CN111653115B - Task dividing method and device and storage medium - Google Patents
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Abstract
The application discloses a task dividing method and device and a storage medium. The method comprises the following steps: acquiring position information of at least two nodes in a road environment and acquisition time of each node; for each non-clustered node, clustering a node, the distance between which and the node is less than a preset first distance threshold value, with the node into a first node group according to the position information; connecting at least one first node group obtained after clustering according to the acquisition time and/or the position information of each node to obtain a road track; and calculating the length of the road track, and dividing the road track according to a preset first track length threshold to obtain at least two task tracks, wherein the task tracks are used for updating and collecting the position information of each node in the road environment. By utilizing the technical scheme, effective and accurate task tracks can be provided, and the resource utilization rate of the task dividing device can be improved.
Description
Technical Field
The present application relates to the field of data processing technologies, and in particular, to a method and an apparatus for partitioning tasks, and a storage medium.
Background
With the development of intelligent transportation technology, people can use an electronic map for navigation when going out. Therefore, the accuracy of the electronic map has a great influence on the trip experience of the user. In order to provide an accurate electronic map to a user, it is necessary to periodically update the existing road network data. Because a large number of complicated roads are covered in an actual road environment, the amount of road network data to be updated is very large.
In order to determine a task when updating collected road network data, in the prior art, a road is usually split based on a history track absorbed by a Global Positioning System (GPS), so as to obtain a plurality of task tracks. However, since the GPS adsorption trajectory has a certain error rate, the same node may be marked as a different road. Therefore, the updated and collected road network data cannot be matched with the real road condition, a large amount of repeated operation is needed, and meanwhile, the resource utilization rate of the task processing device is not high.
Disclosure of Invention
In view of this, the present application provides a method, an apparatus, and a storage medium for task partitioning, which can provide an effective and accurate task trajectory and improve the resource utilization of a task partitioning apparatus.
The technical scheme of the application is realized as follows:
the application provides a task dividing method, which comprises the following steps:
acquiring position information of at least two nodes in a road environment and acquisition time of each node;
for each non-clustered node, clustering a node, the distance between which and the node is less than a preset first distance threshold value, with the node into a first node group according to the position information;
connecting at least one first node group obtained after clustering according to the acquisition time and/or the position information of each node to obtain a road track; and a process for the preparation of a coating,
calculating the length of the road track, and dividing the road track according to a preset first track length threshold to obtain at least two task tracks, wherein the task tracks are used for updating and collecting position information of each node in the road environment.
An embodiment of the present application further provides a device for dividing tasks, including:
the acquisition module is used for acquiring the position information of at least two nodes in the road environment and the acquisition time of each node;
the node group determining module is used for clustering each non-clustered node into a first node group together with the node, wherein the distance between the node and the node is less than a preset first distance threshold value according to the position information obtained by the obtaining module;
the road track determining module is used for connecting at least one first node group obtained after the node group determining module is clustered according to the acquisition time and/or the position information of each node obtained by the obtaining module to obtain a road track; and a process for the preparation of a coating,
and the task track determining module is used for calculating the length of the road track obtained by the road track determining module, dividing the road track according to a preset first track length threshold value to obtain at least two task tracks, and the task tracks are used for updating and acquiring the position information of each node in the road environment.
Embodiments of the present application further provide a computer-readable storage medium storing computer-readable instructions, which can cause at least one processor to execute the method described above.
Compared with the prior art, the method provided by the application can avoid direct dependence on the nodes, and the road track is determined through the first node group, so that the probability that the same node is divided into different road tracks is reduced, and an effective and accurate road track determination scheme is provided; each divided task track is limited within the range of the first track length threshold value, so that the fitted long road track can be divided into a plurality of short task tracks, short tasks which can be efficiently and quickly processed are provided for road network operators, repeated operation is effectively avoided, the topological structure of the road network is more reasonable, and the updating and releasing speed of the road network is increased; meanwhile, the resource utilization rate of the task dividing device is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein,
fig. 1 is a schematic structural diagram of a task partitioning system according to an embodiment of the present application;
FIG. 2 is an exemplary flow diagram of a method of partitioning tasks according to an embodiment of the present application;
FIG. 3 is a diagram illustrating an example of nodes grouped into a first node group according to an embodiment of the present disclosure;
FIG. 4 is an exemplary flow chart of a method of partitioning tasks according to another embodiment of the present application;
FIG. 5a is a schematic diagram illustrating merging a first node group and a second node group according to an embodiment of the present disclosure;
FIG. 5b is a schematic diagram illustrating merging a first node group and a second node group according to another embodiment of the present application;
FIG. 6 is an exemplary flow chart of a method of partitioning tasks according to yet another embodiment of the present application;
FIG. 7 is a diagram illustrating task trajectories according to an embodiment of the present application;
FIG. 8 is a diagram illustrating a branch library operation according to an embodiment of the present application;
FIG. 9 is a diagram illustrating historical track queries according to an embodiment of the present application;
FIG. 10 is a diagram illustrating a task partitioning apparatus according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a server according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic structural diagram of a task dividing system according to an embodiment of the present application. As shown in FIG. 1, the task dividing system 100 comprises road network collecting devices 111-11M and a server 120. Wherein, the server 120 further includes: a road network collection database 121 and a task dividing device 122.
According to the embodiment of the application, the road network acquisition equipment 111-11M acquires the position information one by one from a plurality of nodes arranged along the current task track in the real road environment, and reports the acquired data to the server 120, wherein the acquired data comprises the position information. The server 120 stores the uploaded collected data into a road network collecting database 121, then the task dividing device 122 reads latest collected data from the road network collecting database 121 regularly, performs batch processing on the collected data to obtain latest task tracks, and then issues the latest task tracks to the road network collecting devices 111-11M, so that the road network collecting devices 111-11M update and collect position information of each node in a road environment according to the distributed task tracks, and accordingly updated road network data are obtained.
The road network acquisition equipment 111-11M is any equipment capable of acquiring real position information in an actual road environment. For example, GPS software is installed in the road network collection devices 111 to 11M, and GPS positioning data including longitude and latitude information is collected by the GPS software. Specifically, the road network collection devices 111 and 112 are two collection terminals, the road network collection device 113 is a third-party road network collection database device, and the road network collection device 114 is a collection vehicle. In a specific implementation, the road network collecting device 114 may be a business, or may collect the geographic location data through the public population in a crowd-sourced collecting manner.
The server 120 may be a server, a server cluster composed of several servers, or a cloud computing service center. Each road network acquisition device 111-11M and the server 120 can be connected through a wireless network or a wired network.
Fig. 2 is an exemplary flowchart of a task dividing method according to an embodiment of the present application. The method is applied to electronic devices such as servers or task dividing devices, such as the server 120 or the task dividing device 122 shown in fig. 1. As shown in fig. 2, the method may include the steps of:
In this step, each road network acquisition device (shown as 111-11M in fig. 1) performs actual operation in a road environment based on a plurality of historical tracks, each historical track includes a plurality of nodes, acquires position information of each node, and records a current acquisition time. The server acquires acquired data from the road network acquisition equipment, wherein the acquired data specifically comprises four-dimensional data information, namely { historical track, node, position information and acquisition time }. The position information is, for example, two-dimensional GPS data including { longitude coordinates, latitude coordinates }.
In this step, each dispersed node is clustered through a first distance threshold to obtain at least one first node group. In this way, each first node group includes at least two nodes, each node belongs to only one first node group, and there is no intersection or overlap between two adjacent first node groups.
The first distance threshold is used for limiting the range of the geographic area where each first node group is located. The first distance threshold may be set to the same value or may be set to different values for the respective first node groups.
According to an embodiment of the application, clustering is an iterative process. Firstly, determining an initial node from all nodes; determining other nodes with the distance between the other nodes and the initial node within a first distance threshold value from the initial node, and clustering the determined other nodes and the initial node into a first node group; and then, determining other first node groups according to the processing mode from the remaining non-clustered nodes until all the nodes are clustered into one first node group.
Fig. 3 is a diagram illustrating a combination of nodes into a first node group according to an embodiment of the present disclosure. As shown in FIG. 3, the road network collecting device has 200 nodes T on the historical track 3001～T200Position information is collected, wherein T1Is the initial node. The first distance threshold is set to a circle of radius d, as shown in fig. 3 by dashed circle 303. For example, the radius d is 20 meters. Calculating T according to the position information of each node1Distance from other nodes, nodes with distance less than d and T1The nodes belong to the first node group together. As shown in FIG. 3, T1、T2、T200And T199Together forming a first group of nodes 301. Similarly, from the next node T3To begin, calculate T3Distance from the rest nodes, other nodes satisfying the distance less than d and T3The other nodes belonging to the second first node group 302, for example, the distance less than d includes T198. All the nodes are processed in this way, and a plurality of first node groups are obtained.
According to another embodiment of the present application, when data is collected by using a road network collection vehicle (as shown in 11M in fig. 1), the collection time sequence of each node is consistent with the running direction of the collection vehicle in the road environment. In this case, first, at least two nodes are sorted according to the acquisition time to obtain a sorted node sequence. Iterative clustering is then performed based on this sequence of nodes. Specifically, according to the sequence of the nodes which are not clustered in the node sequence, determining initial nodes from the nodes which are not clustered; and sequentially calculating the distance between the initial node and other nodes which are not clustered, and clustering the nodes with the distance being less than a first distance threshold value and the initial node into a first node group.
And 203, connecting at least one first node group obtained after clustering according to the acquisition time and/or the position information of each node to obtain a road track.
According to the embodiment of the application, when a road track is determined according to a first node group, first, an initial first node group is set. Because each node has its own collection time, all the first node groups are sorted in time according to the earliest collection time among all the nodes in the first node group, and the first sorted first node group is set as the initial first node group. Then, from the initial first node group, pairwise clustering is performed according to the distance and the time between the first node groups, and at least one first node group obtained after clustering is connected to form a road track.
According to an embodiment of the present application, for each first node group, an earliest collection time of nodes in the first node group is determined; for each first non-clustered node group, if the difference between the earliest acquisition time of two first node groups is smaller than a preset time threshold, clustering the two first node groups in a road track.
In this embodiment, if the acquisition time of two nodes is very close, it can be indicated that the two nodes are also close in geographic location. Similarly, for the first node cluster, if the earliest collection time of the two first node clusters is very close, it indicates that the two first node clusters are also relatively close in geographical location. Here, the preset time threshold is, for example, 3 seconds.
According to another embodiment of the present application, for each first node group that is not clustered, if a minimum value of distances between every two nodes in the two first node groups is smaller than a preset second distance threshold, the two first node groups are clustered in one road track. In this embodiment, the distance between every two nodes in the two first node groups is calculated, and the minimum value of the distances is used as the judgment basis for clustering. For example, the second distance threshold is 50 meters.
Specifically, if all the first node groups are combined into the set X, the following steps are performed during clustering:
step 2031, initializing, and marking the initial first node group as G0Removing the first node group G to be clustered from the set X0I.e. updating the set X to X-G0。
Step 2032, iteratively executing the following processing: for the nth iteration (n)>1), the first node group G is calculatedn-1And distance from each first group of nodes in X. If the minimum distance is smaller than the second distance threshold, the first node group G corresponding to the minimum distance is determinednAnd Gn-1And (6) clustering. In addition, let n be n +1, the set X be updated to X be X-Gn. If the minimum distance is greater than the second distance threshold, the iteration ends.
Thus, set { GnN is 0, …, N, and the first node groups form a road track. Thereafter, for the remaining first node group in the set X, steps 2031 and 2032 are performed iteratively, and other road tracks may be determined.
According to another embodiment of the present application, for each first node group, determining location information of a center point of the first node group according to location information of each node within the first node group; for each first non-clustered node group, if the distance between the center points of the two first node groups is smaller than a preset third distance threshold, clustering the two first node groups in a road track.
In this embodiment, a plurality of nodes in the first node group are characterized by a center point. The position information of the center point may be calculated from the position information of each node in the first node group. Specifically, if the first node group includes J nodes, the position information of each node is represented by (X)j,Yj) The position information of the center point is represented by coordinates (X)center,Ycenter) To indicate that there are
(Xcenter,Ycenter)＝(∑j＝1,…,JXj,∑j＝1,…,JYj)/J (1)
Namely XcenterIs the average of all longitude coordinates, YcenterIs the average of all latitude coordinates.
In other embodiments, the first group of nodes may be clustered according to the acquisition time and location information. For example, if the difference between the earliest collection times of two first node groups is smaller than a preset time threshold and the minimum value of the distances between every two nodes is smaller than a preset first distance threshold, the two first node groups are clustered in a road track. Or, if the difference between the earliest collection times of the two first node groups is smaller than a preset time threshold and the distance between the central points is smaller than a preset second distance threshold, clustering the two first node groups in a road track.
And 204, calculating the length of the road track, and dividing the road track according to a preset first track length threshold to obtain at least two task tracks, wherein the task tracks are used for updating and collecting the position information of each node in the road environment.
According to an embodiment of the present application, the length of the road track may be calculated as the sum of the effective distance of all track feature groups and the minimum distance interval between two adjacent track feature group nodes. The assumption is that the road track is composed of K first node groups G which are connected in sequencek(K is 1, …, K), then the length L of the road track can be calculated according to the following formula:
L＝∑k＝1,…,KDk+∑k＝1,…,K-1IDk,k+1 (2)
wherein D iskIs a first node group GkEffective distance, ID ofk,k+1Represents a first group of nodes GkAnd a first node group G adjacent theretok+1The minimum distance separation between intermediate nodes.
The effective distance may be determined according to the distance between the center point and all the nodes. If the first node group GkThe coordinate of the jth node in the series is recorded as ZjObtaining the coordinate of the center point according to the formula (1) and recording the coordinate as Zk,centerThen effective distance DkCan be calculated as:
Dk＝(∑j＝1,…,J|Zj-Zk,center|)/J*2 (3)
according to another embodiment of the present application, two first pairwise may be calculated from the center pointAnd calculating the length of the road track as the sum of the distances between all the center points. If the first node group GkIs recorded as Zk,centerThen a first group of nodes GkThe length of the corresponding road track is calculated as
L＝∑k＝1,…,K-1|Zk+1,center-Zk,center| (4)
In the embodiment, the position information of at least two nodes in the road environment and the acquisition time of each node are acquired; for each non-clustered node, clustering a node, the distance between which and the node is less than a preset first distance threshold value, with the node into a first node group according to the position information; connecting at least one first node group obtained after clustering according to the acquisition time and/or the position information of each node to obtain a road track; the length of the road track is calculated, the road track is divided according to a preset first track length threshold value, at least two task tracks are obtained, the task tracks are used for updating and collecting position information of each node in a road environment, and the following technical effects can be obtained:
1) the method can avoid direct dependence on the nodes, and fits the road track through the first node group, so that the probability of dividing the same node into different road tracks is reduced, and an effective and accurate track determination scheme is provided.
2) When the track data is collected, each node carries a collection moment, and the road track can be fitted in time and distance by combining position information, so that the accuracy of track fitting can be further improved, and the follow-up task track division is more accurate.
3) Each divided task track is limited within the range of the first track length threshold value, so that the fitted long road track can be divided into a plurality of short task tracks, short tasks of efficient operation can be provided for operators, the short tasks can be circulated more rapidly, the updated road network topological structure is more reasonable, repeated operation is greatly avoided, operation blocking of other tasks is avoided, the probability of data collision is reduced, and the updating and releasing speed of the road network is improved; meanwhile, the resource utilization rate of the task dividing device is improved.
In consideration of the prior art, when a GPS-adsorbed track is used, the same intersection is divided into different task tracks due to inaccurate judgment of the intersection. In view of the above, fig. 4 is an exemplary flowchart of a task dividing method according to another embodiment of the present application. On the basis of steps 201 and 202 shown in fig. 2, the method further comprises the steps of:
According to an embodiment of the application, before setting the intersection area and the second node group, the crossing node is determined first. Specifically, if a node is connected to other nodes in at least two directions, the node is determined to be a cross node.
In a specific implementation, the included angle between the current node and several nodes around the current node can be calculated according to the position information of the node, for example, GPS coordinates (longitude X and latitude Y). And if the included angles of every two of the connecting lines of the current node and at least two nodes are larger than a preset angle threshold value, determining that the current node is a cross node. For example, the preset angle threshold is 60 degrees. Alternatively, the operator may manually define a plurality of intersection regions and a second node group corresponding to the intersection regions according to the electronic map.
Further, setting the area where the cross node is located as an intersection area, and adding the cross node into a second node group corresponding to the intersection area. Considering that the complexity of the intersections is different, the intersections can be further divided into complex intersections and simple intersections.
If at least two cross nodes exist in a preset first range threshold, setting an area defined by the first range threshold as a first intersection area, and adding the at least two cross nodes into a first intersection node group corresponding to the first intersection area. Here, the first range threshold is used to define the size of the complex intersection, for example, as a circle having a radius of 50 m. The first intersection area represents the area where the complex intersection is located, and the first intersection node group represents the complex intersection node group.
Fig. 5a is a schematic diagram illustrating merging a first node group and a second node group according to an embodiment of the present disclosure. As shown in FIG. 5a, there are 4 crossover nodes in the 50m range, which are 511 and 514 respectively; in the electronic map, the actual area defined by the 4 nodes is the complex intersection area, and as shown in 515, the 4 nodes are added into the complex intersection node group.
If an intersection node exists in a preset second range threshold, setting an area defined by the second range threshold as a second intersection area, and adding the intersection node into a second intersection node group corresponding to the second intersection area. Here, the second range threshold is used to define the size of the simple intersection, and may be set to the same value as the first distance threshold, for example, defined as a circle with a radius of 20 m. The second intersection area represents the area where the simple intersection is located, and the second intersection node group represents the simple intersection node group.
Fig. 5b is a schematic diagram illustrating merging a first node group and a second node group according to another embodiment of the present disclosure. As shown in fig. 5b, there are only 1 crossover nodes in the 20m range, as shown at 521. In the electronic map, the actual area defined by the electronic map is a simple intersection area, and as shown by 522, a node 521 is added into a simple intersection node group.
In this step, it is determined whether there is a crossing between the first node group and the intersection area according to the position information of the node and the position range of the intersection area. If yes, merge is performed and step 403 is executed.
As shown in fig. 5a, a plurality of nodes included in the first node group #1 are represented by triangles, 5 nodes falling into the complex intersection area 515 are merged into a complex intersection node group corresponding to the complex intersection area 515, and are deleted from the original first node group # 1; the first node group # 2 includes a plurality of nodes represented by squares, and there are 1 node falling in the complex intersection area 515, and then this node is merged into the complex intersection node group corresponding to the complex intersection area 515 and deleted from the original first node group # 2. Thus, the complex intersection node group comprises 4 cross nodes 511 and 514, 5 nodes #1 and 1 node # 2.
As shown in fig. 5b, the nodes included in the first node group #3 are represented by five-pointed stars, there are 3 nodes falling in the simple intersection area 522, and these 3 nodes are merged into the simple intersection node group corresponding to the simple intersection area 522 and deleted from the original first node group # 3. Thus, the simple intersection node group includes 1 cross node 521 and 3 #3 nodes.
In this step, when the road track is determined, the node groups according to the determination are the first node group and the second node group after being merged. The road tracks are determined by pairwise clustering of the node groups, and the specific method may refer to the description in step 203.
With the above embodiment, due to the complexity of the area where the intersection is located, before determining the road track, for each intersection area, it is determined whether at least one node of the first node group is located in the intersection area. If at least one node in a first node group is located in the intersection area, adding the at least one node into a second node group corresponding to the intersection area, and deleting the at least one node in the first node group. After the processing, all nodes in the same intersection only belong to one second node group and are separated from the first node group, so that when the road track is determined, the same intersection is prevented from being divided into different road tracks, the track fitting accuracy is improved, and the updated road network topological structure is more accurate.
When the road network topological structure is updated regularly, the length of the task track needs to be designed reasonably. If the length is too long, the set task range is large during the collection operation, the operation of other tasks can be blocked, and the probability of data collision is also large. If the length is too short, the task allocation efficiency and the task operation efficiency will be reduced. To solve the above technical problem, fig. 6 is an exemplary flowchart of a task dividing method according to still another embodiment of the present application. As shown in fig. 6, on the basis of step 201 and step 203 shown in fig. 2, the method further comprises the following steps:
Step 601 + 603 can refer to the description of step 204, and will not be described herein.
Through the above step 603, the length of the divided task track may be relatively short, for example, the effective distance of one task track is only several hundred meters. For such abnormal cases, a merger may be performed again. Here, the second track length threshold is, for example, 1 km.
In this step, when at least one adjacent task track connected to the task track is determined, according to the earliest acquisition time and location information of the first node group and the last first node group in the task track, referring to the embodiment shown in step 203, according to a preset time threshold (e.g., 3 seconds) and/or a first distance threshold (e.g., 50 meters) and/or a second distance threshold (e.g., 100 meters), a plurality of adjacent first node groups closest to the first node group are determined, or a plurality of adjacent first node groups closest to the last first node group are determined. And then, determining the task track where the adjacent first node group is located as an adjacent task track. For example, the nearest 3 first node groups are determined as adjacent task tracks. And then, combining the adjacent task track corresponding to the shortest total length with the task track to obtain a combined task track.
After the step 605 is executed, considering that the task tracks after the merging process may exceed the first track length threshold, for example, 5 km, the process may return to the step 602 of continuing to perform the task track division again until the lengths of all the task tracks simultaneously satisfy the first track length threshold and the second track length threshold.
Through the above method embodiment, the multiple task tracks finally obtained through the merging of the first node group and the second node group given in step 401 and 405 and the task track dividing and merging method given in step 601 and 605 are as shown in fig. 7. The task tracks #1 to #6 are continuous and complete tracks without any fragments, and the task tracks are not mixed and repeated; are divided into single task tracks at the intersection, and the length of each task track is limited to be within 50 kilometers.
In specific application, the existing data acquisition and track processing is based on a master library operation mode, namely all acquisition tasks are distributed and scheduled by the master library, and acquired data are processed by the master library. The operation period of a single task is long, so that the mother library is always in an intermediate state; because the mother libraries are intermediate editing result data, the mother libraries cannot be published at any time; in addition, before the electronic map is released, the time cost of each job coordination data version is too high, and each time is manually coordinated, so that time delay often occurs, and the updating and releasing efficiency of the electronic map is seriously influenced.
For this reason, according to the embodiment of the present application, the parent library job manner is changed to the branch library job manner, for example, implemented by using the branch management system SVN. FIG. 8 is a diagram illustrating a branch library operation according to an embodiment of the present application. As shown in FIG. 8, the blocks A and B represent the task traces of two identical job scopes, which are scheduled and processed by the branch library, and then the branch library interacts with the parent library. During specific operation, the branch library is subjected to a complete operation process including links such as editing, internal inspection, quality inspection, repair and the like, and after data operation is completed, the data operation is written back to the main library.
By adopting the operation mode of the branch library, the condition that the data acquired in the master library is unclean is avoided, the master library is changed from needing a large amount of coordination to be published at any time, the time consumption of the intermediate state of the master library can be reduced from the level of days to the level of seconds, and the publishing efficiency of the electronic map is greatly improved. In addition, the problems of long period, data conflict and the like caused by large operation tasks generated by long task tracks are further avoided, and meanwhile, the production and operation efficiency can be effectively improved by matching with a production early warning system. From the perspective of economic cost, millions of dollars of expenses can be saved compared with the prior art.
In specific application, considering that the situation of an actual road network is complex, after the division processing of the task track is completed, the occurrence of abnormal tasks still cannot be eliminated, and a complete spatial topological structure cannot be formed on the whole. Therefore, the server can provide any range query service of the full amount of task tracks to the road network acquisition equipment. By full task traces is meant the collection of all task traces for a batch update.
FIG. 9 is a diagram illustrating historical track queries according to an embodiment of the present application. As shown in fig. 9, a black circle 910 represents a task track obtained by the above method embodiment, and a white arrow 920 represents a history track. Through the interface display, when the operator checks the latest task track 910, the operator can correct the task track 910 by using the history track 920 as a supplement. Meanwhile, when the worker clicks on each node, the photos and videos captured at the node may be displayed in the window shown at 930, providing an image reference for the job.
Fig. 10 is a schematic structural diagram of a task dividing apparatus according to an embodiment of the present application. As shown in fig. 10, the apparatus 1000 includes:
an obtaining module 1010, configured to collect location information of at least two nodes in a road environment, and obtain a collection time of each node;
a node group determining module 1020, configured to cluster, for each non-clustered node, a node whose distance to the node is smaller than a preset first distance threshold with the node according to the position information obtained by the obtaining module 1010, to form a first node group;
a road track determining module 1030, configured to connect at least one first node group obtained by clustering by the node group determining module 1020 according to the acquisition time and/or the position information of each node obtained by the obtaining module 1010, so as to obtain a road track; and a process for the preparation of a coating,
the task track determining module 1040 is configured to calculate the length of the road track obtained by the road track determining module 1030, and divide the road track according to a preset first track length threshold to obtain at least two task tracks, where the task tracks are used to update and acquire position information of each node in a road environment.
In one embodiment, the apparatus 1000 further comprises a ranking module 1050, wherein,
a sorting module 1050 configured to sort at least two nodes according to the acquisition time obtained by the obtaining module 1010 to obtain a sorted node sequence;
the node group determining module 1020 is configured to determine an initial node from the non-clustered nodes according to an order of the non-clustered nodes in the node sequence obtained by the ordering module 1050; and sequentially calculating the distance between the initial node and other nodes which are not clustered, and clustering the nodes with the distance being less than a first distance threshold value and the initial node into a first node group.
In an embodiment, the apparatus 1000 further comprises:
an intersection setting module 1060, configured to preset at least one intersection area and a second node group corresponding to each intersection area;
the road track determining module 1030 is configured to, for each intersection region set by the intersection setting module 1060, add at least one node to a second node group corresponding to the intersection region if the at least one node is located in the intersection region in a first node group, and delete the at least one node from the first node group; and determining at least one road track based on each first node group and each second node group.
In one embodiment, the intersection setting module 1060 is configured to determine a node as a cross node if the node is connected to other nodes in at least two directions; setting the area where the cross node is located as an intersection area, and adding the cross node into a second node group corresponding to the intersection area.
In an embodiment, the intersection setting module 1060 is configured to, if there are at least two intersection nodes within a preset first range threshold, set an area defined by the first range threshold as a first intersection area, and add the at least two intersection nodes into a first intersection node group corresponding to the first intersection area; if an intersection node exists in a preset second range threshold, setting an area defined by the second range threshold as a second intersection area, and adding the intersection node into a second intersection node group corresponding to the second intersection area.
In an embodiment, the road track determining module 1030 is configured to, for each first node group, determine an earliest collection time of nodes in the first node group; for each first non-clustered node group, if the difference between the earliest acquisition time of two first node groups is smaller than a preset time threshold, clustering the two first node groups in a road track.
In an embodiment, the road track determining module 1030 is configured to, for each first node group that is not clustered, cluster the two first node groups in one road track if a minimum value of distances between every two nodes in the two first node groups is smaller than a preset second distance threshold.
In an embodiment, the road track determining module 1030 is configured to, for each first node group, determine location information of a center point of the first node group according to location information of each node in the first node group; for each first non-clustered node group, if the distance between the center points of the two first node groups is smaller than a preset third distance threshold, clustering the two first node groups in a road track.
In an embodiment, the apparatus 1000 further comprises:
the task track merging module 1070 is configured to determine at least one adjacent task track connected to a task track if the length of the task track determined by the task track determining module 1040 is smaller than a preset second track length threshold; and respectively calculating the total length of the combined task track and each adjacent task track, sequencing the total lengths, and combining the adjacent task track corresponding to the shortest total length and the task track to obtain a combined task track.
Fig. 11 is a schematic structural diagram of a server according to an embodiment of the present application. The server 1100 may include: a processor 1110, a memory 1120, a port 1130, and a bus 1140. The processor 1110 and the memory 1120 are interconnected by a bus 1140. Processor 1110 can receive and transmit data via port 1130. Wherein,
the processor 1110 is configured to execute modules of machine-readable instructions stored by the memory 1120.
the obtaining module 1121, when executed by the processor 1110, may be: acquiring position information of at least two nodes in a road environment, and acquiring the acquisition time of each node;
node group determination module 1122, when executed by processor 1110, may be: for each non-clustered node, clustering a node, the distance between which and the node is less than a preset first distance threshold, with the node into a first node group according to the position information obtained by the obtaining module 1121;
road trajectory determination module 1123, when executed by processor 1110, may be: according to the acquisition time and/or the position information of each node obtained by the obtaining module 1121, connecting at least one first node group obtained after clustering by the node group determining module 1122 to obtain a road track; and a process for the preparation of a coating,
the task trajectory determination module 1124 when executed by the processor 1110 may be: the length of the road track obtained by the road track determining module 1123 is calculated, the road track is divided according to a preset first track length threshold value, at least two task tracks are obtained, and the task tracks are used for updating and collecting position information of each node in a road environment.
In one embodiment, the instruction modules executable by the processor 1110 further include: the order module 1125, where,
node group determination module 1122, when executed by processor 1110, may further be: determining initial nodes from the non-clustered nodes according to the sequence of the non-clustered nodes in the node sequence obtained by the sorting module 1125; and sequentially calculating the distance between the initial node and other nodes which are not clustered, and clustering the nodes with the distance being less than a first distance threshold value and the initial node into a first node group.
In one embodiment, the instruction modules executable by the processor 1110 further include: an intersection setup module 1126, wherein,
the intersection setting module 1126, when executed by the processor 1110, may be: presetting at least one intersection area and a second node group corresponding to each intersection area;
road trajectory determination module 1123, when executed by processor 1110, may be: for each intersection region set by the intersection setting module 1126, if at least one node in a first node group is located in the intersection region, adding the at least one node to a second node group corresponding to the intersection region, and deleting the at least one node in the first node group; and determining at least one road track based on each first node group and each second node group.
In one embodiment, the instruction modules executable by the processor 1110 further include: a task trajectory merge module 1127, wherein,
the task trajectory merge module 1127, when executed by the processor 1110, may be to: if the length of one task track determined by the task track determination module 1124 is less than a preset second track length threshold, determining at least one adjacent task track connected to the task track; and respectively calculating the total length of the combined task track and each adjacent task track, sequencing the total lengths, and combining the adjacent task track corresponding to the shortest total length and the task track to obtain a combined task track.
It can be seen that when the instruction modules stored in the memory 1120 are executed by the processor 1110, the functions of the acquiring module, the node group determining module, the road track determining module, the task track determining module, the sorting module, the intersection setting module and the task track merging module in the foregoing embodiments can be implemented.
In the above device and system embodiments, the specific method for each module and unit to implement its own function is described in the method embodiment, and is not described here again.
In addition, functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
In addition, each of the embodiments of the present application can be realized by a data processing program executed by a data processing apparatus such as a computer. It is clear that a data processing program constitutes the present application. Further, the data processing program, which is generally stored in one storage medium, is executed by directly reading the program out of the storage medium or by installing or copying the program into a storage device (such as a hard disk and/or a memory) of the data processing device. Such a storage medium therefore also constitutes the present application. The storage medium may use any type of recording means, such as a paper storage medium (e.g., paper tape, etc.), a magnetic storage medium (e.g., a flexible disk, a hard disk, a flash memory, etc.), an optical storage medium (e.g., a CD-ROM, etc.), a magneto-optical storage medium (e.g., an MO, etc.), and the like.
The present application further discloses a computer-readable storage medium having stored thereon computer-readable instructions for causing at least one processor to perform any of the method embodiments described above.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (16)
1. A method for dividing tasks is characterized by comprising the following steps:
acquiring position information of at least two nodes in a road environment and acquisition time of each node;
for each non-clustered node, clustering a node, the distance between which and the node is less than a preset first distance threshold value, with the node into a first node group according to the position information;
presetting at least one intersection area and a second node group corresponding to each intersection area;
for each intersection area, if at least one node in one first node group is located in the intersection area, adding the at least one node into a second node group corresponding to the intersection area, and deleting the at least one node in the first node group;
clustering every two of each first node group and each second node group according to the earliest collection time of nodes in the node groups to obtain a road track; and a process for the preparation of a coating,
calculating the length of the road track, and dividing the road track according to a preset first track length threshold to obtain at least two task tracks, wherein the task tracks are used for updating and collecting position information of each node in the road environment.
2. The method of claim 1, further comprising:
sequencing the at least two nodes according to the acquisition time to obtain a sequenced node sequence;
for each non-clustered node, clustering a node, the distance between which and the node is less than a preset first distance threshold, with the node into a first node group according to the position information includes:
determining initial nodes from the nodes which are not clustered according to the sequence of the nodes which are not clustered in the node sequence;
and sequentially calculating the distance between the initial node and other nodes which are not clustered, and clustering the node of which the distance is less than the first distance threshold value and the initial node into a first node group.
3. The method of claim 1, the calculating the length of the road track comprising:
and calculating the sum of the effective distance of all the node groups and the minimum distance interval between two adjacent node groups as the length of the road track.
4. The method according to claim 1, wherein the presetting of at least one intersection area and a second node group corresponding to each intersection area comprises:
if one node is connected with other nodes in at least two directions, determining the node as a cross node;
setting the area where the cross node is located as the intersection area, and adding the cross node into a second node group corresponding to the intersection area.
5. The method of claim 4, wherein the setting the area where the cross node is located as the intersection area, and adding the cross node to a second node group corresponding to the intersection area comprises:
if at least two cross nodes exist in a preset first range threshold, setting an area defined by the first range threshold as a first intersection area, and adding the at least two cross nodes into a first intersection node group corresponding to the first intersection area;
if an intersection node exists in a preset second range threshold, setting an area defined by the second range threshold as a second intersection area, and adding the intersection node into a second intersection node group corresponding to the second intersection area.
6. The method of claim 1, wherein the pairwise clustering each first node group and each second node group according to an earliest collection time of nodes in the node groups to obtain a road track comprises:
determining the earliest collection time of nodes in each node group;
for each non-clustered node group, if the difference between the earliest acquisition time of two node groups is smaller than a preset time threshold, clustering the two node groups in a road track.
7. The method of claim 1, further comprising:
if the length of one task track is smaller than a preset second track length threshold, determining at least one adjacent task track connected with the task track;
and respectively calculating the total length of the combined task track and each adjacent task track, sequencing the total lengths, and combining the adjacent task track corresponding to the shortest total length and the task track to obtain a combined task track.
8. The method of claim 7, wherein determining at least one adjacent task track connected to the task track comprises:
determining a plurality of adjacent node groups closest to a first node group according to the earliest acquisition time and position information of the first node group in the task track, or determining a plurality of adjacent node groups closest to a last node group according to the earliest acquisition time and position information of the last node group;
and determining the task track where the adjacent node group is located as the adjacent task track.
9. The method of claim 7, further comprising:
if the length of the merged task track exceeds the first track length threshold, dividing the merged task track according to the first track length threshold until the lengths of all the task tracks simultaneously meet the first track length threshold and the second track length threshold.
10. An apparatus for dividing a task, comprising:
the acquisition module is used for acquiring the position information of at least two nodes in the road environment and the acquisition time of each node;
the node group determining module is used for clustering each non-clustered node into a first node group together with the node, wherein the distance between the node and the node is less than a preset first distance threshold value according to the position information obtained by the obtaining module;
the intersection setting module is used for presetting at least one intersection area and a second node group corresponding to each intersection area;
a road track determining module, configured to add, for each intersection region, at least one node to a second node group corresponding to the intersection region if the at least one node is located in the intersection region in a first node group, and delete the at least one node from the first node group; clustering every two of each first node group and each second node group according to the earliest collection time of nodes in the node groups to obtain a road track; and a process for the preparation of a coating,
and the task track determining module is used for calculating the length of the road track obtained by the road track determining module, dividing the road track according to a preset first track length threshold value to obtain at least two task tracks, and the task tracks are used for updating and acquiring the position information of each node in the road environment.
11. The apparatus of claim 10, further comprising:
the sequencing module is used for sequencing the at least two nodes according to the acquisition time obtained by the acquisition module to obtain a sequenced node sequence;
the node group determining module is used for determining initial nodes from the nodes which are not clustered according to the sequence of the nodes which are not clustered in the node sequence obtained by the sequencing module; and sequentially calculating the distance between the initial node and other nodes which are not clustered, and clustering the node of which the distance is less than the first distance threshold value and the initial node into a first node group.
12. The apparatus of claim 10, the intersection setup module configured to determine a node as a cross node if the node is connected to other nodes in at least two directions; setting the area where the cross node is located as the intersection area, and adding the cross node into a second node group corresponding to the intersection area.
13. The apparatus of claim 10, wherein the task track determination module is configured to calculate a sum of an effective distance of all node groups and a minimum distance interval between two adjacent node groups as the length of the road track.
14. The apparatus of any of claims 10 to 13, further comprising:
the task track merging module is used for determining at least one adjacent task track connected with the task track if the length of one task track determined by the task track determining module is smaller than a preset second track length threshold; and respectively calculating the total length of the combined task track and each adjacent task track, sequencing the total lengths, and combining the adjacent task track corresponding to the shortest total length and the task track to obtain a combined task track.
15. A computer-readable storage medium having stored thereon computer-readable instructions for causing at least one processor to perform the method of any one of claims 1 to 9.
16. A server comprising a memory, a processor, and a computer program stored on the memory and run on the processor; the processor, when executing the computer program, implements the method of any of claims 1 to 9.
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