin, maximum abscissa xmax, maximum ordinate ymax, with (xmin,
ymin)、(xmin, ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, the first boundary rectangle of the first closed curve is obtained, is calculated
The area of first boundary rectangle, and note down；Then the first closed curve is pressed into predetermined angle towards first according to predetermined angle
Direction carries out i rotation respectively, obtains i closed curve, can be to rotate clockwise specifically；Obtaining i closed curve
Afterwards, the smallest abscissa x1 on i closed curve is found out respectively againmin……ximin, the smallest ordinate y1min……
yimin, maximum abscissa x1max……ximax, maximum ordinate y1max……yimax, respectively with (x1min, y1min)、
(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is vertex ... ..., with (ximin, yimin)、(ximin, yimax)、
(ximax, yimin)、(ximax, yimax) it is vertex, i boundary rectangle is obtained, the area of i boundary rectangle and progress are calculated separately
Record.It is worth noting that, every rotation once obtains a boundary rectangle, i boundary rectangle is obtained altogether, thus, it is possible to obtain
Obtain i boundary rectangle and its area.Finally, the area of more above-mentioned i boundary rectangle and the first boundary rectangle, obtains outside minimum
Rectangle and target closed curve are connect, target closed curve is closed curve corresponding with minimum circumscribed rectangle after rotating.Value
It obtains it is noted that obtaining the mode of the boundary rectangle of closed interval has very much, and the present invention is with (ximin, yimin)、(ximin,
yimax)、(ximax, yimin)、(ximax, yimax) it is that vertex to simplify difficulty in computation, and is applied using simplest acquisition modes
The area in work area domain be to rotation angle it is relevant, the angle rotated every time is smaller, and finally obtained construction area is more accurate, face
Product is also bigger.
Specifically, the first closed curve is rotated according to following rotation formula, obtains the i-th closed curve:
Xi=cos (θ/180 × π) × x1+sin (θ/180 × π) × y1；
Yi=-sin (θ/180 × π) × x1+cos (θ/180 × π) × y1, wherein θ is predetermined angle.
In any of the above-described technical solution, it is preferable that in the step of the relatively area of i boundary rectangle and the first boundary rectangle
Before rapid, further includes: obtain first rotation angle of i-th of closed curve relative to the first closed curve；Wherein, the first rotation
Angle be greater than or equal to 180 °, (i-1)-th closed curve relative to the first closed curve rotation angle less than 180 °.
In the technical scheme, before the area of relatively i boundary rectangle the step of, further includes: obtain i-th of closing
Curve rotates angle relative to the first of the first closed curve, then judges whether the first rotation angle is greater than or equal to 180 °,
When the first rotation angle is less than 180 °, continuation is rotated i-th of closed curve with predetermined angle, until the first rotation angle
Degree is greater than or equal to 180 °.Pass through above-mentioned judgement, it is ensured that the degree of rotation of the first closed curve, it is external with what is ensured
Rectangle is the minimum circumscribed rectangle of the first closed curve.Significantly, since symmetric relation, therefore only need the first closing bent
Line rotates 180 °.
Specifically, when judging the area of i boundary rectangle, can directly sentence after rotating the first closed curve i times
The area of disconnected i boundary rectangle, also formerly judges the size of the first boundary rectangle and the second boundary rectangle, then will wherein
Biggish one compared with third boundary rectangle, and so on, until obtain minimum circumscribed rectangle.
In any of the above-described technical solution, it is preferable that after the step of zooming in and out minimum circumscribed rectangle, also wrap
It includes: the second rotation angle for obtaining target closed curve relative to the first closed curve；By target rectangle by the second rotation angle
It is rotated towards second direction, obtains construction area, wherein second direction is opposite with first direction.
In the technical scheme, it is contemplated that it is to obtain minimum circumscribed rectangle by way of rotating the first closed curve,
Therefore, in order to ensure that the relative position of finally obtained target rectangle and the first closed curve is obtained after obtaining minimum circumscribed rectangle
Target closed curve is taken to rotate angle relative to the second of the first closed curve, then by target rectangle by the second rotation angle court
Reverse rotation is carried out to second direction, its initial position relative to the first closed curve is obtained, to guarantee the accurate of construction area
Property.
Specifically, the i-th closed curve carries out reverse rotation with following rotation formula, to obtain the first closed curve:
X1=cos (- θ i/180 × π) × xi+sin (- θ i/180 × π) × yi；
Y1=-sin (- θ i/180 × π) × xi+cos (- θ i/180 × π) × yi, wherein θ i is the second rotation angle.
In any of the above-described technical solution, it is preferable that zoom in and out minimum circumscribed rectangle towards its geometric center, obtain
The step of target rectangle, specifically includes: zooming in and out minimum circumscribed rectangle towards its geometric center by preset step-length；Judgement is most
Whether the vertex after small boundary rectangle scaling is entirely located in inside closed curve；Vertex after minimum circumscribed rectangle scaling does not have
When being entirely located in inside closed curve, continue to scale, until the vertex after minimum circumscribed rectangle scaling is respectively positioned on closing song
Inside line, to obtain target rectangle.
In the technical scheme, in the step of zooming in and out minimum circumscribed rectangle towards its geometric center, first with
On the basis of minimum circumscribed rectangle, then minimum circumscribed rectangle is zoomed in and out towards its geometric center, then judgement is minimum external
Whether the vertex after rectangular zoom is entirely located in inside closed curve, and vertex after minimum circumscribed rectangle scaling is without whole positions
When inside closed curve, continue to scale, until the vertex after minimum circumscribed rectangle scaling is respectively positioned on inside closed curve,
To obtain target rectangle.
Second aspect of the present invention proposes a kind of construction area extraction system, comprising: acquiring unit, in presumptive area
Inside surround the first closed curve；Processing unit, for obtaining the minimum circumscribed rectangle of the first closed curve, and by minimum external square
Shape is zoomed in and out towards its geometric center, obtains target rectangle, and target rectangle is construction area.
Construction area extraction system provided by the invention includes mutually matched acquiring unit and processing unit, wherein is obtained
Take unit to pass through separate unit pavement construction machinery or moveable terminal first, on construction ground on surround the first closed curve, and by
One closed curve is stored in platform, and then processing unit obtains the minimum circumscribed rectangle of the first closed curve, it is to be obtained to this
After the minimum circumscribed rectangle of one closed curve, on the basis of minimum circumscribed rectangle, is zoomed in and out towards its geometric center, obtain mesh
Rectangle is marked, which is construction area.Significantly, since construction needs, it is therefore desirable to bent in the first closing
Area construction rectangle maximum as far as possible is obtained in line, the present invention is being applied by separate unit pavement construction machinery or moveable terminal
On the ground, an enclosed region is enclosed, the minimum circumscribed rectangle of the enclosed region is then obtained and scales it, and then closed area in workshop
The construction rectangle for being most suitable for construction, the i.e. biggish construction rectangle of area are extracted in domain.
Above-mentioned construction area extraction system according to the present invention, can also have following additional technical feature:
In the above-mentioned technical solutions, it is preferable that processing unit is specifically used for: in a coordinate system, obtaining the first closed curve
The abscissa x and ordinate y of upper each point, find out the smallest abscissa xmin, the smallest ordinate ymin, maximum abscissa
xmax, maximum ordinate ymax；With (xmin, ymin)、(xmin, ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, obtain first
First boundary rectangle of closed curve, and calculate the area of the first boundary rectangle；First closed curve is pressed into predetermined angle direction
First direction carries out i rotation respectively, obtains i closed curve；In a coordinate system, it obtains respectively each on i closed curve
The abscissa and ordinate of point；The smallest abscissa x1 on i closed curve is found out respectivelymin……ximin, the smallest ordinate
y1min……yimin, maximum abscissa x1max……ximax, maximum ordinate y1max……yimax；Respectively with (x1min,
y1min)、(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is vertex ... ..., (ximin, yimin)、(ximin, yimax)、
(ximax, yimin)、(ximax, yimax) it is vertex, the boundary rectangle of i closed curve is obtained, and calculate the face of i boundary rectangle
Product；The area for comparing i boundary rectangle and the first boundary rectangle obtains minimum circumscribed rectangle and the closing of corresponding target
Curve.
In the technical scheme, the step of obtaining the minimum circumscribed rectangle of the first closed curve, specifically includes: initially setting up
Rectangular coordinate system, and the abscissa x and ordinate y that each is put on the first closed curve are obtained in rectangular coordinate system, then
Find out the smallest abscissa xmin, the smallest ordinate ymin, maximum abscissa xmax, maximum ordinate ymax, with (xmin,
ymin)、(xmin, ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, the first boundary rectangle of the first closed curve is obtained, is calculated
The area of first boundary rectangle, and note down；Then according to predetermined angle by the first closed curve towards first direction respectively into
Row i times rotation, obtains i closed curve, can be to rotate clockwise specifically；After obtaining i closed curve, look for again
The smallest abscissa x1 on i closed curve outmin……ximin, the smallest ordinate y1min……yimin, maximum abscissa
x1max……ximax, maximum ordinate y1max……yimax, respectively with (x1min, y1min)、(x1min, y1max)、(x1max,
y1min)、(x1max, y1max) it is vertex ... ..., with (ximin, yimin)、(ximin, yimax)、(ximax, yimin)、(ximax,
yimax) it is vertex, the boundary rectangle of i closed curve is obtained respectively, is calculated the area of i boundary rectangle and is recorded, is worth
It is noted that it is every rotation with once obtain a boundary rectangle, altogether acquisition i boundary rectangle；Thus, it is possible to obtain i
Boundary rectangle and its area, finally, the area of more above-mentioned i boundary rectangle and the first boundary rectangle, obtains minimum external square
Shape and target closed curve, target closed curve are closed curve corresponding with minimum circumscribed rectangle after rotating.It is worth note
Meaning, the mode for obtaining the boundary rectangle of closed interval has very much, and the present invention is with (ximin, yimin)、(ximin, yimax)、
(ximax, yimin)、(ximax, yimax) it is vertex, using simplest acquisition modes, to simplify difficulty in computation, and construction area
Area be it is relevant to rotation angle, the angle rotated every time is smaller, and finally obtained construction area is more accurate, and area is also
It is bigger.
Specifically, the first closed curve is rotated according to following rotation formula, obtains the i-th closed curve:
Xi=cos (θ/180 × π) × x1+sin (θ/180 × π) × y1；
Yi=-sin (θ/180 × π) × x1+cos (θ/180 × π) × y1, wherein θ is predetermined angle.
In any of the above-described technical solution, it is preferable that processing unit is specifically used for: in the area of relatively i boundary rectangle
The step of before, further includes: obtain the i-th closed curve relative to the first closed curve first rotate angle；Wherein, the first rotation
Gyration be greater than or equal to 180 °, (i-1)-th closed curve relative to the first closed curve rotation angle less than 180 °.
In the technical scheme, before the area of relatively i boundary rectangle the step of, further includes: it is bent to obtain the i-th closing
Line rotates angle relative to the first of the first closed curve, then judges whether the first rotation angle is greater than or equal to 180 °, when
When first rotation angle is less than 180 °, continuation is rotated the i-th closed curve with predetermined angle, until the first rotation angle is big
In or equal to 180 °.Pass through above-mentioned judgement, it is ensured that the degree of rotation of the first closed curve, with the boundary rectangle ensured
For the minimum circumscribed rectangle of the first closed curve.Significantly, since symmetric relation, therefore the first closed curve is only needed to revolve
Turn 180 °.
Specifically, when judging the area of i boundary rectangle, can directly sentence after rotating the first closed curve i times
The area of disconnected i boundary rectangle, also formerly judges the size of the first boundary rectangle and the second boundary rectangle, then will wherein
Biggish one compared with third boundary rectangle, and so on, until obtain minimum circumscribed rectangle.
In any of the above-described technical solution, it is preferable that processing unit is specifically used for: being zoomed in and out by minimum circumscribed rectangle
The step of after, further includes: obtain target closed curve relative to the first closed curve second rotate angle；By target rectangle
It is rotated by the second rotation angle towards second direction, obtains construction area, wherein second direction is opposite with first direction.
In the technical scheme, it is contemplated that it is to obtain minimum circumscribed rectangle by way of rotating the first closed curve,
Therefore, in order to ensure that the relative position of finally obtained target rectangle and the first closed curve is obtained after obtaining minimum circumscribed rectangle
Target closed curve is taken to rotate angle relative to the second of the first closed curve, then by target rectangle by the second rotation angle court
Reverse rotation is carried out to second direction, its initial position relative to the first closed curve is obtained, to guarantee the accurate of construction area
Property.
Specifically, the i-th closed curve carries out reverse rotation with following rotation formula, to obtain the first closed curve:
X1=cos (- θ i/180 × π) × xi+sin (- θ i/180 × π) × yi；
Y1=-sin (- qi/180 × p) × xi+cos (- qi/180 × p) × yi, wherein θ i is the second rotation angle.
In any of the above-described technical solution, it is preferable that processing unit is specifically used for: by minimum circumscribed rectangle towards its geometry
The step of center zooms in and out, and obtains target rectangle, specifically includes: by preset step-length by minimum circumscribed rectangle towards in its geometry
The heart zooms in and out；Whether the vertex after sentencing minimum circumscribed rectangle scaling is entirely located in inside closed curve；Work as minimum circumscribed rectangle
When vertex after scaling is not entirely located in inside closed curve, continue to scale, until after minimum circumscribed rectangle scaling
Vertex is respectively positioned on inside closed curve, to obtain target rectangle.
In the technical scheme, in the step of zooming in and out minimum circumscribed rectangle towards its geometric center, first with
On the basis of minimum circumscribed rectangle, then minimum circumscribed rectangle is zoomed in and out towards its geometric center, then judgement is minimum external
Whether the vertex after rectangular zoom is entirely located in inside closed curve, and vertex after minimum circumscribed rectangle scaling is without whole positions
When inside closed curve, continue to scale, until the vertex after minimum circumscribed rectangle scaling is respectively positioned on inside closed curve,
To obtain target rectangle.
Third aspect present invention proposes a kind of pavement construction machinery equipment, comprising: any one of second aspect of the present invention technical side
The construction area extraction system of case.
Pavement construction machinery equipment provided by the invention, the construction area extraction system including any of the above-described technical solution, therefore
Whole beneficial effects with above-mentioned construction area extraction system, details are not described herein.
The fourth aspect of the present invention proposes a kind of computer readable storage medium, is stored thereon with computer program, meter
Calculation machine program unit processed realizes the construction area extracting method such as any one of first aspect present invention technical solution when executing.
Therefore, with whole beneficial effects of above-mentioned construction area extracting method.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 shows the flow chart of the construction area extracting method of one embodiment of the present of invention；
Fig. 2 shows the flow charts of the construction area extracting method of a specific embodiment of the invention；
Fig. 3 shows the flow chart of the construction area extracting method of another specific embodiment of the invention；
Fig. 4 is the operation schematic diagram of the construction area extracting method of embodiment illustrated in fig. 3；
Fig. 5 is the operation schematic diagram of the construction area extracting method of embodiment illustrated in fig. 3；
Fig. 6 shows the schematic block diagram of the construction area extraction system of one embodiment of the present of invention.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, implementation of the invention
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
Implement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public tool
The limitation of body embodiment.
The construction area extracting method provided according to some embodiments of the invention, construction are described referring to Fig. 1 to Fig. 6
Extracted region system 400, pavement construction machinery equipment and computer readable storage medium.
Fig. 1 shows construction area extracting method according to an embodiment of the invention.As shown in Figure 1, the construction area
Domain extracting method includes:
S102 surrounds the first closed curve in presumptive area；
S104 obtains the minimum circumscribed rectangle of the first closed curve；
S106 zooms in and out minimum circumscribed rectangle towards its geometric center, obtains target rectangle, and target rectangle is to apply
Work area domain.
Construction area extracting method provided by the invention is being applied first by separate unit pavement construction machinery or moveable terminal
Workshop surrounds the first closed curve on the ground, and the first closed curve is stored in platform, then obtains the first closed curve most
Small boundary rectangle, after the minimum circumscribed rectangle to be obtained to first closed curve, on the basis of minimum circumscribed rectangle, towards it
Geometric center zooms in and out, and obtains target rectangle, which is construction area.Significantly, since construction needs
It wants, it is therefore desirable to area construction rectangle maximum as far as possible is obtained in the first closed curve, the present invention is by separate unit road surface machine
Tool or moveable terminal, on construction ground on, enclose an enclosed region, then obtain the enclosed region minimum it is external
Rectangle simultaneously scales it, and then the construction rectangle for being most suitable for construction, the i.e. biggish construction square of area are extracted in enclosed region
Shape.
In one embodiment of the invention, it is preferable that the step of obtaining the minimum circumscribed rectangle of the first closed curve, tool
Body includes: in a coordinate system, to obtain the abscissa x and ordinate y of each point on the first closed curve, find out the smallest abscissa
xmin, the smallest ordinate ymin, maximum abscissa xmax, maximum ordinate ymax；With (xmin, ymin)、(xmin, ymax)、
(xmax, ymin)、(xmax, ymax) it is vertex, the first boundary rectangle of the first closed curve is obtained, and calculate the first boundary rectangle
Area；First closed curve is carried out by predetermined angle towards first direction to i rotation respectively, obtains i closed curve；?
In coordinate system, the abscissa of each point and ordinate on i closed curve are obtained respectively and finds out minimum on i closed curve respectively
Abscissa x1min……ximin, the smallest ordinate y1min……yimin, maximum abscissa x1max……ximax, maximum
Ordinate y1max……yimax；Wherein, x1minIndicate the minimum value of the abscissa of the 1st closed curve, y1minIndicate the 1st envelope
The minimum value of the ordinate of closed curve, x1maxIndicate the maximum value of the abscissa of the 1st closed curve, y1maxIndicate the 1st envelope
The maximum value of the ordinate of closed curve, and so on, respectively with (x1min, y1min)、(x1min, y1max)、(x1max, y1min)、
(x1max, y1max) it is vertex ... ..., with (ximin, yimin)、(ximin, yimax)、(ximax, yimin)、(ximax, yimax)
For vertex, the boundary rectangle of i closed curve is obtained, and calculates the area of i boundary rectangle；Compare i boundary rectangle and
The area of one boundary rectangle obtains minimum circumscribed rectangle and corresponding target closed curve.
In this embodiment, the step of obtaining the minimum circumscribed rectangle of the first closed curve, specifically includes: initially setting up straight
Angular coordinate system, and the abscissa x and ordinate y that each is put on the first closed curve are obtained in rectangular coordinate system, then look for
The smallest abscissa x outmin, the smallest ordinate ymin, maximum abscissa xmax, maximum ordinate ymax, with (xmin,
ymin)、(xmin, ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, the first boundary rectangle of the first closed curve is obtained, is calculated
The area of first boundary rectangle, and note down；Then according to predetermined angle by the first closed curve towards first direction respectively into
Row i times rotation, obtains i closed curve, it is notable that and it is every to rotate and once obtain a boundary rectangle, i is obtained altogether
A boundary rectangle；After obtaining the i-th closed curve, the smallest abscissa x1 on i closed curve is found out respectively againmin……
ximin, the smallest ordinate y1min……yimin, maximum abscissa x1max……ximax, maximum ordinate y1max……
yimax, respectively with (x1min, y1min)、(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is vertex ... ..., with
(ximin, yimin)、(ximin, yimax)、(ximax, yimin)、(ximax, yimax) it is vertex, the outer of i closed curve is obtained respectively
Rectangle is connect, and the area for calculating separately i boundary rectangle is recorded；Thus, it is possible to i boundary rectangle and its area are obtained,
Finally, the area of more above-mentioned i boundary rectangle and the first boundary rectangle, obtains minimum circumscribed rectangle and target closed curve,
Target closed curve is closed curve corresponding with minimum circumscribed rectangle after rotating.It is worth noting that, obtaining enclosed area
Between the mode of boundary rectangle have very much, and the present invention is with (ximin, yimin)、(ximin, yimax)、(ximax, yimin)、(ximax,
yimax) it is vertex, using simplest acquisition modes, to simplify difficulty in computation, and the area of construction area is and rotation angle
Relevant, the angle rotated every time is smaller, and finally obtained construction area is more accurate, and area is also bigger.
In specific embodiment, the first closed curve is rotated according to following rotation formula, obtains the i-th closed curve:
Xi=cos (θ/180 × π) × x1+sin (θ/180 × π) × y1；
Yi=-sin (θ/180 × π) × x1+cos (θ/180 × π) × y1, wherein θ is predetermined angle.
In one embodiment of the invention, it is preferable that before the area of relatively i boundary rectangle the step of, also
It include: to obtain i-th of closed curve to rotate angle relative to the first of the first closed curve；Wherein, the first rotation angle is greater than
Or be equal to 180 °, (i-1)-th closed curve relative to the first closed curve rotation angle less than 180 °.
In this embodiment, before the area of relatively i boundary rectangle the step of, further includes: obtain the i-th closed curve
First relative to the first closed curve rotates angle, then judge that first rotates whether angle is greater than or equal to 180 °, when the
When one rotation angle is less than 180 °, continuation is rotated the i-th closed curve with predetermined angle, until the first rotation angle is greater than
Or it is equal to 180 °.Pass through above-mentioned judgement, it is ensured that the degree of rotation of the first closed curve is with the boundary rectangle ensured
The minimum circumscribed rectangle of first closed curve.Significantly, since symmetric relation, therefore the first closed curve is only needed to rotate
180 °.
Specifically, when judging the area of i boundary rectangle, can directly sentence after rotating the first closed curve i times
The area of disconnected i boundary rectangle, also formerly judges the size of the first boundary rectangle and the second boundary rectangle, then will wherein
Biggish one compared with third boundary rectangle, and so on, until obtain minimum circumscribed rectangle.
In one embodiment of the invention, it is preferable that after the step of zooming in and out minimum circumscribed rectangle, also wrap
It includes: the second rotation angle for obtaining target closed curve relative to the first closed curve；By target rectangle by the second rotation angle
It is rotated towards second direction, obtains construction area, wherein second direction is opposite with first direction.
In this embodiment, it is contemplated that be to obtain minimum circumscribed rectangle by way of rotating the first closed curve, be
The relative position for guaranteeing finally obtained target rectangle and the first closed curve obtains target after obtaining minimum circumscribed rectangle
Closed curve rotates angle relative to the second of the first closed curve, then by target rectangle by the second rotation angle direction second
Direction carries out reverse rotation, its initial position relative to the first closed curve is obtained, to guarantee the accuracy of construction area.
In specific embodiment, the i-th closed curve carries out reverse rotation with following rotation formula, to obtain the first closing song
Line:
X1=cos (- θ i/180 × π) × xi+sin (- θ i/180 × π) × yi；
Y1=-sin (- θ i/180 × π) × xi+cos (- θ i/180 × π) × yi, wherein θ i is the second rotation angle.
In one embodiment of the invention, it is preferable that minimum circumscribed rectangle is zoomed in and out towards its geometric center, is obtained
It the step of to target rectangle, specifically includes: zooming in and out minimum circumscribed rectangle towards its geometric center by preset step-length；Judgement
Whether the vertex after minimum circumscribed rectangle scaling is entirely located in inside closed curve；Vertex after minimum circumscribed rectangle scaling does not have
When being entirely located in inside closed curve, continue to scale, until the vertex after minimum circumscribed rectangle scaling is respectively positioned on closing
Curvilinear inner, to obtain target rectangle.
In this embodiment, minimum circumscribed rectangle is being zoomed in and out towards its geometric center (the cornerwise intersection point of rectangle)
The step of in, first on the basis of minimum circumscribed rectangle, then minimum circumscribed rectangle is zoomed in and out towards its geometric center, so
Whether the vertex after judging minimum circumscribed rectangle scaling afterwards is entirely located in inside closed curve, after minimum circumscribed rectangle scaling
When vertex is not entirely located in inside closed curve, continue to scale, until the equal position in vertex after minimum circumscribed rectangle scaling
Inside closed curve, to obtain target rectangle.
Specifically, the length direction of minimum circumscribed rectangle and width direction can be using equal proportion scaling or the contractings of non-equal proportion
It puts.
Fig. 2 shows the construction area extracting methods of a specific embodiment according to the present invention.As shown in Fig. 2, this is mentioned
The method is taken to include:
S202 surrounds the first closed curve in presumptive area；
S204 obtains the abscissa x and ordinate y of each point on the first closed curve, finds out the smallest in a coordinate system
Abscissa xmin, the smallest ordinate ymin, maximum abscissa xmax, maximum ordinate ymax；
S206, with (xmin, ymin)、(xmin, ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, obtain the first closed curve
The first boundary rectangle, and calculate the first boundary rectangle area；
First closed curve is carried out i rotation by S208 respectively by predetermined angle towards first direction, obtains i closing
Curve；
S210 obtains the abscissa and ordinate of each point on i closed curve respectively, finds out i respectively in a coordinate system
The smallest abscissa x1 on a closed curvemin……ximin, the smallest ordinate y1min……yimin, maximum abscissa
x1max……ximax, maximum ordinate y1max……yimax；
S212, respectively with (x1min, y1min)、(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is top
Point ... ..., with (ximin, yimin)、(ximin, yimax)、(ximax, yimin)、(ximax, yimax) it is vertex, it is bent to obtain i closing
The boundary rectangle of line, and calculate the area of i boundary rectangle；
S214 obtains first rotation angle of i-th of closed curve relative to the first closed curve；
S216, judges whether the first rotation angle is greater than or equal to 180 °, when the judgment result is yes, executes S220, no
Then execute S218；
I-th of closed curve is continued to rotate by S218 by predetermined angle, until the first rotation angle is greater than or equal to
180°；
S220 compares the area of i boundary rectangle and the first boundary rectangle, obtains minimum circumscribed rectangle and corresponds
Target closed curve；
S222 is zoomed in and out minimum circumscribed rectangle towards its geometric center by preset step-length；
Whether S224, the vertex after judging minimum circumscribed rectangle scaling are entirely located in inside closed curve, work as judging result
When to be, S228 is executed, S226 is otherwise executed；
S226 continues to scale, until the vertex after minimum circumscribed rectangle scaling is respectively positioned on inside closed curve；
S228 obtains second rotation angle of the target closed curve relative to the first closed curve；
S230 is rotated minimum circumscribed rectangle by the second rotation angle towards second direction；
S232, obtains target rectangle, and target rectangle is construction area.
Construction area extracting method provided by the present invention passes through separate unit pavement construction machinery or moveable terminal first,
The first closed curve is surrounded on construction site, and the first closed curve is stored in platform, then with (xmin, ymin)、(xmin,
ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, the first boundary rectangle of the first closed curve is obtained, and it is external to calculate first
Then first closed curve is carried out i rotation by the area of rectangle respectively according to predetermined angle θ towards side, obtain i closing
Curve；After acquiring i closed curve, the abscissa x and ordinate of i closed curve of i closed curve are obtained again
Y, then respectively with (x1min, y1min)、(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is vertex ... ..., with
(ximin, yimin)、(ximin, yimax)、(ximax, yimin)、(ximax, yimax) it is vertex, the i of i closed curve is obtained respectively
A boundary rectangle, and the area of i boundary rectangle is calculated, specifically, the first closed curve is carried out according to following rotation formula
Rotation, obtains i closed curve: xi=cos (θ/180 × π) × x1+sin (θ/180 × π) × y1；Yi=-sin (θ/180 ×
π)×x1+cos(θ/180×π)×y1.By the above-mentioned means, available i boundary rectangle.It is worth noting that, to
During one closed curve is rotated, need to judge first rotation angle of i-th closed curve relative to the first closed curve
Degree calculates the area of above-mentioned i boundary rectangle when the first rotation angle is greater than or equal to 180 °, the smallest to obtain area
Boundary rectangle and corresponding target closed curve；And if the first rotation angle less than 180 °, needs to continue according to pre-
If angle, θ is rotated, until the first rotation angle is greater than or equal to 180 ° of positions；After obtaining minimum circumscribed rectangle, by pre-
If step-length zooms in and out minimum circumscribed rectangle towards its geometric center.Specifically, every once to be scaled during scaling
Whether the vertex of the minimum circumscribed rectangle after just judging scaling is entirely located in inside closed curve, when the judgment result is no, after
It is continuous to zoom in and out until the vertex of the minimum circumscribed rectangle after scaling is respectively positioned on inside closed curve；Minimum after scaling is external
After the vertex of rectangle is respectively positioned on closed curve inside, second rotation angle of the target closed curve relative to the first closed curve is obtained
θ i is spent, the minimum circumscribed rectangle after scaling is then subjected to reverse rotation according to the second rotation angle, θ i, obtains target rectangle, specifically
Ground, the i-th closed curve carry out reverse rotation with following rotation formula, to obtain the first closed curve: x1=cos (- θ i/180 ×
π)×xi+sin(-θi/180×π)×yi；Y1=-sin (- qi/180 × p) × xi+cos (- qi/180 × p) × yi.Target
Rectangle is construction area, i.e. the first maximum rectangle of closed curve internal area.
Fig. 3 shows the construction area extracting method of another specific embodiment according to the present invention.As shown in figure 3, should
Extracting method includes:
S302, construction site closed curve；
S304, rotation increase setting step-length angle；
S306 calculates boundary rectangle area；
S308 judges to rotate angle less than 180 °, when result, which is, is, executes S310, otherwise repeatedly S304 and S306；
S310 obtains minimum circumscribed rectangle and records the rotation angle of minimum circumscribed rectangle；
S312, based on minimum circumscribed rectangle, four coordinate point step sizes are scaled toward center；
S314 judges four points whether inside closed curve, when result, which is, is, executes S316, otherwise repeatedly S312；
S316 obtains the single rectangle of maximum in closed curve；
S318, the angle that reverse rotation records before obtain construction area.
In this specific embodiment, construction area extracting method, work step are as follows:
1) by separate unit pavement construction machinery or moveable terminal, on construction ground on, enclose a construction area, platform
Store the curve data；
2) in a coordinate system, as shown in figure 4, obtaining the maximum x of the closed curve, y-coordinate xmax、ymaxAnd minimum x, y are sat
Mark xmin、ymin., obtain the boundary rectangle (x parallel with coordinate systemmin, ymin)(xmin, ymax)(xmax, ymax)(xmax, ymin), meter
Calculate the area of boundary rectangle；
3) in a coordinate system, as shown in figure 4, increasing angle by setting step-length, angle, θ 1 is obtained, curve data all presses θ 1
Rotation, obtains new curve data；Formula is as follows:
Xi=cos (1/180 × π of θ) × x1+sin (1/180 × π of θ) × y1；
Yi=-sin (1/180 × π of θ) × x1+cos (1/180 × π of θ) × y1；
4) according to method 2), new curve data obtains new boundary rectangle；Calculate boundary rectangle area, and with before
Boundary rectangle area compare, obtain the smallest boundary rectangle, save the boundary rectangle coordinate and rotation angle；
5) when rotating angle no more than 180 degree, continue to obtain θ i by setting step-length increase angle, curve data is all pressed
θ i rotation, finally obtains i-th of boundary rectangle, and saves the smallest boundary rectangle coordinate and rotation angle.
6) when rotating angle and being more than 180 degree, all boundary rectangles before searching for, and obtain minimum circumscribed rectangle coordinate
And rotation angle；
7) on the basis of minimum circumscribed rectangle coordinate, as shown in figure 5, reduced according to certain step-length to its geometric center,
The direction x, y reduces step-length, the length and width with rectangle, when four points of rectangular coordinates are retracted to, when the curvilinear inner of the rotation angle line,
Rectangle after record scaling；
8) by the boundary rectangle after scaling, as shown in figure 5, pressing corresponding rotation angle, θ i reverse rotation, closure is finally obtained
Optimal construction rectangle in curve；
Rotation formula is as follows:
X1=cos (- θ i/180 × π) × xi+sin (- θ i/180 × π) × yi；
Y1=-sin (- θ i/180 × π) × xi+cos (- θ i/180 × π) × yi.
Circular arc is wherein closed in Fig. 5 and represents the first closed curve, and the biggish quadrangle of area represents the closed curve most
Small external world's rectangle, and the lesser quadrangle of area is finally obtained construction area, it is notable that minimum external world's rectangle with
Construction area is substantially rectangle, and causing to be illustrated as parallelogram but is not influenced to this hair as caused by viewing angle problem
Bright explanation.
Second aspect of the present invention proposes a kind of construction area extraction system 400, as shown in Figure 6, comprising: acquiring unit
402, for surrounding the first closed curve in presumptive area；Processing unit 404, the minimum for obtaining the first closed curve are outer
Connect rectangle；Minimum circumscribed rectangle is zoomed in and out towards its geometric center, obtains target rectangle, target rectangle is construction area
Domain.
Construction area extraction system 400 provided by the invention includes mutually matched acquiring unit 402 and processing unit
404, wherein acquiring unit 402 first by separate unit pavement construction machinery or moveable terminal, on construction ground on surround the first envelope
Closed curve, and the first closed curve is stored in platform, then；The minimum that processing unit 404 obtains the first closed curve is external
Rectangle, after the minimum circumscribed rectangle to be obtained to first closed curve, on the basis of minimum circumscribed rectangle, towards in its geometry
The heart zooms in and out, and to obtain target rectangle, which is construction area.Significantly, since construction needs, because
This need in the first closed curve obtain area construction rectangle maximum as far as possible, the present invention be by separate unit pavement construction machinery, or
The moveable terminal of person, on construction ground on, enclose an enclosed region, then obtain the minimum circumscribed rectangle of the enclosed region simultaneously
It scales it, and then extracts the maximum construction rectangle for being most suitable for construction, i.e. area construction maximum as far as possible in enclosed region
Rectangle.
In one embodiment of the invention, it is preferable that processing unit 404 is specifically used for: in a coordinate system, obtaining first
The abscissa x and ordinate y of each point, find out the smallest abscissa x on closed curvemin, the smallest ordinate ymin, maximum
Abscissa xmax, maximum ordinate ymax；With (xmin, ymin)、(xmin, ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, it obtains
The first boundary rectangle of the first closed curve is taken, and calculates the area of the first boundary rectangle；First closed curve is pressed into preset angle
Degree carries out i rotation towards first direction respectively, obtains i closed curve；In a coordinate system, i closed curve is obtained respectively
The abscissa and ordinate of upper each point；The smallest abscissa x1 on i closed curve is found out respectivelymin……ximin, the smallest
Ordinate y1min……yimin, maximum abscissa x1max……ximax, maximum ordinate y1max……yimax；Respectively with
(x1min, y1min)、(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is vertex ... ..., with (ximin, yimin)、
(ximin, yimax)、(ximax, yimin)、(ximax, yimax) it is vertex, the boundary rectangle of i closed curve is obtained, and calculate i
The area of boundary rectangle；The area for comparing i boundary rectangle and the first boundary rectangle obtains minimum circumscribed rectangle and in contrast
The target closed curve answered.
In this embodiment, the step of obtaining the minimum circumscribed rectangle of the first closed curve, specifically includes: initially setting up straight
Angular coordinate system, and the abscissa x and ordinate y that each is put on the first closed curve are obtained in rectangular coordinate system, then look for
The smallest abscissa x outmin, the smallest ordinate ymin, maximum abscissa xmax, maximum ordinate ymax, with (xmin,
ymin)、(xmin, ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, the first boundary rectangle of the first closed curve is obtained, is calculated
The area of first boundary rectangle, and note down；Then according to predetermined angle by the first closed curve towards first direction respectively into
Row i times rotation, obtains i closed curve, after obtaining i closed curve, finds out the smallest horizontal seat on i closed curve again
Mark x1min……ximin, the smallest ordinate y1min……yimin, maximum abscissa x1max……ximax, maximum ordinate
y1max……yimax, respectively with (x1min, y1min)、(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is top
Point ... ..., with (ximin, yimin)、(ximin, yimax)、(ximax, yimin)、(ximax, yimax) it is vertex, it is bent to obtain i closing
The boundary rectangle of line, and the area for calculating i boundary rectangle is recorded, it is notable that every rotation obtains one with primary
A boundary rectangle obtains altogether i boundary rectangle；Thus, it is possible to obtain i boundary rectangle and its area；Finally, more above-mentioned
The area of i boundary rectangle and the first boundary rectangle obtains mutual corresponding minimum circumscribed rectangle and target closed curve, target
Closed curve is closed curve corresponding with minimum circumscribed rectangle after rotating.It is worth noting that, obtaining closed interval
The mode of boundary rectangle has very much, and the present invention is with (ximin, yimin)、(ximin, yimax)、(ximax, yimin)、(ximax,
yimax) it is vertex, using simplest acquisition modes, to simplify difficulty in computation.
In specific embodiment, the first closed curve is rotated according to following rotation formula, obtains the i-th closed curve:
Xi=cos (θ/180 × π) × x1+sin (θ/180 × π) × y1；
Yi=-sin (θ/180 × π) × x1+cos (θ/180 × π) × y1, wherein θ is predetermined angle.
In one embodiment of the invention, it is preferable that processing unit 404 is specifically used for: in relatively i boundary rectangle
Before the step of area, further includes: obtain first rotation angle of i-th closed curve relative to the first closed curve；Wherein,
One rotation angle be greater than or equal to 180 °, (i-1)-th closed curve relative to the first closed curve rotation angle less than 180 °.
In this embodiment, before the area of relatively i boundary rectangle the step of, further includes: obtain the i-th closed curve
First relative to the first closed curve rotates angle, then judge that first rotates whether angle is greater than or equal to 180 °, when the
When one rotation angle is less than 180 °, continuation is rotated the i-th closed curve with predetermined angle, until the first rotation angle is greater than
Or it is equal to 180 °.Pass through above-mentioned judgement, it is ensured that the degree of rotation of the first closed curve is with the boundary rectangle ensured
The minimum circumscribed rectangle of first closed curve.Significantly, since symmetric relation, therefore the first closed curve is only needed to rotate
180 °.
Specifically, when judging the area of i boundary rectangle, can directly sentence after rotating the first closed curve i times
The area of disconnected i boundary rectangle, also formerly judges the size of the first boundary rectangle and the second boundary rectangle, then will wherein
Biggish one compared with third boundary rectangle, and so on, until obtain the minimum circumscribed rectangle of the first closed curve.
In one embodiment of the invention, it is preferable that processing unit 404 is specifically used for: by minimum circumscribed rectangle into
After the step of row scaling, further includes: obtain second rotation angle of the target closed curve relative to the first closed curve；By mesh
Mark rectangle is rotated by the second rotation angle towards second direction, obtains construction area, wherein second direction and first direction
On the contrary.
In this embodiment, it is contemplated that be to obtain its minimum circumscribed rectangle by rotating the first closed curve, to guarantee
The relative position of finally obtained target rectangle and the first closed curve, therefore after obtaining minimum circumscribed rectangle, obtain target
Closed curve rotates angle relative to the second of the first closed curve, then by target rectangle by the second rotation angle direction second
Direction carries out reverse rotation, its initial position is obtained, to guarantee the accuracy of construction area.
In specific embodiment, the i-th closed curve carries out reverse rotation with following rotation formula, to obtain the first closing song
Line:
X1=cos (- θ i/180 × π) × xi+sin (- θ i/180 × π) × yi；
Y1=-sin (- qi/180 × p) × xi+cos (- qi/180 × p) × yi, wherein θ i is the second rotation angle.
In one embodiment of the invention, it is preferable that processing unit 404 is specifically used for: by minimum circumscribed rectangle direction
The step of its geometric center zooms in and out, obtains target rectangle, specifically includes: by preset step-length by minimum circumscribed rectangle towards its
Geometric center zooms in and out；Whether the vertex after judging minimum circumscribed rectangle scaling is entirely located in inside closed curve；Work as minimum
When vertex after boundary rectangle scaling is not entirely located in inside closed curve, continue to scale, until minimum circumscribed rectangle
Vertex after scaling is respectively positioned on inside closed curve, to obtain target rectangle.
In this embodiment, in zooming in and out minimum circumscribed rectangle towards its geometric center, first with minimum external
On the basis of rectangle, minimum circumscribed rectangle is zoomed in and out towards its geometric center then, judges minimum circumscribed rectangle after scaling
Whether the vertex after scaling is entirely located in inside closed curve, and vertex after minimum circumscribed rectangle scaling is not entirely located in envelope
When inside closed curve, continue to scale, until the vertex after minimum circumscribed rectangle scaling is respectively positioned on inside closed curve, with
To target rectangle.
Third aspect present invention proposes a kind of pavement construction machinery equipment, comprising: any one of second aspect of the present invention embodiment
Construction area extraction system 400.
Pavement construction machinery equipment provided by the invention, the construction area extraction system 400 including any of the above-described embodiment, therefore
Whole beneficial effects with above-mentioned construction area extraction system 400, details are not described herein.
The fourth aspect of the present invention proposes a kind of computer readable storage medium, is stored thereon with computer program, meter
Calculation machine program unit 404 processed realizes the construction area extraction side such as any one of first aspect present invention embodiment when executing
Method.Therefore, with whole beneficial effects of above-mentioned construction area extracting method.
In the description of the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly, term
The orientation or positional relationship of the instructions such as "upper", "lower" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. should all
It is interpreted broadly, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be straight
Connect it is connected, can also be indirectly connected through an intermediary.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (12)
1. a kind of construction area extracting method characterized by comprising
The first closed curve is surrounded in presumptive area；
Obtain the minimum circumscribed rectangle of first closed curve；
The minimum circumscribed rectangle is zoomed in and out towards its geometric center, obtains target rectangle, the target rectangle is institute
State construction area.
2. construction area extracting method according to claim 1, which is characterized in that described to obtain first closed curve
Minimum circumscribed rectangle the step of, specifically include:
In a coordinate system, the abscissa x and ordinate y for obtaining each point on first closed curve, find out the smallest horizontal seat
Mark xmin, the smallest ordinate ymin, maximum abscissa xmax, maximum ordinate ymax；
With (xmin, ymin)、(xmin, ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, obtain the of first closed curve
One boundary rectangle, and calculate the area of first boundary rectangle；
First closed curve is carried out by predetermined angle towards first direction to i rotation respectively, obtains i closed curve；
In a coordinate system, the abscissa and ordinate for obtaining each point on the i closed curve respectively, find out the i respectively
The smallest abscissa x1 on a closed curvemin……ximin, the smallest ordinate y1min……yimin, maximum abscissa
x1max……ximax, maximum ordinate y1max……yimax；
Respectively with (x1min, y1min)、(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is vertex ... ..., with (ximin,
yimin)、(ximin, yimax)、(ximax, yimin)、(ximax, yimax) it is vertex, obtain the external square of the i closed curve
Shape, and calculate separately the area of the i boundary rectangles；
The area for comparing the i boundary rectangles and first boundary rectangle, obtains the minimum circumscribed rectangle and therewith phase
Corresponding target closed curve.
3. construction area extracting method according to claim 2, which is characterized in that in the i external squares
Before the step of area of shape and first boundary rectangle, further includes:
Obtain first rotation angle of i-th of closed curve relative to first closed curve；
Wherein, the first rotation angle is greater than or equal to 180 °, and (i-1)-th closed curve is relative to first closed curve
Rotation angle less than 180 °.
4. construction area extracting method according to claim 2, which is characterized in that described by the minimum circumscribed rectangle
After the step of zooming in and out, further includes:
Obtain second rotation angle of the target closed curve relative to first closed curve；
The target rectangle is rotated by the second rotation angle towards second direction, the construction area is obtained,
Described in second direction it is opposite to the first direction.
5. according to claim 1 to any one of 4 to the construction area extracting method, which is characterized in that it is described will be described
The step of minimum circumscribed rectangle zooms in and out towards its geometric center, obtains target rectangle, specifically includes:
The minimum circumscribed rectangle is zoomed in and out towards its geometric center by preset step-length；
Whether the vertex after judging the minimum circumscribed rectangle scaling is entirely located in inside the closed curve；
When vertex after minimum circumscribed rectangle scaling is not entirely located in inside the closed curve, continue to contract
It puts, until the vertex of the minimum circumscribed rectangle after scaling is respectively positioned on inside the closed curve, to obtain the target square
Shape.
6. a kind of construction area extraction system characterized by comprising
Acquiring unit, for surrounding the first closed curve in presumptive area；
Processing unit, for obtaining the minimum circumscribed rectangle of first closed curve, and by the minimum circumscribed rectangle direction
Its geometric center zooms in and out, and obtains target rectangle, and the target rectangle is the construction area.
7. construction area extraction system according to claim 6, which is characterized in that the processing unit is specifically used for:
In a coordinate system, the abscissa x and ordinate y for obtaining each point on first closed curve, find out the smallest horizontal seat
Mark xmin, the smallest ordinate ymin, maximum abscissa xmax, maximum ordinate ymax；
With (xmin, ymin)、(xmin, ymax)、(xmax, ymin)、(xmax, ymax) it is vertex, obtain the of first closed curve
One boundary rectangle, and calculate the area of first boundary rectangle；
First closed curve is carried out by predetermined angle towards first direction to i rotation respectively, obtains i closed curve；
In a coordinate system, the abscissa x and ordinate y for obtaining each point on the i closed curve respectively find out i respectively
The smallest abscissa x1 on closed curvemin……ximin, the smallest ordinate y1min……yimin, maximum abscissa
x1max……ximax, maximum ordinate y1max……yimax；
Respectively with (x1min, y1min)、(x1min, y1max)、(x1max, y1min)、(x1max, y1max) it is vertex ... ..., with (ximin,
yimin)、(ximin, yimax)、(ximax, yimin)、(ximax, yimax) it is vertex, obtain the external square of the i closed curve
Shape, and calculate the area of the i boundary rectangles；
The area for comparing the i boundary rectangles and first boundary rectangle, obtains the minimum circumscribed rectangle and therewith phase
Corresponding target closed curve.
8. construction area extraction system according to claim 7, which is characterized in that the processing unit is specifically used for: obtaining
I-th of closed curve is taken to rotate angle relative to the first of first closed curve；
Wherein, the first rotation angle is greater than or equal to 180 °, and (i-1)-th closed curve is relative to first closed curve
Rotation angle less than 180 °.
9. construction area extraction system according to claim 8, which is characterized in that the processing unit is specifically used for:
Obtain second rotation angle of the target closed curve relative to first closed curve；
The target rectangle is rotated by the second rotation angle towards second direction, the construction area is obtained,
Described in second direction it is opposite to the first direction.
10. construction area extraction system according to any one of claims 6 to 9, which is characterized in that the processing unit
It is specifically used for:
The minimum circumscribed rectangle is zoomed in and out towards its geometric center by preset step-length；
Whether the vertex after judging the minimum circumscribed rectangle scaling is respectively positioned on inside the closed curve；
When vertex after minimum circumscribed rectangle scaling is not entirely located in inside the closed curve, continue to contract
It puts, until the vertex of the minimum circumscribed rectangle after scaling is respectively positioned on inside the closed curve, to obtain the target square
Shape.
11. a kind of pavement construction machinery equipment, which is characterized in that including the construction area as described in any one of claim 6 to 10
Extraction system.
12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The construction area extracting method as described in any one of claims 1 to 5 is realized when unit processed executes.
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| CN110658846A (en) * | 2019-09-30 | 2020-01-07 | 广州极飞科技有限公司 | Path planning method and device, electronic equipment and storage medium |
| CN112964183A (en) * | 2021-03-12 | 2021-06-15 | 四川旭虹光电科技有限公司 | Arc height measuring method |
| CN112964183B (en) * | 2021-03-12 | 2022-04-12 | 四川涪盛科技有限公司 | Arc height measuring method |
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