CN116170491A - Method for determining an electronic fence, transportation device, storage medium and processor - Google Patents
Method for determining an electronic fence, transportation device, storage medium and processor Download PDFInfo
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- CN116170491A CN116170491A CN202211582738.4A CN202211582738A CN116170491A CN 116170491 A CN116170491 A CN 116170491A CN 202211582738 A CN202211582738 A CN 202211582738A CN 116170491 A CN116170491 A CN 116170491A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
Embodiments of the present application provide a method, a transport device, a storage medium, and a processor for determining an electronic fence. The method comprises the following steps: acquiring historical track data of the transportation equipment; performing clustering calculation on the historical track data to determine a first cluster of the historical track data; determining a first electronic fence of the stirring station according to the first cluster; determining target track data corresponding to a target operation area in the historical track data; clustering calculation is carried out on a plurality of position points contained in the target track data so as to determine a second cluster corresponding to the target track data; for any one second cluster, determining the second cluster as a target cluster under the condition that all core position points and all second boundary position points contained in the second cluster are outside the first electronic fence; and determining a second electronic fence of the target working area according to all the target clusters. Through the technical scheme, the electronic fence of the stirring station and the target operation area can be obtained, so that transportation resources can be efficiently configured.
Description
Technical Field
The present application relates to the field of computer technology, and in particular, to a method, a transportation device, a storage medium, and a processor for determining an electronic fence.
Background
The electronic fence of the worksite is important data during the distribution of concrete. At present, the electronic fence of the construction site is drawn manually. Manually drawing the electronic fence is not only slow, but also prone to drawing errors. In addition, because the drawing personnel and the user of the construction electronic fence are inconsistent, the data of a large number of construction electronic fences is lost. This makes it impossible for the dispatcher to obtain the correct electronic fence to accurately grasp the site situation of the worksite. Therefore, the capacity resources cannot be efficiently configured, so that the problems of resource waste, customer satisfaction reduction and the like are caused.
Disclosure of Invention
It is an object of embodiments of the present application to provide a method, a transportation device, a storage medium and a processor for determining an electronic fence.
To achieve the above object, a first aspect of the present application provides a method for determining an electronic fence, including:
acquiring historical track data of the transportation equipment, wherein the historical track data refers to position points where a plurality of historical time points are located in a historical time period, and the position points are located between a stirring station and a plurality of historical operation areas;
Performing clustering calculation on the historical track data to determine first clusters of the historical track data, wherein each first cluster comprises a plurality of first core position points with reachable densities and a plurality of first boundary position points with connected densities in the historical track data;
determining a first electronic fence of the stirring station according to the first cluster;
determining target track data corresponding to a target operation area in the historical track data;
clustering calculation is carried out on a plurality of position points contained in the target track data to determine second clusters corresponding to the target track data, wherein each second cluster comprises a plurality of second core position points with reachable density and a plurality of second boundary position points with connectable density in the target track data;
for any one second cluster, determining the second cluster as a target cluster under the condition that all second core position points and all second boundary position points contained in the second cluster are outside the first electronic fence;
and determining a second electronic fence of the target working area according to all the target clusters.
A second aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform the method for determining an electronic fence described above.
A third aspect of the present application provides a processor configured to perform the above-described method for determining an electronic fence.
A fourth aspect of the present application provides a transportation device comprising a processor configured to perform the above-described method for determining an electronic fence.
By the method for determining the electronic fence, the transportation equipment, the storage medium and the processor, the historical track data of the transportation equipment are obtained, wherein the historical track data refer to the position points of a plurality of historical time points in a historical time period, and the position points are all between a stirring station and a plurality of historical operation areas; performing clustering calculation on the historical track data to determine first clusters of the historical track data, wherein each first cluster comprises a plurality of first core position points with reachable densities and a plurality of first boundary position points with connected densities in the historical track data; determining a first electronic fence of the stirring station according to the first cluster; determining target track data corresponding to a target operation area in the historical track data; clustering calculation is carried out on a plurality of position points contained in the target track data to determine second clusters corresponding to the target track data, wherein each second cluster comprises a plurality of second core position points with reachable density and a plurality of second boundary position points with connectable density in the target track data; for any one second cluster, determining the second cluster as a target cluster under the condition that all core position points and all second boundary position points contained in the second cluster are outside the first electronic fence; and determining a second electronic fence of the target working area according to all the target clusters. Through the technical scheme, the electronic fence of the target operation area can be obtained, so that transportation resources can be efficiently configured.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a method for determining an electronic fence, according to an embodiment of the present application;
FIG. 2 schematically illustrates a schematic diagram of a trajectory vector according to an embodiment of the present application;
FIG. 3 schematically illustrates a schematic view of a cluster according to an embodiment of the present application;
FIG. 4 schematically illustrates a flowchart of a DBSCAN algorithm according to an embodiment of the present application;
FIG. 5 schematically illustrates a flowchart of a DBSCAN algorithm according to a further embodiment of the present application;
FIG. 6 schematically illustrates a block diagram of an apparatus for determining an electronic fence in accordance with an embodiment of the present application;
fig. 7 schematically shows an internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, 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 should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Fig. 1 schematically shows a flow diagram of a method for determining an electronic fence according to an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, there is provided a method for determining an electronic fence, including the steps of:
step 102, acquiring historical track data of the transportation equipment, wherein the historical track data refer to position points where a plurality of historical time points are located in a historical time period, and the position points are located between a stirring station and a plurality of historical operation areas.
The transportation device performs transportation operation to and from the stirring station to a plurality of operation areas, and a lot of historical track data can be generated in the transportation operation performed by the transportation device during the historical period. The historical track data comprises a plurality of position points which are positioned between the mixing station and a plurality of historical operation areas. The processor may then obtain historical track data for the transportation device. The transport device may be a truck mixer and the work area may be a worksite.
Step 104, performing clustering calculation on the historical track data to determine first clusters of the historical track data, wherein each first cluster comprises a plurality of first core position points with reachable densities and a plurality of first boundary position points with connected densities in the historical track data.
The cluster computation may be a DBSCAN algorithm for classifying the data. The processing may perform a clustering calculation on the historical track data to cluster the historical track data to obtain a corresponding first cluster. Wherein the first cluster is composed of a plurality of first core location points and a plurality of first boundary location points. According to the definition of the DBSCAN algorithm, boundary points are points in the field of core points, and a plurality of core points with reachable densities and a plurality of boundary points with connected densities form clusters.
The processor may construct a first electronic fence of the mixing station based on the location points contained in the first cluster. The first electronic fence refers to a virtual boundary of an area where the mixing station is located. And determining the position of the stirring station according to the information of the first electronic fence.
The historical trajectory data contains location points that are trajectories of the transport equipment from the blending station to the plurality of work areas. Then, in these job areas, for a certain target job area, the processor may screen out target track data corresponding to the target job area from the historical track data. The target trajectory data refers to the trajectory of the transport equipment to and from the stirring station to the target work area over a historical period of time. The target trajectory data includes location points between the blending station and the target work area. Specifically, it is possible to determine to which corresponding target job area each location point belongs from the history time point corresponding to the location point.
Step 110, performing cluster calculation on a plurality of location points included in the target track data to determine second clusters corresponding to the target track data, where each second cluster includes a plurality of second core location points with reachable densities and a plurality of second boundary location points with connectable densities in the target track data.
The processor may perform clustering calculation on the target track data to cluster the target track data to obtain a corresponding second cluster. Wherein the second cluster is composed of a plurality of second core location points and a plurality of second boundary location points. It will be appreciated that the second cluster is relatively speaking to the first cluster. The clustering calculation performed on the target track data may also be a DBSCAN algorithm.
Step 112, for any one second cluster, determining the second cluster as a target cluster when all second core position points and all second boundary position points included in the second cluster are outside the first electronic fence.
Step 114, determining a second electronic fence of the target working area according to all the target clusters.
The processor may generate a second electronic fence for the target work area based on the location points contained by all of the target clusters. The target cluster is a second cluster in which all second core location points and all second boundary location points are outside the first electronic fence. For each second cluster generated from the target trajectory data, if there is a location point contained in one second cluster that is inside the first electronic fence of the mixing station, then this second cluster is said to be inside the mixing station, or in the vicinity of the mixing station. Typically, the site is a distance from the mixing station, and a second cluster within or near the mixing station may be rejected as interference data.
In one embodiment, determining target trajectory data corresponding to the target job region in the historical trajectory data includes: determining historical transportation orders of the transportation equipment, wherein each historical transportation order comprises a travel departure time, a travel ending time and a corresponding target operation area of each transportation order; dividing the historical time period into historical transportation time periods corresponding to each target operation area according to the travel departure time and the travel ending time of each transportation bill; determining a plurality of sub-track data in the historical transportation time period in the historical track data according to the historical transportation time period corresponding to each target operation area; recombining a plurality of sub-track data corresponding to the target operation area aiming at each target operation area to obtain recombined track data corresponding to the target operation area; and removing the abnormal track points in the recombined track data aiming at each target operation area to obtain target track data of the target operation area.
The historical track data of the transport apparatus from the blending station to the plurality of job areas is generated from a plurality of historical transport sheets over a historical period of time. Each historical shipping slip includes a departure time of the trip, an end time of the trip, and a corresponding target job area for each trip of the shipping slip. The processor may divide the historical time period into historical transportation time periods corresponding to each target job area according to the trip departure time and the trip end time of each trip of the transportation sheet. The historical transportation time period is a trip departure time to a trip end time of each transportation sheet in the historical time period. The historical transportation time period corresponds to each target job area. Then, for each of the target job areas, the processor may determine a plurality of sub-track data within the historical transportation period among the historical track data. Sub-track data refers to track data generated during a historical transportation period in the historical track data. For each target job region, the processor may reorganize a plurality of sub-track data corresponding to the target job region to obtain reorganized track data corresponding to the target job region. For each target work area, the processor may remove the abnormal track points in the reorganized track data to obtain target track data of the target work area. The reorganized track data is composed of a plurality of sub-track data. The target track data is the recombined track data after the abnormal track points are removed.
It is assumed that the historical track data is generated for 3 shipping slips A, B, C over the past three days. The travel departure time of the transport sheet A is 10 points of the first day, the travel ending time is 12 points of the first day, and the corresponding target working area is the construction site 1. The travel departure time of the transport sheet B is 10 points on the next day, the travel ending time is 12 points on the next day, and the corresponding target working area is the construction site 2. The travel departure time of the transport sheet B is 10 points on the third day, the travel ending time is 12 points on the third day, and the corresponding target working area is the construction site 1. Then, the historic transportation period of the worksite 1 is 10 points on the first day to 12 points on the first day, and 10 points on the third day to 12 points on the third day. The historical transportation time period of the construction site 2 is from 10 points on the next day to 12 points on the next day. Then, assume that the sub-track data generated from 10 points on the first day to 12 points on the first day is the position point a 1 、a 2 、a 3 . The sub-track data generated from 10 points on the third day to 12 points on the third day is the position point a 4 、a 5 、a 6 . Number of sub-tracks generated from 10 points on the next day to 12 points on the next dayAccording to the position point a 7 、a 8 、a 9 . Then the reorganized track data of worksite 1 is a 1 、a 2 、a 3 、a 4 、a 5 、a 6 . Suppose a 1 If the target track data of the construction site 1 is an abnormal track point, the target track data of the construction site 1 is a 2 、a 3 、a 4 、a 5 、a 6 . The abnormal track points can be generated by abnormal travel sections caused by offline reasons in the travel, and the like, and the track points related to the travel can be corrected, or the abnormal track points can be found out through track overlap ratio analysis and weight adjustment. And removing the abnormal track points, so that a more accurate electronic fence can be obtained.
In one embodiment, determining the second electronic fence of the target work area from all of the target clusters includes: determining a track vector between two adjacent position points at any time contained in any target cluster aiming at any target cluster; for any one target cluster, judging whether the transportation equipment is subjected to direction deviation on a travel path corresponding to the target cluster according to all track vectors corresponding to the target cluster; in the case that the direction deviation is determined to occur, determining the target cluster as a non-interference cluster; and determining a second electronic fence of the target working area according to the second core position points and the second boundary position points contained in all the non-interference clusters.
On the way of the transport device moving from the mixing station to the target working area, for example, the mixer truck transports the concrete to the work site after the mixing station receives the material. The mixer truck stays at the construction site to discharge, the empty truck returns to the mixing station after the discharge is completed, and the moving track of one stroke of the mixer truck basically takes the construction site as an inflection point to form a mirror image. Then, after the second cluster in the stirring station is removed to obtain the target cluster, the processor can determine the track vector between two adjacent position points at any time contained in the target cluster for any one target cluster. Each target cluster contains a plurality of core location points and a plurality of boundary location points. Then the processor may determine a trajectory vector between any time adjacent two location points in the target cluster. As shown in fig. 2, the track vector is defined from the position point a at the previous time to the position point B at the next time, AB. The trajectory vector may represent a direction of movement of the transport device. The processor may determine whether the transportation device is shifted in a direction on a travel path corresponding to the target cluster according to all the trajectory vectors corresponding to the target cluster. The position of the electronic fence of the target working area is usually a position point where the direction of the adjacent track vector changes sharply. Then, in the case where the angle between adjacent trajectory vectors is large, this position point may be referred to as an inflection point. The processor may determine that a directional offset occurred at the location point. And in the case of determining that a directional offset occurs, the processor may determine the target cluster corresponding to this location point as a non-interfering cluster. The processor may generate a second electronic fence for the target work area based on the second core location points and the second boundary location points included in all of the non-interfering clusters. Specifically, referring to fig. 2, between the track vector CD and the track vector DE, a position point D between CD and DE is an inflection point. The target cluster where the location point D is located is a non-interfering cluster. If no direction shift occurs to a position point between adjacent track vectors, that is, a smaller position point between adjacent track vectors, the target cluster where the position point is located is an interference cluster. These interfering clusters are typically generated by a driver gathering in locations outside the station due to prolonged stops caused by accidents, etc.
In one embodiment, for any one target cluster, determining whether the direction shift of the transportation device occurs on the travel path corresponding to the target cluster according to all the track vectors corresponding to the target cluster includes: for any one target cluster, determining that the transportation equipment is shifted in the direction on the travel path corresponding to the target cluster when the included angle between any two adjacent track vectors in all track vectors corresponding to the target cluster is larger than or equal to a preset angle threshold value.
The preset angle threshold is a preset angle value for judging whether an inflection point is generated between two adjacent trajectory vectors. If the included angle between the adjacent track vectors in a certain target cluster is larger than or equal to a preset angle threshold, the processor can determine that the transportation equipment is shifted in the direction on the travel path corresponding to the target cluster. Then the target cluster may be determined to be a non-interfering cluster. And determining a second electronic fence of the target working area according to the second core position points and the second boundary position points contained in all the non-interference clusters.
In one embodiment, the minimum number of samples of the first cluster is greater than the minimum number of samples of the second cluster, and the domain radius of the first cluster is greater than or equal to the domain radius of the second cluster.
In the clustering calculation of DBSCAN, the field radius Eps and the minimum number of samples MinPts may be specified. Based on these two parameters, each location point in the trajectory data of the transport device can be marked. Fig. 3 schematically shows a schematic view of a cluster in an embodiment according to the application. As shown in fig. 3, the location points in the field radius Eps, the number of which is greater than the minimum number of samples MinPts, are core location points. The number of location points in the domain radius Eps is smaller than the minimum number of samples MinPts, but the location points of the domain boundary at other core location points are boundary location points. Other conditions are attributed to noise points and are not treated. For a core location point a, a and B are the same cluster if location point B within its domain is also a core location point. Also for core location point B, A, B, C is the same cluster if location point C within its domain is the core location point. Wherein A, B is a direct density and A, C is a density. Traversing all the position points in the track data, finding out the points of the density connecting points, dividing the track data into different clusters, and forming the boundary of the cluster by the boundary position points corresponding to each core position point in the cluster.
Then, historical track data for the first cluster is calculated. Because the historical track data is the position points of the stirring station to a plurality of working areas, the number of the position points generated by the stirring station in the historical track data is more and more dense than the target track data from the stirring station to the target working area. It may be provided that the minimum number of samples of the first cluster is greater than the minimum number of samples of the second cluster, and that the domain radius of the first cluster is less than or equal to the domain radius of the second cluster. So that the processor can calculate the first electronic fence of the mixing station according to a larger minimum number of samples and calculate the second electronic fence of the target work area according to a smaller field radius.
In one embodiment, as shown in fig. 4, fig. 4 schematically shows a flowchart of a DBSCAN algorithm according to an embodiment of the present application. The second core location point and the second boundary location point of the second cluster are determined by clustering calculation as follows.
Firstly, initializing target track data. Specifically, the type of a track point (position point) in the target track data may be initialized to a noise point, the track point may be initialized to an unprocessed state, and the current cluster C of track points may be initialized to 1. And determining the radius of the field and the minimum sample number of the cluster calculation. I of the ith trace point is initialized to 0. And judging whether i of the ith track point is smaller than the total number of track points. If not, ending the calculation flow. If yes, judging whether the ith track point Pi is clustered. If the clustering processing is carried out, searching the next track point through the i++, and processing the next track point. If the track points Pi are not clustered. The trajectory point Pi is marked as processed and the number of trajectory points in the field of the trajectory point Pi is acquired. In the case where the number of trace points in the field of trace points Pi is greater than or equal to the minimum number of samples, it is determined that trace point Pi is the second core position point. If the number of samples is smaller than the minimum number of samples, the locus point Pi is not the second core position point. If the locus Pi is the second core position point, the cluster of locus Pi is set as C and the cluster of locus Pi is processed. Meanwhile, a cluster mark C++ is newly added to the track point Pi. If the locus Pi is not the second core position point, any locus Pi in the locus Pi field is further determined to be Pj. And judging whether j of the track points Pj is smaller than the total track points in the Pi field range. If j is greater than or equal to the total number of the track points in the Pi field range, the track points in the Pi field range are processed, and the calculation flow is ended. If j is smaller than the total number of the track points in the Pi field, judging whether the track point Pj is a second core position point, and if yes, setting the track point Pi as a second boundary position point. If the locus point Pj is not the second core position point, the next locus point in the locus point Pi field is processed. I.e. find the next track point by j++.
Through the above steps, all the track points in the track data can be traversed, and if a certain track point Pi is processed, the track point is skipped. Otherwise, the Pi mark of the track point is processed, and then all track points in the Pi field are traversed. If the number of the track points in the Pi field is smaller than the minimum sample number, traversing all the track points in the Pi field, and if any track point Pj in the Pi field is a second core position point, indicating that the Pi is a second boundary position point. If the trace point in Pi field is larger than the minimum sample number, the trace point Pi is the second core position point, the cluster of Pi is set as C, and then the cluster logic of Pi is processed. After the clustering of the track points Pi is finished, the self-clustering mark C continues to traverse the next track point in the track until the end.
In one embodiment, as shown in fig. 5, fig. 5 schematically shows a flowchart of a DBSCAN algorithm according to a further embodiment of the present application. The process for processing clusters of trace points Pi in fig. 4 has the following steps:
the locus point within the domain of the locus point Pi determined as the second core position point is set to Pk first. Where k is initialized to 0. And judging whether k of the kth track point is smaller than the total number of track points in the field range of the track point Pi. If not, ending the calculation flow. If so, determining whether the kth track point Pk is clustered. If clustering has already been performed, the next track point in the domain of Pi is processed. I.e. the next track point is looked up by k++. If the clustering process is not performed, marking the track points Pk as processed, and judging whether the track points Pk have the attribution clusters, wherein the attribution clusters are clusters to which the track points are subjected to the clustering calculation. If the locus Pk has the home cluster, the cluster of the locus Pk is set as C. Further, it may be determined whether the trajectory point Pk is the second core position point. If the locus point Pk is the second core position point, determining any locus point in the field range of the locus point Pk as Pn. And judging whether n of the track points Pn is smaller than the total track points in the Pk field range. If so, further judging whether the track point Pn has the home cluster. If the track point Pn has the attribution cluster, the cluster of the track point Pn is set as C, and the track point Pn is set as a potential cluster of the track point Pk. If the track point Pn does not belong to the cluster, the next track point in the Pk field range is processed. I.e. the next track point is looked up by n++. And if n of the track points Pn is larger than or equal to the total track points in the Pk field range, processing the next track point in the Pi field range. I.e. the next track point is looked up by k++. If the locus point Pk is not the second core position point, determining any locus point in the field range of the locus point Pk as Pm. m is initialized to 0. And judging whether m of the track points Pm is smaller than the total track points in the Pk field range. If yes, judging whether the track point Pm is a second core position point. If the locus point Pm is the second core position point, the locus point Pk is set as the second boundary position point. And processing the next track point in the range of the Pk field. I.e. the next track point is looked up by k++. If m is greater than or equal to the total number of track points in the Pk field range, processing the next track point in the Pi field range. I.e. the next track point is looked up by k++. If the locus point Pm is not the second core position point, processing the next locus point in the range of the Pk field. I.e. the next track point is looked up by m++.
Through the above steps, points in the range of the trajectory point Pi are initially potential clusters of the trajectory point Pi. The trajectory points Pk of these potential clusters are traversed. If the locus Pk is processed, the locus Pk is skipped. Otherwise, editing the track point Pk into processed track points and judging the cluster to which the track point Pk belongs. If Pk does not belong to any cluster, the locus Pk is added to the cluster of locus Pi. And then obtaining track points in the track point Pk field range, and judging whether a second core position point exists in the track point Pk field range if the track point quantity in the track point Pk field range is smaller than the minimum sample quantity. If a second core position point exists, the locus point Pk point is set as a second boundary position point. If the number of the track points in the track point Pk field range is larger than the minimum sample number, the track point Pk is the second core position point. At this time, the point Pn in the trajectory point Pk domain range is traversed. If the track point Pn itself does not belong to any cluster, the cluster of the track point Pn is set as the cluster to which the track point Pi belongs, and the track point Pn is added to the potential clusters of the track point Pi. By adding Pn to the potential clusters of Pi, it is ensured that Pi can access a second core location point of reachable density. If there is a density of Pi in the Pn domain that reaches point Pr, pr is added to the Pi's potential clusters when Pn is processed. By such a cycle, the clustered points of Pi can be found out and the repetition of calculations can be avoided. Also, the first cluster of historical track data may be determined by the scheme described above.
In one embodiment, the method further comprises: after the second electronic fence is determined, current track data of the transportation equipment is obtained, wherein the current track data refers to track data of the transportation equipment which runs from the stirring station to the target operation area again; performing cluster calculation on the current track data according to the minimum sample number and the field radius of the second cluster to determine third clusters of the current track data, wherein each third cluster comprises a plurality of third core position points with reachable density and a plurality of third boundary position points with connectable density in the current track data; for any one third cluster, determining the third cluster as a newly added target cluster under the condition that all core position points and all third boundary position points contained in the third cluster are outside the first electronic fence; determining the stability of the second electronic fence according to the relative spatial position between the newly added target cluster and the second electronic fence; and generating alarm information under the condition that the stability is smaller than a preset stability threshold value.
In one embodiment, the initial stability of the second electronic fence is a preset stability, and determining the stability of the second electronic fence according to the relative spatial position between the newly added target cluster and the second electronic fence includes: under the condition that a third core position point and a third boundary position point contained in the newly-added target cluster are both in the second electronic fence, determining the stability of the second electronic fence to be a first preset value added on the basis of the preset stability; and under the condition that at least one position point exists in a third core position point and a third boundary position point which are contained in the newly added target cluster and is outside the second electronic fence, determining the stability of the second electronic fence to be a second preset value which is reduced on the basis of the preset stability.
In one embodiment, the method further comprises: after determining the newly increased target cluster, adjusting the field radius of the second cluster and the electronic fence radius of the second electronic fence according to the relative spatial position between the newly increased target cluster and the second electronic fence; under the condition that track data of the transportation equipment are updated again, clustering calculation is conducted on the newly-added track data by using the adjusted field radius of the second cluster, so that the electronic fence radius of the second electronic fence is adjusted according to a clustering calculation result, and the second electronic fence is adjusted.
A target job area will typically have multiple passes of the transportation sheet, and trajectory data for the transportation device will be continuously generated based on the travel of the transportation sheet. The route travelled by each transport sheet corresponding to the target working area will be somewhat different, but the final destination is only a mixing station and the target working area. The second electronic fence calculated for each trip of the transportation sheet for the same target job area should be theoretically the same. As the shipping slips increase, the corresponding clusters may be calculated from the trajectory data generated by each shipping slip, thereby modifying the second electronic fence. Then, after determining the second electronic fence, the processor may obtain current trajectory data of the transportation device. When clustering calculation is performed on the current track data, a third cluster of the current track data is also generated with reference to the minimum number of samples and the radius of the domain specified by the calculated second cluster.
For any one third cluster, in the case where all core location points and all third boundary location points included in the third cluster are outside the first electronic fence, it is stated that the previously determined second electronic fence may be inaccurate. The processor may determine the third cluster as the newly added target cluster. The newly added target clusters may be inside the second electronic fence or outside the second electronic fence. Then the processor may determine the stability of the second electronic fence based on the relative spatial position between the newly added target cluster and the second electronic fence. If the target cluster is inside the second electronic fence, the processor may determine that the stability of the second electronic fence is to increase a first preset value based on the preset stability. If at least one of the third core position point and the third boundary position point included in the newly added target cluster is located outside the second electronic fence, the processor may determine that the stability of the second electronic fence is a second preset value that is reduced based on the preset stability. The first preset value and the second preset value are relatively speaking. And generating alarm information under the condition that the stability is smaller than a preset stability threshold value. The stability is a parameter representing the accuracy of the second electronic fence, and the higher the stability is, the more accurate the second electronic fence is. The preset stability threshold is a threshold parameter for accuracy of the second electronic fence. If the accuracy of the second electronic fence is lower than the preset stability threshold, the second electronic fence is indicated to be very low and has no effectiveness for guiding the dispatching and transportation operation.
The processor may also adjust a domain radius of the second cluster and an electronic fence radius of the second electronic fence based on a relative spatial position between the newly added target cluster and the second electronic fence. Under the condition that track data of the transportation equipment are updated again, clustering calculation is conducted on the newly-added track data by using the adjusted field radius of the second cluster, so that the electronic fence radius of the second electronic fence is adjusted according to a clustering calculation result, and the second electronic fence is adjusted. The adjusted second electronic fence can be utilized to guide the associated dispatch and transportation operations. Specifically, if the position point included in the third cluster is located inside the second electronic fence, the stability of the second electronic fence increases by sa. If any one of the location points contained by the third cluster is outside the second electronic fence but near the boundary of the second electronic fence, then the electronic fence radius is increased appropriately. For example, each time the second rail radius expands less than ke times the current second rail radius, and each time the rail radius expands, the number of waypoints required increases kn times while decreasing the second rail stability ss. When the stability of the second electronic fence is too low, the radius of the electronic fence is not enlarged any more, and alarm information is generated. If the third cluster contains a location point that is far from the second electronic fence, the cluster is marked as an invalid cluster and the stability sn is reduced.
In one embodiment, the method further comprises: after the second electronic fence of the target operation area is determined according to all the target clusters, acquiring the real-time position of the transportation equipment; a virtual spatial distance between the real-time location and the second electronic fence is determined to determine a stand-off distance between the target work area and the transportation device.
After the second electronic fence of the target working area is generated, the processor can acquire the real-time position of the transportation equipment, so that the virtual space distance between the real-time position and the second electronic fence is obtained. This virtual spatial distance is determined as the actual stand-off distance between the target work area and the transport equipment. The virtual spatial distance refers to a distance between the real-time location and the virtual second electronic fence.
By means of the method, the transportation equipment, the storage medium and the processor for determining the electronic fence, historical track data of the transportation equipment are obtained, wherein the historical track data refer to position points where a plurality of historical time points are located in a historical time period, and the position points are located between a stirring station and a plurality of historical operation areas; performing clustering calculation on the historical track data to determine first clusters of the historical track data, wherein each first cluster comprises a plurality of first core position points with reachable densities and a plurality of first boundary position points with connected densities in the historical track data; determining a first electronic fence of the stirring station according to the first cluster; determining target track data corresponding to a target operation area in the historical track data; clustering calculation is carried out on a plurality of position points contained in the target track data to determine second clusters corresponding to the target track data, wherein each second cluster comprises a plurality of second core position points with reachable density and a plurality of second boundary position points with connectable density in the target track data; for any one second cluster, determining the second cluster as a target cluster under the condition that all second core position points and all second boundary position points contained in the second cluster are outside the first electronic fence; and determining a second electronic fence of the target working area according to all the target clusters. Through the technical scheme, the interference data can be removed, and clustering calculation can be carried out on the track data. Generating a first electronic fence of the mixing station and a second electronic fence of the target working area according to the calculated clusters. And the second electronic fence can be corrected according to the newly added track data of the subsequent transportation list. And under the condition that the stability of the second electronic fence is lower, an alarm is sent out, so that the accuracy of the second electronic fence is improved. According to the generated electronic fence, the actual situation can be accurately mastered, and whether the conditions such as pressing and material breaking exist at the construction site or not can be judged. Therefore, the capacity resources can be effectively configured, the transportation equipment is scheduled, and the resource waste is reduced.
FIG. 1 is a flow diagram of a method for determining an electronic fence in one embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 6, an apparatus for determining an electronic fence is provided, comprising a data acquisition module 602, a first cluster determination module 604, a first electronic fence generation module 606, a target track data determination module 608, a second cluster determination module 610, a target cluster determination module 612, and a second electronic fence generation module 614, wherein:
The data acquisition module 602 is configured to acquire historical track data of the transportation device, where the historical track data refers to location points where a plurality of historical time points are located in a historical time period, and the location points are located between a mixing station and a plurality of historical operation areas.
The first cluster determining module 604 is configured to perform cluster calculation on the historical track data to determine first clusters of the historical track data, where each first cluster includes a plurality of first core location points with reachable densities and a plurality of first boundary location points with connected densities in the historical track data.
A first electronic fence generation module 606 for determining a first electronic fence of the mixing station from the first cluster.
The target track data determining module 608 is configured to determine target track data corresponding to the target job area in the historical track data.
The second cluster determining module 610 is configured to perform cluster computation on a plurality of location points included in the target track data to determine a second cluster corresponding to the target track data, where each second cluster includes a plurality of second core location points with reachable densities and a plurality of second boundary location points with connectable densities in the target track data.
The target cluster determining module 612 is configured to determine, for any one of the second clusters, the second cluster as a target cluster if all second core location points and all second boundary location points included in the second cluster are outside the first electronic fence.
A second electronic fence generation module 614 for determining a second electronic fence for the target work area based on all of the target clusters.
In one embodiment, the target trajectory data determination module 608 is further configured to determine historical shipping slips for the shipping device, each historical shipping slip including a departure time of a trip of each shipping slip, an end time of the trip, and a corresponding target job area; dividing the historical time period into historical transportation time periods corresponding to each target operation area according to the travel departure time and the travel ending time of each transportation bill; determining a plurality of sub-track data in the historical transportation time period in the historical track data according to the historical transportation time period corresponding to each target operation area; recombining a plurality of sub-track data corresponding to the target operation area aiming at each target operation area to obtain recombined track data corresponding to the target operation area; and removing the abnormal track points in the recombined track data aiming at each target operation area to obtain target track data of the target operation area.
In one embodiment, the second electronic fence generating module 614 is further configured to determine, for any one target cluster, a trajectory vector between two location points that are adjacent at any time and included in the target cluster; for any one target cluster, judging whether the transportation equipment is subjected to direction deviation on a travel path corresponding to the target cluster according to all track vectors corresponding to the target cluster; in the case that the direction deviation is determined to occur, determining the target cluster as a non-interference cluster; and determining a second electronic fence of the target working area according to the second core position points and the second boundary position points contained in all the non-interference clusters.
In one embodiment, the second electronic fence generating module 614 determines, for any one target cluster, that the transportation device is biased in a direction on the travel path corresponding to the target cluster when an included angle between any two adjacent track vectors in all track vectors corresponding to the target cluster is greater than or equal to a preset angle threshold.
In one embodiment, the minimum number of samples of the first cluster is greater than the minimum number of samples of the second cluster, and the domain radius of the first cluster is less than or equal to the domain radius of the second cluster.
In one embodiment, the apparatus for determining an electronic fence further includes an alarm module (not shown in the figure) for acquiring current track data of the transportation device after determining the second electronic fence, the current track data being track data of the transportation device that is once again driven from the stirring station to the target working area; performing cluster calculation on the current track data according to the minimum sample number and the field radius of the second cluster to determine third clusters of the current track data, wherein each third cluster comprises a plurality of third core position points with reachable density and a plurality of third boundary position points with connectable density in the current track data; for any one third cluster, determining the third cluster as a newly added target cluster under the condition that all core position points and all third boundary position points contained in the third cluster are outside the first electronic fence; determining the stability of the second electronic fence according to the relative spatial position between the newly added target cluster and the second electronic fence; and generating alarm information under the condition that the stability is smaller than a preset stability threshold value.
In one embodiment, the alarm module ((not shown in the figure) is further configured to determine, when the third core position point and the third boundary position point included in the newly added target cluster are both located in the second electronic fence, that the stability of the second electronic fence is increased by a first preset value based on the preset stability, and determine, when at least one position point out of the third core position point and the third boundary position point included in the newly added target cluster is located outside the second electronic fence, that the stability of the second electronic fence is decreased by a second preset value based on the preset stability.
In one embodiment, the apparatus for determining an electronic fence further includes a correction module (not shown in the figure) for adjusting a domain radius of the second cluster and an electronic fence radius of the second electronic fence according to a relative spatial position between the newly added target cluster and the second electronic fence after determining the newly added target cluster; under the condition that track data of the transportation equipment are updated again, clustering calculation is conducted on the newly-added track data by using the adjusted field radius of the second cluster, so that the electronic fence radius of the second electronic fence is adjusted according to a clustering calculation result, and the second electronic fence is adjusted.
In one embodiment, the apparatus for determining an electronic fence further includes a distance determining module (not shown in the figure) for acquiring a real-time position of the transportation device after determining a second electronic fence of the target work area according to all the target clusters; a virtual spatial distance between the real-time location and the second electronic fence is determined to determine a stand-off distance between the target work area and the transportation device.
The device for determining the electronic fence comprises a processor and a memory, wherein the data acquisition module, the first clustering determination module, the first electronic fence generation module, the target track data determination module, the second clustering determination module, the target clustering determination module, the second electronic fence generation module and the like are all stored in the memory as program units, and the processor executes the program modules stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel may be provided with one or more kernel parameters to implement the method for determining the electronic fence.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the application provides a storage medium, and a program is stored on the storage medium, and the program is executed by a processor to realize the method for determining the electronic fence.
The embodiment of the application provides a processor for running a program, wherein the program runs to execute the method for determining the electronic fence.
Embodiments of the present application provide a transportation device comprising a processor configured to perform the above-described method for determining an electronic fence.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used to store data for determining the method of the electronic fence. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a method for determining an electronic fence.
It will be appreciated by those skilled in the art that the structure shown in fig. 7 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the method for determining the electronic fence when executing the program.
The present application also provides a computer program product adapted to perform a program initialized with the above-mentioned method steps for determining an electronic fence when executed on a data processing device.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that 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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (12)
1. A method for determining an electronic fence, the method comprising:
acquiring historical track data of transportation equipment, wherein the historical track data refer to position points where a plurality of historical time points are located in a historical time period, and the position points are located between a stirring station and a plurality of historical operation areas;
Performing clustering calculation on the historical track data to determine first clusters of the historical track data, wherein each first cluster comprises a plurality of first core position points with reachable densities and a plurality of first boundary position points with connected densities in the historical track data;
determining a first electronic fence of the stirring station according to the first cluster;
determining target track data corresponding to a target operation area in the historical track data;
clustering calculation is carried out on a plurality of position points contained in the target track data to determine second clusters corresponding to the target track data, wherein each second cluster comprises a plurality of second core position points with reachable density and a plurality of second boundary position points with connectable density in the target track data;
for any one second cluster, determining the second cluster as a target cluster when all second core position points and all second boundary position points contained in the second cluster are outside the first electronic fence;
and determining a second electronic fence of the target working area according to all the target clusters.
2. The method for determining an electronic fence of claim 1, wherein the determining a second electronic fence of the target work area based on all target clusters comprises:
Determining a track vector between two adjacent position points at any time contained in any target cluster aiming at any target cluster;
for any one target cluster, judging whether the transportation equipment is subjected to direction deviation on a travel path corresponding to the target cluster according to all track vectors corresponding to the target cluster;
in the case that the occurrence of the directional offset is determined, determining the target cluster as a non-interference cluster;
and determining a second electronic fence of the target working area according to the second core position points and the second boundary position points contained in all the non-interference clusters.
3. The method for determining an electronic fence according to claim 2, wherein for any one target cluster, determining whether the transportation device is shifted in direction on a travel path corresponding to the target cluster according to all trajectory vectors corresponding to the target cluster includes:
for any one target cluster, determining that the transportation equipment is subjected to direction deviation on a travel path corresponding to the target cluster when the included angle between any two adjacent track vectors in all track vectors corresponding to the target cluster is larger than or equal to a preset angle threshold value.
4. The method for determining an electronic fence of claim 1, wherein a minimum number of samples of the first cluster is greater than a minimum number of samples of the second cluster, and a domain radius of the first cluster is less than or equal to a domain radius of the second cluster.
5. The method for determining an electronic fence of claim 4, further comprising:
after the second electronic fence is determined, current track data of the transportation equipment is obtained, wherein the current track data refers to track data of the transportation equipment which runs from the stirring station to the target operation area again;
performing clustering calculation on the current track data according to the minimum sample number and the field radius of the second cluster to determine third clusters of the current track data, wherein each third cluster comprises a plurality of third core position points with reachable density and a plurality of third boundary position points with connectable density in the current track data;
for any one third cluster, determining the third cluster as a newly added target cluster under the condition that all core position points and all third boundary position points contained in the third cluster are outside the first electronic fence;
Determining the stability of the second electronic fence according to the relative spatial position between the newly added target cluster and the second electronic fence;
and generating alarm information under the condition that the stability is smaller than a preset stability threshold value.
6. The method for determining an electronic fence of claim 5, wherein the initial stability of the second electronic fence is a preset stability, and wherein determining the stability of the second electronic fence based on the relative spatial position between the newly added target cluster and the second electronic fence comprises:
determining the stability of the second electronic fence to be increased by a first preset value on the basis of the preset stability under the condition that a third core position point and a third boundary position point contained in the newly-increased target cluster are both in the second electronic fence;
and determining the stability of the second electronic fence to be a second preset value based on the preset stability under the condition that at least one position point exists in a third core position point and a third boundary position point contained in the newly-added target cluster and is outside the second electronic fence.
7. The method for determining an electronic fence of claim 5, further comprising:
after the newly increased target cluster is determined, adjusting the field radius of the second cluster and the electronic fence radius of the second electronic fence according to the relative spatial position between the newly increased target cluster and the second electronic fence;
and under the condition that the track data of the transportation equipment are updated again, performing clustering calculation on the newly-added track data by using the adjusted field radius of the second cluster, so as to adjust the electronic fence radius of the second electronic fence according to a clustering calculation result, and further adjust the second electronic fence.
8. The method for determining an electronic fence of claim 1, wherein determining target track data corresponding to a target job area in the historical track data comprises:
determining historical transportation orders of the transportation equipment, wherein each historical transportation order comprises a travel departure time, a travel ending time and a corresponding target operation area of each transportation order;
dividing the historical time period into historical transportation time periods corresponding to each target operation area according to the travel departure time and the travel ending time of each transportation bill;
Determining a plurality of sub-track data in the historical transportation time period in the historical track data according to the historical transportation time period corresponding to each target operation area;
recombining a plurality of sub-track data corresponding to each target operation area aiming at each target operation area to obtain recombined track data corresponding to the target operation area;
and removing abnormal track points in the recombined track data aiming at each target operation area to obtain target track data of the target operation area.
9. The method for determining an electronic fence of claim 1, further comprising:
after the second electronic fence of the target operation area is determined according to all target clusters, acquiring the real-time position of the transportation equipment;
a virtual spatial distance between the real-time location and the second electronic fence is determined to determine a stand-off distance between the target work area and the transportation device.
10. A processor configured to perform the method for determining an electronic fence according to any one of claims 1 to 9.
11. A transportation device comprising the processor of claim 10.
12. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform the method for determining an electronic fence according to any of claims 1 to 9.
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