CN111783859A - TYRC same track confirmation method, device, storage medium and equipment - Google Patents
TYRC same track confirmation method, device, storage medium and equipment Download PDFInfo
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Abstract
The invention provides a method, a device, a storage medium and equipment for confirming a same trajectory of a tyrRTC (type real time clock), wherein the method for confirming the same trajectory of the tyrRTC comprises the following steps: acquiring a plurality of movement tracks of patrolmen, wherein the movement tracks comprise track information and track routes; wherein the trajectory information includes a start point and an end point of the trajectory route; acquiring a track route with the same track information as a target track route; dividing each target track route into a plurality of sections according to a preset rule to obtain a plurality of target track line sections, and calculating the similarity number of the target track line sections between every two target track routes; and judging the two or more target track routes with the similarity number larger than or equal to a first preset threshold value as the same track. The method, the device, the storage medium and the equipment for confirming the same tyrC track can find the same track route from a plurality of motion tracks.
Description
Technical Field
The present invention relates to the field of data processing, and in particular, to a method, an apparatus, a storage medium, and a device for confirming a same trajectory of a tyRTC.
Background
In life, some large-scale places or places where people gather can be generally provided with special personnel to carry out safety inspection, in the inspection process, the inspection routes among inspection personnel can be the same, when the inspection routes are the same, at least two people can carry out inspection on the same route, the waste of the personnel can be caused, and the personnel management is not convenient.
Disclosure of Invention
The invention mainly aims to provide a method, a device, a storage medium and equipment for confirming the same trajectory of a tyRTC, which can realize finding the same trajectory in a plurality of motion trajectories.
The invention provides a method for confirming the same trajectory of a tyrRTC, which comprises the following steps:
acquiring a plurality of movement tracks of patrolmen, wherein the movement tracks comprise track information and track routes; wherein the trajectory information includes a start point and an end point of the trajectory route;
acquiring a track route with the same track information as a target track route;
dividing each target track route into a plurality of sections according to a preset rule to obtain a plurality of target track line sections, and calculating the similarity number of the target track line sections between every two target track routes;
and judging the two or more target track routes with the similarity number larger than or equal to a first preset threshold value as the same track.
Further, the step of dividing each target trajectory route into a plurality of sections according to a preset rule to obtain a plurality of target trajectory line sections, and calculating the number of similarity of the target trajectory line sections between every two target trajectory routes includes:
equally dividing each target track route into a plurality of sections according to the length of the track route to obtain a plurality of target track line sections, wherein the target track line sections among the target track routes are mutually corresponding;
calculating the similarity between the target track line segments corresponding to each other between every two target track lines by adopting a preset method;
comparing the similarity with a second preset threshold, and if the similarity is greater than the second preset threshold, determining that the target track line segments corresponding to the similarity are similar;
and calculating the similar number of the target track line segments between every two target track routes.
Further, the step of calculating the similarity between the target track line segments corresponding to each other between every two target track routes by using a preset method includes:
acquiring a starting point and an end point of each target track line segment;
detecting whether the starting points and/or the end points of the target track line segments which correspond to each other are the same or not;
and if the target trajectory line segments are the same, calculating the similarity between the same target trajectory line segments.
Further, if the target trajectory line segments are the same, the step of calculating the similarity between the same target trajectory line segments includes:
and calculating the Frecher distance between the same target track line segments as the similarity.
Further, if the target trajectory line segments are the same, the step of calculating the similarity between the same target trajectory line segments includes:
acquiring the midpoint of each target track line segment;
acquiring an included angle between a starting point and a middle point between the target track line segments and an included angle between the middle point and an end point;
according to the formula M Ak1+Bk2Calculating the similarity between the target track line segments; wherein A is the cosine of the angle between the starting point and the midpoint, B is the cosine of the angle between the midpoint and the ending point, k1Is a first preset weight, k2Is a second predetermined weight, k1+k2＝1。
Further, the step of obtaining the track route with the same track information as the target track route includes:
acquiring a starting point and an end point of each track route;
detecting whether the starting point and the end point of each track route are the same as the starting points and the end points of other track routes;
and if the two paths are the same, taking the path with the same starting point and the same end point of the path as a target path.
Further, the step of obtaining the track route with the same track information as the target track route includes:
acquiring a starting point and an end point of each track route;
detecting whether the starting point of each track route is the same as the end point of the other track routes and whether the end point of each track route is the same as the starting point of the other track routes;
and if the starting point of the track route is the same as the end point of the other track route, and the track route with the end point being the same as the starting point of the other track route is taken as the target track route.
The invention also provides a device for confirming the same trajectory of the tyrRTC, which comprises
The system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a plurality of movement tracks of patrolmen, and the movement tracks comprise track information and track routes; wherein the trajectory information includes a start point and an end point of the trajectory route;
the second acquisition unit is used for acquiring the track routes with the same track information as the target track route;
the calculation unit is used for dividing each target track route into a plurality of sections according to a preset rule to obtain a plurality of target track line sections, and calculating the similarity number of the target track line sections between every two target track routes;
and the judging unit is used for judging the two or more target track routes of which the number of the similarities is greater than or equal to a first preset threshold value as the same track.
The invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the tyRTC same trajectory validation method of any of the above.
The invention also provides a computer device, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the processor implements the steps of the tyRTC-identical track confirmation method according to any one of the above items when executing the computer program.
Through the method, the device, the storage medium and the equipment for confirming the same tyrRTC track, provided by the invention, the motion tracks of a plurality of patrolmen are obtained, wherein the motion tracks comprise track information and track routes; wherein the trajectory information includes a start point and an end point of the trajectory route; acquiring a track route with the same track information as a target track route; dividing each target track route into a plurality of sections according to a preset rule to obtain a plurality of target track line sections, and calculating the similarity number of the target track line sections between every two target track routes; and judging the two or more target track routes with the similarity number larger than or equal to a first preset threshold value as the same track. The same track route can be found from a plurality of motion tracks, the motion tracks are mastered, and the patrol routes of patrol personnel are prevented from being overlapped.
Drawings
FIG. 1 is a flow chart of a tyrRTC identical track confirmation method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a tyRTC-identical track confirmation apparatus according to an embodiment of the present invention;
FIG. 3 is a block diagram of a storage medium according to an embodiment of the present invention;
fig. 4 is a block diagram of a computer apparatus according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, an embodiment of the present application provides a method for confirming a same trajectory of a tyRTC (Real time communication), including:
step S1, obtaining a plurality of movement tracks of the patrol personnel, wherein the movement tracks comprise track information and track routes; wherein the trajectory information includes a start point and an end point of the trajectory route;
step S2, obtaining the track route with the same track information as the target track route;
step S3, dividing each target track route into a plurality of sections according to a preset rule to obtain a plurality of target track line sections, and calculating the similarity number of the target track line sections between every two target track routes;
step S4, determining two or more target trajectory routes with the number of similarities greater than or equal to a first preset threshold as the same trajectory.
In this embodiment, as described in step S1, the movement tracks of all the patrolmen in the area are obtained, where the movement tracks include track information and track routes, and the track information includes a start point, an end point, and the like of the track route.
As described in the above step S2, the trajectory route having the same trajectory information between the movement trajectories is acquired as the target trajectory route, i.e., the trajectory route having the same starting point, the same ending point, or both the starting point and the ending point.
As described in step S3, the target trajectory route is divided into a plurality of parts according to the preset rule to obtain a plurality of target trajectory line segments, and if each target trajectory route is divided into 5 segments, the first to fifth target trajectory line segments are determined in the direction from the starting point to the ending point, the number of target trajectory line segments between the target trajectory routes is calculated to be similar, and if the first, third, and fifth target trajectory line segments between the two target trajectory routes are similar, the number of target trajectory line segments between the two target trajectory routes is 3.
As described in step S4, the number of similarities of the target track segments is compared with a first preset threshold, and two or more target track routes whose number of similarities is greater than or equal to the first preset threshold are determined as the same track, where the first preset threshold is set according to the number of shares of the average, and if the first preset threshold is 60% of the number of shares, that is, if the number of shares is 5, the first preset threshold is 3, and if the number of similarities is greater than or equal to 3, the target track routes corresponding to the number of similarities are the same.
In this embodiment, a target track route is obtained through the track information, the target track route is segmented to obtain a target track line segment, whether the target track routes are the same is determined through the similarity between the target track line segments, the same motion track can be selected from a plurality of motion tracks, and when the method is applied specifically, the patrol routes of patrol personnel can be re-divided through the found same motion track between the patrol personnel, and further, the patrol personnel can be prevented from patrolling the patrol route again through real-time monitoring.
In an embodiment, the step S3 of dividing each target trajectory route into a plurality of segments according to a preset rule to obtain a plurality of target trajectory line segments, and calculating the number of similarity of the target trajectory line segments between every two target trajectory routes includes:
step S31, dividing each target track route into a plurality of sections according to the length of the track route to obtain a plurality of target track line sections, wherein the target track line sections among the target track routes are mutually corresponding;
step S32, calculating the similarity between the target track line segments corresponding to each other between every two target track routes by adopting a preset method;
step S33, comparing the similarity with a second preset threshold, and if the similarity is greater than the second preset threshold, determining that the target track line segments corresponding to the similarity are similar;
step S34, calculating the number of similarity between the target trajectory line segments between each two of the target trajectory routes.
In this embodiment, as described in step S31, each target track route is divided equally according to the length of the track route, each target track route obtains a plurality of target track segments, the target track segments are sorted according to the direction from the starting point to the ending point, and the target track segments with the same sequence number correspond to each other, that is, the first target track segment of the target track route a corresponds to the first target track segment of the target track route B.
As described in step S32, the similarity of the corresponding target track line segments is calculated between each two target track lines by using a pre-established method.
As described in the above steps S33 and S34, the similarity is compared with a second preset threshold, and when the similarity is greater than the second preset threshold, the target track line segments corresponding to the similarity are similar, and the number of the similar target track line segments between two target track routes is calculated.
In an embodiment, the step S32 of calculating the similarity between the target trajectory line segments corresponding to each other between every two target trajectory routes by using a preset method includes:
step S321, acquiring a starting point and an end point of each target track line segment;
step S322, detecting whether the starting point and/or the end point of each mutually corresponding target track line segment are the same;
and step S323, if the target trajectory line segments are the same, calculating the similarity between the same target trajectory line segments.
In this embodiment, whether the starting points and/or the end points of the target track line segments are the same or not is detected, and when the starting points and/or the end points are the same, the similarity between the target track line segments is calculated, so that the similarity between the target track line segments can be calculated more accurately.
In an embodiment, if the target trajectory segments are the same, the step S323 of calculating the similarity between the same target trajectory segments includes:
step S3231, calculating a frechet distance between the same target trajectory line segments as the similarity.
In this embodiment, the fraiche distance is used as a similarity measurement standard between target track line segments, the fraiche distance can be understood as one-to-one correspondence between two target track line segments, and the sum of line segments between the correspondence points is the fraiche distance.
In an embodiment, if the target trajectory segments are the same, the step S323 of calculating the similarity between the same target trajectory segments includes:
step S323A, acquiring a midpoint of each of the target trajectory line segments;
step S323B, acquiring an included angle between a starting point and a middle point and an included angle between a middle point and an end point between the target track line segments;
step S323C, according to the formula M ═ Ak1+Bk2Calculating the similarity between the target track line segments; wherein A is the cosine of the angle between the starting point and the midpoint, B is the cosine of the angle between the midpoint and the ending point, k1Is a first preset weight, k2Is a second predetermined weight, k1+k2＝1。
In this embodiment, as described in step S323B, the start point and the middle point of the target track line segment X are connected by line segments, the start point and the middle point of the target track line segment Y are connected by line segments, the start points of X and Y are overlapped together to obtain the included angle between the start point and the middle point of X and Y, correspondingly, the middle point and the end point of the target track line segment X are connected by line segments, the middle point and the end point of the target track line segment Y are connected by line segments, and the middle points of X and Y are overlapped together to obtain the included angle between the middle point and the end point of X and Y.
As described in step S323C, the similarity between the target trajectory line segments is calculated using the above formula. In the embodiment, the similarity is calculated through the included angles between the starting point and the middle point and between the middle point and the end point, and the accuracy of the similarity between the target track line segments is improved to a certain degree.
In an embodiment, the step S2 of obtaining a track route with the same track information as the target track route includes:
step S21, acquiring a start point and an end point of each of the trajectory routes;
step S22, detecting whether the starting point and the end point of each track route are the same as the starting points and the end points of other track routes;
and step S23, if the two paths are the same, taking the path with the same starting point and the same end point of the path as the target path.
In this embodiment, the trajectory route with the same starting point and ending point is used as the target trajectory route, so as to ensure the accuracy of determining whether the trajectory routes are the same in the following process.
In an embodiment, the step S2 of obtaining a track route with the same track information as the target track route includes:
step S2a, acquiring the starting point and the end point of each track route;
step S2b, detecting whether the starting point of each of the track routes is the same as the end point of the other track routes and whether the end point of each of the track routes is the same as the starting point of the other track routes;
and step S2c, if the start point of the track route is the same as the end point of the other track route, and the track route with the end point being the same as the start point of the other track route is used as the target track route.
In this embodiment, the same patrol route may have a reverse traveling direction, that is, the starting point of the trajectory route Q is the same as the end point of the trajectory route P, and the end point of the trajectory route Q is the same as the starting point of the trajectory route P, and in this case, P and Q are used as the target trajectory route. In this case, after the trajectory route is divided equally in the following, the trajectory route Q is sorted according to the direction from the starting point to the end point, and the trajectory route P is sorted according to the direction from the end point to the starting point, and then the target trajectory line segments are corresponded.
Referring to fig. 2, an embodiment of the present invention provides a tyRTC same track confirmation apparatus, including:
the system comprises a first acquisition unit 10, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a plurality of movement tracks of patrolmen, and the movement tracks comprise track information and track routes; wherein the trajectory information includes a start point and an end point of the trajectory route;
a second obtaining unit 20, configured to obtain a trajectory route having the same trajectory information as the target trajectory route;
the calculation unit 30 is configured to divide each target trajectory route into a plurality of sections according to a preset rule to obtain a plurality of target trajectory line segments, and calculate the number of similarity between each two target trajectory line segments of the target trajectory route;
and the judging unit 40 is configured to judge two or more target track routes with the number of similarities being greater than or equal to a first preset threshold as the same track.
In one embodiment, the computing unit 30 includes:
the dividing unit is used for dividing each target track route into a plurality of sections according to the length of the track route to obtain a plurality of target track line sections, and the target track line sections among the target route tracks are mutually corresponding;
the first calculating subunit is used for calculating the similarity between the target track line segments corresponding to each other between every two target track routes by adopting a preset method;
the judging subunit is configured to compare the similarity with a second preset threshold, and if the similarity is greater than the second preset threshold, judge that the target track line segments corresponding to the similarity are similar;
and the second calculating subunit is used for calculating the similar number of the target track line segments between every two target track routes.
In one embodiment, the first computing subunit includes:
the acquisition module is used for acquiring the starting point and the end point of each target track line segment;
the detection module is used for detecting whether the starting points and/or the end points of the target track line segments which correspond to each other are the same;
and the calculating module is used for calculating the similarity between the same target track line segments if the target track line segments are the same.
In one embodiment, the calculation module includes:
and the first calculation submodule is used for calculating the Frechst distance between the same target track line segments as the similarity.
In one embodiment, the calculation module includes:
the first obtaining submodule is used for obtaining the middle point of each target track line segment;
the second obtaining submodule is used for obtaining an included angle between a starting point and a middle point between each two target track line segments and an included angle between the middle point and an end point;
a second calculation submodule for calculating the value of Ak according to the formula1+Bk2Calculating the similarity between the target track line segments; wherein A is the cosine of the angle between the starting point and the midpoint, B is the cosine of the angle between the starting point and the ending point, k1Is a first preset weight, k2Is a second predetermined weight, k1+k2＝1。
In an embodiment, the second obtaining unit 20 includes:
a first obtaining subunit, configured to obtain a starting point and an end point of each of the trajectory routes;
a first detecting subunit, configured to detect whether a start point and an end point of each of the trajectory routes are the same as start points and end points of other trajectory routes;
and the first target track line subunit is used for taking the track route with the same starting point and the same end point of the track route as the target track route if the target track route is the same.
In an embodiment, the second obtaining unit 20 includes:
a second obtaining subunit, configured to obtain a starting point and an end point of each of the trajectory routes;
a second detecting subunit, configured to detect whether a starting point of each of the trajectory routes is the same as an end point of the other trajectory route and whether an end point of each of the trajectory routes is the same as a starting point of the other trajectory route;
and the second target track route unit is used for taking the track route with the starting point of the track route and the end point of other track routes and the track route with the end point of the track route and the starting point of other track routes as the target track route if the starting point of the track route is the same as the end point of other track routes.
In this embodiment, please refer to the above method embodiment for the specific implementation of each unit and sub-unit, which is not described herein again.
Referring to fig. 3, an embodiment of the present application further provides a storage medium 100, on which a computer program 200 is stored, and when the computer program 200 is executed by a processor 400, the steps of the tyRTC same track confirmation method described in any one of the above embodiments are implemented.
Referring to fig. 4, the present invention also provides a computer device 300 comprising a processor 400, a memory and a computer program 200 stored on the memory and executable on the processor 400, wherein the processor 400 executes the computer program 200 to implement any of the steps of the tyRTC same trajectory confirmation method described above.
In summary, the method, the apparatus, the storage medium, and the device for confirming the same trajectory of the tyRTC provided by the present invention obtain the movement trajectories of a plurality of patrolmen, where the movement trajectories include trajectory information and trajectory routes; wherein the trajectory information includes a start point and an end point of the trajectory route; acquiring a track route with the same track information as a target track route; dividing each target track route into a plurality of sections according to a preset rule to obtain a plurality of target track line sections, and calculating the similarity number of the target track line sections between every two target track routes; and judging the two or more target track routes with the similarity number larger than or equal to a first preset threshold value as the same track. The same track route can be found from a plurality of motion tracks, the motion tracks are mastered, and the patrol routes of patrol personnel are prevented from being overlapped.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware associated with instructions of a computer program, which may be stored on a non-volatile computer-readable storage medium, and when executed, may include processes of the above embodiments of the methods. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A tyrTC identical track confirmation method is characterized by comprising the following steps:
acquiring a plurality of movement tracks of patrolmen, wherein the movement tracks comprise track information and track routes; wherein the trajectory information includes a start point and an end point of the trajectory route;
acquiring a track route with the same track information as a target track route;
dividing each target track route into a plurality of sections according to a preset rule to obtain a plurality of target track line sections, and calculating the similarity number of the target track line sections between every two target track routes;
and judging the two or more target track routes with the similarity number larger than or equal to a first preset threshold value as the same track.
2. The tyRTC same trajectory confirmation method according to claim 1, wherein the step of dividing each of the target trajectory routes into a plurality of segments according to a preset rule to obtain a plurality of target trajectory segments, and calculating the number of similarity of the target trajectory segments between each two of the target trajectory routes includes:
equally dividing each target track route into a plurality of sections according to the length of the track route to obtain a plurality of target track line sections, wherein the target track line sections among the target track routes are mutually corresponding;
calculating the similarity between the target track line segments corresponding to each other between every two target track lines by adopting a preset method;
comparing the similarity with a second preset threshold, and if the similarity is greater than the second preset threshold, determining that the target track line segments corresponding to the similarity are similar;
and calculating the similar number of the target track line segments between every two target track routes.
3. The tyRTC same track confirmation method according to claim 2, wherein the step of calculating the similarity between the target track line segments corresponding to each other between each two target track routes by using a preset method includes:
acquiring a starting point and an end point of each target track line segment;
detecting whether the starting points and/or the end points of the target track line segments which correspond to each other are the same or not;
and if the target trajectory line segments are the same, calculating the similarity between the same target trajectory line segments.
4. The tyRTC same track confirmation method of claim 3, wherein the step of calculating the similarity between the same target track segments if the target track segments are the same comprises:
and calculating the Frecher distance between the same target track line segments as the similarity.
5. The tyRTC same track confirmation method of claim 3, wherein the step of calculating the similarity between the same target track segments if the target track segments are the same comprises:
acquiring the midpoint of each target track line segment;
acquiring an included angle between a starting point and a middle point between the target track line segments and an included angle between the middle point and an end point;
according to the formula M Ak1+Bk2Calculating the similarity between the target track line segments; wherein A is the cosine of the angle between the starting point and the midpoint, B is the cosine of the angle between the midpoint and the ending point, k1Is a first preset weight, k2Is a second predetermined weight, k1+k2＝1。
6. The tyRTC same trajectory confirmation method according to claim 1, wherein the step of acquiring the trajectory route having the same trajectory information as the target trajectory route includes:
acquiring a starting point and an end point of each track route;
detecting whether the starting point and the end point of each track route are the same as the starting points and the end points of other track routes;
and if the two paths are the same, taking the path with the same starting point and the same end point of the path as a target path.
7. The tyRTC same trajectory confirmation method according to claim 1, wherein the step of acquiring the trajectory route having the same trajectory information as the target trajectory route includes:
acquiring a starting point and an end point of each track route;
detecting whether the starting point of each track route is the same as the end point of the other track routes and whether the end point of each track route is the same as the starting point of the other track routes;
and if the starting point of the track route is the same as the end point of the other track route, and the track route with the end point being the same as the starting point of the other track route is taken as the target track route.
8. A kind of tyRTC identical orbit identification equipment, characterized by that, include
The system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a plurality of movement tracks of patrolmen, and the movement tracks comprise track information and track routes; wherein the trajectory information includes a start point and an end point of the trajectory route;
the second acquisition unit is used for acquiring the track routes with the same track information as the target track route;
the calculation unit is used for dividing each target track route into a plurality of sections according to a preset rule to obtain a plurality of target track line sections, and calculating the similarity number of the target track line sections between every two target track routes;
and the judging unit is used for judging the two or more target track routes of which the number of the similarities is greater than or equal to a first preset threshold value as the same track.
9. A storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, realizes the steps of the tyRTC same trajectory validation method of any of the claims 1 to 7.
10. Computer device, characterized in that it comprises a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the tyRTC same trajectory validation method according to any of claims 1 to 7 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113344264A (en) * | 2021-05-28 | 2021-09-03 | 深圳市无限动力发展有限公司 | Method and device for judging track closure, computer equipment and storage medium |
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