CN112330031A - Method, device and equipment for determining agricultural machinery operation area and readable medium - Google Patents

Method, device and equipment for determining agricultural machinery operation area and readable medium Download PDF

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CN112330031A
CN112330031A CN202011242511.6A CN202011242511A CN112330031A CN 112330031 A CN112330031 A CN 112330031A CN 202011242511 A CN202011242511 A CN 202011242511A CN 112330031 A CN112330031 A CN 112330031A
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CN112330031B (en
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徐娟娟
张海军
黄光辉
张国承
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Harxon Corp
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Abstract

The application relates to a method for determining an agricultural machinery operating area, which comprises the following steps: the method comprises the steps of obtaining position information of a current operation point on a current operation line when the agricultural machine operates, and obtaining position information of at least two reference operation points on a historical operation line of the agricultural machine; judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by using the position information of the current operation point and the position information of the at least two reference operation points; and if the position relation between the current operating point and the at least two reference operating points meets a preset overlapping condition, determining that the corresponding operating area of the current operating line during the operation of the agricultural machine is overlapped with the historical operating area. The application also relates to a device, equipment and readable medium for determining the working area of the agricultural machine. The method for determining whether the corresponding operation area of the current operating line and the historical operation area are overlapped during the operation of the agricultural machine is very simple and convenient, and the accuracy of whether the overlapping exists is improved.

Description

Method, device and equipment for determining agricultural machinery operation area and readable medium
Technical Field
The application relates to the technical field of agricultural machinery, in particular to a method, a device, equipment and a readable medium for determining an agricultural machinery operation area.
Background
With the continuous improvement of the level of agricultural mechanization, the agricultural machine monitoring terminal is widely used, and the requirement on the area calculation precision of an agricultural machine operation area is higher and higher.
The measurement buffer zone method and the distance measurement method in the prior art have the following technical problems respectively, wherein:
the measurement buffer zone method is based on the spatial running track of the agricultural machine, adopts a track line segmentation solution to solve and then solves a method of intersection combination, can measure the operation area in real time, but cannot identify whether the corresponding operation area of the current operation line and the historical operation area are overlapped during the operation of the agricultural machine;
the distance measurement method is to directly obtain the distance of the running track of the agricultural machine and multiply the distance by the operation width to calculate the real-time area, and the method cannot determine whether the corresponding operation area of the current operating line and the historical operation area are overlapped during the operation of the agricultural machine.
Disclosure of Invention
In order to overcome at least one technical problem in the prior art, the application provides a method, a device, equipment and a readable medium for determining an agricultural machine working area.
In a first aspect, the present application provides a method for determining an agricultural machinery working area, the method comprising:
the method comprises the steps of obtaining position information of a current operation point on a current operation line when the agricultural machine operates, and obtaining position information of at least two reference operation points on a historical operation line of the agricultural machine;
judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points;
and if the position relation between the current operating point and the at least two reference operating points meets a preset overlapping condition, determining that the corresponding operating area of the current operating line during the operation of the agricultural machine is overlapped with the historical operating area.
Optionally, the acquiring the position information of at least two reference operation points on the agricultural machinery historical operation line includes:
acquiring position information of a plurality of historical operating points on any historical operating line cached in the operating process of the agricultural machine;
selecting a historical operating point which is closest to the current operating point from a plurality of historical operating points as a first reference operating point; and selecting a history work point which is closest to the current work point except the first reference work point as a second reference work point.
Optionally, the determining whether the position relationship between the current operation point and the at least two reference operation points satisfies a preset overlap condition includes:
judging whether a connecting line among the current operating point, the first reference operating point and the second reference operating point forms a triangle or not;
if a triangle is formed, calculating the length of the vertical line between the current operation point and the vertical line between the connection line of the first reference operation point and the second reference operation point;
judging whether the length of the vertical line is smaller than the sum of the operation widths between the current operating line and the historical operating line;
and if the length of the vertical line is smaller than the sum of the operation widths between the current operation line and the historical operation line, determining the current operation point, and the position relation between the first reference operation point and the second reference operation point meets the preset overlapping condition.
Optionally, the determining method further includes:
determining an overlapping area of a corresponding operation area of the current operating line and a historical operation area when the agricultural machine operates;
calculating the area of the overlapping region.
Optionally, the calculating the area of the overlapping region includes:
selecting a working point at the moment before the current working point, wherein the working point at the moment before the current working point and the current working point are both positioned on the current working line;
calculating the distance between the operating point at the moment before the current operating point and the current operating point to obtain the length value of the overlapping area;
calculating the difference value between the operation width and the length of the vertical line to obtain the width value of the overlapping area;
and performing product operation on the length value of the overlapping area and the width value of the overlapping area to obtain the area of the overlapping area.
Optionally, before calculating the length of the perpendicular between the current operation point and the connecting line between the first reference operation point and the second reference operation point, the determining method further includes:
determining a judgment condition for adjusting the time interval of the cache operation point by using the position of the projection point of the current operation point on the connecting line between the first reference operation point and the second reference operation point;
and adjusting the time interval of the caching operation point according to the judgment result meeting the judgment condition.
Optionally, the determining, by using the position of the projection point of the current operation point on the connecting line between the first reference operation point and the second reference operation point, a time interval for adjusting the cached operation point includes:
calculating the position of a projection point of the current operating point on a connecting line of the first reference operating point and the second reference operating point;
if the position of the projection point is located between the first reference operation point and the second reference operation point, determining a judgment condition for adjusting the time interval of the cache operation point as a first judgment condition;
if the position of the projection point is not located between the first reference operation point and the second reference operation point, determining a judgment condition for adjusting the time interval of the cache operation point as a second judgment condition;
wherein the first determination condition is: the number of the operation points between the current operation point and the first reference operation point is smaller than a preset threshold value, and the time of caching the operation points is larger than a sampling interval;
the second determination condition is: the number of times that the positions of the projection points are not continuously located between the first reference operation point and the second reference operation point is not less than a preset number of times, and the number of operation points between the current operation point and the first reference operation point is not less than a preset threshold value.
Optionally, the determining method further includes:
when the judgment condition for adjusting the time interval of the cache operation points is determined to be the first judgment condition, acquiring the number of the operation points between the current operation point and the first reference operation point; and obtaining the time interval of the cache operation points;
judging whether the number of the operation points between the current operation point and the first reference operation point is smaller than a preset threshold value or not and whether the time interval of the cache operation points is larger than a sampling interval or not;
if so, reducing the time interval of the caching operation points, and executing the step of judging whether the position relation between the current operation point and the at least two reference operation points meets the preset overlapping condition;
if not, directly executing the step of judging whether the position relation between the current operation point and the at least two reference operation points meets the preset overlapping condition.
Optionally, the determining method further includes:
when the judgment condition for adjusting the time interval of the cache operation point is determined to be the second judgment condition, acquiring the number of times that the position of the projection point is not continuously positioned between the first reference operation point and the second reference operation point; acquiring the number of the operation points between the current operation point and the first reference operation point;
judging whether the number of times that the positions of the projection points are not continuously located between the first reference operation point and the second reference operation point is not less than a preset number of times and whether the number of operation points between the current operation point and the first reference operation point is not less than a preset threshold value;
if so, increasing the time interval of the caching operation points, and executing the step of judging whether the position relation between the current operation point and the at least two reference operation points meets the preset overlapping condition;
if not, directly executing the step of judging whether the position relation between the current operation point and the at least two reference operation points meets the preset overlapping condition.
Optionally, the determining method further includes:
and when the time interval of the cached operation points is adjusted, the time interval of the cached historical operation points is updated to be consistent with the time interval of the adjusted cached operation points.
In a second aspect, the present application provides an agricultural machine work area determination apparatus, comprising:
the first acquisition module is used for acquiring the position information of a current operation point on a current operation line when the agricultural machinery operates;
the second acquisition module is used for acquiring the position information of at least two reference operation points on the agricultural machinery historical operation line;
the judging module is used for judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points;
and the determining module is used for determining that the corresponding operation area of the current operating line during the operation of the agricultural machine is overlapped with the historical operation area if the position relation between the current operating point and the at least two reference operating points meets a preset overlapping condition.
In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the determination method according to any one of the first aspect when executing the computer program.
In a fourth aspect, the present application further provides a computer readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the determining method of any one of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
the application provides a method for determining an agricultural machinery operation area, which comprises the following steps: the method comprises the steps of obtaining position information of a current operation point on a current operation line when the agricultural machine operates, and obtaining position information of at least two reference operation points on a historical operation line of the agricultural machine; judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points; if the position relation between the current operating point and the at least two reference operating points meets a preset overlapping condition, determining that an operating area corresponding to the current operating line during the operation of the agricultural machine is overlapped with a historical operating area; according to the method and the device, the acquired position information of the current operation point on the current operation line during the operation of the agricultural machine and the acquired position information of the at least two reference operation points on the historical operation line of the agricultural machine are high in precision, so that whether the judged position relationship between the position information of the current operation point and the position information of the at least two historical operation points meets the preset overlapping condition or not is more accurate to determine that the corresponding operation area of the current operation line during the operation of the agricultural machine is overlapped with the historical operation area.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic diagram of a hardware environment for a method for determining an agricultural work area according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of a method for determining an agricultural work area according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of position information for a current operation point, a first reference operation point, and a second reference operation point according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an overlapping region of a current working line corresponding to a working area and a historical working area when the agricultural machine is working according to the embodiment of the application;
FIG. 5 is a schematic diagram of a current working line corresponding to a working area and a historical working area without overlapping areas when the agricultural machine is working according to the embodiment of the application;
fig. 6 is a schematic flowchart illustrating a process of adjusting a time interval of a cache operation point according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a device for determining an agricultural machinery working area according to an embodiment of the application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 embodiments of the present application, but not all embodiments. 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.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
Example one
Alternatively, in the present embodiment, the method for determining the farm machine working area may be applied to a hardware environment formed by the terminal 101 and the server 103 as shown in fig. 1. As shown in fig. 1, the server 103 is connected to the terminal 101 through a network, which may be used to provide services (such as multimedia services, game services, application services, financial services, shopping services, etc.) for the terminal or a client installed on the terminal, and a database may be provided on the server or separately from the server for providing data storage services for the server 103, and the network includes but is not limited to: the terminal 101 is not limited to a PC, a mobile phone, a tablet computer, and the like. The query information processing method according to the embodiment of the present application may be executed by the server 103, the terminal 101, or both the server 103 and the terminal 101. The method for determining the farm machinery working area, which is executed by the terminal 101 according to the embodiment of the present application, may also be executed by a client installed thereon.
Fig. 2 is a schematic flow chart of a method for determining an agricultural machinery working area according to an embodiment of the present application, and referring to fig. 2, the method for determining includes the following steps:
s210: the method comprises the steps of obtaining position information of a current operation point on a current operation line when the agricultural machine operates, and obtaining position information of at least two reference operation points on a historical operation line of the agricultural machine;
specifically, in this embodiment, a gnss (global Navigation Satellite system) Satellite positioning system may be first used to obtain all operation points of the agricultural machine during operation and during historical operation of the agricultural machine, and perform a preprocessing operation on all operation points, where the preprocessing operation is as follows:
calculating the distance between a first operating point on the current operating line and an operating point at the previous moment of the first operating point when the agricultural machine operates, wherein the operating point at the previous moment of the first operating point and the first operating point are both positioned on the current operating line; if the distance between the first operating point and the operating point at the moment before the first operating point is greater than or equal to a preset distance value, determining the first operating point as a drift point, removing the drift point, and obtaining the pretreated operating point on the current operating line and the pretreated operating points of the agricultural machinery on each historical operating line according to the method for removing the drift point and the like; and correspondingly taking the coordinates of the pre-processed operating points of the agricultural machine on each historical operating line as the position information of a plurality of historical operating points on the historical operating line cached in the operating process of the agricultural machine.
S220: judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points;
specifically, after the position information of the current operation point and the position information of the at least two reference operation points are acquired, the position relationship between the current operation point and the at least two reference operation points needs to be determined, and whether the position relationship can meet a preset overlapping condition is determined.
S230: and if the position relation between the current operating point and the at least two reference operating points of the first reference operating point and the second reference operating point meets a preset overlapping condition, determining that the operating area corresponding to the current operating line during the operation of the agricultural machine is overlapped with the historical operating area.
The position information of the current operation point on the current operation line when the agricultural machine operates is obtained, and the position information of at least two reference operation points on the historical operation line of the agricultural machine is obtained; judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points; if the position relationship between the current operating point and the at least two reference operating points meets a preset overlapping condition, determining that the corresponding operating area of the current operating line and the historical operating area are overlapped when the agricultural machine operates, and when the method for determining the operating area of the agricultural machine is applied, for example, the operating point of the agricultural machine is obtained by utilizing GNSS, the method for determining whether the corresponding operating area of the current operating line and the historical operating area are overlapped is very simple and convenient because the process of obtaining the operating point of the agricultural machine is simpler and the preset overlapping condition can be judged only according to the position relationship between the current operating point and the at least two reference points on the historical operating line; moreover, according to the method, the accuracy of determining whether the corresponding working area of the current working line and the historical working area are overlapped when the agricultural machine works is improved because the coordinate position of the agricultural machine working point is very accurate.
Optionally, in step 210, the obtaining of the position information of at least two reference operation points on the agricultural machinery historical operation line includes the following sub-steps:
s211: after the position information of the plurality of historical operating points on the historical operating line is cached in the operating process of the agricultural machine, the position information of the plurality of historical operating points on any historical operating line cached in the operating process of the agricultural machine is required to be obtained;
s212: selecting a historical operating point which is closest to the current operating point from a plurality of historical operating points as a first reference operating point; selecting a historical operating point which is the closest to the current operating point except the first reference operating point as a second reference operating point;
specifically, please refer to fig. 3, fig. 3 is a schematic diagram of position information of a current operation point, a first reference operation point and a second reference operation point according to an embodiment of the present application, where l in the diagram1For a historical line, p, during operation of the agricultural machine1The direction of the arrow indicates that the agricultural machinery is on the historical operating line l1An upper working direction; l2Is the current operating line, p, of the agricultural machine during operation2The direction of the arrow indicates that the agricultural machinery is on the historical operating line l2An upper working direction; point D is the current operating line l when the agricultural machinery is operating2Current job onPoint, point C is the operating point immediately before the current operating point, and points A and B are both historical operating lines l1A point a and a point D, wherein the distance between the point a and the point D is the closest, thus taking the point a as a first reference working point; point B is the closest point to point D, except point a, and therefore point B is operated as the second reference operation point;
in fig. 3 of the present embodiment, both the point a and the point B are on the same history line l1In fact, the point a and the point B may not be on the same historical operating line, and fig. 3 is only an example, as long as the historical operating point a and the historical operating point B are not on the current operating line, and the historical operating point a satisfies the condition that the distance from the historical operating point a is closest to the current operating point D and the historical operating point B satisfies the condition that the distance from the historical operating point B is closest to the point D except the point a, which is not limited herein;
in addition, the historical line l1May be the current line l2May not be the current line l2Adjacent line of (2), historical line l1Other historical operating lines in the agricultural machinery operating process can be used.
Optionally, in step 220, determining whether the position relationship between the current operation point and the at least two reference operation points satisfies a preset overlap condition includes the following sub-steps S221 to S223, please continue to refer to fig. 3:
s221: judging whether a connecting line among the current operating point D, the first reference operating point A and the second reference operating point B forms a triangle;
s222: if the current operating point D, the first reference operating point A and the second reference operating point B form a triangle, calculating the length h of a vertical line between the current operating point D and a connecting line of the first reference operating point A and the second reference operating point B;
s223: judging whether the length h of the vertical line is smaller than the sum of the operation widths W between the current operation line and the historical operation line;
s224: if the length h of the vertical line is smaller than the sum W of the operation widths between the current operation line and the historical operation line, determining that the current operation point D and the position relation between the first reference operation point A and the second reference operation point B meet the preset overlapping condition, wherein the preset overlapping condition is that the length h of the vertical line is smaller than the sum W of the operation widths between the current operation line and the historical operation line;
through the above steps S221 to S224, it can be determined whether the positional relationship between the current working point and the at least two reference working points satisfies the preset overlap condition.
Optionally, the determining method of this embodiment further includes the following steps:
s240: determining an overlapping area of a corresponding operation area of the current operating line and a historical operation area when the agricultural machine operates;
s250: calculating the area of the overlapping region;
in this embodiment, after determining that the working area corresponding to the current working line during the agricultural machinery working overlaps with the historical working area, the area of the overlapping area between the working area corresponding to the current working line during the agricultural machinery working and the historical working area may be further calculated, please refer to fig. 4, fig. 4 is a schematic diagram of the overlapping area between the working area corresponding to the current working line and the historical working area during the agricultural machinery working according to the embodiment of the present application, in fig. 4, z is a schematic diagram of the overlapping area between the working area corresponding to the current working line and the historical working area during the agricultural machinery working, and in this fig. 4, z1、z2Respectively two working boundary lines, z, of the agricultural machine during current operation1And z2The area between is the current operating line l when the agricultural machinery operates2Corresponding to the working area (i.e. the hatched area of the line segment drawn obliquely downwards in fig. 4, /)2The arrow direction of the operating line represents the advancing direction of the current operation of the agricultural machine); z is a radical of3、z4Two working boundary lines, z, respectively, during the historical operation of the agricultural machine3And z4The area between is the historical operating line l of the agricultural machinery1Corresponding historical operating region (i.e. shaded region with line segment drawn obliquely upward in FIG. 4, /)1The arrow direction of the working line indicates the advancing direction of the agricultural machine in the history work), and the hatched area of the line segment drawn obliquely above and the hatched area of the line segment drawn obliquely below in fig. 4 are the overlapping area (i.e., z is1Boundary line and z4The area between the boundary lines) so that, after the overlap area is determined, it is possible to do soThe area of the overlap region is calculated.
Optionally, in step 250, the calculating the area of the overlapping region includes the following sub-steps:
s251: selecting a working point at the moment before the current working point, wherein the working point at the moment before the current working point and the current working point are both positioned on the current working line;
specifically, please refer to fig. 3 and 4, the current operating point is D, the operating point immediately before the current operating point D is C, and both the operating points C and D are located on the current operating line l2The above.
S252: calculating the distance between the operating point at the moment before the current operating point and the current operating point to obtain the length value of the overlapping area;
specifically, after the overlap region is determined, the length L of the overlap region is the distance between the point C and the point D.
S253: calculating the difference value between the operation width and the length of the vertical line to obtain the width value of the overlapping area;
specifically, the operating width of the agricultural machine is W, the length of the perpendicular line between the connecting lines of the first reference operating point a and the second reference operating point B is h, and then the width value of the overlapping area is: w-h.
S254: performing product operation on the length value of the overlapping area and the width value of the overlapping area to obtain the area of the overlapping area;
specifically, according to the calculated length value L of the overlapping region and the width value (W-h) of the overlapping region, the area of the overlapping region is obtained by the following formula:
Δ S ═ L (W-h), where Δ S is the area of the overlap region;
it should be noted that, in the present embodiment, the method for calculating the area of the overlapping region by using the above steps S251 to S254 is only an example, and the area of the overlapping region may also be calculated by using other calculation methods, which is not limited herein.
For a more clear understanding of the present embodiment, reference is now made to FIG. 5, which is a drawing of FIG. 5 illustrating an agricultural operation provided in accordance with an embodiment of the present applicationIn the schematic diagram of the working time current working line corresponding working area and the historical working area without overlapping area, in the figure 5, z1、z2Respectively two working boundary lines, z, of the agricultural machine during current operation1And z2The area between is the current operating line l when the agricultural machinery operates2Corresponding to the working area (i.e. the hatched area of the line segment drawn obliquely downward in fig. 5, /)2The arrow direction of the operating line represents the advancing direction of the current operation of the agricultural machine); z is a radical of3、z4Two working boundary lines, z, respectively, during the historical operation of the agricultural machine3And z4The area between is the historical operating line l of the agricultural machinery1Corresponding historical operating region (i.e. shaded region with line segment drawn obliquely upward in fig. 5, /)1The arrow direction of the working line indicates the advancing direction of the agricultural machine historical work), so that it can be understood from fig. 5 that the hatched area of the line segment drawn obliquely downward and the hatched area of the line segment drawn obliquely upward do not have an overlapping area, that is, the working area corresponding to the current working line when the agricultural machine is working does not have an overlapping area with the historical working area.
Optionally, before calculating the length of the vertical line between the current operation point and the connecting line of the first reference operation point and the second reference operation point in step S222, the determining method further includes the following steps:
s21: determining a judgment condition for adjusting the time interval of the cache operation point by using the position of the projection point of the current operation point on the connecting line between the first reference operation point and the second reference operation point;
s22: adjusting the time interval of the cache operation point according to the judgment result meeting the judgment condition;
in order to avoid the too large operation points of the stored agricultural machinery on different operation lines, the present embodiment adaptively adjusts the time interval for buffering the operation points through the above steps S21 and S22.
Optionally, in step S21, the determining a determination condition for adjusting the time interval of the buffered job point by using the position of the projected point of the current job point on the connecting line between the first reference job point and the second reference job point includes the following sub-steps:
s31: calculating the position of a projection point of the current operating point on a connecting line of the first reference operating point and the second reference operating point;
specifically, please refer to fig. 3 and fig. 6, the position of the projection point of the current operating point D on the connecting line between the first reference operating point a and the second reference operating point B is calculated, so as to: it is determined whether the position of the projected point of the current working point D on the link is between the first reference working point a and the second reference working point B.
S32: if the position of the projection point is located between the first reference operation point and the second reference operation point, determining a judgment condition for adjusting the time interval of the cache operation point as a first judgment condition;
specifically, referring to fig. 6, if the position of the projected point of the current operation point D on the connecting line is between the first reference operation point a and the second reference operation point B, it may be determined that the determination condition for adjusting the time interval of the cache operation point is a preset first determination condition, so as to adjust the time interval of the cache operation point under the first determination condition.
S33: if the position of the projection point is not located between the first reference operation point and the second reference operation point, determining a judgment condition for adjusting the time interval of the cache operation point as a second judgment condition;
specifically, with reference to fig. 6, if the position of the projection point of the current operation point D on the connection line is not between the first reference operation point a and the second reference operation point B, it is determined that the determination condition for adjusting the time interval of the cache operation point is a preset second determination condition, so as to adjust the time interval of the cache operation point under the second determination condition;
the first determination condition of the present embodiment is: the number of the operation points between the current operation point and the first reference operation point is smaller than a preset threshold value, and the time of caching the operation points is larger than a sampling interval;
the second determination condition is: the number of times that the positions of the projection points are not continuously located between the first reference operation point and the second reference operation point is not less than a preset number of times, and the number of operation points between the current operation point and the first reference operation point is not less than a preset threshold value.
Alternatively, when the projected point of the current working point D is located between the first reference working point a and the second reference working point B, it is further determined whether to perform the step S220 after adjusting the time interval of the buffered working points or to directly perform the step S220 according to the following steps S34 and S35:
that is, after determining that the determination condition for adjusting the time interval of the cache job point is the first determination condition at step S32, the determination method further includes the steps of:
s34: acquiring the number of operation points between the current operation point and the first reference operation point; and obtaining the time interval of the cache operation points;
s35: judging whether the number of the operation points between the current operation point and the first reference operation point is smaller than a preset threshold value or not and whether the time interval of the cache operation points is larger than a sampling interval or not;
if yes, the time interval of the caching operation point is decreased, and the step S220 is executed: judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points;
if not, the step S220 is directly executed: and judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points.
In addition, when the time interval of the caching operation point is reduced, the determination method further comprises the following steps:
and S36, the time interval of the cached historical operation points is updated to be consistent with the time interval obtained after the time interval of the cached operation points is reduced.
Alternatively, when the projected point of the current working point D is not located between the first reference working point a and the second reference working point B, it is further determined whether to perform the step S220 after adjusting the time interval of the buffered working points or to directly perform the step S220 according to the following steps S37 and S38:
that is, after determining that the determination condition for adjusting the time interval of the cache job point is the second determination condition at step S33, the determination method further includes the steps of: :
s37: acquiring the times that the position of the projection point is not continuously positioned between the first reference operation point and the second reference operation point; acquiring the number of the operation points between the current operation point and the first reference operation point;
s38: judging whether the number of times that the positions of the projection points are not continuously located between the first reference operation point and the second reference operation point is not less than a preset number of times and whether the number of operation points between the current operation point and the first reference operation point is not less than a preset threshold value;
if yes, the time interval of the caching operation point is increased, and the step S220 is executed: judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points;
if not, the step S220 is directly executed: and judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points.
In addition, when the time interval of the caching operation point is increased, the determination method further comprises the following steps:
s39: and updating and keeping the time interval of the cached historical operation points consistent with the time interval obtained after the time interval of the cached operation points is increased.
In summary, the position of the projection point of the current operating point on the connecting line between the first reference operating point and the second reference operating point is determined, different determination conditions (i.e. the first determination condition or the second determination condition) for adjusting the time interval of the cache operating point are further determined, and the time interval of the cache operating point is adjusted under the corresponding determination conditions, so that the time interval of the adjacent operating points can be adaptively adjusted, and the problem that the operating points of the agricultural machinery on different operating lines are excessively stored is avoided.
Example two
Referring to fig. 7, fig. 7 is a schematic structural diagram of a device for determining an agricultural machinery working area according to an embodiment of the present application, the device including:
a first obtaining module 402, configured to obtain position information of a current operation point on a current operation line when the agricultural machine operates;
a second obtaining module 404, configured to obtain position information of at least two reference operation points on a historical operating line of the agricultural machine;
a first determining module 406, configured to determine whether a position relationship between the current operation point and the at least two reference operation points satisfies a preset overlap condition by using the position information of the current operation point and the position information of the at least two reference operation points;
the first determining module 408 is configured to determine that an operation area corresponding to the current operating line during the operation of the agricultural machine overlaps with a historical operation area if the position relationship between the current operating point and the at least two reference operating points satisfies a preset overlap condition.
The first obtaining module 402 of the embodiment obtains the position information of the current operating point on the current operating line when the agricultural machine operates, and the second obtaining module 404 obtains the position information of at least two reference operating points on the historical operating line of the agricultural machine; the first judging module 406 judges whether the position relationship between the current operation point and the at least two reference operation points meets a preset overlapping condition by using the position information of the current operation point and the position information of the at least two reference operation points; the first determining module 408 is configured to determine that an operation area corresponding to the current operating line during the operation of the agricultural machine overlaps with a historical operation area if the position relationship between the current operating point and the at least two reference operating points meets a preset overlapping condition; when the method for determining the agricultural machine operation area is applied, for example, the GNSS is utilized to obtain the operation point of the agricultural machine, the process of obtaining the operation point of the agricultural machine is simple, and whether the preset overlapping condition is met can be judged according to the position relation between the current operation point and at least two reference points on the historical operation line, so that the method for determining whether the corresponding operation area of the current operation line and the historical operation area are overlapped during the operation of the agricultural machine is very simple and convenient; moreover, according to the method, the accuracy of determining whether the corresponding working area of the current working line and the historical working area are overlapped when the agricultural machine works is improved because the coordinate position of the agricultural machine working point is very accurate.
Optionally, the second obtaining module 404 includes:
the obtaining unit 41 is configured to obtain position information of a plurality of historical operating points on any historical operating line cached in the operating process of the agricultural machine;
a first selection unit 42 configured to select, as a first reference work point, a historical work point that is closest to the current work point among the plurality of historical work points; and selecting a history work point which is closest to the current work point except the first reference work point as a second reference work point.
Optionally, the first determining module 406 includes:
a first judging unit 51, configured to judge whether a connecting line between the current operation point, the first reference operation point, and the second reference operation point forms a triangle;
a vertical length calculating unit 52, configured to calculate a vertical length of the vertical line between the current operating point and a connecting line between the first reference operating point and the second reference operating point if a triangle is formed;
a second determination unit 53, configured to determine whether the length of the vertical line is smaller than the sum of the operation widths between the current operation line and the historical operation line;
a determining unit 54, configured to determine the current operation point if the length of the vertical line is smaller than the sum of the operation widths between the current operation line and the historical operation line, and a position relationship between the first reference operation point and the second reference operation point satisfies the preset overlapping condition.
Optionally, the determining means further comprises:
a second determining module 502, configured to determine an overlapping area between a corresponding operation area of the current operating line and a historical operation area when the agricultural machine operates;
an area calculation module 504 configured to calculate an area of the overlap region.
Optionally, the area calculation module 504 includes:
a second selecting unit 61, configured to select a working point at a time before the current working point, where the working point at the time before the current working point and the current working point are both located on the current working line;
a length calculating unit 62, configured to calculate a distance between a working point at a time before the current working point and the current working point, so as to obtain a length value of the overlap area;
a width calculating unit 63, configured to calculate a difference between the operation width and the length of the vertical line, so as to obtain a width value of the overlapping area;
and an area calculating unit 64, configured to perform a product operation on the length value of the overlapping area and the width value of the overlapping area to obtain an area of the overlapping area.
Optionally, the determining means further comprises:
a determination condition determining module 602, configured to determine a determination condition for adjusting a time interval of the cached job point by using a position of a projection point of the current job point on a connection line between the first reference job point and the second reference job point;
an adjusting module 604, configured to adjust the time interval of the cache operation point according to the determination result that meets the determination condition.
Optionally, the determination condition determining module 602 includes:
a projected position calculating unit 71, configured to calculate a position of a projected point of the current working point on a connection line between the first reference working point and the second reference working point;
a determination condition determining unit 72, configured to determine, as a first determination condition, a determination condition for adjusting a time interval of the buffer operation point if the position of the projected point is located between the first reference operation point and the second reference operation point;
the determination condition determining unit 72 is further configured to determine, if the position of the projection point is not located between the first reference operation point and the second reference operation point, that the determination condition for adjusting the time interval of the cache operation point is a second determination condition;
wherein the first determination condition is: the number of the operation points between the current operation point and the first reference operation point is smaller than a preset threshold value, and the time of caching the operation points is larger than a sampling interval;
the second determination condition is: the number of times that the positions of the projection points are not continuously located between the first reference operation point and the second reference operation point is not less than a preset number of times, and the number of operation points between the current operation point and the first reference operation point is not less than a preset threshold value.
Optionally, the determining means further comprises:
a third obtaining module 702, configured to, when it is determined that the determination condition for adjusting the time interval of the cached job points is the first determination condition, obtain the number of job points between the current job point and the first reference job point; and obtaining the time interval of the cache operation points;
a second determining module 704, configured to determine whether the number of the operation points between the current operation point and the first reference operation point is smaller than a preset threshold and whether the time interval of the cache operation point is greater than a sampling interval;
if so, an execution module 706 is configured to reduce a time interval of the caching operation point, and execute a step of determining whether a position relationship between the current operation point and the at least two reference operation points meets a preset overlap condition;
if not, the executing module 706 is further configured to directly execute the step of determining whether the position relationship between the current operation point and the at least two reference operation points meets a preset overlap condition.
Optionally, the third obtaining module 702 is further configured to, when it is determined that the determination condition for adjusting the time interval of the cache job point is the second determination condition, obtain the number of times that the position of the projection point is not located between the first reference job point and the second reference job point continuously; acquiring the number of the operation points between the current operation point and the first reference operation point;
the second determining module 704 is further configured to determine whether the number of times that the position of the projection point is not continuously located between the first reference operation point and the second reference operation point is not less than a preset number of times and whether the number of operation points between the current operation point and the first reference operation point is not less than a preset threshold;
if yes, the executing module 706 is further configured to increase a time interval of the caching operation point, and execute a step of determining whether a position relationship between the current operation point and the at least two reference operation points meets a preset overlap condition;
if not, the executing module 706 is further configured to directly execute the step of determining whether the position relationship between the current operation point and the at least two reference operation points meets a preset overlap condition.
Optionally, the determining means further comprises:
an updating module 802, configured to update the cached time interval of the historical job point to be consistent with the adjusted time interval of the cached job point when the time interval of the cached job point is adjusted.
The specific working process of the determining device for the agricultural machinery working area of the embodiment is basically the same as that of the first embodiment, and is not described herein again.
EXAMPLE III
There is further provided a computer device according to another aspect of the embodiments of the present application, including a memory and a processor, where the memory stores therein a computer program executable on the processor, and the processor implements the steps of the second embodiment when executing the computer program.
The memory and the processor in the computer device communicate with each other through a communication bus and a communication interface. The communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
Example four
There is also provided, in accordance with yet another aspect of an embodiment of the present application, a computer-readable medium having non-volatile program code executable by a processor.
Optionally, in an embodiment of the present application, a computer readable medium is configured to store program code for the processor to perform the following steps:
the method comprises the steps of obtaining position information of a current operation point on a current operation line when the agricultural machine operates, and obtaining position information of at least two reference operation points on a historical operation line of the agricultural machine;
judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points;
and if the position relation between the current operating point and the at least two reference operating points meets a preset overlapping condition, determining that the corresponding operating area of the current operating line during the operation of the agricultural machine is overlapped with the historical operating area.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (13)

1. A method of determining an agricultural machine work area, the method comprising:
the method comprises the steps of obtaining position information of a current operation point on a current operation line when the agricultural machine operates, and obtaining position information of at least two reference operation points on a historical operation line of the agricultural machine;
judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points;
and if the position relation between the current operating point and the at least two reference operating points meets a preset overlapping condition, determining that the corresponding operating area of the current operating line during the operation of the agricultural machine is overlapped with the historical operating area.
2. The method for determining according to claim 1, wherein said obtaining position information of at least two reference operation points on the agricultural machinery historical operation line comprises:
acquiring position information of a plurality of historical operating points on any historical operating line cached in the operating process of the agricultural machine;
selecting a historical operating point which is closest to the current operating point from a plurality of historical operating points as a first reference operating point; and selecting a history work point which is closest to the current work point except the first reference work point as a second reference work point.
3. The determination method according to claim 2, wherein the determining whether the positional relationship between the current operation point and the at least two reference operation points satisfies a preset overlap condition includes:
judging whether a connecting line among the current operating point, the first reference operating point and the second reference operating point forms a triangle or not;
if a triangle is formed, calculating the length of the vertical line between the current operation point and the vertical line between the connection line of the first reference operation point and the second reference operation point;
judging whether the length of the vertical line is smaller than the sum of the operation widths between the current operating line and the historical operating line;
and if the length of the vertical line is smaller than the sum of the operation widths between the current operation line and the historical operation line, determining the current operation point, and the position relation between the first reference operation point and the second reference operation point meets the preset overlapping condition.
4. The determination method according to claim 1, characterized in that the determination method further comprises:
determining an overlapping area of a corresponding operation area of the current operating line and a historical operation area when the agricultural machine operates;
calculating the area of the overlapping region.
5. The method of claim 4, wherein said calculating the area of the overlap region comprises:
selecting a working point at the moment before the current working point, wherein the working point at the moment before the current working point and the current working point are both positioned on the current working line;
calculating the distance between the operating point at the moment before the current operating point and the current operating point to obtain the length value of the overlapping area;
calculating the difference value between the operation width and the length of the vertical line to obtain the width value of the overlapping area;
and performing product operation on the length value of the overlapping area and the width value of the overlapping area to obtain the area of the overlapping area.
6. The method of claim 3, wherein prior to calculating the length of the perpendicular between the current operating point and the line connecting the first reference operating point and the second reference operating point, the method of determining further comprises:
determining a judgment condition for adjusting the time interval of the cache operation point by using the position of the projection point of the current operation point on the connecting line between the first reference operation point and the second reference operation point;
and adjusting the time interval of the caching operation point according to the judgment result meeting the judgment condition.
7. The method according to claim 6, wherein the determining a determination condition for adjusting the time interval of the buffered job point by using the position of the projected point of the current job point on the connecting line between the first reference job point and the second reference job point comprises:
calculating the position of a projection point of the current operating point on a connecting line of the first reference operating point and the second reference operating point;
if the position of the projection point is located between the first reference operation point and the second reference operation point, determining a judgment condition for adjusting the time interval of the cache operation point as a first judgment condition;
if the position of the projection point is not located between the first reference operation point and the second reference operation point, determining a judgment condition for adjusting the time interval of the cache operation point as a second judgment condition;
wherein the first determination condition is: the number of the operation points between the current operation point and the first reference operation point is smaller than a preset threshold value, and the time of caching the operation points is larger than a sampling interval;
the second determination condition is: the number of times that the positions of the projection points are not continuously located between the first reference operation point and the second reference operation point is not less than a preset number of times, and the number of operation points between the current operation point and the first reference operation point is not less than a preset threshold value.
8. The determination method according to claim 7, characterized in that the determination method further comprises:
when the judgment condition for adjusting the time interval of the cache operation points is determined to be the first judgment condition, acquiring the number of the operation points between the current operation point and the first reference operation point; and obtaining the time interval of the cache operation points;
judging whether the number of the operation points between the current operation point and the first reference operation point is smaller than a preset threshold value or not and whether the time interval of the cache operation points is larger than a sampling interval or not;
if so, reducing the time interval of the caching operation points, and executing the step of judging whether the position relation between the current operation point and the at least two reference operation points meets the preset overlapping condition;
if not, directly executing the step of judging whether the position relation between the current operation point and the at least two reference operation points meets the preset overlapping condition.
9. The determination method according to claim 7, characterized in that the determination method further comprises:
when the judgment condition for adjusting the time interval of the cache operation point is determined to be the second judgment condition, acquiring the number of times that the position of the projection point is not continuously positioned between the first reference operation point and the second reference operation point; acquiring the number of the operation points between the current operation point and the first reference operation point;
judging whether the number of times that the positions of the projection points are not continuously located between the first reference operation point and the second reference operation point is not less than a preset number of times and whether the number of operation points between the current operation point and the first reference operation point is not less than a preset threshold value;
if so, increasing the time interval of the caching operation points, and executing the step of judging whether the position relation between the current operation point and the at least two reference operation points meets the preset overlapping condition;
if not, directly executing the step of judging whether the position relation between the current operation point and the at least two reference operation points meets the preset overlapping condition.
10. The determination method according to any one of claims 6 to 9, characterized in that the determination method further comprises:
and when the time interval of the cached operation points is adjusted, the time interval of the cached historical operation points is updated to be consistent with the time interval of the adjusted cached operation points.
11. An agricultural machine work area determination device, comprising:
the first acquisition module is used for acquiring the position information of a current operation point on a current operation line when the agricultural machinery operates;
the second acquisition module is used for acquiring the position information of at least two reference operation points on the agricultural machinery historical operation line;
the judging module is used for judging whether the position relation between the current operation point and the at least two reference operation points meets a preset overlapping condition or not by utilizing the position information of the current operation point and the position information of the at least two reference operation points;
and the determining module is used for determining that the corresponding operation area of the current operating line during the operation of the agricultural machine is overlapped with the historical operation area if the position relation between the current operating point and the at least two reference operating points meets a preset overlapping condition.
12. A computer device comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the method of any one of claims 1 to 10 when executing the computer program.
13. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the determination method of any one of claims 1 to 10.
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